Magnetic suspension shuttle vehicle, goods shelf with magnetic track and warehousing system

Abstract

The utility model provides a magnetic suspension shuttle vehicle, a goods shelf with a magnetic track and a warehousing system. The magnetic suspension shuttle vehicle comprises a main body and a first matching part main body. A bearing part is arranged on one side of the body. The first matching part is arranged on the side, opposite to the side provided with the bearing part, of the main body and comprises a first movable magnetic piece and a first matching magnetic piece, the polarity of the first movable magnetic piece is kept fixed, and the polarity of the first matching magnetic piece is controlled to change. The first matching part is configured to enable the magnetic suspension shuttle vehicle not to be attached to the first track and drive the magnetic suspension shuttle vehicle to move along the first track or enable the magnetic suspension shuttle vehicle to be braked. According to the embodiment of the utility model, the resistance of the magnetic suspension shuttle vehicle during movement can be reduced, the speed is increased, the collision with the first track can be prevented, and the mechanical damage risk and noise and dust pollution in a working scene are reduced.

Description

Technical Field

[0001] The utility model generally relates to the technical field of intelligent logistics, in particular to a magnetic suspension shuttle vehicle, a shelf with a magnetic track and a storage system. Background Art

[0002] Three-dimensional warehousing can greatly increase the space utilization rate of warehouses. The existing three-dimensional warehousing system mainly uses wheeled four-way shuttles to transfer goods, and cooperates with stacker racks or chain conveyor racks, and a lifting system that moves in the vertical direction, which can move goods between racks at different heights to achieve three-dimensional warehousing.

[0003] In the existing technology, the three-dimensional storage system relies on mechanically driven wheels to move along the track. Affected by the processing accuracy and friction loss, the four-way shuttle has the problem of shaking during movement, and the wheels and tracks will collide, causing the shelves to shake, which is not conducive to the stability of the storage system, affecting production safety and service life. At the same time, there are also dust and noise problems, which are not applicable in work scenarios with high requirements for the storage environment.

[0004] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the prior art in the field. Utility Model Content

[0005] In view of one or more defects in the prior art, the utility model provides a magnetic levitation shuttle vehicle for moving on a shelf with a magnetic track, the magnetic levitation shuttle vehicle comprising:

[0006] A main body, one side of which is provided with a bearing portion; and

[0007] A first matching portion, the first matching portion is arranged on the side of the main body opposite to the side where the bearing portion is arranged; the first matching portion comprises:

[0008] a first movable magnetic member, wherein the polarity of the first movable magnetic member remains fixed;

[0009] a first matching magnetic member, wherein the polarity of the first matching magnetic member is controlled to change;

[0010] The shelf includes a first track, the first matching portion is parallel to the first track, and the first matching portion is configured to prevent the magnetic levitation shuttle from fitting into the first track and drive the magnetic levitation shuttle to move along the first track, or brake the magnetic levitation shuttle.

[0011] According to one aspect of the utility model, the shelf includes a second track, and the magnetic suspension shuttle also includes:

[0012] A second matching portion, the second matching portion is arranged on a side of the main body where the first matching portion is arranged; the second matching portion comprises:

[0013] a second movable magnetic member, wherein the polarity of the second movable magnetic member remains fixed;

[0014] a second matching magnetic member, wherein the polarity of the second matching magnetic member is controlled to change;

[0015] The second matching portion is parallel to the second track, and the second matching portion is configured to prevent the magnetic levitation shuttle from being in contact with the second track, and to drive the magnetic levitation shuttle to move along the second track, or to brake the magnetic levitation shuttle.

[0016] According to one aspect of the utility model, the magnetic levitation shuttle vehicle further includes:

[0017] A limiting portion, wherein the limiting portion is movably arranged on a side of the main body where the first matching portion and the second matching portion are arranged, and protrudes from the surface of the main body, and the first matching portion and the second matching portion are recessed toward the interior of the main body; when the first matching portion and the first track cooperate with each other, the limiting portion surrounds the side of the first track; when the second matching portion and the second track cooperate with each other, the limiting portion surrounds the side of the second track.

[0018] According to one aspect of the utility model, the cross-section of the first rail and the cross-section of the second rail are T-shaped or I-shaped; the limiting portion is configured to match the top structure of the T-shaped or I-shaped structure to surround the side and bottom surfaces of the top structure of the T-shaped or I-shaped structure.

