Suspension driving and power supply integrated magnetic suspension crown block

Abstract

The invention discloses a suspension driving and power supply integrated magnetic suspension crown block which is composed of a rotor system, a track system and a loading system. The rotor system comprises a hexagonal crown block bracket, a suspension permanent magnet, a magnetic resonance receiver, a battery cell, a power supply module and a motor rotor; the track system comprises a guide rail supporting plate, a track connecting plate, a magnetic resonance emitter, a suspension supporting column, a suspension coil, a driving coil, a crown block position sensor and a displacement sensor array; the loading system comprises a suspension bracket, a straight shaft, a straight shaft permanent magnet, an induction coil and a loading box. According to the invention, multi-degree-of-freedom stable suspension and micro-vibration suppression are realized through the hexagonal rotor, the suspension permanent magnet and the suspension coil, and power-off redundancy protection is provided for a magnetic suspension crown block system by adopting an integrated magnetic resonance bidirectional wireless energy transmission technology; through the suspension driving and power supply integrated design, the magnetic field energy utilization rate and the equipment reliability are improved, and meanwhile pollution to the dust-free environment in the operation process is reduced.

Description

Technical Field

[0001] The present invention relates to the field of wafer material transportation in semiconductor wafer factories, and in particular to a suspended drive and power supply integrated magnetic levitation overhead crane. Background Art

[0002] As mainstream chip manufacturing processes evolve from 28nm to cutting-edge processes like 14nm, 7nm, 5nm, and even 3nm, wafer sizes have grown from 150mm and 200mm to the current mainstream 300mm and, in the future, 450mm. As processes become increasingly advanced, wafer sizes and weights are increasing exponentially. Due to the significant production costs, wafer fabs are facing increasingly stringent requirements for automated material handling systems (AMHS) to achieve higher production efficiency and wafer yield. Overhead cranes, as a key component of AMHS, directly impact system efficiency. Currently, wafer fabs use wheel-rail overhead cranes for overhead material transport, improving space utilization. However, mechanical friction between the guide wheels and the rails creates dust, and the chain drive generates oil contamination, polluting the dust-free environment and reducing wafer yield. Furthermore, micro-vibrations generated by overhead crane operation are transmitted through the plant structure to precision instruments such as lithography machines and critical dimension scanning electron microscopes, causing overlay and metrology errors. Magnetic levitation technology, with its lack of mechanical contact, completely eliminates particle contamination and vibration caused by rail friction, significantly increasing operational speed.

[0003] Existing magnetic levitation overhead cranes are categorized into two types: active and passive. Active levitation utilizes electromagnets and a real-time feedback control system to dynamically adjust electromagnetic forces to achieve stable multi-degree-of-freedom suspension. However, this relies on a continuous external power supply, resulting in high energy consumption and the risk of electromagnetic interference. Passive levitation utilizes the principle of opposite magnets attracting each other to achieve zero-power levitation and stable foundations. However, it lacks dynamic adjustment capabilities and is prone to air gap fluctuations and even instability under sudden load changes or track unevenness.

[0004] The passive magnetic levitation track vehicle described in invention patent CN114701363A utilizes a trapezoidal groove track system. Permanent magnet guide rails are symmetrically embedded in the inner oblique surfaces of the left and right sides of the track. These guide rails are magnetized along the normal direction of the oblique surface, creating a repulsive force with the oppositely magnetized permanent magnets on the oblique surface below the vehicle support, achieving five degrees of freedom (DOF) non-contact suspension: vertical repulsion supports the load, horizontal repulsion suppresses left and right deviation, and the oblique magnetic field components constrain pitch, roll, and yaw. A linear motor stator is mounted at the center of the track bottom, connecting to the motor rotor below the vehicle body through a motor gap for contactless drive. Left and right power rails power the collector roller brushes, providing controllable drive current. A certain air gap is maintained between the protective rails and the vehicle body protective rollers to prevent suspension failure and collision. However, relying on mechanical protective rails to limit displacement weakens overall suspension stability, and deviations in the magnetization of the permanent magnets can easily lead to uneven suspension force.

[0005] The floating-drive integrated magnetic levitation curved track vehicle described in invention patent CN115107527A utilizes a trapezoidal groove track with inclined permanent magnet guides mounted on the left and right inclined surfaces. The magnetization direction is perpendicular to the inclined surface, creating a repulsive force with the oppositely magnetized permanent magnets on the lower inclined surface of the vehicle body support. This repulsive force is decomposed into vertical and horizontal components, achieving five degrees of freedom (DOF) passive suspension. The vehicle body is divided into independent front and rear support assemblies connected by self-lubricating spherical bearings, allowing maximum deflection of the front and rear bodies to accommodate curved paths with varying curve radii. The drive system comprises bilateral linear motors interacting with the magnetic field of the permanent magnet guides, with adjustable input current and controllable output thrust. The battery pack is independently powered and communicates contactlessly with the track via a current collector. However, wear on the self-lubricating bearings can generate microparticles that contaminate the dust-free environment, and deviations in the magnetization of the inclined permanent magnets can cause fluctuations in the horizontal guide force, affecting the stability of curved motion.

