Magnetic sheet tubing device

Abstract

The invention discloses a magnetic sheet tubing device, and relates to the field of intelligent equipment manufacturing, and the magnetic sheet tubing device is characterized by comprising a loading tube, a floating block, an active suspension device, a sensor and a controller. The floating block is movably arranged in the loading pipe and is used for supporting the magnetic sheet; the active suspension device is used for providing adjustable suspension force for the floating block; the sensor is used for detecting the stacking pressure and height of the magnetic sheets; the controller adjusts suspension force in a closed-loop mode according to feedback signals of the sensor, so that the vertical position of the floating block dynamically changes along with the stacking height of the magnetic sheets. The device replaces a traditional mechanical supporting rod structure, has the advantages of being free of friction, flexible in supporting, high in response and the like, effectively reduces the damage risk of the magnetic sheets caused by impact, and is particularly suitable for automatic tubing of the brittle magnetic sheets such as neodymium iron boron.

Description

Technical Field

[0001] The present invention relates to the field of intelligent equipment manufacturing, and in particular to a magnetic sheet tube loading device. Background Art

[0002] NdFeB magnetic sheets are widely used in the fields of high-performance permanent magnet motors, electronic components and intelligent equipment manufacturing. Their assembly accuracy and stacking quality directly affect the magnetic field consistency and operating stability of the terminal products. In the production process of magnetic sheets, in order to improve the degree of automation, automatic tube loading equipment is usually used to alternately load magnetic sheets and gaskets into the loading tube, and the stacked magnetic sheets are supported by the support rods provided under the tube loading station. In the prior art, the support rods are generally gradually lowered through a mechanical transmission device to facilitate the stacking of magnetic sheets.

[0003] However, due to its brittleness, poor impact resistance, and high sensitivity to temperature and magnetic fields, NdFeB magnetic sheets are prone to a series of problems when the support rod is gradually lowered using mechanical transmission. The vibration and impact of the support rod during operation may cause the magnetic sheet to break or break; untimely descent may cause the free fall of the magnetic sheet to be too large, resulting in stacking misalignment or damage to the magnetic sheet; the temperature rise caused by the friction of the mechanical structure may also affect the stability of the magnetic performance.

[0004] Therefore, there is an urgent need for a pipe installation solution that can more flexibly and accurately control the lifting process of the support rod, so as to improve the assembly quality, avoid damage to the magnetic sheet, and ensure that the entire machine can still meet the process requirements of high-performance NdFeB magnetic sheet products under efficient operation. Summary of the invention

[0005] The object of the present invention is to provide a magnetic sheet tube loading device, which has the advantages of achieving multiple breakthroughs in precision, efficiency and reliability of the magnetic sheet tube loading process through a multi-modal suspension technology path.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions: A magnetic sheet tube loading device comprises a loading tube, and further comprises: A floating block, suitable for loading magnetic sheets, wherein the floating block is movably arranged inside the loading tube and is lifted and lowered in a vertical direction of the loading tube; An active suspension device, acting on the floating block, is suitable for adjusting the suspension force in real time so that the floating block can dynamically adjust its position in the vertical direction as the height of the magnetic sheet stack changes; Sensors for detecting magnetic sheet contact pressure and stack height; The controller, based on the real-time pressure and position signals detected by the sensor, closes the loop to adjust the output parameters of the active suspension device so that the vertical position of the floating block follows the change of the magnetic sheet stacking height.

[0007] Further setting: The active suspension device is a pneumatic suspension unit, including an air floating cavity communicated with the floating block and a first air source for outputting compressed air. A porous air floating membrane is arranged at the bottom of the air floating cavity, and the controller controls the height of the floating block by adjusting the air pressure.

[0008] Further setting: An electronic proportional valve is arranged on the air inlet channel of the air floating cavity. The controller controls the electronic proportional valve to continuously adjust the air pressure in a small step according to the pressure change trend detected by the sensor, so as to rapidly increase the air pressure at the moment when the magnetic sheet is released to buffer the impact, and slowly release the air pressure after the magnetic sheets are stably stacked to maintain the balance of the stacking height.

