Space storage transfer device with movable side plates and working method

Abstract

The invention relates to the technical field of aerospace, in particular to a space storage transfer device with movable side plates and a working method. The transfer device comprises a storage platform, the storage platform comprises a top plate, a storage device, a moving device and a vertical pushing device, the storage device is connected with the top plate, the storage device is used for containing loads, the moving device is arranged on the top plate and connected with the storage device, the vertical pushing device is arranged on the top plate, and the vertical pushing device is arranged on the top plate and connected with the storage device. The side wall is close to the storage device; the transfer platform is located below the storage platform, and the transfer platform comprises a bottom magnet yoke, a bottom guide rail, a coil winding, a fixing frame and a rotor tray; and the telescopic rod is arranged between the top plate and the bottom magnet yoke. The device is high in storage density, multiple in storage types, high in transfer efficiency, small in size and light in weight, can achieve on-orbit storage and transfer of loads of different specifications, and can meet the actual requirements of spaceflight application at the present stage.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a space storage and transfer device with movable side panels and a working method. Background Art

[0002] In the past few decades, more and more satellites have been used to carry out scientific research, technology testing and related application tasks in space. The concept of space on-orbit services was born, aiming to extend the life of satellites, platforms, space stations and space vehicles and improve their performance by completing the assembly and maintenance of spacecraft in space. On-orbit construction, as a type of on-orbit service, is the assembly and construction process of space structures or equipment in Earth orbit, focusing on structural work performed in orbit.

[0003] The world's aerospace industry has entered an era of "flight-based space transportation" with large-scale access to and from space. In order to develop and utilize space resources more efficiently and on a larger scale, it is necessary to carry payloads of different specifications at high density in a single launch mission to perform tasks such as on-orbit construction. At present, there is no practical application of large-scale storage of payloads and materials on orbit. As for on-orbit transportation, due to the complex space environment, limited power and energy resources, and high development and maintenance costs in space, the transportation tasks of on-orbit construction mostly rely on robotic arm grasping. However, although the current space robotic arm transportation accuracy can meet the needs of space transportation, the control system is relatively complex; the current robotic arm movement process is slow and the transportation efficiency is low; the robotic arm wears severely under high frequency and high load conditions, and factors such as radiation and temperature changes in the space environment exacerbate this problem.

[0004] At present, there is no production and application of space storage and transfer platforms. How to store and transfer goods efficiently, in a variety of types and at a low cost is an existing technical problem. The three-dimensional stacking storage mode of typical storage and transfer systems used in the industrial and military fields can effectively carry large-scale and diverse loads. Summary of the invention

[0005] Therefore, the present invention provides a spatial storage and transportation device with movable side panels.

[0006] In order to solve the above technical problems, the present invention provides a spatial storage and transfer device with movable side panels, including: a storage platform, the storage platform including a top plate and a storage device, a moving device, and a vertical pushing device, the storage device is connected to the top plate, the storage device is used to accommodate loads, the moving device is arranged on the top plate and connected to the storage device, the vertical pushing device is arranged on the top plate and close to the side wall of the storage device; a transfer platform, the transfer platform is located below the storage platform, the transfer platform includes a bottom yoke and a bottom guide rail, a coil winding, a fixed frame, and a mover tray, the bottom guide rail is arranged on the bottom yoke, the fixed frame is located in the gap of the bottom guide rail, the coil winding is arranged in the fixed frame, the mover tray is arranged on the bottom guide rail, and the mover tray is used to bear the load; a telescopic rod is arranged between the top plate and the bottom yoke.

[0007] Furthermore, the mover tray includes a tray and a mover frame, a permanent magnet array, an upper magnetic yoke, and a universal bead. The mover frame is arranged at the bottom of the tray, the upper magnetic yoke is staggered in the mover frame, the permanent magnet array is arranged at the bottom of the upper magnetic yoke, and the universal bead is located at the bottom of the mover frame.

[0008] Furthermore, the storage device includes an outer fixed side plate, an inner fixed side plate, and a movable side plate, and the outer fixed side plate, the inner fixed side plate, and the movable side plate are all arranged at the bottom of the top plate, and the inner fixed side plate is located between the outer fixed side plate and the movable side plate.

[0009] Furthermore, the moving device includes a dual-axis motor, a gear and a rack. The dual-axis motor is arranged on the movable side plate, the gear is connected to the dual-axis motor, the rack is arranged on the top plate, and the gear is meshed with the rack.