[0006] The vibration-isolated, floating-drive integrated magnetic levitation track vehicle described in invention patent CN115107528A utilizes a dual-track symmetrical permanent magnet guide system to achieve the integration of suspension and drive. Permanent magnet guides for suspension drive arranged on either side of the track create repulsion with the load-bearing suspension permanent magnets at the bottom of the vehicle body, utilizing an adjustable suspension air gap to achieve vertical suspension and posture stability. Lateral guide rails and guide permanent magnets on the sides of the vehicle body suppress drift and yaw through horizontal repulsion. The damping control module monitors air gap changes in real time using displacement sensors. Combined with multiple sets of suspension and guide damping coils, the current is dynamically adjusted to generate electromagnetic damping force to offset external interfering vibrations. The split vehicle body is flexibly connected via self-lubricating spherical bearings, allowing the vehicle body to flex to adapt to curves. The drive system couples the magnetic field of the permanent magnet guides with the motor rotor embedded in the vehicle body, achieving unified magnetic fields for suspension and drive. However, the damping coils' continuous power consumption weakens the vehicle's low energy consumption advantage, bearing wear particles contaminate the clean environment, and the complex closed-loop control increases the risk of failure.

[0007] The monorail cylindrical tiltable magnetic levitation overhead crane described in invention patent CN115547906A utilizes a single cylindrical track. Cylindrical permanent magnets are embedded in grooves on the left and right surfaces of the track. These magnets are magnetized with radially opposite polarities, creating a radial repulsive force with the cylindrical permanent magnets inside the overhead crane. Suspension and guidance are achieved through an air gap in the cylindrical shell. Aluminum alloy guide wheels are mounted on the top of the overhead crane, maintaining a protective air gap with the upper surface of the track to prevent extreme roll and loss of control. Limit bearings embedded in the track grooves limit the overhead crane's roll angle and damp vibration through the roll air gap. The drive system utilizes a cylindrical motor rotor coupled to the magnetic field of the track's permanent magnets, directly utilizing the levitation magnetic field to generate Lorentz forces, achieving integrated levitation and drive. The gondola is connected to the overhead crane via a polyurethane lifting belt. Left and right linear motors fine-tune the horizontal displacement of the pallet to offset centrifugal forces in curves. However, long-term wear of the guide wheels and limit bearings can lead to particle contamination. Furthermore, the cylindrical track layout limits spatial flexibility. Under heavy loads, local saturation of the magnetic field can cause suspension instability, and the crane lacks redundant protection for emergencies.

[0008] In summary, how to design a magnetic levitation overhead crane that takes into account multi-degree-of-freedom stable suspension, equipment reliability, and energy utilization, while also considering the magnetic levitation overhead crane's redundant protection and the pollution to the dust-free environment during operation, is a challenge that urgently needs to be addressed in this field. Summary of the Invention

[0009] In order to solve the above technical problems, the present invention proposes a magnetic levitation overhead crane with integrated suspension drive and power supply. A group of induction coils and a permanent magnet array are used to realize multi-objective intelligent control of the overhead crane's stable suspension and micro-vibration suppression. The overhead crane is driven by a dual-drive linear motor, and the vertical posture and position of the cargo box are maintained by electromagnetic adjustable suspension. The magnetic resonance bidirectional wireless energy transmission technology is integrated to realize an integrated design of suspension drive and power supply, provide power-off redundant protection, improve the utilization rate of magnetic field energy, and reduce pollution to the dust-free environment during operation.

[0010] A suspended drive and power supply integrated magnetic levitation overhead crane, consisting of a mover system, a track system and a load carrying system;

[0011] The mover system includes: a hexagonal overhead crane support, a left rear suspension permanent magnet, a left front suspension permanent magnet, a right front suspension permanent magnet, a right rear suspension permanent magnet, a front magnetic resonance receiver, a middle magnetic resonance receiver, a rear magnetic resonance receiver, a right battery cell, a left battery cell, a power module, a left rear motor mover, a left front motor mover, a right front motor mover, and a right rear motor mover;

[0012] In the mover system, the left rear suspension permanent magnet, the left front suspension permanent magnet, the right front suspension permanent magnet, and the right rear suspension permanent magnet are installed on the inclined groove of the hexagonal crane bracket, the front magnetic resonance receiver, the middle magnetic resonance receiver, and the rear magnetic resonance receiver are located in the mounting hole of the hexagonal crane bracket, the right battery cell and the left battery cell are located in the hexagonal crane bracket, the power module is located in the hexagonal crane bracket, between the right battery cell and the left battery cell, and the left rear motor mover, the left front motor mover, the right front motor mover, and the right rear motor mover are installed in the groove at the lower end of the inclined surface of the hexagonal crane bracket;

