A steerable conveyor line based on magnetic levitation technology

Abstract

The application provides a reversible conveying line based on magnetic suspension technology, a rotatable non-powered track is connected between a plurality of fixed power tracks, by controlling the rotation of the rotating track section, the two ends thereof are connected with two fixed track sections respectively, and a complete predetermined movement track is formed. The rotating track section does not need to integrate a complex stator coil array, the material cost and production process difficulty are reduced, and compared with a traditional linear motor transition scheme, the system reliability is significantly improved. A transformation structure is disclosed in the embodiment, including specific angle design and guide design, to ensure that the conveying carrier can smoothly pass through the rotating track section; in addition, the embodiment also provides a conveying carrier including a double main body part, the thrust and the pull are provided by different main body parts respectively, the power continuity of the conveying carrier when passing through the rotating track section is realized, and the conveying carrier is particularly suitable for material diversion, convergence or path switching in an industrial automation scene.

Description

TECHNICAL FIELD

[0001] The present application relates to a magnetic levitation industrial conveying line, in particular to a reversible conveying line based on magnetic levitation technology. BACKGROUND

[0002] The magnetic levitation conveying system is an intelligent and flexible industrial material conveying solution, and its core architecture is composed of a magnetic levitation track and a conveying carrier arranged on the track. The system realizes the suspension, guidance and driving of the conveying carrier through electromagnetic coupling principle, and has the technical advantages of non-contact, low wear and high efficiency. Specifically, the magnetic levitation track serves as the physical carrier of the whole system, and the stator coil array is integrated in the track structure, which generates a high-frequency alternating magnetic field after being energized. The conveying carrier is built-in with a permanent magnet array, which realizes accurate guidance and continuous driving through the interaction with the stator magnetic field.

[0003] In the existing industrial automation production scene, due to the limitation of actual production space layout, the material conveying system needs to frequently switch positions to adapt to various complex topological structures, such as the split and confluence of the conveying carrier. In order to realize the turning of the conveying carrier in the traditional technology, the magnetic levitation conveying track is usually divided into multiple independent power sections, and a linear driving unit is arranged between each power section for transition. The linear driving unit is connected to a rotatable turntable, the initial end of the stroke of the linear driving unit is connected to the end of the power section, and after the power unit passes through the power section, the linear driving unit takes over the power control, rotates the turntable, adjusts the direction of the linear driving unit, and connects the end of the stroke of the linear driving unit to the initial end of another power section, so that the power track takes over the power control.

[0004] The above structure can realize the change of the motion trajectory of the conveying carrier to some extent, but still has limitations. First of all, the linear driving unit needs to be connected to the rotatable turntable through a precise mechanical structure, and the initial end of the stroke must be accurately positioned with the end of the power section, and the end of the stroke needs to be seamlessly connected with the initial end of the next power section. This high-precision docking requirement leads to an abnormally complex transmission structure on the turntable, which requires a multi-axis positioning mechanism and a real-time calibration system;

[0005] Secondly, since the linear driving unit can only realize linear transmission, the system must wait for the conveying carrier to completely enter the coverage area of the linear driving unit before starting the turntable to adjust the direction. This working mode significantly increases the switching delay, making it difficult to meet the high-frequency path switching demand. SUMMARY

[0006] To solve the above technical problems, the present application provides a reversible conveying line based on magnetic levitation technology, which is applied to industrial material transmission, comprising: a plurality of fixed track sections, each fixed track section is provided with a power section, the power section is provided with a continuous array of stator coils, forming a driving magnetic field extending along the track;

[0007] At least one rotating track section is arranged between adjacent fixed track sections, and is a passive track section without stator coil, and has a controllable track rotating mechanism;

[0008] The conveying carrier comprises a main body part, a driving part arranged to interact with the stator coil, and a guide part arranged to cooperate with the track structure.

[0009] The conveying carrier is configured to move along a predetermined track formed by the fixed track sections and the rotating track sections, and the predetermined track comprises a source fixed track section, a rotating track section, and a target fixed track section.