[0009] Further setting: The porous air floating membrane covers the bottom surface of the air floating cavity. The porous air floating membrane is made of graphene composite material, with a pore diameter of 10 - 50 μm and a porosity of 60% - 80%.

[0010] Further setting: The active suspension device is an airbag suspension unit, including: An airbag arranged below the floating block, which is used to support the floating block and allow it to have a controllable displacement in the vertical direction with the change of pressure; A second air source and a pressure regulating device communicated with the airbag. The controller outputs a signal to adjust the internal pressure of the airbag according to the magnetic sheet contact state and height change signal detected by the sensor, so as to dynamically control the support height and response stiffness of the floating block.

[0011] Further setting: The airbag is composed of a double-layer composite elastic material. The inner layer is a high-elastic silicone rubber film, and the outer layer is a pressure-resistant fiber layer. The airbag is provided with a strain sensor for detecting the deformation amplitude. The controller calculates the height offset of the floating block according to the real-time deformation amount of the airbag, so as to adjust the output pressure of the second air source.

[0012] Further setting: The active suspension device is an electromagnetic suspension unit, including a permanent magnet structure arranged below the floating block and a corresponding electromagnet group. The controller is used to adjust the electromagnet current to control the magnetic suspension height of the floating block.

[0013] Further setting: The permanent magnet structure is arranged in a Halbach array, which is used to enhance the magnetic field intensity above the floating block and reduce the magnetic flux leakage below. The electromagnet group is composed of multiple independently controllable excitation coils. The controller obtains the feedback of the magnetic field position of the floating block through a Hall sensor, and uses a multi-channel PID algorithm to decouple and adjust the current of each coil to maintain the stable suspension height of the floating block.

[0014] Further setting: The active suspension device is a magnetorheological damping unit, including a liquid chamber filled with magnetorheological fluid and an electromagnetic coil for adjusting the magnetic field strength. The controller is used to adjust the magnetic field strength to change the liquid viscosity, thereby controlling the response speed and damping characteristics of the floating block.

[0015] Further setting: The liquid chamber is composed of a transparent pressure-resistant housing, and is internally partitioned to form at least two series-flow channels for increasing the shear path of the magnetorheological fluid; the electromagnetic coil is spirally arranged along the flow path, and the controller constructs a gradient viscosity distribution area by controlling the magnetic field distribution section by section, so as to achieve progressive damping control during the magnetic sheet stacking process.

[0016] In summary, the present invention has the following beneficial effects: First, in the present invention, a floating block is used in cooperation with an active suspension device to support the magnetic sheet, and through sensor feedback and closed-loop adjustment of the controller, the height of the floating block changes dynamically in real time with the magnetic sheet stacking. Compared with the traditional scheme of rigid descent of a mechanical support rod, there is no mechanical screw friction structure, which prolongs the service life of the equipment and reduces the maintenance frequency. The floating block has flexible suspension characteristics, avoiding the impact damage caused by the free fall of the magnetic sheet, and is particularly suitable for neodymium iron boron magnetic sheets with high brittleness and weak impact resistance. By detecting the stacking height and pressure in real time through the sensor, the position of the floating block is accurately controlled, with fast dynamic response. The controller closes the loop to adjust the suspension state, automatically adapting to the height change during the process of stacking magnetic sheets one by one, ensuring the continuity and smoothness of the sheet loading operation.

[0017] Second, in the present invention, an active suspension device using pneumatic power is preferably adopted. An air floating chamber is combined with a porous air floating membrane to form a stable air film support under the floating block. The floating block floats and operates on the air film, completely eliminating mechanical friction and being suitable for precise and high cleanliness environments. The air pressure change has a millisecond-level response, with a fast response speed, and can quickly make dynamic support adjustment for the magnetic sheet release action to prevent impact accumulation. Moreover, a continuously adjustable air pressure output is achieved through an electro-hydraulic proportional valve. The proportional valve is combined with a small-step control algorithm to achieve a two-stage response of rapid pressure increase buffering and slow pressure release, with smooth transition control and strong stability.