[0013] The track system includes: a left guide rail support plate, a right guide rail support plate, a left front track connecting plate, a left rear track connecting plate, a right front track connecting plate, a right rear track connecting plate, a magnetic resonance transmitter, a suspension support column, a left rear suspension coil, a left front suspension coil, a right front suspension coil, a right rear suspension coil, a left upper overhead crane position sensor, a left lower overhead crane position sensor, a right upper overhead crane position sensor, a right upper overhead crane position sensor, a left front drive coil, a left rear drive coil, a right rear drive coil, a right front drive coil, and a displacement sensor array;

[0014] In the track system, the left guide rail support plate and the right guide rail support plate are located below the left front track connecting plate, the left rear track connecting plate, the right front track connecting plate, the right rear track connecting plate, the magnetic resonance transmitter, and the suspension support column. The suspension support column is located above the left guide rail support plate and the right guide rail support plate, and is surrounded and supported by the left front track connecting plate, the left rear track connecting plate, the right front track connecting plate, and the right rear track connecting plate. The magnetic resonance transmitter is wrapped around the inner side of the suspension support column, and the left rear suspension coil, the left front suspension coil, the right front suspension coil, and the right rear suspension coil are respectively wrapped around the left guide rail. The upper inclined surfaces on both sides of the support plate and the right guide rail support plate, the left front drive coil, the left rear drive coil, the right rear drive coil, and the right front drive coil are respectively wound on the lower inclined surfaces on both sides of the left guide rail support plate and the right guide rail support plate, the left upper overhead crane position sensor and the left lower overhead crane position sensor are respectively distributed on the upper inclined surface and the lower inclined surface inside the left guide rail support plate, the right upper overhead crane position sensor and the right upper overhead crane position sensor are respectively distributed on the upper inclined surface and the lower inclined surface inside the right guide rail support plate, and the displacement sensor array is distributed on the left and right sides inside the left guide rail support plate and the right guide rail support plate;

[0015] The object carrying system includes: a suspension frame, a right front straight shaft, a left front straight shaft, a right rear straight shaft, a left rear straight shaft, a right front straight shaft permanent magnet, a left front straight shaft permanent magnet, a right rear straight shaft permanent magnet, a left rear straight shaft permanent magnet, a right front induction coil, a left front induction coil, a right rear induction coil, a left rear induction coil, and an object carrying box;

[0016] In the loading system, the suspension frame is threadedly connected to the bottom of the hexagonal overhead crane bracket through the modular positioning mounting hole, and the right front straight shaft, left front straight shaft, right rear straight shaft, left rear straight shaft, right front induction coil, left front induction coil, right rear induction coil and left rear induction coil are installed inside the suspension frame, and the right front induction coil, left front induction coil, right rear induction coil and left rear induction coil are respectively attached to the surface of the right front straight shaft, left front straight shaft, right rear straight shaft and left rear straight shaft. The loading box is located below the hexagonal overhead crane bracket, left front straight shaft, left rear straight shaft, right front straight shaft and right rear straight shaft.

[0017] Furthermore, the magnetic levitation crane body includes a rotor system and a carrying system, which mainly include a hexagonal crane bracket, a left rear suspension permanent magnet, a left front suspension permanent magnet, a right front suspension permanent magnet, a right rear suspension permanent magnet, a front magnetic resonance receiver, a middle magnetic resonance receiver, a rear magnetic resonance receiver, a right battery cell, a left battery cell, a power module, a left rear motor rotor, a left front motor rotor, a right front motor rotor, a right rear motor rotor, a suspension frame, a right front straight shaft, a left front straight shaft, a right rear straight shaft, a left rear straight shaft, a right front straight shaft permanent magnet, a left front straight shaft permanent magnet, a right rear straight shaft permanent magnet, a left rear straight shaft permanent magnet, a right front induction coil, a left front induction coil, a right rear induction coil, a left rear induction coil, and a carrying box.

[0018] Furthermore, in the mover system, the left rear suspension permanent magnet, the left front suspension permanent magnet, the right front suspension permanent magnet, the right rear suspension permanent magnet, the left rear motor mover, the left front motor mover, the right front motor mover, and the right rear motor mover are made of one of aluminum nickel cobalt alloy, samarium cobalt alloy, neodymium iron boron alloy and ferrite, and are arranged in a diamond form, and the angle between the upper and lower permanent magnets on the same side is 30° to 60°.

[0019] Furthermore, the inner hexagonal groove tracks of the left guide rail support plate and the right guide rail support plate of the track system are made of silicon steel.

[0020] Furthermore, the left rear suspension coil, left front suspension coil, right front suspension coil, right rear suspension coil, left front drive coil, left rear drive coil, right rear drive coil and right front drive coil of the track system are wound around corresponding grooves on the inner side of the track; the corresponding magnetic pole direction is controlled by switching the current direction.