[0010] Furthermore, the vertical pushing devices have multiple groups, and every two groups of the vertical pushing devices are staggered along the diagonal of the load.

[0011] Furthermore, the vertical pushing device includes a motor assembly and an active synchronous pulley, a synchronous belt, a synchronous belt plate, a pushing plate, and a passive synchronous pulley. The motor assembly is arranged on the top plate, the active synchronous pulley is connected to the motor assembly, the synchronous belt is sleeved on the active synchronous pulley and is located in the storage device, the synchronous belt plate is connected to the pushing plate and jointly clamps the synchronous belt, and the passive synchronous pulley is arranged at the bottom of the synchronous belt.

[0012] Furthermore, the external fixed side panel includes an external fixed side panel body and a disassembly partition, a micro switch, and a fixed ball screw. The disassembly partition is arranged on the external fixed side panel body, and the fixed ball screw and the micro switch are located at the bottom of the disassembly partition and the external fixed side panel body.

[0013] Furthermore, the inner fixed side panel includes an inner fixed side panel main body and an outer removable partition, an inner removable partition, an outer ball-shaped screw, and an inner ball-shaped screw. The outer removable partition and the inner removable partition are arranged on the outer fixed side panel main body, and the outer ball-shaped screw and the inner ball-shaped screw are located at the bottom of the outer removable partition, the inner removable partition and the inner fixed side panel main body.

[0014] Furthermore, the movable side plate includes a movable side plate body and an external threaded bearing, a fixed plate, and a movable universal ball. The external threaded bearing is arranged on the movable side plate body, the fixed plate is arranged on the movable side plate body, and the movable universal ball is arranged at the bottom of the fixed plate.

[0015] The present invention also provides a working method using the spatial storage and transfer device with movable side panels, comprising:

[0016] At least two rows of loads are stored in the storage device. When the load needs to be transferred, the telescopic rod is in a retracted state, and the vertical pushing device is used to push the load downward, and the load is pushed down onto the mover tray. The magnetic conductive sheet at the bottom of the load and the mover tray resist external interference, and the groove at the bottom of the load cooperates with the positioning block on the mover tray for positioning and provides anti-slip force. After completing the vertical pushing work, the telescopic rod is extended to drive the transfer platform to move. After extending to the limit position, the coil winding in the transfer platform is energized, and a force in the X direction or Y direction is generated in the permanent magnetic field generated by the upper yoke, the permanent magnet array, and the bottom yoke. A permanent magnetic adsorption force is generated between the mover tray and the bottom yoke, and the energized coil winding is used to generate a driving force to achieve two-degree-of-freedom translation, thereby realizing the transfer of the load. After the transfer is completed, the robotic arm takes away the load, and the telescopic rod is retracted, and the above process is repeated for subsequent transfer.

[0017] The technical solution of the present invention has the following advantages:

[0018] 1. The spatial storage and transfer device with movable side panels provided by the present invention solves the gap in the current field of spatial storage and transfer devices, and has the advantages of high-density storage, multiple types of loads and high-efficiency transfer, and can realize on-track storage and transfer of multiple modular loads. A three-dimensional stacking storage method is adopted to increase the load holding density, and movable side panels are used to increase the flexibility of the types of space loading loads. Removable partitions are used to accommodate most types of loads on the ground. During transfer, the vertical downward pressure is driven by a synchronous belt, and a single column of loads can be pressed down separately, which has good flexibility; planar transfer does not require mechanical transmission, and the transfer efficiency is high, which can adapt to a variety of loads.

[0019] The present invention has a large storage density, a wide range of storage types, a high transfer efficiency, a small volume and a light weight, and can realize on-orbit storage and transfer of payloads of different specifications, thus meeting the actual needs of current aerospace applications.

[0020] 2. The three-dimensional stacked storage structure can carry a variety of loads at a high density. The movable side panels bring flexibility to the space load bearing. The detachable partitions ensure that the ground can carry most types of loads after adjustment, avoiding simultaneous movement of the space and increasing the reliability of the structure.

[0021] 3. The three-dimensional transfer is disassembled into vertical pushing and plane transfer. Compared with the existing robotic arm transfer, the transfer speed is fast, the transfer range is large, and the space occupied is small; it avoids the problem that the robotic arm cannot transfer quickly and accurately in the three-dimensional stacking storage space environment.