[0018] Third, in the present invention, an airbag can also be used as the supporting structure of the floating block. The height control is achieved by adjusting the internal air pressure. The airbag can deform to absorb the impact force, providing a soft landing effect to prevent the magnetic sheet from chipping or cracking. Compared with the air floating system, the airbag does not require a complex cavity or air film. The airbag structure is simple and easy to install, and is suitable for medium and low-speed loading pipelines. Further, by combining a strain sensor to feedback the deformation of the airbag, fine adjustment of the height of the floating block can be achieved to compensate for errors. The double-layer structure improves the pressure resistance performance of the airbag, with a soft inner layer and a rigid outer layer, and good reliability.

[0019] Fourth, in the present invention, an active suspension device using electromagnetic suspension can also be adopted. A permanent magnet and an electromagnet are coupled to form a magnetic field buoyancy force. The electromagnetic force can achieve height adjustment without friction, with a fast response speed and high control precision. There is no need for a large cavity structure, and it can be flexibly embedded at the bottom of the loading tube, facilitating modular integration. Further, a Halbach magnetic array is used to enhance the magnetic field concentration, and a PID algorithm is used to decouple and adjust each coil, so that the height fluctuation of the floating block is extremely small and the dynamic response is precise. The electromagnetic control system has a high bandwidth, can adapt to scenarios such as sudden stacking disturbances and vibrations, and has strong anti-interference ability.

[0020] Fifth, in the present invention, an active suspension device using magnetorheological damping can also be adopted. The floating block provides support through a liquid cavity immersed in magnetorheological fluid, and the floating response characteristics are changed by controlling the magnetic field to adjust the liquid viscosity. The variable magnetic field controls the liquid viscosity to achieve active adjustment of the sinking rate and stiffness of the floating block, and the flexible damping response is precise. A series flow channel and a spiral magnetic field arrangement are adopted to improve the shear efficiency and response linearity of the magnetorheological fluid. Further, a progressive buffering mechanism is adopted. Before the magnetic sheet is released, the magnetic field is rapidly increased to increase the damping viscosity, so that the floating block "soft lands" on the magnetic sheet, reducing the impact. Description of the Drawings

[0021] Figure 1 is a schematic structural diagram of the magnetic sheet loading tube device; Figure 2 is a front view of the magnetic sheet loading tube device; Figure 3 is Figure 2 the A-A cross-sectional view in Figure 4 is a schematic structural diagram of the pneumatic suspension unit; Figure 5 is a schematic structural diagram of the airbag suspension unit; Figure 6 is a schematic structural diagram of the electromagnetic suspension unit; Figure 7 is a schematic structural diagram of the magnetorheological damping unit.

[0022] In the figures, 100, loading tube; 101, floating block; 102, sensor; 103, controller; 200, transfer track; 201, work station; 202, turntable; 300, manipulator assembly; 301, adsorption mechanism; 400, drive device; 500, active suspension device; 501, air floating cavity; 502, porous air floating membrane; 503, first gas source; 504, electronic proportional valve; 601, airbag; 602, second gas source; 603, pressure regulating device; 604, strain sensor; 701, permanent magnet structure; 702, electromagnet group; 801, liquid cavity; 802, electromagnetic coil. Detailed implementation mode

[0023] The present invention will be further described in detail below with reference to the accompanying drawings.

[0024] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0025] A magnetic sheet loading tube device, as Figure 1 and Figure 2 shown, includes a loading tube 100 which is vertically arranged and used to carry magnetic sheets, and the magnetic sheets are stacked one by one inside the loading tube 100. In this device, a transfer track 200 is further provided. The transfer track 200 is arranged on one side of the loading tube 100 and extends in the horizontal direction, and is used to transfer the magnetic sheets to be loaded.

[0026] The magnetic sheets of the magnetic sheet loading tube device are arranged in sequence on the transfer track 200. The magnetic sheets are transported along the track and finally transported to a preset station 201. The station 201 is adjacent to and above the loading tube 100.

