Magnetic Disk Tube Loading Device

Abstract

The present invention discloses a magnetic sheet tube loading device, which relates to the field of intelligent equipment manufacturing. The key points of its technical solution are as follows: it includes a loading tube, a floating block, an active suspension device, a sensor and a controller. The floating block is movably arranged inside the loading tube and is used to support the magnetic sheet; the active suspension device is used to provide an adjustable suspension force for the floating block; the sensor is used to detect the stacking pressure and height of the magnetic sheet; the controller closes the loop to adjust the suspension force according to the feedback signal of the sensor, so that the vertical position of the floating block dynamically follows the change of the magnetic sheet stacking height. This device replaces the traditional mechanical support rod structure, has the advantages of no friction, flexible support, high response, etc., effectively reduces the risk of damage to the magnetic sheet caused by impact, and is particularly suitable for the automatic tube loading of brittle magnetic sheets such as neodymium iron boron.

Description

Technical Field

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

[0002] Neodymium iron boron 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 operation stability of end products. In the magnetic sheet production process, to improve the degree of automation, automatic tube loading equipment is usually used to alternately load magnetic sheets and gaskets into a loading tube, and the stacked magnetic sheets are supported by a support rod disposed below the tube loading station. In the prior art, the support rod generally gradually descends through a mechanical transmission device to cooperate with the layered loading of magnetic sheets.

[0003] However, due to the characteristics of neodymium iron boron magnetic sheets, such as high brittleness, poor impact resistance, and high sensitivity to temperature and magnetic fields, a series of problems are likely to occur during the process of gradually lowering the support rod driven by mechanical transmission. The vibration and impact during the operation of the support rod may cause the magnetic sheet to crack or break; untimely descent will result in too large a free fall of the magnetic sheet, causing 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 properties.

[0004] Therefore, there is an urgent need for a tube loading solution that can more flexibly and precisely control the lifting process of the support rod to improve the assembly quality, avoid damage to magnetic sheets, and ensure that the whole machine can still meet the process requirements of high-performance products of neodymium iron boron magnetic sheets under high-efficiency operation. Summary of the Invention

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

[0006] The above technical object of the present invention is achieved through the following technical solutions:

[0007] A magnetic sheet tube loading device includes a loading tube, and further includes:

[0008] A floating block adapted to load magnetic sheets, the floating block is movably disposed inside the loading tube and moves up and down in the vertical direction of the loading tube;

[0009] An active suspension device acting on the floating block, adapted to dynamically adjust the position of the floating block in the vertical direction with the change of the magnetic sheet stacking height by real-time adjusting the suspension force;

[0010] A sensor for detecting the magnetic sheet contact pressure and stacking height;

[0011] The controller, based on the real-time pressure and position signals detected by the sensor, closed-loop adjusts the output parameters of the active suspension device so that the vertical position of the floating block follows the change in the height of the magnetic sheet stack.

[0012] 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.

[0013] 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 detected pressure change trend of the sensor, so as to quickly 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 sheet is stably stacked to maintain the balance of the stacking height.

[0014] 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%.

[0015] Further setting: The active suspension device is an airbag suspension unit, including:

[0016] 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;

[0017] 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 detected magnetic sheet contact state and height change signal by the sensor, so as to dynamically control the support height and response stiffness of the floating block.

[0018] Further setting: The airbag is composed of a double-layer composite elastic material. The inner layer is a high-elastic silica gel 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.

[0019] 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.

[0020] Further settings: The permanent magnet structure is arranged in a Halbach array to enhance the magnetic field intensity above the floating block and reduce the magnetic flux leakage below. The electromagnet group consists of multiple independently controllable excitation coils. The controller obtains the feedback of the magnetic field position of the floating block through Hall sensors and uses a multi-channel PID algorithm to decouple and regulate the current of each coil to maintain the stable suspension height of the floating block.

[0021] Further settings: 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 intensity. The controller is used to adjust the magnetic field intensity to change the viscosity of the liquid, thereby controlling the response speed and damping characteristics of the floating block.