[0010] The track state control system is configured to control the rotating track section to rotate so that the two ends of the rotating track section are connected to the source fixed track section and the target fixed track section respectively, thereby forming a complete predetermined movement track.

[0011] Further, the fixed track section comprises a transition section, and the two ends of the transition section are connected to the corresponding power section and the rotating track section respectively.

[0012] Further, the included angle between the power sections of the source fixed track section and the target fixed track section is 90° or 180°.

[0013] Further, the transition section is a passive track section without stator coil.

[0014] Further, the power section is a straight section, and the transition section is an arc section.

[0015] Further, the rotating track section and the fixed track section are configured as a double-layer guide rail structure, and the double-layer guide rail structure comprises an upper guide rail and a lower bearing rail extending in the same direction.

[0016] Further, the guide part comprises an upper guide mechanism and a lower bearing mechanism, the upper guide mechanism is in a cooperative relationship with the upper guide rail, and the lower bearing mechanism is in a cooperative relationship with the lower bearing rail.

[0017] Further, the conveying carrier is provided with a front main body part and a rear main body part, and further comprises a bearing part, and the front main body part and the rear main body part are rotationally connected to the bearing part.

[0018] Further, after the conveying carrier enters the rotating track section, the rear main body part cooperates with the source fixed track section to provide a forward thrust, and after the conveying carrier leaves the rotating track section, the front main body part cooperates with the target fixed track section to provide a forward pulling force.

[0019] Further, the track state control system is configured to switch the split and merge of the conveying carriers or the cross-moving track.

[0020] The application provides a reversible conveying line based on magnetic suspension technology, a rotatable non-powered track is connected between a plurality of fixedly arranged powered tracks, rotation of a rotating track section is controlled, the two ends of the rotating track section are connected with two fixed track sections respectively, and a complete predetermined moving track is formed. The rotating track section does not need to be integrated with a complex stator coil array, material cost and production process difficulty are reduced, compared with a conventional linear motor transition scheme, system reliability is significantly improved, and through the track conversion system provided by the application, the split and merge of the conveying carriers and the switching between cross tracks can be conveniently realized.

[0021] In the embodiment, a conversion structure is disclosed, including specific angle design and guide design, so that the conveying carrier can smoothly pass through the rotating track section; in addition, the embodiment also provides a conveying carrier including a double-body part, thrust and pull are provided by different body parts respectively, power continuity of the conveying carrier when passing through the rotating track section is realized. The problem of power interruption caused by track switching is avoided, the operation efficiency and reliability of the system are improved, and at the same time, the double-body structure can also improve the load capacity and the ability to cope with complex working conditions of the system to a certain extent, and is suitable for material split, merge or path switching in industrial automation scenes. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a perspective view of embodiment 1 of the reversible conveying line based on magnetic suspension technology of the application;

[0023] Figure 2 is a structural schematic view of the fixed track section;

[0024] Figure 3 is another structural schematic view of the fixed track section;

[0025] Figure 4 is a structural schematic view of the conveying carrier turning from the fixed track section 1a to the fixed track section 1b;

[0026] Figure 5 is a structural schematic view of the conveying carrier turning from the fixed track section 1a to the fixed track section 1c;

[0027] Figure 6 is a schematic view of the conveying carrier moving in cooperation with the guide rail structure;

[0028] Figure 7 is a schematic view of the double-mover structure turning;

[0029] Figure 8 is a connection schematic view of embodiment 2 of the application.