[0019] According to one aspect of the utility model, the magnetic levitation shuttle vehicle further includes:

[0020] A positioning portion, wherein the positioning portion is fixedly disposed on one side of the main body where the first matching portion and the second matching portion are disposed, and is configured to acquire magnetic field data of the first track and the second track to determine the spatial position of the magnetic levitation shuttle.

[0021] According to one aspect of the utility model, the utility model also includes a shelf with a magnetic track, which is used to carry the movement of the magnetic suspension shuttle as described above, and the shelf includes:

[0022] A plurality of columns, wherein the plurality of columns are arranged in a vertical direction;

[0023] A crossbeam, the crossbeam being arranged between the plurality of columns along a horizontal plane; and

[0024] A first track, wherein the first track is arranged on the crossbeam, and the first track comprises:

[0025] A first fixed magnetic member, wherein the first fixed magnetic member is disposed along the first track and the polarity of the first fixed magnetic member remains fixed;

[0026] A first driving magnetic member, wherein the first driving magnetic member is disposed along the first track and the polarity of the first driving magnetic member is controlled to change;

[0027] The first track is configured to cooperate with the first matching part in the magnetic levitation shuttle, the first movable magnetic part is directly opposite to the first fixed magnetic part, and the first movable magnetic part and the first fixed magnetic part are configured to prevent the magnetic levitation shuttle from fitting with the first track; the magnetic force between the first driving magnetic part and the first matching magnetic part drives the magnetic levitation shuttle to move along the first track, or brakes the magnetic levitation shuttle.

[0028] According to one aspect of the utility model, the shelf further comprises:

[0029] A second track, wherein the second track is arranged on the crossbeam, and the second track and the first track intersect each other vertically in a horizontal plane, and the second track comprises:

[0030] A second fixed magnetic member, wherein the second fixed magnetic member is arranged along the second track and the polarity of the second fixed magnetic member remains fixed;

[0031] A second driving magnetic member, wherein the second driving magnetic member is arranged along the second track, and the polarity of the second driving magnetic member is controlled to change;

[0032] The magnetic suspension shuttle comprises a second matching portion, wherein the second matching portion comprises: a second movable magnetic part and a second matching magnetic part, wherein the polarity of the second movable magnetic part remains fixed; and the polarity of the second matching magnetic part is controlled to change;

[0033] The second track is configured to be able to cooperate with the second matching portion, the second movable magnetic part is directly opposite to the second fixed magnetic part, and the second movable magnetic part and the second fixed magnetic part are configured to prevent the magnetic levitation shuttle from fitting with the second track; the magnetic force between the second driving magnetic part and the second matching magnetic part drives the magnetic levitation shuttle to move along the second track, or brakes the magnetic levitation shuttle.

[0034] According to one aspect of the utility model, the first track is an independent track or two tracks parallel to each other; the second track is an independent track or two tracks parallel to each other.

[0035] According to one aspect of the utility model, the shelf further comprises:

[0036] A protection frame is respectively arranged on the sides of the first track and the second track along a direction parallel to the first track and the second track, and the height of the protection frame in the vertical direction is smaller than the height of the first track and the second track.

[0037] According to one aspect of the utility model, the shelf further comprises:

[0038] A connecting rod is arranged on the column and fixedly connected to the adjacent column, and the connecting rod is located close to an end of the column away from the ground.

[0039] According to one aspect of the utility model, the shelf further comprises:

[0040] A support frame, wherein the support frame is disposed on the column, and the position of the support frame is higher than the position of the crossbeam in the vertical direction; and

[0041] A fixing seat is fixedly arranged on the ground, and the upright post is plugged into the fixing seat.

[0042] According to one aspect of the utility model, the utility model also includes a storage system, including:

[0043] A shelf as hereinbefore described having magnetic tracks; and

[0044] At least one magnetically levitated shuttle as hereinbefore described.

[0045] According to one aspect of the utility model, the storage system further includes:

[0046] A lifting device, the lifting device is arranged on at least one side of the shelf, and the lifting device comprises:

[0047] A lifting column, wherein the lifting column is arranged in a vertical direction; and

[0048] The lifting part is configured to be able to move in the vertical direction along the lifting column. In the lifting part, a guide part is further arranged at the connection position with the lifting column, and the guide part is movably connected with the lifting column.