[0021] Furthermore, the upper left overhead crane position sensor, the lower left overhead crane position sensor, the upper right overhead crane position sensor, and the upper right overhead crane position sensor adopt one of eddy current sensors, Hall effect sensors, laser displacement sensors, or capacitance sensors, and the displacement sensor array adopts a fiber grating sensor.

[0022] Furthermore, the suspension system is composed of the left rear suspension permanent magnet, left front suspension permanent magnet, right front suspension permanent magnet, right rear suspension permanent magnet of the mover system and the left rear suspension coil, left front suspension coil, right front suspension coil, right rear suspension coil of the track system, left upper overhead crane position sensor, left lower overhead crane position sensor, right upper overhead crane position sensor, right upper overhead crane position sensor and displacement sensor array.

[0023] Furthermore, the drive system is composed of the left rear motor mover, left front motor mover, right front motor mover, right rear motor mover of the mover system and the left front drive coil, left rear drive coil, right rear drive coil, right front drive coil and displacement sensor array of the track system.

[0024] Furthermore, the upper end surfaces of the left rear suspension permanent magnet and the left front suspension permanent magnet of the mover system are parallel to the lower end surfaces of the left rear suspension coil and the left front suspension coil of the track system; the upper end surfaces of the right front suspension permanent magnet and the right rear suspension permanent magnet of the mover system are parallel to the lower end surfaces of the right front suspension coil and the right rear suspension coil of the track system; the lower end surfaces of the left rear motor mover and the left front motor mover of the mover system are parallel to the upper end surfaces of the left front drive coil and the left rear drive coil of the track system; the lower end surfaces of the right front motor mover and the right rear motor mover of the mover system are parallel to the upper end surfaces of the right rear drive coil and the right front drive coil of the track system.

[0025] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0026] 1. The present invention proposes a suspended drive and power supply integrated magnetic levitation overhead crane, which uses a hexagonal mover and a diamond array of permanent magnets to generate electromagnetic forces for guidance and suspension coupling, and can achieve six-degree-of-freedom coordinated control.

[0027] 2. The present invention proposes a magnetic levitation overhead crane with integrated suspension drive and power supply. By integrating magnetic resonance bidirectional wireless energy transmission technology, it switches to energy storage cells for power supply when the main power supply is interrupted, thus realizing power failure redundancy protection for the overhead crane system.

[0028] 3. The present invention proposes a magnetic levitation overhead crane with integrated suspension drive and power supply, which accurately maintains the vertical stability of the cargo box through an electromagnetic adjustable suspension system, and combines active and passive damping coils to synergistically suppress micro-vibrations to improve the operating stability of the magnetic levitation overhead crane.

[0029] 4. The present invention proposes a suspended, driven and powered integrated magnetic levitation overhead crane, which integrates suspension, drive and power supply functions, improves the energy utilization and reliability of the magnetic field, reduces the pollution to the dust-free environment during operation, and meets the stringent requirements of high-cleanliness scenarios such as wafer manufacturing for equipment reliability, low vibration and dust-free environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the three-dimensional structure of a suspended drive and power supply integrated magnetic levitation overhead crane proposed by the present invention.

[0031] Figure 2 This is a schematic diagram of the three-dimensional structure of the moving subsystem of the technical solution of the present invention.

[0032] Figure 3 This is a bottom-up schematic diagram of the three-dimensional structure of the moving subsystem of the technical solution of the present invention.

[0033] Figure 4 A schematic top view of the three-dimensional structure of the track system of the technical solution of the present invention.

[0034] Figure 5 A cross-sectional view of the rail system according to the technical solution of the present invention.

[0035] Figure 6 Schematic diagram of the three-dimensional structure of the carrier system of the technical solution of the present invention. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0037] Combine Figure 1 The present invention proposes a suspended drive and power supply integrated magnetic levitation overhead crane, which is composed of a mover system, a track system and a load carrying system;

[0038] Combine Figure 2 and Figure 3 The mover system comprises: a hexagonal overhead crane support (1), a left rear suspension permanent magnet (2A), a left front suspension permanent magnet (2B), a right front suspension permanent magnet (2C), a right rear suspension permanent magnet (2D), a front magnetic resonance receiver (3A), a middle magnetic resonance receiver (3B), a rear magnetic resonance receiver (3C), a right battery cell (4A), a left battery cell (4B), a power module (5), a left rear motor mover (6A), a left front motor mover (6B), a right front motor mover (6C), and a right rear motor mover (6D);