[0030] Reference numerals: 1. Fixed track section; 2. Rotating track section; 11. Power section; 12. Transition section; 3. Stator coil; 4. Servo motor; 5. Turntable; 6. Track structure; 61. Frame; 62. V-shaped guide rail; 63. Flat guide rail; 7. Conveying carrier; 71. Guide part; 711. Upper roller; 712. Lower roller; 72. Bearing part; 73. Main body. Detailed Implementation

[0031] Traditional magnetic levitation systems used in industrial transport typically consist of a magnetic levitation track and a transport vehicle mounted on the track. The magnetic levitation track is the physical carrier of the entire system, equipped with stator coils, and its core function is to provide stable levitation support, precise guidance, and continuous driving force for the transport vehicle. The transport vehicle is the transmission component of the system's moving carrier, achieving the conversion of electromagnetic energy into mechanical energy through electromagnetic coupling with the stator coils, thus driving the carrier's directional movement. Transport lines frequently encounter scenarios involving trajectory changes, such as the merging, splitting, and intersection of transport vehicle trajectories. The purpose of this invention is to achieve trajectory changes for the transport vehicle through structural design.

[0032] Example 1: As Figure 1 The illustrated steerable conveyor line based on magnetic levitation technology includes three fixed track sections 1 and a rotating track section 2 disposed between the fixed track sections 1. Each fixed track section 1 and rotating track section 2 is equipped with a track structure 6. The conveyor carrier 7 is connected to the track structure 6 via a guide part 71, which restricts the movement trajectory of the conveyor carrier 7. The fixed track section 1 includes a power section 11, which is equipped with continuously arranged stator coils 3. When energized, the power section 11 forms a driving magnetic field extending along the track, providing a continuous driving force for the movement of the conveyor carrier 7.

[0033] The rotating track segment 2 itself forms a complete track structure 6 connected end to end. It is a passive track segment without stator coils 3. Its track structure 6 has the same shape as the track structure 6 of the fixed track segment 1, and can connect with the adjacent fixed track segment 1, ensuring that the transport carrier 7 does not need to adjust the track parameters when passing through. When the transport carrier 7 moves along the track structure 6 from the source fixed track segment to the target fixed track segment, the source fixed track segment, the rotating track segment 2, and the target fixed track segment will form a complete transmission line. The stator coils 3 of the source fixed track segment and the target fixed track segment provide driving power, causing the transport carrier to pass through the rotating track segment 2.

[0034] The rotating track segment 2 is equipped with a controllable track rotation mechanism, including a turntable 5 driven by a servo motor 4. The track structure 6 of the rotating track segment 2 is fixedly mounted above the turntable 5. The servo motor 4 drives the turntable 5 to rotate, which can change the start and end positions of the rotating track segment 2, allowing it to connect with different fixed track segments 1 to form different motion trajectories. The track structure 6 of the rotating track segment 2 is a non-powered segment, enabling 360° omnidirectional rotation, greatly simplifying the setup requirements of the rotating track segment 2.

[0035] In this embodiment, the three fixed track segments 1 are, in sequence, fixed track segment 1a, fixed track segment 1b, and fixed track segment 1c. The predetermined movement trajectory of the transport carrier 7 is from fixed track segment 1a to fixed track segment 1b and then to fixed track segment 1c. The movement path of the transport carrier 7 is switched according to predetermined requirements. Initially, the beginning and end of the rotating track segment 2 are connected to fixed track segment 1a and fixed track segment 1b, respectively. When the system receives an instruction that the transport carrier 7 needs to turn from fixed track segment 1a to fixed track segment 1c, the track state control system initiates the path switching program, sends a control signal to the servo motor 4, precisely switches to the preset angle position, the turntable 5 rotates, and the beginning and end directions of the rotating track segment 2 change. The geometry of the rotating track segment 2 is preset according to the positions of the three power sections 11, so that its beginning and end can connect to both fixed track segment 1a to fixed track segment 1b and fixed track segment 1a to fixed track segment 1c via the rotating turntable 5. This geometry is preferably a smooth arc shape to facilitate the passage of the transport carrier 7.

