Space storage transfer device with movable side plate and working method

Abstract

The present application relates to the technical field of aerospace, and particularly relates 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 and 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 accommodating 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 close to the side wall of the storage device; a transfer platform is located below the storage platform, the transfer platform comprises a bottom magnetic yoke and a bottom guide rail, a coil winding, a fixing frame and a mover tray; a telescopic rod is arranged between the top plate and the bottom magnetic yoke. The storage density is large, the storage types are various, the transfer efficiency is high, the volume is small and the quality is light, the on-orbit storage and transfer of loads of different specifications can be realized, and the actual needs of the present stage of aerospace application can be met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aerospace technology, in particular to a space storage transfer device with movable side plates and a working method. BACKGROUND

[0002] In the past few decades, more and more satellites have been implemented in space for scientific research, technical testing and related application tasks. The concept of space on-orbit service is born to achieve the purpose of prolonging the life and improving the performance of satellites, platforms, space stations and space vehicles by completing the assembly and maintenance of spacecraft in space. On-orbit construction, as one of on-orbit services, is a process of assembling and constructing space structures or devices in the Earth's orbit, focusing on structural work in orbit.

[0003] The world aerospace is ushering in the era of "flight-like space transportation" for large-scale entry and exit of space. In order to develop and utilize space resources more efficiently and on a larger scale, it is necessary to carry different specifications of payloads in high density in one launch mission to perform on-orbit construction and other tasks. Currently, there is no practical application of large-scale on-orbit storage of payloads and materials. As for on-orbit transfer, due to the complex space environment in space, limited power and energy resources, and high development and maintenance costs, the transfer task of on-orbit construction relies mainly on the grabbing of mechanical arms. However, the current space mechanical arm transfer precision can meet the needs of space transportation, but the control system is relatively complex; the current mechanical arm movement process is slow and the transfer efficiency is low; the mechanical arm is severely worn under high frequency and high load conditions, and factors such as radiation and temperature changes in the space environment exacerbate the problem.

[0004] Currently, there is no production and application of space storage transfer platforms, and how to efficiently, multi-categorically and low-cost store and transfer goods is a technical problem of the existing technology. The three-dimensional stacking storage mode of the typical storage and transfer system applied in the industrial and military fields can effectively carry large-scale and multi-categorical loads. SUMMARY

[0005] Therefore, the present application provides a space storage transfer device with movable side plates.

[0006] In order to solve the above technical problems, the application provides a space storage transfer device with movable side plates, which comprises a storage platform, a moving device, a vertical pushing device, a storage device connected with the top plate, the moving device arranged on the top plate and connected with the storage device, and the vertical pushing device arranged on the top plate and close to the side wall of the storage device; a transfer platform located below the storage platform, the transfer platform comprising a bottom magnetic yoke, a bottom guide rail, a coil winding, a fixed frame, and a mover tray, the bottom guide rail arranged on the bottom magnetic yoke, the fixed frame located in the gap of the bottom guide rail, the coil winding arranged in the fixed frame, and the mover tray arranged on the bottom guide rail and used for receiving the load; and a telescopic rod arranged between the top plate and the bottom magnetic yoke.

[0007] Further, the mover tray comprises a tray and a mover frame, a permanent magnet array, an upper magnetic yoke, and universal beads, the mover frame arranged at the bottom of the tray, the upper magnetic yokes staggered arranged in the mover frame, the permanent magnet array arranged at the bottom of the upper magnetic yoke, and the universal beads located at the bottom of the mover frame.

[0008] Further, the storage device comprises an outer fixed side plate, an inner fixed side plate, and a movable side plate, the outer fixed side plate and the inner fixed side plate arranged at the bottom of the top plate, and the inner fixed side plate located between the outer fixed side plate and the movable side plate.

[0009] Further, the moving device comprises a double-shaft motor and a gear, and a rack, the double-shaft motor arranged on the movable side plate, the gear connected with the double-shaft motor, the rack arranged on the top plate, and the gear engaged with the rack.

[0010] Further, the vertical pushing device has multiple groups, and each two groups of the vertical pushing device are staggered arranged along the diagonal line of the load.