[0039] In the motor system, a left rear suspension permanent magnet (2A), a left front suspension permanent magnet (2B), a right front suspension permanent magnet (2C), and a right rear suspension permanent magnet (2D) are mounted on the inclined groove of the hexagonal crane bracket (1); a front magnetic resonance receiver (3A), a middle magnetic resonance receiver (3B), and a rear magnetic resonance receiver (3C) are located in the mounting hole of the hexagonal crane bracket (1); a right battery core (4A) and a left battery core (4B) are located in the hexagonal crane bracket (1); a power module (5) is located in the hexagonal crane bracket (1) and between the right battery core (4A) and the left battery core (4B); and a left rear motor mover (6A), a left front motor mover (6B), a right front motor mover (6C), and a right rear motor mover (6D) are mounted in the inclined lower end groove of the hexagonal crane bracket (1);

[0040] Combine Figure 4 and Figure 5 The track system comprises: a left guide rail support plate (7A), a right guide rail support plate (7B), a left front track connecting plate (8A), a left rear track connecting plate (8B), a right front track connecting plate (8C), a right rear track connecting plate (8D), a magnetic resonance transmitter (9), a suspension support column (10), a left rear suspension coil (11A), a left front suspension coil (11B), a right front suspension coil (11C), a right rear suspension coil (11D), a left upper overhead crane position sensor (12A), a left lower overhead crane position sensor (12B), a right upper overhead crane position sensor (12C), a right upper overhead crane position sensor (12D), a left front drive coil (13A), a left rear drive coil (13B), a right rear drive coil (13C), a right front drive coil (13D), and a displacement sensor array (14);

[0041] In the track system, the left guide rail support plate (7A) and the right guide rail support plate (7B) are located below the left front track connecting plate (8A), the left rear track connecting plate (8B), the right front track connecting plate (8C), the right rear track connecting plate (8D), the magnetic resonance transmitter (9), and the suspension support column (10); the suspension support column (10) is located above the left guide rail support plate (7A) and the right guide rail support plate (7B), and is surrounded and supported by the left front track connecting plate (8A), the left rear track connecting plate (8B), the right front track connecting plate (8C), and the right rear track connecting plate (8D); the magnetic resonance transmitter (9) is wound around the inner side of the suspension support column (10); the left rear suspension coil (11A), the left front suspension coil (11B), the right front suspension coil (11C), and the right rear suspension coil (11D) are respectively wound around the magnetic resonance transmitter (9). The left front drive coil (13A), the left rear drive coil (13B), the right rear drive coil (13C), and the right front drive coil (13D) are respectively wound on the lower inclined surfaces on both sides of the left guide rail support plate (7A) and the right guide rail support plate (7B); the left upper crane position sensor (12A) and the left lower crane position sensor (12B) are respectively distributed on the upper inclined surface and the lower inclined surface of the left guide rail support plate (7A); the right upper crane position sensor (12C) and the right upper crane position sensor (12D) are respectively distributed on the upper inclined surface and the lower inclined surface of the right guide rail support plate (7B); and the displacement sensor array (14) is distributed on the left and right sides of the left guide rail support plate (7A) and the right guide rail support plate (7B);

[0042] Combine Figure 6 The object carrying system comprises: a suspension frame (15), a right front straight shaft (16A), a left front straight shaft (16B), a right rear straight shaft (16C), a left rear straight shaft (16D), a right front straight shaft permanent magnet (17A), a left front straight shaft permanent magnet (17B), a right rear straight shaft permanent magnet (17C), a left rear straight shaft permanent magnet (17D), a right front induction coil (18A), a left front induction coil (18B), a right rear induction coil (18C), a left rear induction coil (18D), and an object carrying box (19);

[0043] In the loading system, a suspension frame (15) is connected to the bottom of the hexagonal overhead crane support (1) by screw thread through a modular positioning mounting hole; a right front straight shaft (16A), a left front straight shaft (16B), a right rear straight shaft (16C), a left rear straight shaft (16D), a right front induction coil (18A), a left front induction coil (18B), a right rear induction coil (18C), and a left rear induction coil (18D) are installed inside the suspension frame (15); the right front induction coil (18A), the left front induction coil (18B), the right rear induction coil (18C), and the left rear induction coil (18D) are respectively attached to the surfaces of the right front straight shaft (16A), the left front straight shaft (16B), the right rear straight shaft (16C), and the left rear straight shaft (16D); and a loading box (19) is located below the hexagonal overhead crane support (1), the left front straight shaft (16A), the left rear straight shaft (16B), the right front straight shaft (16C), and the right rear straight shaft (16D).