[0036] Furthermore, the fixed track section 1 also includes a transition section 12, which connects to the end of the power section 11 and is equipped with the same track structure 6 as the power section 11 and the fixed track section 1. The transition section 12 is configured with an arc structure. By adjusting the shape of the transition section 12 and the rotating track section 2, a smooth connection between the transition section 12 and the power section 11 and the fixed track section 1 can be achieved. This allows for greater possibilities in the angle design of the fixed track section 1 and prevents the transport carrier 7 from being unable to pass through the rotating track section 2 due to excessively large corner shapes.

[0037] The track length, stator coil 3 strength, and curvature of each fixed track segment 1 can be adjusted according to requirements. In this embodiment, the three fixed track segments 1 have the same shape, which facilitates mass production and also benefits the stable transmission of the transport carrier 7. All three power sections 11 are configured as linear stator coil 3 arrays. Power sections 11a and 11b are located on the same straight line and are connected by a rotating track segment 2 to achieve a 180° linear turn. Power sections 11a and 11c are vertically arranged and are connected by a rotating track segment 2 to achieve a 90° vertical turn. Each of the three power sections 11 is connected to a transition section 12, with the track curvature of the transition section 12 extending in the same direction at 22.5°. The track curvature of the rotating track segment 2 is set to 45°. When the rotating track segment 2 rotates to… Figure 4 When in position, transition sections 12a and 12b and rotating track section 2 connect to form a smooth 90° arc; when rotating track section 2 rotates to... Figure 5 In its current position, transition sections 12a and 12b connect with rotating track section 2 to form a meandering arc. The power unit experiences very little resistance as it passes through rotating track section 2, requiring only minimal power to traverse it.

[0038] The transition section 12 can be configured as a power track with a coil array, which also provides power when the transport carrier 7 passes through. Considering that the stator coils 3 of the linear array are more uniform and easier to produce, while the stator coils 3 of the ring array need to be customized, in this embodiment, the transition section 12 is configured to only include the track structure 6 that connects with the rotating track section 2.

[0039] Furthermore, it is understood that the arc provided in this embodiment is not limited to 90° and 180°. Adjusting the connection position between the transition section 12 and the rotating track section 2 can achieve a 45° transition angle between the two tracks. Similarly, by changing the arc of the transition section 12 and the rotating track section 2, other angles of the fixed track section 1 can be transitioned.

[0040] This embodiment achieves the conversion between one source fixed track segment and two target fixed track segments by rotating the rotating track segment 2. This allows the conveyor 7 on the source fixed track segment to choose whether to move linearly or in a turning direction as needed, or to divert multiple conveyor 7 on the source fixed track segment. Similarly, by changing the driving direction of the three fixed track segments 1 in this embodiment, multiple conveyor 7 can be merged into the fixed track segment 1a.

[0041] like Figure 2 and Figure 3As shown, the track structure 6 in this embodiment is further configured as a double-layer guide rail structure, including a frame 61, an upper guide rail extending along the moving direction of the conveying carrier 7, and a lower support rail. The conveying carrier 7 is provided with a guide part 71 that cooperates with the double-layer guide rail structure. The frame 61 provides basic support for the entire track structure 6. The upper guide rail and the lower support rail are arranged above and below the stator coil 3, respectively, wrapping the stator coil 3 in the middle of the frame 61 to form a complete whole. The upper guide rail is a V-shaped guide rail 62, arranged above the frame 61. Matching rollers are fitted into the V-shaped guide rail 62 to reduce the possibility of vertical movement of the rollers. The lower support rail is a flat guide rail 63. The bottom of the flat guide rail 63 is connected to the equipment base plate, providing guidance and support for the lower part of the conveying carrier 7. The upper guide rail and the lower support rail are connected as one unit through the middle frame 61, which together restricts the movement trajectory of the conveying carrier 7 from above and below.