[0011] Further, the vertical pushing device comprises a motor assembly, a driving synchronous pulley, a synchronous belt, a synchronous belt plate, a pushing plate, and a driven synchronous pulley, the motor assembly arranged on the top plate, the driving synchronous pulley connected with the motor assembly, the synchronous belt sleeved on the driving synchronous pulley and located in the storage device, the synchronous belt plate connected with the pushing plate and jointly clamping the synchronous belt, and the driven synchronous pulley arranged at the bottom of the synchronous belt.

[0012] Further, the outer fixed side plate comprises an outer fixed side plate body, a dismounting partition plate, a microswitch, and a fixed wave bead screw, the dismounting partition plate arranged on the outer fixed side plate body, and the fixed wave bead screw and the microswitch located at the bottom of the dismounting partition plate and the outer fixed side plate body.

[0013] Further, the inner fixed side plate comprises an inner fixed side plate body and an outer detachable partition plate, an inner detachable partition plate, an outer wave bead screw and an inner wave bead screw, the outer detachable partition plate and the inner detachable partition plate are arranged on the outer fixed side plate body, and the outer wave bead screw and the inner wave bead screw are located at the bottom of the outer detachable partition plate, the inner detachable partition plate and the inner fixed side plate body.

[0014] Further, the movable side plate comprises a movable side plate body, an outer threaded bearing, a fixed plate and a movable universal bead, the outer 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 bead is arranged at the bottom of the fixed plate.

[0015] The application also provides a working method of the space storage transfer device with the movable side plate, comprising:

[0016] At least two columns of loads are stored in the storage device, when the loads need to be transferred, the telescopic rod is in the retracted state, the vertical pushing device is used to push the loads downward, the loads are pushed downward to the mover tray, the magnetic guide sheet at the bottom of the load is resistant to external interference, the groove at the bottom of the load is matched with the positioning block on the mover tray to be positioned and provide anti-sliding force, after the vertical pushing work is completed, the telescopic rod is extended to drive the transfer platform to move, after the telescopic rod is extended to the limit position, the coil winding in the transfer platform is electrified, X-direction or Y-direction force is generated in the permanent magnetic field generated by the upper magnetic yoke, the permanent magnet array and the bottom magnetic yoke, the permanent magnetic adsorption force is generated between the mover tray and the bottom magnetic yoke, the driving force is generated by the electrified coil winding to realize two-degree-of-freedom translation, the transfer of the loads is realized, after the mechanical arm takes away the loads, the telescopic rod is retracted, and the above process is repeated for the transfer.

[0017] The technical scheme of the application has the following advantages:

[0018] 1. The space storage transfer device with the movable side plate provided by the application solves the blank in the field of the space storage transfer device at present, has the advantages of high-density storage, various types of loads and high-efficiency transfer, and can realize the on-orbit storage and transfer of various modular loads. The three-dimensional stacking storage mode is adopted to improve the load accommodation density, the movable side plate is used to improve the flexibility of the space loading of the loads, and the detachable partition plate is used to adapt to most types of loads on the ground. The synchronous belt drive is used for vertical downward pressing during the transfer, the single column of loads can be pressed downward individually, and the flexibility is good; the mechanical transmission is not needed for the plane transfer, the transfer efficiency is high, and various types of loads can be adapted.

[0019] The application has the advantages of large storage density, various types of storage, high transfer efficiency, small volume and light weight, can realize the on-orbit storage and transfer of different specifications of loads, and can meet the actual needs of the present stage of space application.

[0020] 2. The three-dimensional stacked storage structure can carry a variety of loads at high density. The movable side plate brings flexibility in space load bearing. The detachable partition plate ensures that most types of loads can be carried after ground adjustment, avoiding simultaneous space activation 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 mechanical arm transfer, the transfer speed is fast, the transfer range is large, and the occupied space is small. The problem of unable to quickly and accurately transfer in the three-dimensional stacked storage space environment of the mechanical arm is avoided.

[0022] 4. The plane transfer adopts the form of a plane electromagnetic actuator. Unlike the magnetic suspension motor, fewer coils are used to realize the movement of each position. The attractive force generated by the bottom magnetic yoke and the permanent magnets in the mover tray well adapts to the microgravity situation in the space environment, effectively ensuring the position of the mover tray. The square cross-section coil can ensure that the mover tray outputs horizontal force in two directions during movement according to the movement direction.