[0027] The magnetic sheet loading tube device further includes a manipulator assembly 300, which includes a jaw or an adsorption mechanism 301 for grasping or adsorbing magnetic sheets. The manipulator is arranged above the loading tube 100. By vertical movement and horizontal transverse movement, it realizes picking up magnetic sheets from the loading station 201 and placing them into the loading tube 100 one by one, thus completing the orderly process of loading magnetic sheets into the tube.

[0028] In this embodiment, the magnetic sheet loading tube device further includes a turntable 202 and a driving device 400 for driving the turntable 202 to rotate self - sufficiently. There are multiple loading tubes 100, which are evenly arranged on the circumference of the turntable 202. It is used to realize the automatic switching and cyclic tube loading of multiple loading tubes 100. The turntable 202 is of an annular structure and is horizontally arranged at the bottom of the device. Its center is connected to the driving device 400 through a rotating shaft. The driving device 400 can be selected as a servo motor, a stepping motor or a reduction motor, etc., and is used to drive the turntable 202 to perform intermittent or continuous rotation around the central axis. There are multiple loading tubes 100, which are evenly distributed at equal intervals along the circumferential direction of the turntable 202. The axis of each loading tube 100 is perpendicular to the plane of the turntable 202, and the opening faces upward. The structures and sizes of the multiple loading tubes 100 are the same, and all can be used for the sequential loading of magnetic sheets. When a loading tube 100 is filled with magnetic sheets, the driving device 400 starts the turntable 202 to rotate, so that the next empty loading tube 100 rotates to the position below the preset tube - loading station, ready to receive the next round of magnetic sheet stacking.

[0029] On the basis of the above - mentioned embodiment, as a further - defined embodiment, as Figure 2 and Figure 3 shown, the magnetic sheet loading tube device further includes a floating block 101, an active suspension device 500, a sensor 102 and a controller 103 to realize the suspension support and dynamic following adjustment during the magnetic sheet stacking process.

[0030] The floating block 101 is located inside the loading tube 100. Its initial position is at the lower part of the loading tube 100 and is directly below the magnetic sheet stacking path. It can move up and down along the vertical direction of the loading tube 100. During operation, the floating block 101 moves to the top of the loading tube 100 to support the magnetic sheets loaded one by one.

[0031] In a preferred embodiment, the active suspension device 500 is independently arranged on the lower base of the turntable 202. Its upper end is directly below the loading tube 100 at the corresponding blanking station of the turntable 202, and is used to support only the floating block 101 inside the loading tube 100 at the current tube - loading station position. When a loading tube 100 is filled with magnetic sheets, the controller 103 controls the driving device 400 to start, driving the turntable 202 to rotate around the central axis, so that the next empty loading tube 100 rotates to the position directly above the fixed station where the active suspension device 500 is located, and the floating block 101 is re - docked with the active suspension device 500 to continue the next round of tube - loading operation. In this layout, since the active suspension device 500 is fixed, there will be an intermittent state where the floating block 101 is temporarily separated from the suspension support during the rotation of the turntable 202. At this time, the floating block 101 can maintain the lowest safety position through its own limit or chute structure and regain support after the tube - loading station 201 switching is completed.

[0032] In another alternative embodiment, the active suspension device 500 is directly mounted on the main body of the turntable 202 and is arranged in one-to-one correspondence with the loading tube 100. Specifically, along the circumferential direction of the turntable 202, according to the arrangement quantity of the loading tubes 100, an equal number of active suspension device 500 units are synchronously arranged, and each suspension device is connected or acts with the floating block 101 structure above it. In this structure, the active suspension device 500 rotates synchronously with the loading tube 100.

[0033] In this embodiment, the sensor 102 is arranged on the floating block 101 and includes a pressure sensor and a displacement sensor. The pressure sensor can be a laser displacement meter, and the displacement sensor can be a Hall sensor, etc., which are used to detect the change of the contact pressure generated during the magnetic sheet stacking process in real time, as well as the top surface height of the magnetic sheet stacking layer.