[0022] Further settings: The liquid chamber is composed of a transparent pressure-resistant housing, and at least two series-flow channels are formed by internal zoning to increase the shear path of the magnetorheological fluid; the electromagnetic coil is arranged in a spiral along the flow path. 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.

[0023] In summary, the present invention has the following beneficial effects:

[0024] 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 regulation 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 a flexible suspension characteristic, 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 sensors, the position of the floating block is accurately controlled, with a fast dynamic response. The controller closes the loop to regulate the suspension state, automatically adapts to the height change during the process of stacking magnetic sheets one by one, and ensures the continuity and smoothness of the sheet loading operation.

[0025] Second, in the present invention, an active suspension device using pneumatic is preferably adopted. An air floating chamber is combined with a porous air floating membrane to form a stable air film support below the floating block. The floating block floats and runs on the air film, completely eliminating mechanical friction and being suitable for a precision and high cleanliness environment. 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 the accumulation of impacts. Moreover, a continuously adjustable air pressure output is realized through an electro-pneumatic proportional valve. The proportional valve is combined with a small-step control algorithm to achieve a two-stage response of rapid pressure increase and buffer and slow pressure release, with smooth transition control and strong stability.

[0026] Thirdly, in the present invention, an airbag can also be used as the supporting structure of the floating block. The height can be controlled by adjusting the internal air pressure. The airbag can deform to absorb the impact force, providing a soft landing effect and preventing the magnetic chips 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, the fine adjustment of the height of the floating block can be realized to compensate for errors. The double-layer structure improves the pressure resistance performance of the airbag, being flexible inside and rigid outside, with good reliability.

[0027] Fourthly, in the present invention, an active suspension device using electromagnetic suspension can also be adopted. The permanent magnet and the electromagnet are coupled to form a magnetic field buoyancy. The electromagnetic force can adjust the height without friction, with a fast response speed and high control precision. It does not require a large cavity structure and can be flexibly embedded at the bottom of the loading pipe, facilitating modular integration. Further, a Halbach magnetic array is adopted to enhance the magnetic field concentration, and the 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.

[0028] Fifthly, 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 viscosity of the liquid is adjusted by controlling the magnetic field to change the floating response characteristics. The variable magnetic field controls the viscosity of the liquid to actively adjust the sinking rate and stiffness of the floating block, with a precise flexible damping response. The series flow channel and the 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 chip is released, the magnetic field is rapidly increased to increase the damping viscosity, so that the floating block "soft lands" on the magnetic chip to reduce the impact. Description of the Drawings

[0029] Figure 1 is a schematic structural diagram of the magnetic chip loading device;

[0030] Figure 2 is the front view of the magnetic chip loading device;

[0031] Figure 3 is Figure 2 the A-A cross-sectional view in

[0032] Figure 4 is a schematic structural diagram of the pneumatic suspension unit;

[0033] Figure 5 is a schematic structural diagram of the airbag suspension unit;

[0034] Figure 6 is a schematic structural diagram of the electromagnetic suspension unit;

[0035] Figure 7 is a schematic structural diagram of the magnetorheological damping unit.

[0036] In the figure, 100 is a loading tube; 101 is a floating block; 102 is a sensor; 103 is a controller;

[0037] 200 is a conveying track; 201 is a work station; 202 is a turntable; 300 is a manipulator assembly; 301 is an adsorption mechanism; 400 is a driving device;

[0038] 500 is an active suspension device; 501 is an air flotation chamber; 502 is a porous air flotation membrane; 503 is a first gas source; 504 is an electronic proportional valve;

[0039] 601 is an airbag; 602 is a second gas source; 603 is a pressure regulating device; 604 is a strain sensor;

[0040] 701 is a permanent magnet structure; 702 is an electromagnet group; 801 is a liquid chamber; 802 is an electromagnetic coil. Specific embodiments

[0041] The present invention will be further described in detail below with reference to the accompanying drawings.

[0042] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by 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. are based on the orientation or positional relationship shown in the drawings, and are 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.

[0043] 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 conveying track 200 is further provided. The conveying track 200 is arranged on one side of the loading tube 100 and extends in the horizontal direction for transporting the magnetic sheets to be loaded.