[0049] Compared with the prior art, an embodiment of the utility model provides a magnetic levitation shuttle, in which a first mating part can cooperate with a first track in a shelf having a magnetic track, and is suspended relative to the first track to reduce friction resistance, and can move along the first track with small movement resistance and high speed, and can prevent collision with the first track, thereby reducing the risk of mechanical damage and noise and dust pollution in the working scene.

[0050] An embodiment of the utility model also provides a shelf with a magnetic track, which cooperates with the aforementioned magnetic levitation shuttle, wherein the first track includes a first fixed magnetic part and a first driving magnetic part. The first fixed magnetic part can be used to suspend the magnetic levitation shuttle relative to the first track, and the first driving magnetic part can be used to drive the magnetic levitation shuttle to move, thereby preventing friction and collision between the magnetic levitation shuttle and the first track, which is beneficial to improving the structural stability of the shelf, reducing dust and noise in the storage environment, and providing a mutually matching shelf for the magnetically driven magnetic levitation shuttle.

[0051] The embodiment of the utility model also includes a storage system, which uses the aforementioned shelf with magnetic tracks and magnetic suspension shuttle. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0053] Figure 1A and Figure 1B It is a schematic diagram of the structure of the magnetic suspension shuttle in some embodiments of the utility model;

[0054] Figure 2 is a schematic structural diagram of the first matching portion and the second matching portion in some embodiments of the utility model;

[0055] Figure 3 It is a schematic diagram of the cooperation between the magnetic suspension shuttle and the shelf with magnetic tracks in some embodiments of the utility model;

[0056] Figure 4 It is a schematic diagram of the structure of a shelf with a magnetic track in some embodiments of the utility model;

[0057] Figure 5 is a cross-sectional view of the first track and the second track in some embodiments of the utility model;

[0058] Figure 6 It is a structural schematic diagram of a storage system in some embodiments of the utility model;

[0059] Figure 7It is a structural schematic diagram of the lifting device in some embodiments of the utility model. DETAILED DESCRIPTION

[0060] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0061] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model 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 cannot be understood as limiting the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, "plurality" means two or more than two, unless otherwise clearly and specifically defined.

[0062] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0063] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0064] The disclosure below provides many different embodiments or examples for realizing different structures of the utility model. In order to simplify the disclosure of the utility model, the components and settings of specific examples are described below. Of course, they are merely examples, and the purpose is not to limit the utility model. In addition, the utility model may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the utility model provides various specific examples of processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and / or the use of other materials.

[0065] The following describes embodiments of the present invention in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0066] Figure 1A and Figure 1B The structure of the magnetic suspension shuttle 100 according to an embodiment of the utility model is shown. The magnetic suspension shuttle 100 can move on a shelf 200 with a magnetic track (described in subsequent embodiments). Figure 2 FIG. 1 shows the structure of the first matching portion 120 according to an embodiment of the present utility model. Figure 3 The magnetic suspension shuttle 100 and the shelf 200 with magnetic tracks are shown in the following figure. Figure 1A-Figure 3 The magnetic levitation shuttle 100 will be described.

[0067] like Figure 1A and Figure 1BAs shown, the magnetic levitation shuttle 100 includes a main body 110 and a first matching portion 120. A load-bearing portion 111 is provided on one side of the main body 110, and the load-bearing portion 111 is used to carry the goods to be transferred. The goods can be loaded through a material box or a pallet, or the goods can be directly placed on the load-bearing portion 111. Further, the magnetic levitation shuttle 100 can also be configured to drive the load-bearing portion 111 to move in the vertical direction, so that the goods on the load-bearing portion can be placed at the goods in the shelf 200 (for example, on the support frame 260), or the load-bearing portion 111 is lifted upward to separate the goods from the shelf 200, and can be transferred to other locations under the drive of the magnetic levitation shuttle 100.

[0068] The first matching portion 120 is disposed on the opposite side of the main body 110 where the bearing portion 111 is disposed. For example, when the magnetic levitation shuttle 100 is in working state, the bearing portion 111 is disposed on the upper side of the main body 110 and the first matching portion 120 is disposed on the lower side of the main body 110 .