[0034] In this embodiment, the controller 103 is electrically connected to the sensor 102 and the active suspension device 500, receives the real-time feedback signal from the sensor 102, calculates the magnetic sheet stacking state, and outputs an adjustment instruction based on a preset control algorithm to realize the closed-loop control of the suspension device, so that the support position of the floating block 101 is always coordinated with the top surface of the magnetic sheet. This structure can effectively avoid the impact caused by too large a free fall of the magnetic sheet and ensure the flexible docking and step-by-step stacking during the tube loading process.

[0035] The floating block 101 is suitable for loading magnetic sheets. The floating block 101 is movably arranged inside the loading tube 100 and moves up and down in the direction perpendicular to the loading tube 100; the active suspension device 500 acts on the floating block 101 and is suitable for dynamically adjusting the suspension force in real time so that the floating block 101 dynamically adjusts its position in the vertical direction as the stacking height of the magnetic sheets changes; the sensor 102 is used to detect the magnetic sheet contact pressure and stacking height; the controller 103 based on the real-time pressure and position signals detected by the sensor 102, closes the loop to adjust the output parameters of the active suspension device 500, so that the vertical position of the floating block 101 follows the change of the magnetic sheet stacking height.

[0036] There is no limitation on the specific structure of the active suspension device 500. In this embodiment, the active suspension device 500 can adopt different implementation manners, such as adopting a pneumatic floating unit, an airbag 601, electromagnetic suspension or magnetorheological damping and other structural forms, and realizing the adaptive lifting of the floating block 101 in the vertical direction by dynamically adjusting its output parameters.

[0037] As Figure 4 shown, as one of the embodiments, the active suspension device 500 adopts a pneumatic suspension unit to realize the non-contact support and dynamic height adjustment of the floating block 101. The pneumatic suspension unit mainly includes: an air floating cavity 501, a first air source 503, an electronic proportional valve 504, a porous air floating membrane 502 and other components.

[0038] The air flotation chamber 501 is arranged at the bottom of the loading pipe 100, and its upper end is fixedly communicated with the bottom of the floating block 101, and is used to provide gas supporting force for the floating block 101. The air flotation chamber 501 is connected to the external compressed air first air source 503 through an air inlet pipeline, and an electronic proportional valve 504 is arranged in the air path to control the air pressure entering the air flotation chamber 501. A layer of porous air flotation membrane 502 covers the bottom of the air flotation chamber 501. The porous air flotation membrane 502 is made of graphene composite material, has excellent gas permeability and structural strength, its pore size is 10 - 50μm, and the porosity is 60% - 80%. The high strength + flexibility + heat resistance + gas selective permeability of the graphene composite material makes it very suitable as a high-performance air flotation membrane material. When the pore size is in the range of 10 - 50μm, it can make the gas form a continuous, fine and stable air flow when passing through the air flotation membrane, build a uniform air film layer under the floating block 101, and avoid the floating block 101 from jittering and losing stability due to unstable air flow. When the porosity is 60% - 80%, the gas passing amount per unit area is sufficient. When the controller 103 adjusts the air pressure, the air film can be quickly formed or released, respond to the subtle height change of the floating block 101, and improve the response speed and dynamic control accuracy of the system.

[0039] During operation, the controller 103 judges in real time whether the magnetic sheet contacts the floating block 101 or whether the stack height changes according to the pressure and position signals from the sensor 102. When detecting the instant when the magnetic sheet is released, the controller 103 immediately sends a control signal to the electronic proportional valve 504 to quickly increase the air pressure in a small step manner, so as to establish a strengthened air film between the floating block 101 and the stacked magnetic sheets and realize the flexible buffering of the impact.

[0040] After the magnetic sheets are stably stacked, the controller 103 controls the proportional valve to slowly release the air pressure, so that the floating block 101 sinks at a stable speed, and always keeps the top surface of it at a reasonable distance from the top layer of the stacked magnetic sheets, avoiding damage to the magnetic sheets due to too large a free fall.

[0041] The pneumatic suspension structure has the advantages of fast response speed, dynamic flexible adjustment, and no mechanical friction, and is suitable for the automatic tube loading system with high requirements for the integrity of magnetic sheets, and is especially suitable for the high-speed automatic stacking process of brittle neodymium iron boron magnetic sheet products.