[0022] 4. Planar transport uses a planar electromagnetic actuator. Unlike magnetic levitation motors, it uses fewer coils to achieve movement at each position. The adsorption force generated by the bottom magnetic yoke and the permanent magnet in the mover tray ensures good adaptation to the microgravity in the space environment and effectively ensures the position of the mover tray. The coil with a square cross section can ensure that the mover tray outputs forces in two horizontal directions according to the moving direction during movement.

[0023] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the disclosure, nor is it intended to limit the scope of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is an isometric diagram of the storage and transshipment platform of the present invention;

[0026] Figure 2 is a three-dimensional diagram of the external fixed side plate of the present invention;

[0027] Figure 3 It is a front view of the external fixed side plate of the present invention;

[0028] Figure 4 It is an inner front view of the inner fixed side plate of the present invention;

[0029] Figure 5 It is an outer front view of the inner fixed side plate of the present invention;

[0030] Figure 6 A top view of the mobile device of the present invention;

[0031] Figure 7 It is an isometric diagram of the vertical pushing device according to the present invention;

[0032] Figure 8 It is a side view of the vertical pushing device of the present invention;

[0033] Fig. 9 A top view of the transfer platform of the present invention;

[0034] Fig.10 A cross-sectional view of the mover tray of the present invention;

[0035] Fig.11 is a schematic diagram of the structure of the fixing frame of the present invention;

[0036] Fig.12 This is a schematic diagram of the installation of the mover tray and the transfer platform of the present invention;

[0037] Fig.13 The figure is a front view of the movable side panel of the present invention.

[0038] Description of reference numerals:

[0039] 1. Storage platform; 2. Transfer platform; 3. Telescopic rod; 4. External fixed side panel; 5. Internal fixed side panel; 6. Movable side panel; 7. Top panel; 8. Moving device; 9. Vertical pushing device; 10. External fixed side panel body; 11. Disassembly partition; 12. Micro switch; 13. Fixed ball screw; 14. Internal fixed side panel body; 15A. Internal removable partition; 15B. External removable partition; 16A. Internal ball screw; 16B. External ball screw; 17. Dual-axis motor; 18. Gear; 19. Rack; 20. Motor assembly; 21. Active synchronous pulley; 22. Synchronous belt; 23. Synchronous belt plate; 24. Push plate; 25. Passive synchronous pulley; 26. Bottom yoke; 27. Bottom guide rail; 28. Coil winding; 29. ​​Fixed frame; 30. Mover tray; 31. Tray; 32. Mover frame; 33. Permanent magnet array; 34. Upper yoke; 35. Universal ball; 36. Movable side plate body; 37. External threaded bearing; 38. Fixed plate; 39. Moving universal ball; 40. Load. DETAILED DESCRIPTION

[0040] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0041] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0042] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0043] In the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0044] The disclosure below provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0045] The preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0046] See also Figures 1 to 13 As shown, the present invention provides a spatial storage and transfer device with movable side panels, comprising: a storage platform 1, the storage platform 1 comprising a top plate 7 and a storage device, a moving device 8, and a vertical pushing device 9, the storage device is connected to the top plate 7, the storage device is used to accommodate a load 40, the moving device 8 is arranged on the top plate 7 and connected to the storage device, the vertical pushing device 9 is arranged on the top plate 7 and close to the side wall of the storage device; a transfer platform 2, the transfer platform 2 Located below the storage platform 1, the transfer platform 2 includes a bottom yoke 26 and a bottom guide rail 27, a coil winding 28, a fixing frame 29, and a mover pallet 30. The bottom guide rail 27 is arranged on the bottom yoke 26, the fixing frame 29 is located in the gap of the bottom guide rail 27, the coil winding 28 is arranged in the fixing frame 29, the mover pallet 30 is arranged on the bottom guide rail 27, and the mover pallet 30 is used to bear the load 40; the telescopic rod 3 is arranged between the top plate 7 and the bottom yoke 26.