[0069] like Figure 2 As shown, in this embodiment, the first matching portion 120 includes a first movable magnetic part 121 and a first matching magnetic part 122. The polarity of the first movable magnetic part 121 remains fixed, and the polarity of the first matching magnetic part 122 is controlled to change. Specifically, for example, the first movable magnetic part 121 is a permanent magnet or an electromagnet with a fixed current direction, and the first matching magnetic part 122 is an electromagnet with a controlled current direction.

[0070] like Figure 3 As shown, the shelf 200 with a magnetic track includes a first track 230, and the first matching portion 120 is used to cooperate with the first track 230 in the shelf 200 to jointly define the movement direction of the magnetic levitation shuttle 100. The first movable magnetic part 121 can cooperate with the first track 230 (for example, the first track 230 includes a magnetic part) so that the magnetic levitation shuttle 100 can be suspended relative to the first track 230 to reduce the movement resistance of the magnetic levitation shuttle 100. The first movable magnetic part 121 is used to move and brake the magnetic levitation shuttle 100. By changing the polarity of the first matching magnetic part 122, the magnetic field distribution of the first matching magnetic part 122 is changed, and the magnetic force between the first matching magnetic part 122 and the magnetic levitation shuttle 100 is used as the power and braking force of the magnetic levitation shuttle 100. The first movable magnetic part 121 and the first matching magnetic part 122 are described in detail in the subsequent embodiments.

[0071] like Figure 1B and Figure 2As shown, according to a preferred embodiment of the present invention, the shelf 200 includes a second track 240, and the magnetic suspension shuttle 100 includes a second matching portion 130. The second matching portion 130 is arranged on a side of the main body 110 having the first matching portion 120, such as the bottom of the main body 110.

[0072] like Figure 2 As shown, in this embodiment, the second matching portion 130 can be configured to be substantially the same as the first matching portion 120, including a second movable magnetic member 131 and a second matching magnetic member 132, the polarity of the second movable magnetic member 131 remains fixed, and the polarity of the second matching magnetic member 132 is configured to be controllably changeable. Specifically, for example, the second movable magnetic member 131 is a permanent magnet or an electromagnet with a fixed current direction, and the second matching magnetic member 132 is an electromagnet with a controlled current direction change.

[0073] like Figure 2 As shown, in a preferred embodiment of the present invention, the magnetic levitation shuttle 100 further includes a stopper 140, which is disposed on one side of the main body 110 where the first matching portion 120 and the second matching portion 130 are disposed, such as the bottom of the main body 110, and the stopper 140 protrudes from the surface of the main body 110. When the magnetic levitation shuttle 100 moves along the first track 230 or the second track 240, the stopper 140 can improve the stability of the magnetic levitation shuttle 100 and reduce the risk of overturning.

[0074] The limiter 140 is configured to be movable relative to the main body 110, so that when the magnetic suspension shuttle 100 moves along the first track 230 or the second track 240, the limiter 140 will not block the movement of the magnetic suspension shuttle 100. Specifically, the limiter 140 can be configured to automatically control the movement relative to the main body 110, or it can be configured as an elastic structure, which is deformed under the action of lateral pressure to avoid the track perpendicular to the movement direction of the magnetic suspension shuttle 100.

[0075] When the first matching portion 120 and the first track 230 are matched with each other, the limiting portion 140 surrounds the side of the first track 230. When the second matching portion 130 and the second track 240 are matched with each other, the limiting portion 140 surrounds the side of the second track 240. The bottom surface of the main body 110 in the magnetic suspension shuttle 100 is, for example, configured as Figure 1B The cross structure shown.

[0076] For example Figure 2 and Figure 5As shown, the cross-section of the first track 230 and the second track 240 can be set to a T-shape. In other embodiments of the present invention, the cross-section of the first track 230 and the second track 240 can also be set to an I-shape. The limiting portion 140 is configured to match the top structure of the T-shape or I-shape to surround the side and bottom surfaces of the top structure of the T-shape or I-shape, further improving the structural stability and preventing overturning.

[0077] In a preferred embodiment of the present invention, Figure 1B As shown, the magnetic levitation shuttle 100 further includes a positioning portion 250, which is fixedly disposed on one side of the main body 210 where the first matching portion 220 and the second matching portion 230 are disposed, such as the bottom surface of the main body 210, and the positioning portion 250 is configured to obtain magnetic field data of the first track 230 and the second track 240 to determine the spatial position of the magnetic levitation shuttle 100. For example, the positioning portion 150 includes a magnetic field intensity sensor. Specifically, the positioning portion 150 is described in conjunction with the shelf 200 in subsequent embodiments.