[0042] As Figure 5 shown, as one of the implementation manners, the active suspension device 500 is an airbag suspension unit, which is used to provide elastic support for the floating block 101 and realize dynamic height adjustment in the vertical direction. The airbag 601 suspension unit mainly includes: an airbag 601, a second air source 602, a pressure regulating device 603 and a strain sensor 604.

[0043] The airbag 601 is arranged below the floating block 101 and installed along the vertical direction of the loading pipe 100. The upper end surface of the airbag is fixedly connected to the bottom of the floating block 101, forming a deformable support unit. The internal cavity of the airbag 601 is communicated with an external second air source 602. The second air source 602 is connected to a pressure regulating device 603 through an air path, which is used to adjust the air pressure input into the cavity of the airbag 601 as needed.

[0044] The airbag 601 adopts a double-layer composite elastic material structure. The inner layer is a high-elastic silicone film, which has good compressibility and resilience; the outer layer is a high-strength pressure-resistant fiber material, which provides structural support and anti-deformation ability to ensure the stability and durability of the airbag 601 during repeated loading.

[0045] In order to realize the real-time perception of the height and loading state of the floating block 101, a strain sensor 604 is integrated on the wall of the airbag 601. The sensor is used to detect the deformation of the airbag 601 and convert it into an electrical signal and feedback it to the controller 103. By analyzing the deformation data, the controller 103 can calculate the relative height offset value of the current floating block 101.

[0046] The controller 103 simultaneously receives the magnetic contact state and stacking height information from the sensor 102, comprehensively judges whether the current floating block 101 needs to rise or fall, and accordingly outputs an adjustment instruction to the pressure regulating device 603 to accurately control the output pressure of the second air source 602, so that the airbag 601 deforms adaptively, realizing dynamic following and support stiffness adjustment of the floating block 101 in the vertical direction.

[0047] During the magnetic sheet release stage, the controller 103 can briefly increase the air pressure to quickly expand the airbag 601 to buffer the impact; during the stacking stable stage, it slowly reduces the pressure to prompt the floating block 101 to descend, always keeping its top surface close to the top of the magnetic sheet stacking layer to ensure the stability and flexible control of the pipe loading process.

[0048] This embodiment has the advantages of simple structure, good flexible adjustment performance, and remarkable buffering effect, and is especially suitable for automatic pipe loading processes with medium and low speeds, high precision, and high requirements for the anti-impact performance of magnetic sheets.

[0049] As Figure 6 shown, as one of the embodiments, the active suspension device 500 is an electromagnetic suspension unit, which is used to realize non-contact support and vertical position control of the floating block 101 through electromagnetic force. The electromagnetic suspension unit mainly includes: a permanent magnet structure 701, an electromagnet group 702, a sensor 102, and a controller 103. In this embodiment, the sensor 102 is a Hall sensor.

[0050] The permanent magnet structure 701 is installed at the bottom of the floating block 101, symmetrically arranged along the center of the floating block 101, and adopts the Halbach magnetic array arrangement form. Its magnetic pole directions are arranged in a spatially staggered manner, which can enhance the magnetic flux density above the floating block 101, while suppressing the magnetic field leakage below, and improving the magnetic field utilization efficiency and suspension stability.

[0051] The electromagnet group 702 is arranged at the bottom of the loading tube 100 or the upper part of the frame, directly below the permanent magnet structure 701, and is arranged opposite to it in the vertical direction. The electromagnet group 702 is composed of multiple independently controlled excitation coil units. Each group of coils is respectively controlled by the control system and can independently adjust the current magnitude to achieve the spatial superposition and fine-tuning control of the electromagnetic force received by the floating block 101.

[0052] During operation, the Hall sensor is installed on the relatively fixed reference surface of the floating block 101 (such as the electromagnet seat or the bracket structure), and is used to detect the change in the magnetic induction intensity of the magnetic field around the floating block 101 in real time, and feedback it as a position signal to the controller 103.