[0023] The summary section is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary section is not intended to identify key or essential features of the disclosure, and is not intended to limit the scope of the disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0025] Figure 1 The storage transfer platform described in the present application is an isometric view;

[0026] Figure 2 The outer fixed side plate described in the present application is a perspective view;

[0027] Figure 3 The outer fixed side plate described in the present application is a front view;

[0028] Figure 4 The inner side of the inner fixed side plate described in the present application is a front view;

[0029] Figure 5 The outer side of the inner fixed side plate described in the present application is a front view;

[0030] Figure 6 The top view of the moving device described in the present application is a top view;

[0031] Figure 7 Isometric view of the vertical pushing device according to the present invention;

[0032] Figure 8 Side view of the vertical pushing device according to the present invention;

[0033] Figure 9 Top view of the transfer platform according to the present invention;

[0034] Figure 10 Sectional view of the mover tray according to the present invention;

[0035] Figure 11 Schematic view of the structure of the fixing frame according to the present invention;

[0036] Figure 12 Schematic view of the installation of the mover tray and the transfer platform according to the present invention;

[0037] Figure 13 Front view of the movable side plate according to the present invention.

[0038] BRIEF DESCRIPTION OF DRAWINGS

[0039] 1, warehouse platform; 2, transfer platform; 3, telescopic rod; 4, outer fixed side plate; 5, inner fixed side plate; 6, movable side plate; 7, top plate; 8, moving device; 9, vertical pushing device; 10, outer fixed side plate body; 11, detachable partition; 12, micro switch; 13, fixed wave bead screw; 14, inner fixed side plate body; 15A, inner side detachable partition; 15B, outer side detachable partition; 16A, inner side wave bead screw; 16B, outer side wave bead screw; 17, double shaft motor; 18, gear; 19, rack; 20, motor assembly; 21, driving synchronous pulley; 22, synchronous belt; 23, synchronous belt plate; 24, pushing plate; 25, driven synchronous pulley; 26, bottom magnetic yoke; 27, bottom guide rail; 28, coil winding; 29, fixing frame; 30, mover tray; 31, tray; 32, mover frame; 33, permanent magnet array; 34, upper magnetic yoke; 35, universal bead; 36, movable side plate body; 37, outer threaded bearing; 38, fixed plate; 39, moving universal bead; 40, load. DETAILED DESCRIPTION

[0040] In the following, certain example embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and the description are considered to be exemplary in nature rather than limiting.

[0041] In the description of the disclosure, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "straight", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the disclosure. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the disclosure, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0042] In the description of the disclosure, it needs to be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection or can communicate with each other; it can be directly connected, or indirectly connected through intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the disclosure can be understood according to the specific circumstances.

[0043] In the disclosure, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "on" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "under" and "under" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0044] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate 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 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, the vertical pushing device 9 being 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 magnetic 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 magnetic 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 magnetic 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 telescopic movements, thereby driving the transfer platform 2 to perform lifting and lowering movements, and cooperating with the vertical pushing device 9, so that the load in the storage device falls into the mover tray 30 of the transfer platform 2. The mover tray 30 generates 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 is used to generate driving force to achieve two-degree-of-freedom translation, namely 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 bracket 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 fixed to 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] During actual use, the coil winding 28 in the transfer platform 2 is energized, and a force in the X 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 attraction force between the four sets 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 magnet 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 magnet 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 magnet 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 mover tray 30 drives 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 retracts and repeats the above transport process.

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

[0056] By arranging the outer fixed side plate 4, the inner fixed side plate 5 and the movable side plate 6, the storage device is formed, so as to facilitate 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 formed by the outer fixed side plate 4, the inner fixed side plate 5, the movable side plate 6 and the top plate 7 constitutes a storage area for accommodating the load, the outer fixed side plate 4 and the inner fixed side plate 5 constitute a fixed storage area, and the inner fixed side plate 5 and the movable side plate 6 constitute a movable storage area.

[0058] In this embodiment, 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 in position relative to the inner fixed side plate 5, so as 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 comprises a double-shaft motor 17 and a gear 18 and a rack 19, the double-shaft motor 17 is arranged on the movable side plate 6, the gear 18 is connected with the double-shaft motor 17, the rack 19 is arranged on the top plate 7, and the gear 18 is engaged with the rack 19.