[0047] The load 40 is stored by a storage device, which is arranged at the bottom of the top plate 7 and connected to the top plate 7. At the same time, a telescopic rod 3 is arranged between the top plate 7 and the transfer platform 2, and the telescopic rod 3 can be used to perform a telescopic action, thereby driving the transfer platform 2 to perform a lifting movement, and cooperate with the vertical pushing device 9 to make the load in the storage device fall into the movable tray 30 of the transfer platform 2. The movable tray 30 generates a permanent magnetic adsorption force with the bottom magnetic yoke 26, and energizes the coil winding 28. While passively and reliably adsorbing, the energized coil winding 28 generates a driving force to achieve two-degree-of-freedom translation, that is, the X direction or the Y direction, thereby realizing the transfer of the load 40.

[0048] The bottom guide rail 27 is fixedly connected to the bottom magnetic yoke 26 by bolts, and the fixing frame 29 is fixedly connected to the bottom magnetic yoke 26 by screws.

[0049] In some optional embodiments, the mover tray 30 includes a tray 31 and a mover frame 32, a permanent magnet array 33, an upper magnetic yoke 34, and a universal bead 35. The mover frame 32 is arranged at the bottom of the tray 31, the upper magnetic yoke 34 is staggered in the mover frame 32, the permanent magnet array 33 is arranged at the bottom of the upper magnetic yoke 34, and the universal bead 35 is located at the bottom of the mover frame 32.

[0050] The upper magnetic yoke 34 is fixedly mounted on the mover frame 32 by screws, and the mover tray 30 is adsorbed on the bottom plate by the magnetic force of the permanent magnet.

[0051] In actual use, the coil winding 28 in the transfer platform 2 is energized, and a force in the X direction or Y direction is generated in the permanent magnetic field generated by the upper magnetic yoke 34, the permanent magnet array 33 and the bottom magnetic yoke 26. The mover tray 30 generates a permanent magnetic adsorption force between the four groups of Halbach permanent magnet arrays 33 and the coil winding 26. While passively and reliably adsorbing, the energized coil winding 26 is used to generate a driving force to achieve two-degree-of-freedom translation;

[0052] Taking the X-direction force as an example, the permanent magnetic circuit in the gap is: the magnetic flux starts from the N pole of the left vertical permanent magnet array 33, passes through the bottom magnetic yoke 26, and returns to the S pole of the right vertical permanent magnet array 33. The left side of the middle transverse permanent magnet array 33 is the N pole, passes through the bottom magnetic yoke 26, and returns to the right S pole. The permanent magnetic flux in the gap is the superposition of the magnetic flux of the vertical permanent magnet array 33 and the transverse permanent magnet array 33. The upper permanent magnetic circuit is: the magnetic flux starts from the N pole of the right vertical permanent magnet array 33, passes through the upper magnetic yoke, and returns to the left vertical permanent magnet. The S pole of the array 33, the left side of the middle transverse permanent magnet array 33 is the N pole, and it passes through the upper magnetic yoke 34 and returns to the S pole on the right side. The permanent magnet flux above is the difference between the flux of the vertical permanent magnet array 33 and the transverse permanent magnet array 33. After the telescopic rod 3 is extended, under the action of the horizontal driving force, the movable tray 30 drives the load 40 to be transferred to the designated position. After the external robotic arm takes away the load, it continues to move to the bottom of the next load 40 to be transferred. After the movable tray 30 reaches the designated position, the telescopic rod 3 is retracted, and the above transfer process is repeated.

[0053] In this embodiment, the bottom magnetic yoke 26 and the upper magnetic yoke 34 are both made of 1J50 material, and the material of the permanent magnet array 33 is a NdFeB alloy hard magnetic material.

[0054] The permanent magnet array 33 is a Halbach permanent magnet array, and the magnetization directions from left to right are: 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.

[0055] Specifically, the storage device includes an outer fixed side panel 4, an inner fixed side panel 5, and a movable side panel 6. The outer fixed side panel 4, the inner fixed side panel 5, and the movable side panel 6 are all arranged at the bottom of the top panel 7, and the inner fixed side panel 5 is located between the outer fixed side panel 4 and the movable side panel 6.

[0056] By disposing the outer fixed side plate 4 , the inner fixed side plate 5 and the movable side plate 6 , they together form a storage device, thereby facilitating the installation of the load 40 between the outer fixed side plate 4 and the inner fixed side plate 5 , and between the inner fixed side plate 5 and the movable side plate 6 .

[0057] The area composed of the external fixed side panels 4, the internal fixed side panels 5, the movable side panels 6, and the top panel 7 constitutes a storage area for accommodating loads. The external fixed side panels 4 and the internal fixed side panels 5 constitute a fixed storage area, and the internal fixed side panels 5 and the movable side panels 6 constitute a movable storage area.