[0053] Based on the change in the magnetic field intensity collected by the Hall sensor, the controller 103 judges the vertical offset trend of the floating block 101, and decouples and adjusts the current output of each electromagnetic coil 802 through the multi-channel PID algorithm, so as to control the resultant force received by the floating block 101 and keep it in a stable suspended state in the vertical direction.

[0054] During the magnetic sheet loading process, when the magnetic sheet release action is detected, the controller 103 can quickly increase the electromagnetic force to make the floating block 101 rise moderately to form a buffer; after the magnetic sheets are stably stacked, the current is adjusted smoothly to make the floating block 101 gradually descend and maintain a micro-gap fit with the top surface of the stack, avoiding impact and improving the loading accuracy.

[0055] The structure of this embodiment is compact, with a fast response speed and high control precision. It is especially suitable for the automated magnetic sheet loading tube system with extremely high requirements for the height control of the floating block 101, and has significant advantages in high-speed and high-precision production lines.

[0056] As Figure 7 shown, as one of the embodiments, the active suspension device 500 is a magnetorheological damping unit, which is used to adjust the magnetic field to change the physical properties of the magnetorheological fluid, so as to achieve the buffer response control and vertical motion adjustment of the floating block 101. The magnetorheological damping unit mainly includes: a liquid chamber 801, magnetorheological fluid, an electromagnetic coil 802 and a controller 103.

[0057] The liquid chamber 801 is disposed at the bottom of the loading tube 100, below the floating block 101, and its upper end is connected to the bottom surface of the floating block 101 for supporting the floating block 101. The liquid chamber 801 is composed of a transparent pressure-resistant housing, having good visibility and structural strength, and can withstand the internal pressure change under frequent variable load conditions.

[0058] The internal structure of the liquid chamber 801 is partitioned to form at least two series flow channels, which are arranged along the vertical movement direction of the floating block 101, serving to extend the shear path of the magnetorheological fluid, thereby enhancing the fluid damping control effect on the downward movement process of the floating block 101.

[0059] The liquid chamber 801 is filled with magnetorheological fluid, which is a variable-viscosity fluid containing micron-sized magnetic particles (such as carbonyl iron powder) dispersed in a carrier liquid, and its viscosity and yield stress will change rapidly when the external magnetic field changes.

[0060] To control this viscosity change, the electromagnetic coil 802 is spirally arranged around the flow channel, capable of establishing an axial or segmented magnetic field in the channel. The electromagnetic coil 802 is connected to the controller 103, and the independent adjustment of the magnetic field strength of different segments can be achieved by controlling the current.

[0061] Based on the magnetic sheet stacking state information from the sensor 102, the controller 103 adjusts the current magnitude of each segment of the electromagnetic coil 802 in real time to construct a "gradient magnetic field distribution area", so that different viscosities are formed at different positions of the liquid chamber 801, and then a non-linear fluid damping characteristic is established. This characteristic enables the floating block 101 to receive a large damping force at the initial stage of magnetic sheet release to form an effective buffer; after the magnetic sheet stacking is stable, the damping weakens, allowing the floating block 101 to slowly descend and align with the top of the stacking layer to achieve high-stability support.

[0062] This structure, through the dynamic controllability of the viscosity of the magnetorheological fluid, is applicable to the magnetic sheet automatic loading tube system with high requirements for floating speed, sheet loading impact, and stacking accuracy.

[0063] The above embodiments are merely explanations of the present invention, and they do not limit the present invention. Those skilled in the art can make modifications to the embodiments without creative contributions according to needs after reading this specification, but as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A magnetic disk tube loading device, comprising a loading tube (100), characterized in that: Also includes: A floating block (101) is suitable for loading magnetic sheets, the floating block (101) is movably arranged inside the loading tube (100) and is lifted and lowered in a vertical direction of the loading tube (100); An active suspension device (500) acts on the floating block (101) and is suitable for adjusting the suspension force in real time so that the floating block (101) dynamically adjusts its position in the vertical direction as the height of the magnetic sheet stack changes; A sensor (102) for detecting the contact pressure and stacking height of the magnetic sheets; The controller (103) adjusts the output parameters of the active suspension device (500) in a closed loop based on the real-time pressure and position signals detected by the sensor (102), so that the vertical position of the floating block (101) follows the change in the height of the magnetic sheet stack.