[0060] By arranging the double-shaft motor 17 on the movable side plate 6, that is, the movable side plate 6 provides a mounting position for the double-shaft motor 17, and the gear 18 is connected with the double-shaft motor 17, that is, the double-shaft motor 17 can drive the gear 18 to rotate and engage with the rack on the top plate 7, so that the movable side plate 6 can move 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, the vertical pushing device 9 has multiple groups, and each two groups of the vertical pushing device 9 are arranged along the diagonal lines of the load 40.

[0062] In this embodiment, 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 groups of the vertical pushing device 9 can be set according to the number of rows of loads 40 arranged 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 comprises a motor assembly 20 and a driving synchronous pulley 21, a synchronous belt 22, a synchronous belt plate 23, a pushing plate 24, a passive synchronous pulley 25, the motor assembly 20 is arranged on the top plate 7, the driving synchronous pulley 21 is connected with the motor assembly 20, the synchronous belt 22 is sleeved on the driving synchronous pulley 21 and located in the storage device, the synchronous belt plate 23 is connected with 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.

[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, the driving synchronous pulley 21 is coaxial with the output shaft of the motor assembly 20, thereby realizing the connection between the driving synchronous pulley 21 and the motor assembly 20. Meanwhile, 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, the synchronous belt 22 is sleeved on the driving synchronous pulley 21 and the passive synchronous pulley 25, the synchronous belt plate 23 is connected with the pushing plate 24 to jointly clamp the synchronous belt 22, and the pushing plate 24 is arranged on the load 40. When the motor assembly 20 rotates, the driving synchronous pulley 21 rotates, the synchronous belt 22 and the passive synchronous pulley 25 rotate, the synchronous belt plate 23 and the pushing plate 24 move, the load 40 is pressed, and the load 40 moves downward and falls on the tray 31.

[0066] In some optional embodiments, the outer fixed side plate 4 comprises an outer fixed side plate body 10 and a detachable partition plate 11, a micro switch 12 and a fixed wave bead screw 13, the detachable partition plate 11 is arranged on the outer fixed side plate body 10, and the fixed wave bead screw 13 and the micro switch 12 are located at the bottom of the detachable partition plate 11 and the outer fixed side plate body 10.

[0067] The detachable partition plate 11 is arranged on the outer fixed side plate body 10, which can separate two rows of loads 40 and accommodate the synchronous belt 22 to avoid contact between the synchronous belt 22 and the loads 40.

[0068] The inner fixed side plate 5 comprises an inner fixed side plate body 14, an outer detachable partition plate 15A and an inner detachable partition plate 15B, and an outer wave bead screw 16A and an inner wave bead screw 16B, the outer detachable partition plate 15A and the inner detachable partition plate 15B are arranged on the outer fixed side plate body 14, and the outer wave bead screw 16A and the inner wave bead screw 16B are located at the bottom of the outer detachable partition plate 15A, the inner detachable partition plate 15B and the inner fixed side plate body 10.

[0069] The fixed wave bead screw 13 and the outer wave bead screw 16A and the inner wave bead screw 16B are used to clamp the loads 40 to ensure that the loads 40 are in a clamped state.

[0070] The outer detachable partition plate 15A and the inner detachable partition plate 15B can separate the two rows of loads 40, and can accommodate the synchronous belt 22, so that the synchronous belt 22 is prevented from contacting the loads 40.

[0071] In some optional embodiments, the movable side plate 6 comprises a movable side plate body 36, an outer threaded bearing 37, a fixed plate 38 and a movable universal ball 39, the outer 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 outer threaded bearing 37 is screwed on the movable side plate body 36, the fixed plate 38 is screwed on the movable side plate body 36, and the movable universal ball 39 is screwed on the fixed plate 38.

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

[0074] 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.

[0075] The application further provides a working method of the space storage transfer device with the movable side plate.

[0076] When the loads 40 need to be transferred, the telescopic rod 3 is in the retracted state, the loads 40 are pushed downward by the vertical pushing device 9, the loads 40 are pushed downward to the mover tray 30, the magnetic guide sheet at the bottom of the loads 40 resists external interference, the groove at the bottom of the loads 40 is positioned and anti-sliding force is provided through the cooperation with the positioning block on the mover tray 30, after the vertical pushing work is completed, the telescopic rod 3 continues to extend, the transfer platform 2 is moved, after the telescopic rod 3 extends to the limit position, the coil winding 28 in the transfer platform 2 is electrified, X-direction or Y-direction force 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 permanent magnetic adsorption force is generated between the mover tray 30 and the bottom magnetic yoke 26, the driving force is generated by the electrified coil winding 28 to realize two-degree-of-freedom translation, the transfer of the loads 40 is realized, after the mechanical arm takes away the loads, the telescopic rod 3 is retracted, and the above process is repeated for the transfer.