[0058] Two rows of loads 40 are installed between the outer fixed side plate 4 and the inner fixed side plate 5, and the sizes of the two rows of loads 40 are different. The movable side plate 6 can be adjusted relative to the inner fixed side plate 5 to adapt to loads 40 of different sizes, and then the loads 40 of different sizes are installed between the inner fixed side plate 5 and the movable side plate 6, that is, the storage of loads 40 of different sizes is realized.

[0059] In this embodiment, the moving device 8 includes a dual-axis motor 17, a gear 18, and a rack 19. The dual-axis motor 17 is arranged on the movable side plate 6, the gear 18 is connected to the dual-axis motor 17, the rack 18 is arranged on the top plate 7, and the gear 18 is meshed with the rack 19.

[0060] By setting the dual-axis motor 17 on the movable side plate 6, that is, the movable side plate 6 provides an installation position for the dual-axis motor 17, and at the same time, the gear 18 is connected to the dual-axis motor 17, so that the gear 18 can be driven by the dual-axis motor 17 to rotate and engage with the rack on the top plate 7, so that the movable side plate 6 can be moved relative to the top plate 7, and then the position of the movable side plate 6 is adjusted to accommodate loads 40 of different sizes.

[0061] In this embodiment, there are multiple groups of vertical pushing devices 9 , and every two groups of vertical pushing devices 9 are staggered along the diagonal lines of the load 40 .

[0062] Among them, four groups of vertical pushing devices 9 are arranged between the outer fixed side plate 4 and the inner fixed side plate 5 , and four groups of vertical pushing devices 9 are arranged between the inner fixed side plate 5 and the movable side plate 6 .

[0063] Specifically, the number of sets of the vertical pushing devices 9 can be set according to the number of columns of the loads 40 actually set in the outer fixed side plate 4 , the inner fixed side plate 5 , and the movable side plate 6 .

[0064] In some optional embodiments, the vertical pushing device 9 includes a motor assembly 20 and an active synchronous pulley 21, a synchronous belt 22, a synchronous belt plate 23, a pushing plate 24, and a passive synchronous pulley 25. The motor assembly 20 is arranged on the top plate 7, the active synchronous pulley 21 is connected to the motor assembly 20, the synchronous belt 22 is sleeved on the active synchronous pulley 21 and is located in the storage device, the synchronous belt plate 23 is connected to the pushing plate 24, and they jointly clamp the synchronous belt 22, and the passive synchronous pulley 25 is arranged at the bottom of the synchronous belt 22.

[0065] The motor assembly 20 is mounted on the fixed side plate 4, the inner fixed side plate 5 and the movable side plate 6, and the active synchronous pulley 21 is coaxial with the output shaft of the motor assembly 20, so as to realize the connection between the active synchronous pulley 21 and the motor assembly 20. At the same time, the passive synchronous pulley 25 is arranged at the bottom of the outer fixed side plate 4, the inner fixed side plate 5 and the movable side plate 6, and the synchronous belt 22 is sleeved on the active synchronous pulley 21 and the passive synchronous pulley 25, and then the synchronous belt plate 23 is connected with the push plate 24 to clamp the synchronous belt 22 together, and the push plate 24 is mounted on the load 40, so that when the motor assembly 20 rotates, the active synchronous pulley 21 is driven to rotate, and the synchronous belt 22 and the passive synchronous pulley 25 are driven to rotate, so that the synchronous belt plate 23 and the push plate 24 move, and then the load 40 is pressed, so that the load 40 moves downward and falls on the tray 31.

[0066] In some optional embodiments, the external fixed side panel 4 includes an external fixed side panel body 10 and a disassembly partition 11, a micro switch 12, and a fixed ball-shaped screw 13. The disassembly partition 11 is arranged on the external fixed side panel body 10, and the fixed ball-shaped screw 13 and the micro switch 12 are located at the bottom of the disassembly partition 11 and the external fixed side panel body 10.

[0067] The disassembly partition 11 is disposed on the outer fixed side plate body 10 , and can be used to separate the two columns of loads 40 , and can also accommodate the synchronous belt 22 to prevent the synchronous belt 22 from contacting the loads 40 .