[0044] Furthermore, the magnetic levitation crane body comprises a mover system and a loading system, which mainly comprises a hexagonal crane bracket (1), a left rear suspension permanent magnet (2A), a left front suspension permanent magnet (2B), a right front suspension permanent magnet (2C), a right rear suspension permanent magnet (2D), a front magnetic resonance receiver (3A), a middle magnetic resonance receiver (3B), a rear magnetic resonance receiver (3C), a right battery cell (4A), a left battery cell (4B), a power module (5), a left rear motor mover (6A), a left front motor mover (6B), a right front motor mover (6C), a right rear motor mover (6D), a left rear motor mover (6A), a left front motor mover (6B), a right front motor mover (6C), a left rear motor mover (6D), a left rear motor mover (6A), a left front motor mover (6B), a right ... right front motor mover (6D), a front magnetic resonance receiver (3A), a middle magnetic resonance receiver (3B), a rear magnetic resonance receiver (3C), a right battery cell (4A), a left battery cell (4B), a power module (5), a left rear motor mover (6A), a left front motor mover (6B), a left front motor mover (6D), a front magnetic resonance receiver (3A), a middle A motor (6C), a right rear motor mover (6D), a suspension frame (15), a right front straight shaft (16A), a left front straight shaft (16B), a right rear straight shaft (16C), a left rear straight shaft (16D), a right front straight shaft permanent magnet (17A), a left front straight shaft permanent magnet (17B), a right rear straight shaft permanent magnet (17C), a left rear straight shaft permanent magnet (17D), a right front induction coil (18A), a left front induction coil (18B), a right rear induction coil (18C), a left rear induction coil (18D), and a cargo box (19).

[0045] Furthermore, in the mover system, the left rear suspension permanent magnet (2A), the left front suspension permanent magnet (2B), the right front suspension permanent magnet (2C), the right rear suspension permanent magnet (2D), the left rear motor mover (6A), the left front motor mover (6B), the right front motor mover (6C), and the right rear motor mover (6D) are made of one of aluminum nickel cobalt alloy, samarium cobalt alloy, neodymium iron boron alloy and ferrite, and are arranged in a diamond form, and the angle between the upper and lower permanent magnets on the same side is 30° to 60°.

[0046] Furthermore, the inner hexagonal groove tracks of the left guide rail support plate (7A) and the right guide rail support plate (7B) of the track system are made of silicon steel.

[0047] Furthermore, the track system's left rear suspension coil (11A), left front suspension coil (11B), right front suspension coil (11C), right rear suspension coil (11D), left front drive coil (13A), left rear drive coil (13B), right rear drive coil (13C) and right front drive coil (13D) are wound around corresponding grooves on the inner side of the track; the corresponding magnetic pole direction is controlled by switching the current direction.

[0048] Furthermore, the upper left overhead crane position sensor (12A), the lower left overhead crane position sensor (12B), the upper right overhead crane position sensor (12C), and the upper right overhead crane position sensor (12D) adopt one of eddy current sensors, Hall effect sensors, laser displacement sensors, or capacitance sensors, and the displacement sensor array (14) adopts a fiber grating sensor.

[0049] Furthermore, the suspension system is composed of the left rear suspension permanent magnet (2A), the left front suspension permanent magnet (2B), the right front suspension permanent magnet (2C), and the right rear suspension permanent magnet (2D) of the mover system, and the left rear suspension coil (11A), the left front suspension coil (11B), the right front suspension coil (11C), the right rear suspension coil (11D) of the track system, the left upper overhead crane position sensor (12A), the left lower overhead crane position sensor (12B), the right upper overhead crane position sensor (12C), the right upper overhead crane position sensor (12D), and the displacement sensor array (14).

[0050] Furthermore, the drive system is composed of the left rear motor mover (6A), the left front motor mover (6B), the right front motor mover (6C), and the right rear motor mover (6D) of the mover system, and the left front drive coil (13A), the left rear drive coil (13B), the right rear drive coil (13C), the right front drive coil (13D) of the track system, and a displacement sensor array (14).

[0051] Furthermore, the upper end faces of the left rear suspension permanent magnet (2A) and the left front suspension permanent magnet (2B) of the mover system are parallel to the lower end faces of the left rear suspension coil (11A) and the left front suspension coil (11B) of the track system; the upper end faces of the right front suspension permanent magnet (2C) and the right rear suspension permanent magnet (2D) of the mover system are parallel to the lower end faces of the right front suspension coil (11C) and the right rear suspension coil (11D) of the track system; the lower end faces of the left rear motor mover (6A) and the left front motor mover (6B) of the mover system are parallel to the upper end faces of the left front drive coil (13A) and the left rear drive coil (13B) of the track system; and the lower end faces of the right front motor mover (6C) and the right rear motor mover (6D) of the mover system are parallel to the upper end faces of the right rear drive coil (13C) and the right front drive coil (13D) of the track system.

[0052] The above description is only a preferred embodiment of the present application, and the present invention is not limited to the above embodiment. It is understood that other improvements and variations directly derived or imagined by those skilled in the art without departing from the spirit and concept of the present invention should be considered to be included in the scope of protection of the present invention.