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

[0078] The same specification of the load 40 is closely stacked in the same column. Taking the fixed warehouse area transfer as an example, the bottom load 40 in the same column is embedded by the ball of the fixed wave bead screw 13 and the outer wave bead screw 16A, is fixed by the bottom fixed wave bead screw 13, the outer wave bead screw 16A and the upper vertical transfer device pushing plate 24, and the transfer task starts. After the transfer, the telescopic rod 3 connected with the warehouse platform 1 and the transfer platform 2 is stretched to the appropriate position according to the height of the transferred load 40. The vertical pushing device 9 drives the pushing plate 24 to press down, drives the whole column of loads 40 to move downward, overcomes the resistance of the fixed wave bead screw 13, and pushes the load 40 downward to the mover tray 30. The magnetic sheet at the bottom of the load 40 is adsorbed to the permanent magnet array 33 on the mover tray 31 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 the vertical pushing work is completed, the telescopic rod 3 continues to stretch, driving the transfer platform 2 to move. After stretching to the limit position, the coil winding 28 in the transfer platform 2 is energized in the permanent magnetic field generated by the upper magnetic yoke 34, the permanent magnet array 32 and the bottom magnetic yoke 26, generating X or Y direction force. The mover tray 30 generates permanent magnetic adsorption force between the four groups of Halbach permanent magnet arrays 33 and the coil winding 26, and utilizes the driving force generated by the energized coil winding 26 to realize two degrees of freedom translation while being passively and reliably adsorbed;

[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 intermediate transverse permanent magnet array 33 is N pole, passes through the bottom magnetic yoke 26, and returns to the right side 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 S pole of the left vertical permanent magnet array 33. The left side of the intermediate transverse permanent magnet array 33 is N pole, passes through the upper magnetic yoke 34, and returns to the right side S pole. The upper permanent magnetic flux 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 stretched, the mover tray 30 moves in the bottom guide rail 27 under the action of horizontal driving force, driving the load 40 to be transferred to the designated position. After the external mechanical arm takes away the load, it continues to the next load 40 below. After the mover tray 30 reaches the designated position, the telescopic rod 3 is retracted, and the above transfer process can be repeated;

[0080] When all the loads in the storage area are transported, the platform can adapt to the size of the load 40 on the track, and the mobile device 8 drives the movable side plate 6 to move to adapt to the size of the load 40 to be loaded. After the mover tray 30 receives the load 40 at the external mechanical arm, it moves to the lower part of the storage area. The telescopic rod 3 is retracted, the load 40 in the mover tray 30 is pressed into the storage area, and is limited by the fixed wave bead screws 13 and the outer wave bead screws 16A in the outer fixed side plate 4 and the inner fixed side plate 5. The telescopic rod 3 is extended, and the mover tray 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 detachable partition further increases the adaptability of the storage platform to the specifications of the stored load 40. On the ground, the specifications of the load 40 that can be stored can be expanded by changing the position of the detachable partition.

[0082] Obviously, the above embodiments are only examples for the purpose of clarity, and are not limiting to the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. All embodiments do not need to be exhausted, and obvious changes or variations still fall within the protection scope of the present application.