[0078] Figure 4 The structure of the shelf 200 according to the embodiment of the utility model is shown. Figure 5 The structure of the first track 230 (second track 240) according to an embodiment of the present utility model is shown below. Figure 4 and Figure 5 The shelf 200 will be described.

[0079] like Figure 4 As shown, the shelf 200 includes a plurality of columns 210, a beam 220 and a first track 230, wherein the plurality of columns 210 are arranged in a vertical direction, and preferably, the plurality of columns 210 are evenly distributed within a plane range, one end of the column 210 is supported on the ground, and the other end extends upward, for example, to a position close to the warehouse ceiling, so as to fully utilize the warehouse space. The column 210 can be specifically made of wood, metal, organic polymer, etc., and can be selected according to the weight and type of goods stored in the shelf 200.

[0080] The crossbeam 220 is disposed between the plurality of columns 210 and may be specifically set according to the distribution positions of the columns 210, for example Figure 4 As shown in , the columns 210 are arranged in a two-dimensional array in a horizontal plane, and the crossbeams 220 can be arranged between adjacent columns 210 to connect the multiple columns 210 together. Preferably, the multiple columns 210 are arranged in a two-dimensional array, and the crossbeams 220 can be arranged in directions perpendicular to each other, for example Figure 4 The X direction and Y direction shown in .

[0081] According to a preferred embodiment of the utility model, a plurality of beams can be arranged at different heights in the extension direction (vertical direction) of the column 210 to improve the structural stability of the shelf 200, and the column 210 can be divided into multiple layers, each of which can be used to place goods.

[0082] The first track 230 is disposed on the crossbeam 220. In different embodiments of the present invention, the first track 230 can be as follows: Figure 4 As shown in , it is overlapped on the crossbeam 220, and can also be arranged above the crossbeam 220 along the direction of the crossbeam 220. The first track 230 in this embodiment is used to cooperate with the magnetic levitation shuttle 100 in the previous embodiment to limit the movement direction of the magnetic levitation shuttle 100. When the first track 230 is arranged above the crossbeam 220 along the direction of the crossbeam 220, the first track 230 can be arranged between the columns 210 to prevent the columns 210 from blocking the movement of the magnetic levitation shuttle 100.

[0083] like Figure 5 As shown, in this embodiment, the first track 230 includes a first fixed magnetic component 231 and a first driving magnetic component 232 , wherein the first fixed magnetic component 231 and the first driving magnetic component 232 are both arranged along the extension direction of the first track 230 .

[0084] The polarity of the first fixed magnetic member 231 remains fixed. For example, the first fixed magnetic member 231 is a bar-shaped permanent magnet, or a plurality of permanent magnets arranged at intervals along the extension direction of the first track 230, and the polarity of the first fixed magnetic member 231 always remains fixed. The first fixed magnetic member 231 can also be an electromagnet, for example, the first fixed magnetic member 231 includes a power coil, and a current with a constant direction is passed through it.

[0085] The polarity of the first driving magnetic component 232 is controlled to change. For example, the first driving magnetic component 232 includes an electromagnet. The direction of the current in the energized coil can change after receiving a control signal. Accordingly, the polarity of the first driving magnetic component 232 also changes.

[0086] In this embodiment, the first fixed magnetic component 231 is used to cooperate with the maglev shuttle 100 so that the maglev shuttle 100 can be suspended above the first track 230, reducing the resistance of the maglev shuttle 100 when moving along the first track 230. The first driving magnetic component 232 is used to move and brake the maglev shuttle 100. By changing the polarity of the first driving magnetic component 232, the magnetic field distribution of the first driving magnetic component 232 is changed. The magnetic force between the first driving magnetic component 232 and the maglev shuttle is used as the power and braking force of the maglev shuttle.