[0068] The inner fixed side plate 5 includes an inner fixed side plate body 14 and an outer removable partition 15A, an inner removable partition 15B, an outer ball-shaped screw 16A, and an inner ball-shaped screw 16B. The outer removable partition 15A and the inner removable partition 15B are arranged on the outer fixed side plate body 14, and the outer ball-shaped screw 16A and the inner ball-shaped screw 16B are located at the bottom of the outer removable partition 15A, the inner removable partition 15B and the inner fixed side plate body 10.

[0069] The fixed ball-end screw 13 , the outer ball-end screw 16A, and the inner ball-end screw 16B are used to clamp the load 40 to ensure that the load 40 is in a clamped state.

[0070] The provision of the outer detachable partition 15A and the inner detachable partition 15B can separate the two columns of loads 40 and, at the same time, can accommodate the synchronous belt 22 to prevent the synchronous belt 22 from contacting the loads 40 .

[0071] In some optional embodiments, the movable side plate 6 includes a movable side plate body 36 and an externally threaded bearing 37, a fixed plate 38, and a movable universal ball 39, wherein the externally threaded bearing 37 is arranged on the movable side plate body 36, the fixed plate 38 is arranged on the movable side plate body 36, and the movable universal ball 39 is arranged at the bottom of the fixed plate 38.

[0072] The external thread bearing 37 is installed on the movable side plate body 36 through threads, the fixed plate 38 is installed on the movable side plate body 36 through screws, and the movable universal ball 39 is installed on the fixed plate 38 through threads.

[0073] The movable side plate 6 moves through the side plate moving device 8 and is guided by the external threaded bearing 37 and the movable universal ball 39 in cooperation with the groove on the top plate 7.

[0074] Among them, the top plate 7, the fixed side plate, the movable side plate 6, the fixed plate 38, the bottom guide rail 27, and the mover frame 32 are all made of 1060 aluminum alloy material.

[0075] The present invention also provides a working method using the spatial storage and transfer device with movable side panels, comprising:

[0076] At least two rows of loads 40 are stored in the storage device. When the load 40 needs to be transferred, the telescopic rod 3 is in a retracted state, and the vertical pushing device 9 is used to push the load 40 downward, and the load 40 is pressed down and pushed onto the movable tray 30. The magnetic conductive sheet at the bottom of the load 40 and the movable tray 31 resist external interference, and the groove at the bottom of the load 40 cooperates with the positioning block on the movable tray 30 for positioning and provides anti-slip force. After completing the vertical pushing work, the telescopic rod 3 continues to extend, driving the transfer platform 2 to move. After extending to the limit position, the coil winding 28 in the transfer platform 2 is energized, and in the permanent magnetic field generated by the upper yoke 34, the permanent magnet array 33, and the bottom yoke 26, a force in the X direction or the Y direction is generated, and a permanent magnetic adsorption force is generated between the movable tray 30 and the bottom yoke 26. The energized coil winding 28 is used to generate a driving force to realize two-degree-of-freedom translation, thereby realizing the transfer of the load 40. After the transfer is completed, the robotic arm takes away the load, and the telescopic rod 3 retracts, and the above process is repeated for subsequent transfer.

[0077] The specific working method of the space storage and transfer device with movable side panels:

[0078] The loads 40 of the same specifications are tightly stacked in the same column. Taking the fixed storage area transfer as an example, the bottom load 40 in the same column is embedded by the fixed ball screw 13 and the sphere of the outer ball screw 16A, and is fixed by the bottom fixed ball screw 13, the outer ball screw 16A and the upper vertical transfer device push plate 24. After the transfer task starts, the telescopic rod 3 connecting the storage platform 1 and the transfer platform 2 is extended to the appropriate position according to the height of the transfer load 40, and the vertical pushing device 9 drives the pushing plate 24 to press down, driving the entire column of loads 40 to move downward, overcoming the resistance of the fixed ball screw 13, and pushing the load 40 downward onto the movable tray 30. The magnetic conductive The sheet and the permanent magnet array 33 on the mover tray 31 are adsorbed to resist external interference. The groove at the bottom of the load 40 cooperates with the positioning block on the mover tray 30 to position and provide anti-sliding force. After completing the vertical pushing work, the telescopic rod 3 continues to extend to drive the transfer platform 2 to move. After extending to the limit position, the coil winding 28 in the transfer platform 2 is energized, and in the permanent magnetic field generated by the upper yoke 34, the permanent magnet array 32 and the bottom yoke 26, a force in the X or Y direction is generated. The mover tray 30 generates a permanent magnetic adsorption force between the four groups of Halbach permanent magnet arrays 33 and the coil winding 26, and uses the energized coil winding 26 to generate a driving force to achieve two-degree-of-freedom translation while passively and reliably adsorbing;