Claims

1. A spatial warehousing transfer device with movable side panels, characterized in that, The warehouse platform (1) comprises a top plate (7) and a storage device, a moving device (8), and a vertical pushing device (9), the storage device is connected with the top plate (7) and is used for accommodating a load (40), the moving device (8) is arranged on the top plate (7) and is connected with the storage device, and the vertical pushing device (9) is arranged on the top plate (7) and is close to the side wall of the storage device. The transfer platform (2) is located below the warehouse platform (1), and comprises a bottom magnetic yoke (26), a bottom guide rail (27), a coil winding (28), a fixed frame (29), and a mover tray (30), the bottom guide rail (27) is arranged on the bottom magnetic yoke (26), the fixed frame (29) is located in the gap of the bottom guide rail (27), the coil winding (28) is arranged in the fixed frame (29), and the mover tray (30) is arranged on the bottom guide rail (27) and is used for receiving the load (40). A telescopic rod (3) is arranged between the top plate (7) and the bottom magnetic yoke (26). The mover tray (30) comprises a tray (31), a mover frame (32), a permanent magnet array (33), an upper magnetic yoke (34), and universal beads (35), the mover frame (32) is arranged at the bottom of the tray (31), the upper magnetic yoke (34) is arranged in the mover frame (32) in a staggered manner, the permanent magnet array (33) is arranged at the bottom of the upper magnetic yoke (34), and the universal beads (35) are arranged at the bottom of the mover frame (32). 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 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). The moving device (8) comprises a double-shaft motor (17), a gear (18), and a rack (19), the double-shaft motor (17) is arranged on the movable side plate (6), the gear (18) is connected with the double-shaft motor (17), and the rack (19) is arranged on the top plate (7), and the gear (18) is engaged with the rack (19). The vertical pushing device (9) has multiple groups, and each two groups of the vertical pushing device (9) are arranged along the diagonal lines of the load (40) in a staggered manner.

2. The spatial warehousing transfer device with movable side plates according to claim 1, characterized in that, The vertical pushing device (9) comprises a motor assembly (20), a driving synchronous pulley (21), a synchronous belt (22), a synchronous belt plate (23), a pushing plate (24), and a driven synchronous pulley (25), the motor assembly (20) is arranged on the top plate (7), the driving synchronous pulley (21) is connected with the motor assembly (20), the synchronous belt (22) is sleeved on the driving synchronous pulley (21) and is located in the storage device, the synchronous belt plate (23) is connected with the pushing plate (24) and jointly clamps the synchronous belt (22), and the driven synchronous pulley (25) is arranged at the bottom of the synchronous belt (22).

3. The spatial warehousing transfer device with movable side plates according to claim 2, characterized in that, ​ 4. The spatial warehousing transfer device with movable side plates according to claim 3, characterized in that, The outer fixed side plate (4) comprises an outer fixed side plate body (10) and a dismounting partition (11), a micro switch (12) and a fixed wave bead screw (13), the dismounting partition (11) is arranged on the outer fixed side plate body (10), and the fixed wave bead screw (13) and the micro switch (12) are located at the bottom of the dismounting partition (11) and the outer fixed side plate body (10).

5. The spatial warehousing transfer device with movable side plates according to claim 4, characterized in that, The inner fixed side plate (5) comprises an inner fixed side plate body (14) and an outer dismounting partition (15A), an inner dismounting partition (15B), an outer wave bead screw (16A) and an inner wave bead screw (16B), the outer dismounting partition (15A) and the inner dismounting partition (15B) are arranged on the outer fixed side plate body (10), and the outer wave bead screw (16A) and the inner wave bead screw (16B) are located at the bottom of the outer dismounting partition (15A), the inner dismounting partition (15B) and the outer fixed side plate body (10).

6. The spatial warehousing transfer device with movable side plates according to claim 5, characterized in that, The movable side plate (6) comprises a movable side plate body (36), an outer threaded bearing (37), a fixed plate (38) and a moving universal bead (39), the outer 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 moving universal bead (39) is arranged at the bottom of the fixed plate (38).

7. A method of using the space warehouse transfer device with movable side panels of any one of claims 1-6, wherein, The method comprises the following steps: At least two columns of loads (40) are stored in the warehouse device, when the loads (40) need to be transferred, the telescopic rod (3) is in the retracted state, the loads (40) are pushed downward by using the vertical pushing device (9), the loads (40) are pushed downward to the mover tray (30), the magnetic guide sheet at the bottom of the load (40) resists external interference, the groove at the bottom of the load (40) is matched with the positioning block on the mover tray (30) to be positioned and provide anti-sliding force, after the vertical pushing work is completed, the telescopic rod (3) is extended to drive the transfer platform (2) to move, after the telescopic rod (3) is extended to the limit position, the coil winding (28) in the transfer platform (2) is electrified, X-direction or Y-direction force 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), permanent magnetic adsorption force is generated between the mover tray (30) and the bottom magnetic yoke (26), the driving force is generated by using the electrified coil winding (28) to realize two-degree-of-freedom translation, the transfer of the load (40) is realized, after the mechanical arm takes away the load, the telescopic rod (3) is retracted, and then the transfer repeats the above process.

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