Claims

1. A suspended drive and power supply integrated magnetic levitation overhead crane, characterized in that: It consists of a moving system, a track system and a carrier system; The mover system comprises: a hexagonal overhead crane support (1), a left rear suspension permanent magnet (2A), a left front suspension permanent magnet (2B), a right front suspension permanent magnet (2C), a right rear suspension permanent magnet (2D), a front magnetic resonance receiver (3A), a middle magnetic resonance receiver (3B), a rear magnetic resonance receiver (3C), a right battery cell (4A), a left battery cell (4B), a power module (5), a left rear motor mover (6A), a left front motor mover (6B), a right front motor mover (6C), and a right rear motor mover (6D); In the motor system, a left rear suspension permanent magnet (2A), a left front suspension permanent magnet (2B), a right front suspension permanent magnet (2C), and a right rear suspension permanent magnet (2D) are mounted on the inclined groove of the hexagonal crane bracket (1); a front magnetic resonance receiver (3A), a middle magnetic resonance receiver (3B), and a rear magnetic resonance receiver (3C) are located in the mounting hole of the hexagonal crane bracket (1); a right battery core (4A) and a left battery core (4B) are located in the hexagonal crane bracket (1); a power module (5) is located in the hexagonal crane bracket (1) and between the right battery core (4A) and the left battery core (4B); and a left rear motor mover (6A), a left front motor mover (6B), a right front motor mover (6C), and a right rear motor mover (6D) are mounted in the inclined lower end groove of the hexagonal crane bracket (1); The track system comprises: a left guide rail support plate (7A), a right guide rail support plate (7B), a left front track connecting plate (8A), a left rear track connecting plate (8B), a right front track connecting plate (8C), a right rear track connecting plate (8D), a magnetic resonance transmitter (9), a suspension support column (10), a left rear suspension coil (11A), a left front suspension coil (11B), a right front suspension coil (11C), a right rear suspension coil (11D), a left upper overhead crane position sensor (12A), a left lower overhead crane position sensor (12B), a right upper overhead crane position sensor (12C), a right upper overhead crane position sensor (12D), a left front drive coil (13A), a left rear drive coil (13B), a right rear drive coil (13C), a right front drive coil (13D), and a displacement sensor array (14); In the track system, the left guide rail support plate (7A) and the right guide rail support plate (7B) are located below the left front track connecting plate (8A), the left rear track connecting plate (8B), the right front track connecting plate (8C), the right rear track connecting plate (8D), the magnetic resonance transmitter (9), and the suspension support column (10); the suspension support column (10) is located above the left guide rail support plate (7A) and the right guide rail support plate (7B), and is surrounded and supported by the left front track connecting plate (8A), the left rear track connecting plate (8B), the right front track connecting plate (8C), and the right rear track connecting plate (8D); the magnetic resonance transmitter (9) is wound around the inner side of the suspension support column (10); the left rear suspension coil (11A), the left front suspension coil (11B), the right front suspension coil (11C), and the right rear suspension coil (11D) are respectively wound around the magnetic resonance transmitter (9). The left front drive coil (13A), the left rear drive coil (13B), the right rear drive coil (13C), and the right front drive coil (13D) are respectively wound on the lower inclined surfaces on both sides of the left guide rail support plate (7A) and the right guide rail support plate (7B); the left upper crane position sensor (12A) and the left lower crane position sensor (12B) are respectively distributed on the upper inclined surface and the lower inclined surface of the left guide rail support plate (7A); the right upper crane position sensor (12C) and the right upper crane position sensor (12D) are respectively distributed on the upper inclined surface and the lower inclined surface of the right guide rail support plate (7B); and the displacement sensor array (14) is distributed on the left and right sides of the left guide rail support plate (7A) and the right guide rail support plate (7B); The object carrying system comprises: a suspension frame (15), a right front straight shaft (16A), a left front straight shaft (16B), a right rear straight shaft (16C), a left rear straight shaft (16D), a right front straight shaft permanent magnet (17A), a left front straight shaft permanent magnet (17B), a right rear straight shaft permanent magnet (17C), a left rear straight shaft permanent magnet (17D), a right front induction coil (18A), a left front induction coil (18B), a right rear induction coil (18C), a left rear induction coil (18D), and an object carrying box (19); In the loading system, a suspension frame (15) is connected to the bottom of the hexagonal overhead crane support (1) by screw thread through a modular positioning mounting hole; a right front straight shaft (16A), a left front straight shaft (16B), a right rear straight shaft (16C), a left rear straight shaft (16D), a right front induction coil (18A), a left front induction coil (18B), a right rear induction coil (18C), and a left rear induction coil (18D) are installed inside the suspension frame (15); the right front induction coil (18A), the left front induction coil (18B), the right rear induction coil (18C), and the left rear induction coil (18D) are respectively attached to the surfaces of the right front straight shaft (16A), the left front straight shaft (16B), the right rear straight shaft (16C), and the left rear straight shaft (16D); and a loading box (19) is located below the hexagonal overhead crane support (1), the left front straight shaft (16A), the left rear straight shaft (16B), the right front straight shaft (16C), and the right rear straight shaft (16D).