[0087] Specifically, Figure 3As shown, the first matching portion 120 can be arranged above the first track 230, preferably directly above, to simplify the force design. The first movable magnetic part 121 and the first fixed magnetic part 231 are directly opposite, and the magnetic suspension shuttle 100 can be suspended relative to the first track 230. For example, the polarity of the first movable magnetic part 221 and the first fixed magnetic part 131 is the same, the first fixed magnetic part 231 is arranged at a position close to the upper surface of the first track 230, and the N pole faces upward. The first movable magnetic part 121 is above the first fixed magnetic part 231, directly opposite to the first fixed magnetic part 231, and the lower surface is the N pole, which is mutually exclusive with the first fixed magnetic part 231. Under the action of the magnetic force of the first movable magnetic part 121 and the first fixed magnetic part 231 that repel each other, the magnetic suspension shuttle 100 is suspended above the first track 230, and does not fit with the first track 230, which can greatly reduce the resistance of the magnetic suspension shuttle 100 during movement.

[0088] The magnetic force between the first driving magnetic member 232 and the first matching magnetic member 122 drives the maglev shuttle 100 to move along the first track 230, or brakes the maglev shuttle 100. For example, the maglev shuttle 100 is placed on the first track 230, the first matching portion 120 and the first track 230 are directly opposite, and the maglev shuttle 100 is suspended above the first track 230 under the action of the first movable magnetic member 121 and the first fixed magnetic member 231, and remains fixed. When the movement of the maglev shuttle 100 needs to be controlled, a slight disturbance is provided to the maglev shuttle 100, for example, the maglev shuttle 100 can be slightly moved along the first track 230 by using a device inside or outside the maglev shuttle 100, so that the magnetic force between the first driving magnetic member 232 and the first matching magnetic member 122 cannot keep the maglev shuttle 100 in a stationary state, and the magnetic force (attraction or repulsion) between the first driving magnetic member 232 and the first matching magnetic member 122 is controlled to change the polarity of the first driving magnetic member 232 and / or the first matching magnetic member 122, and the maglev shuttle 100 is driven to move. After approaching the target position, the magnetic force between the first driving magnetic member 232 and the first matching magnetic member 122 can also be used to reduce the speed of the maglev shuttle 100 and stop at the target position.

[0089] The maglev shuttle 100 moves relative to the first track 230. Therefore, the maglev shuttle 100 can be driven to move by controlling the polarity of any one of the first driving magnetic component 232 and the first matching magnetic component 122 to change. In some embodiments, there may be multiple maglev shuttles 100 moving on the first track 230. Preferably, the polarity of the first matching magnetic component 122 is controlled to change, and the polarity of the first driving magnetic component 232 is kept unchanged to reduce the control difficulty.

[0090] The shelf 200 in this embodiment can cooperate with the maglev shuttle 100, provide the first track 230 for the maglev shuttle 100, drive the maglev shuttle 100 to move along the first track 230, reduce resistance, improve speed and work efficiency, and at the same time avoid collision between wheels and tracks, reduce noise and dust, improve the structural stability of the shelf 200, and expand applicable scenarios.

[0091] According to a preferred embodiment of the present utility model, Figure 4 As shown, the shelf 200 further includes a second track 240, which is arranged on the beam 220, and can be overlapped on the beam 220, or arranged above the beam 220 along the direction of the beam 220. At the same time, the second track 240 and the first track 230 are perpendicular to each other, for example, the first track 230 is arranged along Figure 4 The second track 240 extends in the X direction as shown in FIG. Figure 4 Extends in the Y direction shown in .

[0092] In this embodiment, the second track 240 is used to cooperate with the magnetic levitation shuttle 100 to limit the movement direction of the magnetic levitation shuttle 100. The first track 230 and the second track 240 intersect vertically, and the magnetic levitation shuttle 100 can switch between the first track 230 and the second track 240, and cover all positions to which the first track 230 and the second track 240 extend, such as a layer in the shelf 200.

[0093] In this embodiment, the second track 240 includes a second fixed magnetic member 241 and a second driving magnetic member 242 . The second fixed magnetic member 241 and the second driving magnetic member 242 are both disposed along the extension direction of the second track 240 .

[0094] The polarity of the second fixed magnetic member 241 remains fixed, and the polarity of the second driving magnetic member 242 is configured to be controllably changeable. Figure 5 The second rail 240 is configured to be substantially the same as the first rail 230 , which can reduce the types of components of the shelf 200 .

[0095] Specifically, Figure 3 As shown, the second matching portion 130 in the magnetic suspension shuttle 100 can cooperate with the second track 240 in the shelf 200 and move along the second track 240. For example, the second movable magnetic part 131 and the second fixed magnetic part 241 have the same polarity. Under the action of the magnetic force of the second movable magnetic part 131 and the second fixed magnetic part 241 repelling each other, the magnetic suspension shuttle 100 is suspended above the second track 240 and does not fit the second track 240.