[0044] The magnetic sheets of the magnetic sheet loading tube device are arranged in sequence on the conveying track 200. The magnetic sheets are transported along the track and finally transported to a preset work station 201. The work station 201 is adjacent to and above the loading tube 100.

[0045] The magnetic disk loading device further includes a manipulator assembly 300, which includes a jaw or adsorption mechanism 301 for grasping or adsorbing magnetic disks. The manipulator is arranged above the loading tube 100 and realizes picking up magnetic disks from the feeding station 201 and placing them into the loading tube 100 one by one through vertical movement and horizontal transverse movement, thereby completing the orderly process of loading magnetic disks into the tube.

[0046] In this embodiment, the magnetic disk loading 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 rotate intermittently or continuously 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 can all be used for the sequential loading of magnetic disks. When a loading tube 100 is filled with magnetic disks, 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 to prepare for receiving the next stack of magnetic disks.

[0047] On the basis of the above - mentioned embodiment, as a further - defined embodiment, as Figure 2 and Figure 3 shown, the magnetic disk loading 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 disk stacking process.

[0048] 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 directly below the magnetic disk 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 disks loaded one by one.

[0049] In a preferred embodiment, the active suspension device 500 is independently arranged on the lower base of the turntable 202, and its upper end is directly below the loading tube 100 at the blanking station corresponding to the turntable 202, and is used to support only the floating block 101 in the loading tube 100 at the current tube loading station position. When a loading tube 100 is filled with magnetic chips, the controller 103 controls the driving device 400 to start, and drives the turntable 202 to rotate around the central axis, so that the next empty loading tube 100 rotates to 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.

[0050] In another alternative embodiment, the active suspension device 500 is directly installed on the turntable 202 body 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.

[0051] In this embodiment, the sensor 102 is arranged on the floating block 101, including 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., and is used to detect the change of the contact pressure generated during the magnetic chip stacking process in real time, and the top surface height of the magnetic chip stacking layer.

[0052] 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 chip 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 chip. This structure can effectively avoid the impact caused by too large a free fall of the magnetic chip, and ensure the flexible docking and step-by-step stacking during the tube loading process.

[0053] The floating block 101 is adapted to load magnetic disks. The floating block 101 is movably arranged inside the loading tube 100 and moves up and down in the vertical direction of the loading tube 100. The active suspension device 500 acts on the floating block 101 and is adapted to dynamically adjust the position of the floating block 101 in the vertical direction according to the change in the magnetic disk stacking height by adjusting the suspension force in real time. The sensor 102 is used to detect the magnetic disk contact pressure and the stacking height. The controller 103 closes the loop to adjust the output parameters of the active suspension device 500 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 magnetic disk stacking height.

[0054] 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, an electromagnetic suspension, or a magnetorheological damper and other structural forms, and realizing the adaptive lifting of the floating block 101 in the vertical direction by dynamically adjusting its output parameters.

[0055] As Figure 4 shown, as one of the implementation manners, the active suspension device 500 adopts a pneumatic suspension unit to achieve non-contact support and dynamic height adjustment of the floating block 101. The pneumatic suspension unit mainly includes: a pneumatic floating chamber 501, a first air source 503, an electronic proportional valve 504, a porous pneumatic floating membrane 502 and other components.

[0056] The pneumatic floating chamber 501 is arranged at the bottom of the loading tube 100, and its upper end is fixedly communicated with the bottom of the floating block 101 for providing gas support force to the floating block 101. The pneumatic floating 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 for controlling the air pressure entering the pneumatic floating chamber 501. A layer of porous pneumatic floating membrane 502 covers the bottom of the pneumatic floating chamber 501. The porous pneumatic floating membrane 502 is made of a graphene composite material and has excellent gas permeability and structural strength. Its pore diameter is 10 - 50 μm, and the porosity is 60% - 80%. The high strength + flexibility + heat resistance + gas selective permeability of the graphene composite material make it very suitable as a high-performance pneumatic floating membrane material. When the pore diameter is in the range of 10–50 μm, it can make the gas form a continuous, fine and stable air flow when passing through the pneumatic floating membrane, and build a uniform air film layer under the floating block 101 to 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 to respond to the slight height change of the floating block 101, improving the response speed and dynamic control accuracy of the system.