[0079] Taking the X-direction force as an example, the permanent magnetic circuit in the gap is: the magnetic flux starts from the N pole of the left vertical permanent magnet array 33, passes through the bottom magnetic yoke 26, and returns to the S pole of the right vertical permanent magnet array 33. The left side of the middle transverse permanent magnet array 33 is the N pole, passes through the bottom magnetic yoke 26, and returns to the S pole on the right. The permanent magnetic flux in the gap is the superposition of the magnetic flux of the vertical permanent magnet array 33 and the transverse permanent magnet array 33. The upper permanent magnetic circuit is: the magnetic flux starts from the N pole of the right vertical permanent magnet array 33, passes through the upper magnetic yoke, and returns to the S pole of the left vertical permanent magnet array 33. The left side of the middle transverse permanent magnet array 33 is the N pole, which passes through the upper magnetic yoke 34 and returns to the S pole on the right side. The permanent magnetic flux above is the difference between the magnetic flux of the vertical permanent magnet array 33 and the transverse permanent magnet array 33. After the telescopic rod 3 is extended, under the action of the horizontal driving force, the mover tray 30 moves in the bottom guide rail 27, driving the load 40 to be transported to the designated position. After the external robotic arm takes away the load, it continues to move to the bottom of the next load 40 to be transported. After the mover tray 30 reaches the designated position, the telescopic rod 3 is retracted, and the above transport process is repeated;

[0080] When all the loads in the storage area are transferred away, they need to be reloaded for the new load 40. The platform can adapt to the size of the load 40 on the rail. According to the size of the subsequent load 40 to be loaded, the moving device 8 drives the movable side panel 6 to move to adapt to the size of the load 40 to be loaded. After the movable pallet 30 receives the load 40 at the external mechanical arm, it moves to the bottom of the storage area, and the telescopic rod 3 retracts to press the load 40 in the movable pallet 30 into the storage area, and is restricted by the fixed ball screws 13 in the outer fixed side panel 4 and the inner fixed side panel 5 and the outer ball screw 16A. The telescopic rod 3 extends, and the movable pallet 30 continues to go to the designated position to receive the load 40, and the loading process is repeated.

[0081] In addition, the presence of the removable partitions further increases the adaptability of the storage platform to the specifications of the storage load 40. On the ground, the storable specifications of the load 40 can be expanded by changing the position of the removable partitions.

[0082] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A space storage and transfer device with movable side panels, characterized in that: include: A storage platform (1), the storage platform (1) comprising a top plate (7) and a storage device, a moving device (8), and a vertical pushing device (9), the storage device being connected to the top plate (7), the storage device being used to accommodate a load (40), the moving device (8) being arranged on the top plate (7) and connected to the storage device, and the vertical pushing device (9) being arranged on the top plate (7) and close to a side wall of the storage device; A transfer platform (2), the transfer platform (2) being located below the storage platform (1), the transfer platform (2) comprising a bottom magnetic yoke (26) and a bottom guide rail (27), a coil winding (28), a fixing frame (29), and a mover tray (30), the bottom guide rail (27) being arranged on the bottom magnetic yoke (26), the fixing frame (29) being located in a gap of the bottom guide rail (27), the coil winding (28) being arranged in the fixing frame (29), the mover tray (30) being arranged on the bottom guide rail (27), and the mover tray (30) being used to bear a load (40); The telescopic rod (3) is arranged between the top plate (7) and the bottom magnetic yoke (26).

2. The spatial storage and transportation device with movable side panels according to claim 1, characterized in that: The mover tray (30) comprises a tray (31) and a mover frame (32), a permanent magnet array (33), an upper magnetic yoke (34), and a universal bead (35); the mover frame (32) is arranged at the bottom of the tray (31); the upper magnetic yoke (34) is arranged in a staggered manner in the mover frame (32); the permanent magnet array (33) is arranged at the bottom of the upper magnetic yoke (34); and the universal bead (35) is located at the bottom of the mover frame (32).