[0042] In this embodiment, the structure of the transport carrier 7 is as follows: Figure 6 As shown, the system includes a support section 72, a main body section 73, and a guide section 71. The main body section 73 is a key component of the transport carrier 7 that directly interacts with the stator coil 3 of the magnetic levitation track. It is equipped with a drive component that interacts with the stator coil 3 and is connected to the outside of the stator coil 3 to convert electromagnetic energy into mechanical energy, thereby driving the transport carrier 7 to move. The support section 72 is a key component of the transport carrier 7 responsible for structural support and load transfer. It is located above the main body section 73 and directly bears the effective load such as goods or passengers. At the same time, it evenly distributes and transfers the load to the main body section 73 and the guide section 71 to ensure the stability and reliability of the overall structure of the transport carrier 7. The guide section 71 is responsible for precise cooperation with the track structure 6 to ensure that the transport carrier 7 runs stably along the predetermined trajectory.

[0043] Specifically, to accommodate the aforementioned double-layer guide rail structure, the guide section 71 includes an upper guide mechanism and a lower support mechanism connected above and below the main body 73. The upper guide mechanism is equipped with two sets of upper rollers 711 that cooperate with the upper guide rail. These two sets of rollers are connected to both sides of the V-shaped guide rail 62 to prevent deviation in the horizontal movement trajectory of the conveying carrier 7. The lower support mechanism is equipped with a set of lower rollers 712, which are connected to the outside of the flat guide rail 63 to restrict the movement trajectory of the conveying carrier 7 from below. The upper guide mechanism and the lower support mechanism are jointly connected to the main body 73 to maintain the stability of the conveying carrier 7's movement.

[0044] The power that enables the transport carrier 7 to stably pass through the rotating track segment 2 is coordinated by the driving magnetic fields of each fixed track segment 1, ensuring that the transport carrier 7 moves continuously along a predetermined trajectory. For example, when the transport carrier 7 just enters the rotating track segment 2, the driving force of the fixed track segment is increased to give the transport carrier 7 sufficient forward momentum. In this embodiment, the transport carrier 7 is further configured as a dual-actuator structure, such as...Figure 6 and Figure 7 As shown, the conveying carrier 7 includes two main bodies 73 and a matching guide body 71. The two main bodies 73 are rotatably connected to the bearing body 72, jointly supporting the bearing body 72 while each cooperating with the stator coil 3. The function of the dual-acting substructure is to decompose the traditional single power source into two independent but cooperative drive units. In the continuous power section 11, the two main bodies 73 can simultaneously provide driving force, enabling the conveying carrier 7 to obtain greater propulsion force and meet the requirements of heavy-load or high-speed operation. When one main body 73 fails, the other main body 73 can still provide basic power, improving the system's fault tolerance. In this invention, the dual-acting substructure can flexibly adjust the main body 73 that outputs power, controlling the conveying carrier 7 to pass through the rotating track section 2.

[0045] Specifically, the distance between the two main body sections 73 is controlled to be greater than the length of the rotating track section 2, ensuring that at least one of the main body sections 73 has a strong driving force. The two main body sections 73 are named the front main body section 73a and the rear main body section 73b according to the forward direction of the conveyor carrier 7. When the front main body section 73a enters the rotating track section 2, its driving force gradually decreases, while the rear main body section 73b continues to cooperate with the source fixed track section, providing forward thrust for the conveyor carrier 7. The conveyor carrier 7 is configured in thrust mode. After the conveyor carrier 7 passes through the rotating track section 2, the rear main body section 73b enters the rotating track section 2, its driving force decreases, and the front main body section 73a enters the target fixed track section, cooperating with the stator coil 3 to provide forward pull for the conveyor carrier 7. The conveyor carrier 7 switches to pull mode. By switching between thrust and pull modes, power continuity is maintained, reducing the difficulty for the conveyor carrier 7 to pass through the rotating track section 2 and preventing the conveyor carrier 7 from stopping on the rotating track section 2 due to insufficient driving force.

[0046] Example 2: As described above, Example 1 is configured to use the rotating track segment 2 to realize the diversion and merging of the transport carrier 7, while Example 2 is configured to use the rotating track segment 2 to realize the switching of two or more intersecting movement trajectories.