2. The magnetic sheet tube loading device according to claim 1, characterized in that: The active suspension device (500) is a pneumatic suspension unit, comprising an air flotation chamber (501) connected to a floating block (101) and a first air source (503) for outputting compressed air, a porous air flotation membrane (502) being arranged at the bottom of the air flotation chamber (501), and the controller (103) controlling the height of the floating block (101) by adjusting the air pressure.

3. The magnetic sheet tube loading device according to claim 2, characterized in that: An electronic proportional valve (504) is provided on the air inlet channel of the air flotation chamber (501). The controller (103) controls the electronic proportional valve (504) to continuously adjust the air pressure in small steps according to the pressure change trend detected by the sensor (102), so that the floating block (101) can quickly increase the air pressure at the moment of releasing the magnetic sheet to buffer the impact, and slowly release the air pressure after the magnetic sheets are stably stacked to maintain the balance of the stacking height.

4. The magnetic sheet tube loading device according to claim 2, characterized in that: The porous air-floating membrane (502) covers the bottom surface of the air-floating cavity (501), and the porous air-floating membrane (502) is made of a graphene composite material, with a pore size of 10-50 μm and a porosity of 60%-80%.

5. The magnetic sheet tube loading device according to claim 1, characterized in that: The active suspension device (500) is an airbag suspension unit, comprising: An air bag (601) disposed below the floating block (101) for supporting the floating block (101) and allowing it to undergo controllable displacement in a vertical direction as pressure changes; A second air source (602) and a pressure regulating device (603) are connected to the airbag (601). The controller (103) outputs a signal to adjust the internal pressure of the airbag (601) according to the contact state of the magnetic sheet and the height change signal detected by the sensor (102), so as to dynamically control the support height and response stiffness of the floating block (101).

6. The magnetic sheet tube loading device according to claim 5, characterized in that: The airbag (601) is made of a double-layer composite elastic material, wherein the inner layer is a high-elastic silicone film and the outer layer is a pressure-resistant fiber layer. The airbag (601) is provided with a strain sensor (604) for detecting the deformation amplitude. The controller (103) calculates the height offset of the floating block (101) according to the real-time deformation amount of the airbag (601), thereby adjusting the output pressure of the second air source (602).

7. The magnetic sheet tube loading device according to claim 1, characterized in that: The active suspension device (500) is an electromagnetic suspension unit, comprising a permanent magnet structure (701) arranged below the floating block (101) and a correspondingly arranged electromagnet group (702), and the controller (103) is used to adjust the electromagnet current to control the magnetic suspension height of the floating block (101).

8. The magnetic sheet tube loading device according to claim 7, characterized in that: The permanent magnet structure (701) is arranged in a Halbach magnetic array, and is used to enhance the magnetic field strength above the floating block (101) and reduce the magnetic flux leakage below. The electromagnet group (702) is composed of a plurality of independently controllable excitation coils. The controller (103) obtains the magnetic field position feedback of the floating block (101) through a Hall sensor, and uses a multi-channel PID algorithm to decouple and adjust the current of each coil, so as to maintain a stable suspension height of the floating block (101).

9. The magnetic sheet tube loading device according to claim 1, characterized in that: The active suspension device (500) is a magnetorheological damping unit, comprising a liquid chamber (801) filled with magnetorheological fluid and an electromagnetic coil (802) for adjusting the magnetic field strength. The controller (103) is used to adjust the magnetic field strength to change the liquid viscosity, thereby controlling the response speed and damping characteristics of the floating block (101).

10. The magnetic sheet tube loading device according to claim 9, characterized in that: The liquid chamber (801) is composed of a transparent pressure-resistant shell, and the internal partition forms at least two series flow channels for improving the shear path of the magnetorheological fluid; the electromagnetic coil (802) is arranged in a spiral along the flow path, and the controller (103) controls the magnetic field distribution section by section to construct a gradient viscosity distribution area, so as to achieve progressive damping control during the magnetic sheet stacking process.

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