3. The spatial storage and transportation device with movable side panels according to claim 2, characterized in that: The storage device comprises an outer fixed side plate (4), an inner fixed side plate (5), and a movable side plate (6); the outer fixed side plate (4), the inner fixed side plate (5), and the movable side plate (6) are all arranged at the bottom of the top plate (7), and the inner fixed side plate (5) is located between the outer fixed side plate (4) and the movable side plate (6).

4. The spatial storage and transportation device with movable side panels according to claim 2, characterized in that: The moving device (8) comprises a double-axis motor (17), a gear (18) and a rack (19); the double-axis motor (17) is arranged on the movable side plate (6); the gear (18) is connected to the double-axis motor (17); the rack (18) is arranged on the top plate (7); and the gear (18) is meshed with the rack (19).

5. The spatial storage and transportation device with movable side panels according to claim 3 or 4, characterized in that: The vertical pushing devices (9) have multiple groups, and every two groups of the vertical pushing devices (9) are staggered along the diagonal lines of the load (40).

6. The spatial storage and transportation device with movable side panels according to claim 5, characterized in that: The vertical pushing device (9) comprises a motor assembly (20), an active synchronous pulley (21), a synchronous belt (22), a synchronous belt plate (23), a pushing plate (24), and a passive synchronous pulley (25); the motor assembly (20) is arranged on the top plate (7); the active synchronous pulley (21) is connected to the motor assembly (20); the synchronous belt (22) is sleeved on the active synchronous pulley (21) and is located in the storage device; the synchronous belt plate (23) is connected to the pushing plate (24) and jointly clamps the synchronous belt (22); and the passive synchronous pulley (25) is arranged at the bottom of the synchronous belt (22).

7. The spatial storage and transportation device with movable side panels according to claim 5, characterized in that: The external fixed side plate (4) comprises an external fixed side plate body (10), a disassembly partition (11), a micro switch (12), and a fixed ball screw (13); the disassembly partition (11) is arranged on the external fixed side plate body (10); and the fixed ball screw (13) and the micro switch (12) are located at the bottom of the disassembly partition (11) and the external fixed side plate body (10).

8. The spatial storage and transportation device with movable side panels according to claim 5, characterized in that: The inner fixed side plate (5) comprises an inner fixed side plate body (14) and an outer removable partition (15A), an inner removable partition (15B), an outer ball screw (16A), and an inner ball screw (16B); the outer removable partition (15A) and the inner removable partition (15B) are arranged on the outer fixed side plate body (14); the outer ball screw (16A) and the inner ball screw (16B) are located at the bottom of the outer removable partition (15A), the inner removable partition (15B) and the outer fixed side plate body (10).

9. The spatial storage and transportation device with movable side panels according to claim 5, characterized in that: The movable side plate (6) comprises a movable side plate body (36), an externally threaded bearing (37), a fixed plate (38), and a movable universal ball (39); the externally threaded bearing (37) is arranged on the movable side plate body (36); the fixed plate (38) is arranged on the movable side plate body (36); and the movable universal ball (39) is arranged at the bottom of the fixed plate (38).

10. A working method using the spatial storage and transfer device with movable side panels according to any one of claims 1 to 9, characterized in that: include: At least two rows of loads (40) are stored in the storage device. When the loads (40) need to be transferred, the telescopic rod (3) is in a retracted state, and the loads (40) are pushed downward by the vertical pushing device (9) to push the loads (40) downward onto the mover tray (30). The magnetic conductive sheet at the bottom of the loads (40) and the mover tray (31) resist external interference, and the groove at the bottom of the loads (40) cooperates with the positioning block on the mover tray (30) for positioning and provides an anti-sliding force. After the vertical pushing work is completed, the telescopic rod (3) is extended to drive the transfer platform After the platform (2) moves and extends to the limit position, the coil winding (28) in the transfer platform (2) is energized, and a force in the X direction or the Y direction is generated in the permanent magnetic field generated by the upper magnetic yoke (34), the permanent magnet array (33), and the bottom magnetic yoke (26), and a permanent magnetic adsorption force is generated between the mover tray (30) and the bottom magnetic yoke (26). The driving force generated by the energized coil winding (28) is used to achieve two-degree-of-freedom translation, thereby realizing the transfer of the load (40). After the transfer is completed, the mechanical arm takes away the load, and the telescopic rod (3) retracts, and the above process is repeated for subsequent transfer.

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