[0047] like Figure 8The illustrated steerable conveyor line based on magnetic levitation technology includes four fixed track segments 1d, 1e, 1f, and 1g, and a rotating track segment 2 positioned between each fixed track segment 1. Each fixed track segment 1 and rotating track segment 2 is equipped with a track structure 6. Each fixed track segment 1 has a power section 11 and a transition section 12 as in Embodiment 1. The arcs of the transition section 12 and the rotating track segment 2 are also set to the same 22.5° and 45° as in Embodiment 1. Fixed track segments 1d and 1e form one continuous conveyor track, and fixed track segments 1f and 1g form another continuous conveyor track. The two tracks intersect at the position on the rotating track segment 2. When a conveyor 7 is detected to be passing on a certain track, the track status control system initiates a path switching program, sending a control signal to the servo motor 4 to precisely switch to a preset angle position. The turntable 5 rotates, changing the direction of the rotating track segment 2, thereby achieving the transformation between the two tracks.

[0048] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A steerable conveyor line based on magnetic levitation technology, characterized in that, include: Multiple fixed track sections (1) are arranged along the conveying direction. Each fixed track section (1) is provided with a power section (11). The power section (11) is provided with a stator coil (3) arranged in a continuous manner to form a driving magnetic field extending along the track. At least one rotating track segment (2) is provided between adjacent fixed track segments (1), and is a passive track segment without stator coils (3), and has a controllable track rotation mechanism; The transport carrier (7) includes a main body (73) and a drive component that interacts with the stator coil (3); and a guide (71) that cooperates with the track structure (6). The transport carrier (7) is configured to move along a predetermined trajectory consisting of a fixed track segment (1) and a rotating track segment (2), the predetermined trajectory including: a source fixed track segment, a rotating track segment (2), and a target fixed track segment; The track status control system is configured to control the rotation of the rotating track segment (2) so that its beginning and end ends are respectively connected to the source fixed track segment and the target fixed track segment to form a complete predetermined motion trajectory. The conveying carrier (7) is provided with a front main body (73a) and a rear main body (73b), and also includes a support part (72), wherein the front main body (73a) and the rear main body (73b) are rotatably connected to the support part (72). After the transport carrier (7) enters the rotating track section (2), the rear main body (73b) cooperates with the source fixed track section to provide forward thrust. After the transport carrier (7) leaves the rotating track section (2), the front main body (73a) cooperates with the target fixed track section to provide forward pull.

2. The steerable conveyor line based on magnetic levitation technology as described in claim 1, characterized in that: The fixed track section (1) includes a transition section (12), and the two ends of the transition section (12) are respectively connected to the corresponding power section (11) and the rotating track section (2).

3. A steerable conveyor line based on magnetic levitation technology as described in claim 2, characterized in that: The included angle between the power section (11) of the source fixed track segment and the target fixed track segment is 90° or 180°.

4. A steerable conveyor line based on magnetic levitation technology as described in claim 2, characterized in that: The transition section (12) is a passive track section without stator coils (3).

5. A steerable conveyor line based on magnetic levitation technology as described in claim 2, characterized in that: The power section (11) is a straight section, and the transition section (12) is a connected arc section.

6. A steerable conveyor line based on magnetic levitation technology as described in claim 1, characterized in that: The rotating track section (2) and the fixed track section (1) are configured as a connected double-layer guide rail structure, which includes an upper guide rail and a lower load-bearing rail extending in the same direction.

7. A steerable conveyor line based on magnetic levitation technology as described in claim 6, characterized in that: The guide section (71) includes an upper guide mechanism and a lower support mechanism. The upper guide mechanism is in a cooperative relationship with the upper guide rail, and the lower support mechanism is in a cooperative relationship with the lower support rail.

8. A steerable conveyor line based on magnetic levitation technology as described in claim 1, characterized in that: The track status control system is configured to switch the diversion and merging or cross movement trajectories of the transport vehicle (7).

Images