[0096] The magnetic force between the second driving magnetic member 242 and the second matching magnetic member 132 drives the magnetic suspension shuttle 100 to move along the second track 240, or brakes the magnetic suspension shuttle 100. The specific process is roughly the same as the process of the magnetic force between the first driving magnetic member 232 and the first matching magnetic member 122 driving the magnetic suspension shuttle 100 to move along the first track 230, or brakes the magnetic suspension shuttle 100 in the aforementioned embodiment, and will not be repeated here.

[0097] When the maglev shuttle 100 moves to the intersection of the first track 230 and the second track 240, if it is necessary to control the maglev shuttle 100 to switch between the first track 230 and the second track 240, the polarity changes of the first driving magnetic member 232, the first matching magnetic member 122, the second driving magnetic member 242 and the second matching magnetic member 132 can be controlled. Specifically, the speed of the maglev shuttle 100 can be controlled to be reduced to zero when it moves to the intersection of the first track 230 and the second track 240, and the maglev shuttle 100 can be accurately positioned at the intersection of the first track 230 and the second track 240 by using the equilibrium position of the maglev shuttle 100 in the magnetic field. After the maglev shuttle 100 is stationary, the maglev shuttle 100 can be controlled to move in another direction, so that the maglev shuttle 100 can switch between the first track 230 and the second track 240.

[0098] Further, according to the preferred embodiment of the present invention, the positioning part 150 can obtain the magnetic field strength of the first driving magnetic member 132 and the second driving magnetic member 142. The first driving magnetic member 132 in the first track 130 can be set to have opposite polarity, be arranged at intervals, and have equal spacing. By obtaining the magnetic field polarity and magnetic field strength, the position of the magnetic levitation shuttle 100 can be determined. Further, when the magnetic levitation shuttle 100 is docked, the first driving magnetic member 232, the first matching magnetic member 122, the second driving magnetic member 242 and the second matching magnetic member 132 can all be set to a fixed magnetic field. In the fixed magnetic field, the magnetic levitation shuttle 100 will remain in a balanced position, and will return to the balanced position even if a slight deviation occurs, further improving the positioning accuracy of the magnetic levitation shuttle 100.

[0099] In some other embodiments of the present invention, the cross-sectional shapes of the first track 230 and the second track 240 may also be different, for example, different in size or cross-sectional shape, so as to distinguish the first track 230 from the second track 240 .

[0100] According to a preferred embodiment of the present utility model, Figure 4As shown, the first track 230 is an independent track, and the shelf 200 may include a plurality of mutually parallel first tracks 230. The second track 240 may also be configured as an independent track, and the shelf 200 may include a plurality of mutually parallel second tracks 240.

[0101] In other embodiments, the first track 230 and the second track 240 may also be configured as two parallel tracks. For example, the first track 230 and the second track 240 are respectively configured at positions close to the column 210, and the magnetic levitation shuttle 100 can be overlapped on the two parallel tracks to improve the stability of the magnetic levitation shuttle 100 and reduce the risk of overturning. In different embodiments of the utility model, the first track 230 and the second track 240 may both be independent tracks, or both be two parallel tracks, or one of them may be an independent track and the other may be two parallel tracks, and they may be specifically configured to cooperate with the magnetic levitation shuttle 100 without limitation.

[0102] According to a preferred embodiment of the utility model, the shelf 200 further includes a protection frame (not shown in the figure), which is arranged in a direction parallel to the first track 230 and the second track 240, and is respectively located on the sides of the first track 230 and the second track 240. The protection frame can be arranged on the crossbeam 220 or on the column 210. In some embodiments, when the first track 230 and the second track 240 are independent tracks, or the distance between the two parallel tracks is small, the magnetic suspension shuttle 100 may overturn due to load eccentricity. In order to prevent this from happening, a protection frame is arranged in this embodiment to provide support and protection when the magnetic suspension shuttle 100 tilts. Further, the height of the protection frame in the vertical direction is less than the height of the first track 230 and the second track 240, so that when the magnetic suspension shuttle 100 runs stably on the first track 230 and the second track 240, the magnetic suspension shuttle 100 and the protection frame do not contact each other to reduce resistance.