[0057] During operation, the controller 103 determines in real time whether the magnetic sheet contacts the floating block 101 or whether the height of the stack changes based on the pressure and position signals from the sensor 102. When the instant of magnetic sheet release is detected, the controller 103 immediately sends a control signal to the electro-proportional valve 504 to rapidly increase the air pressure in small steps, thereby establishing a strengthened air film between the floating block 101 and the stacked magnetic sheets to achieve flexible buffering of the impact.

[0058] After the magnetic sheets are stably stacked, the controller 103 controls the proportional valve to slowly release the air pressure, causing the floating block 101 to sink at a steady speed, always maintaining a reasonable distance between its top surface and the top layer of the stacked magnetic sheets, and avoiding damage to the magnetic sheets due to excessive free fall.

[0059] The pneumatic suspension structure has the advantages of fast response speed, dynamic flexible adjustment, and no mechanical friction, and is suitable for an automatic tube loading system with high requirements for the integrity of magnetic sheets, especially suitable for the high-speed automatic stacking process of relatively brittle neodymium iron boron magnetic sheet products.

[0060] As Figure 5 shown, as one of the implementation manners, the active suspension device 500 is an airbag suspension unit for providing elastic support to the floating block 101 and realizing 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.

[0061] The airbag 601 is arranged below the floating block 101 and installed along the vertical direction of the loading tube 100. Its upper end surface 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 the external second air source 602, and the second air source 602 is connected to the pressure regulating device 603 through a gas path for adjusting the air pressure input into the cavity of the airbag 601 as needed.

[0062] The airbag 601 adopts a double-layer composite elastic material structure, where the inner layer is a high-elastic silicone film with good compressibility and rebound performance; the outer layer is a high-strength pressure-resistant fiber material, providing structural support and anti-deformation ability to ensure the stability and durability of the airbag 601 during repeated loading.

[0063] In order to realize 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. This 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.

[0064] The controller 103 simultaneously receives the magnetic disk contact state and the 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 precisely 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.

[0065] In the magnetic disk release stage, the controller 103 can briefly increase the air pressure to quickly inflate the airbag 601 to buffer the impact; in 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 disk stacking layer to ensure the stability and flexible control of the tube loading process.

[0066] This embodiment has the advantages of simple structure, good flexible adjustment performance, and remarkable buffering effect, and is especially suitable for the automated tube loading process with medium and low speed, high precision, and high requirements for the anti-impact performance of magnetic disks.

[0067] As Figure 6 shown, as one of the embodiments, the active suspension device 500 is an electromagnetic suspension unit for realizing 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.

[0068] The permanent magnet structure 701 is installed at the bottom of the floating block 101, arranged symmetrically 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 and at the same time suppress the magnetic field leakage below, improving the magnetic field utilization efficiency and suspension stability.

[0069] The electromagnet group 702 is arranged at the bottom of the loading tube 100 or the upper part of the rack, directly below the permanent magnet structure 701, and arranged opposite to it in the vertical direction. The electromagnet group 702 is composed of multiple independently controlled excitation coil units, and each group of coils is controlled by the control system and can independently adjust the current magnitude to realize the spatial superposition and fine adjustment control of the electromagnetic force received by the floating block 101.

[0070] During operation, the Hall sensor is installed on the relatively fixed reference surface of the floating block 101 (such as an electromagnet seat or a bracket structure) for real-time detecting the change of the magnetic induction intensity of the magnetic field around the floating block 101 and feeding it back to the controller 103 as a position signal.

[0071] Based on the change in magnetic field strength collected by the Hall sensor, the controller 103 determines the vertical offset trend of the floating block 101 and decouples and adjusts the current output of each electromagnetic coil 802 through a multi-channel PID algorithm, thereby controlling the resultant force on the floating block 101 to keep it in a stable suspended state in the vertical direction.