2. The suspension drive and power supply integrated magnetic levitation overhead crane according to claim 1, characterized in that: The magnetic levitation crane body comprises a mover system and a load-carrying system, which mainly comprises a hexagonal crane bracket (1), a left rear suspension permanent magnet (2A), a left front suspension permanent magnet (2B), a right front suspension permanent magnet (2C), a right rear suspension permanent magnet (2D), a front magnetic resonance receiver (3A), a middle magnetic resonance receiver (3B), a rear magnetic resonance receiver (3C), a right battery cell (4A), a left battery cell (4B), a power module (5), a left rear motor mover (6A), a left front motor mover (6B), and a right front motor mover. (6C), right rear motor rotor (6D), suspension frame (15), right front straight shaft (16A), left front straight shaft (16B), right rear straight shaft (16C), left rear straight shaft (16D), right front straight shaft permanent magnet (17A), left front straight shaft permanent magnet (17B), right rear straight shaft permanent magnet (17C), left rear straight shaft permanent magnet (17D), right front induction coil (18A), left front induction coil (18B), right rear induction coil (18C), left rear induction coil (18D), and cargo box (19).

3. The suspension drive and power supply integrated magnetic levitation overhead crane according to claim 1, characterized in that: In the mover system, the left rear suspension permanent magnet (2A), the left front suspension permanent magnet (2B), the right front suspension permanent magnet (2C), the right rear suspension permanent magnet (2D), the left rear motor mover (6A), the left front motor mover (6B), the right front motor mover (6C), and the right rear motor mover (6D) are made of one of aluminum nickel cobalt alloy, samarium cobalt alloy, neodymium iron boron alloy, and ferrite, and are arranged in a diamond form. The angle between the upper and lower permanent magnets on the same side is 30° to 60°.

4. The suspension drive and power supply integrated magnetic levitation overhead crane according to claim 1, characterized in that: The inner hexagonal groove tracks of the left guide rail support plate (7A) and the right guide rail support plate (7B) of the track system are made of silicon steel.

5. The suspension drive and power supply integrated magnetic levitation overhead crane according to claim 1, characterized in that: The track system comprises a left rear suspension coil (11A), a left front suspension coil (11B), a right front suspension coil (11C), a right rear suspension coil (11D), a left front drive coil (13A), a left rear drive coil (13B), a right rear drive coil (13C) and a right front drive coil (13D) which are wound around corresponding grooves on the inner side of the track; the direction of the corresponding magnetic pole is controlled by switching the direction of the current.

6. The suspension drive and power supply integrated magnetic levitation overhead crane according to claim 1, characterized in that: The upper left overhead crane position sensor (12A), the lower left overhead crane position sensor (12B), the upper right overhead crane position sensor (12C), and the upper right overhead crane position sensor (12D) adopt one of eddy current sensors, Hall effect sensors, laser displacement sensors, or capacitance sensors, and the displacement sensor array (14) adopts a fiber grating sensor.

7. The suspension drive and power supply integrated magnetic levitation overhead crane according to claim 1, characterized in that: The suspension system is composed of the left rear suspension permanent magnet (2A), the left front suspension permanent magnet (2B), the right front suspension permanent magnet (2C), and the right rear suspension permanent magnet (2D) of the mover system, and the left rear suspension coil (11A), the left front suspension coil (11B), the right front suspension coil (11C), the right rear suspension coil (11D) of the track system, the left upper overhead crane position sensor (12A), the left lower overhead crane position sensor (12B), the right upper overhead crane position sensor (12C), the right upper overhead crane position sensor (12D), and a displacement sensor array (14).

8. The suspension drive and power supply integrated magnetic levitation overhead crane according to claim 1, characterized in that: The drive system is composed of the left rear motor mover (6A), the left front motor mover (6B), the right front motor mover (6C), and the right rear motor mover (6D) of the mover system, and the left front drive coil (13A), the left rear drive coil (13B), the right rear drive coil (13C), the right front drive coil (13D) of the track system, and a displacement sensor array (14).

9. The suspension drive and power supply integrated magnetic levitation overhead crane according to claim 1, characterized in that: The upper end faces of the left rear suspension permanent magnet (2A) and the left front suspension permanent magnet (2B) of the mover system are parallel to the lower end faces of the left rear suspension coil (11A) and the left front suspension coil (11B) of the track system; the upper end faces of the right front suspension permanent magnet (2C) and the right rear suspension permanent magnet (2D) of the mover system are parallel to the lower end faces of the right front suspension coil (11C) and the right rear suspension coil (11D) of the track system; the lower end faces of the left rear motor mover (6A) and the left front motor mover (6B) of the mover system are parallel to the upper end faces of the left front drive coil (13A) and the left rear drive coil (13B) of the track system; and the lower end faces of the right front motor mover (6C) and the right rear motor mover (6D) of the mover system are parallel to the upper end faces of the right rear drive coil (13C) and the right front drive coil (13D) of the track system.

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