[0072] During the magnetic disc loading process, when the magnetic disc release action is detected, the controller 103 can rapidly increase the electromagnetic force to moderately raise the floating block 101 to form a buffer; after the magnetic discs are stably stacked, the current is smoothly adjusted to gradually lower the floating block 101 and maintain a micro-gap fit with the top surface of the stack, avoiding impact and improving the loading accuracy.

[0073] The structure of this embodiment is compact, with a fast response speed and high control precision, and is particularly suitable for an automated magnetic disc tube loading system with extremely high requirements for the height control of the floating block 101, having significant advantages in high-speed and high-precision production lines.

[0074] As Figure 7 shown, as one of the embodiments, the active suspension device 500 is a magnetorheological damping unit for controlling the buffer response and vertical movement of the floating block 101 by adjusting the magnetic field to change the physical properties of the magnetorheological fluid. The magnetorheological damping unit mainly includes: a liquid chamber 801, magnetorheological fluid, electromagnetic coils 802, and a controller 103.

[0075] The liquid chamber 801 is arranged 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.

[0076] 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 during the downward movement of the floating block 101.

[0077] 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.

[0078] To control this viscosity change, the electromagnetic coils 802 are arranged in a spiral around the flow channels, capable of establishing an axial or segmented magnetic field in the channels. The electromagnetic coils 802 are connected to the controller 103, and independent adjustment of the magnetic field strength of different segments can be achieved by controlling the current.

[0079] 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 cavity 801, thereby establishing a non-linear fluid damping characteristic. 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, achieving high-stability support.

[0080] This structure is applicable to the magnetic sheet automatic tube loading system with high requirements for floating speed, sheet loading impact, and stacking accuracy through the dynamic controllability of the viscosity of the magnetorheological fluid.

[0081] The above embodiments are only 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 sheet loading tube device, comprising a loading tube (100), characterized in that, Further included are: A floating block (101), adapted to load magnetic disks, the floating block (101) being movably disposed inside a loading tube (100) and ascending and descending in the vertical direction of the loading tube (100); An active suspension device (500), acting on the floating block (101), adapted to dynamically adjust the position of the floating block (101) in the vertical direction according to the change in the stacked height of magnetic disks by adjusting the suspension force in real time; A sensor (102), used to detect the contact pressure and stacked height of magnetic disks; A controller (103), based on the real-time pressure and position signals detected by the sensor (102), closed-loop adjusts the output parameters of the active suspension device (500) to make the vertical position of the floating block (101) follow the change in the stacked height of magnetic disks; Wherein, the active suspension device (500) is a pneumatic suspension unit, including an air floating cavity (501) communicated with the floating block (101) and a first air source (503) for outputting compressed air. A porous air floating membrane (502) is arranged at the bottom of the air floating cavity (501), and the controller (103) controls the height of the floating block (101) by adjusting the air pressure; an electronic proportional valve (504) is arranged on the air inlet channel of the air floating cavity (501), and the controller (103) controls the electronic proportional valve (504) to continuously adjust the air pressure in a small step according to the detected pressure change trend of the sensor (102), so as to rapidly increase the air pressure at the moment when the magnetic disks are released to buffer the impact, and slowly release the air pressure after the magnetic disks are stably stacked to maintain the balance of the stacked height.

2. The magnetic sheet tube loading device according to claim 1, wherein: The porous air floating membrane (502) covers the bottom surface of the air floating cavity (501), the porous air floating membrane (502) is made of graphene composite material, with a pore diameter of 10 - 50 μm and a porosity of 60% - 80%.

3. A magnetic sheet loading tube device, including a loading tube (100), characterized in that, Further included are: A floating block (101), adapted to load magnetic disks, the floating block (101) being movably disposed inside a loading tube (100) and ascending and descending in the vertical direction of the loading tube (100); An active suspension device (500), acting on the floating block (101), adapted to dynamically adjust the position of the floating block (101) in the vertical direction according to the change in the stacked height of magnetic disks by adjusting the suspension force in real time; A sensor (102), used to detect the contact pressure and stacked height of magnetic disks; A controller (103), based on the real-time pressure and position signals detected by the sensor (102), closed-loop adjusts the output parameters of the active suspension device (500) to make the vertical position of the floating block (101) follow the change in the stacked height of magnetic disks; Wherein, the active suspension device (500) is an airbag suspension unit, including: An airbag (601) disposed below the floating block (101), used to support the floating block (101) and allow it to have a controllable displacement in the vertical direction according to the change in pressure; A second gas source (602) connected to the airbag (601) and a pressure regulating device (603), wherein the controller (103) outputs a signal to adjust the internal pressure of the airbag (601) according to the magnetic sheet contact state and height change signal detected by the sensor (102), so as to dynamically control the support height and response stiffness of the floating block (101); In the magnetic sheet release stage, the controller (103) increases the air pressure to expand the airbag (601) to buffer the impact; in the stacking stable stage, the pressure is slowly reduced to cause the floating block (101) to descend, and its top surface is always kept close to the top of the magnetic sheet stacking layer.

4. The magnetic disk tube loading device according to claim 3, characterized in that: The airbag (601) is composed of a double-layer composite elastic material, the inner layer is a high-elastic silica gel 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), so as to adjust the output pressure of the second gas source (602).

5. A magnetic sheet loading tube device, comprising a loading tube (100), characterized in that, Also included are: A floating block (101), adapted to load magnetic sheets, the floating block (101) is movably arranged inside the loading tube (100) and moves up and down in the vertical direction of the loading tube (100); An active suspension device (500), acting on the floating block (101), adapted to dynamically adjust the position of the floating block (101) in the vertical direction according to the change of the magnetic sheet stacking height by real-time adjusting the suspension force; A sensor (102), used to detect the magnetic sheet contact pressure and stacking height; A controller (103), based on the real-time pressure and position signals detected by the sensor (102), closed-loop adjusts the output parameters of the active suspension device (500) to make the vertical position of the floating block (101) follow the change of the magnetic sheet stacking height; Wherein, the active suspension device (500) is an electromagnetic suspension unit, including a permanent magnet structure (701) arranged below the floating block (101) and a corresponding electromagnet group (702). The controller (103) is used to adjust the electromagnet current to control the magnetic suspension height of the floating block (101); during the magnetic sheet loading process, when the magnetic sheet release action is detected, the controller (103) rapidly increases the electromagnetic force to make the floating block (101) rise moderately to form a buffer; when the magnetic sheets are stably stacked, the current is smoothly adjusted to make the floating block (101) gradually descend and maintain a clearance fit with the stacking top surface.

6. The magnetic sheet tube loading device according to claim 5, characterized in that: The permanent magnet structure (701) is arranged in a Halbach array, used to enhance the magnetic field intensity 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 to maintain the stable suspension height of the floating block (101).

7. A magnetic sheet loading tube device, comprising a loading tube (100), characterized in that, Also included are: A floating block (101), adapted to load magnetic disks, is movably disposed inside a loading tube (100) and moves up and down in the vertical direction of the loading tube (100); An active suspension device (500) acts on the floating block (101) and is adapted to dynamically adjust the position of the floating block (101) in the vertical direction according to the change in the magnetic disk stacking height by adjusting the suspension force in real time; A sensor (102) is used to detect the magnetic disk contact pressure and the stacking height; A controller (103) closed-loop adjusts the output parameters of the active suspension device (500) 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 magnetic disk stacking height; Among them, the active suspension device (500) is a magnetorheological damping unit, including 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); the controller (103) based on the magnetic disk stacking state information from the sensor (102), adjusts the current magnitude of each section of the electromagnetic coil (802) in real time, so that different viscosities are formed at different positions of the liquid chamber (801), so that the floating block (101) is buffered by the damping force at the initial stage of magnetic disk release; After the magnetic disk stacking is stable, the damping is weakened, so that the floating block (101) slowly descends and aligns with the top of the stacking layer.

8. The magnetic sheet tube loading device according to claim 7, wherein: The liquid chamber (801) is composed of a transparent pressure-resistant housing, and at least two series flow channels are formed by internal zoning to increase the shear path of the magnetorheological fluid; the electromagnetic coil (802) is spirally arranged along the flow path, and the controller (103) 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 disk stacking process.

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