[0103] like Figure 5 As shown, in a preferred embodiment of the present invention, the shelf 200 further includes a connecting rod 250, which is disposed on the column 210 and fixedly connected to the adjacent column 210, and the connecting rod 250 is located near the end of the column 210 that is away from the ground. In conjunction with the end of the column 210 disposed on the ground, the connecting rod 250 can improve the structural stability of the shelf 200 and prevent the column 210 from tilting.

[0104] Further, such as Figure 5As shown, the shelf 200 further includes a support frame 260 and a fixing seat 270, wherein the support frame 260 is arranged on the column 210, and the position of the support frame 260 is higher than the position of the crossbeam 220 in the numerical direction. In this embodiment, the support frame 260 can be used to carry goods. The support frame 260 can be arranged to be connected between adjacent columns 210, or as shown in FIG. Figure 5 As shown in the figure, the support frame 260 is independently arranged on the column 210, and some of the support frames 260 are maintained at the same height (support frames 260 in the same layer), and the goods are placed on a box or a pallet, driven by a magnetic levitation shuttle and placed at a preset position, or the magnetic levitation shuttle can take the goods from the support frame 260.

[0105] The fixing base 270 is fixedly arranged on the ground, specifically, for example, fixed on the ground by bolts, and the column 210 is plugged into the fixing base 270. For example, the fixing base 270 is a tubular structure with a large outer diameter, and the column 210 can be plugged into the fixing base 270. In a preferred embodiment of the utility model, there can also be a certain amount of free space between the column 210 and the fixing base 270 to facilitate the installation of the shelf 200 and absorb the internal stress caused by compression deformation to prevent structural damage.

[0106] The utility model also includes a storage system 10, such as Figure 6 As shown, the storage system 10 includes a shelf 200 with a magnetic track as shown in the above embodiment and at least one magnetic levitation shuttle 100 as described in the above embodiment. Specifically, the shelf 200 can be arranged according to the spatial layout of the warehouse, preferably multiple layers, and one or more magnetic levitation shuttles 100 can be arranged in each layer of the shelf 200. The magnetic levitation shuttle 100 only moves within the layer where it is located, which is conducive to simplifying the control difficulty of the storage system 10 and improving the structural stability.

[0107] In different embodiments of the present invention, a mechanism for driving the maglev shuttle 100 to move in the vertical direction can also be provided on the shelf 200, which can drive the maglev shuttle 100 to move in the vertical direction so that the maglev shuttle 100 can move to different layers, thereby realizing the inter-layer transfer of the maglev shuttle 100, which is beneficial to reducing the number of maglev shuttles 100 and reducing the cost of the warehousing system 10, and is suitable for application scenarios with low frequency of in and out of the warehouse.

[0108] like Figure 6 and Figure 7As shown, according to a preferred embodiment of the utility model, the storage system 10 further includes a lifting device 300, which is arranged at at least one side of the shelf 200, preferably close to the shelf 200. The lifting device 300 is used to transfer goods or boxes and pallets carrying goods in the vertical direction, and cooperate with sorting work. For example, during the process of goods entering the warehouse, after sorting, the lifting device 300 is used to transfer the goods to a certain height, which corresponds to the layer where the preset position of the goods in the shelf 200 is located, and then the magnetic suspension shuttle 100 is used to transfer the goods to the preset position.

[0109] like Figure 7 As shown, in this embodiment, the lifting device 300 includes a lifting column 310 and a lifting part 320, wherein the lifting column 310 is arranged in the vertical direction, the lifting part 320 is arranged to be able to move in the vertical direction along the lifting column 310, and a guide part 321 is arranged in the lifting part 320 at the position connected with the lifting column 310, and the guide part 321 is movably connected to the lifting column 310. Further, the guide part 321 can also integrate a power source for the lifting part 320 to move in the vertical direction, for example, a motor is arranged in the guide part 321, and the guide part 321 and the lifting column 310 are driven by a gear rack to drive the lifting part 320 to move in the vertical direction.

[0110] Finally, it should be noted that the above description is only an embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A magnetic levitation shuttle vehicle, characterized in that: Used to move on a shelf with a magnetic track, the magnetic levitation shuttle comprises: A main body, one side of which is provided with a bearing portion; and A first matching portion, the first matching portion is arranged on the side of the main body opposite to the side where the bearing portion is arranged; the first matching portion comprises: a first movable magnetic member, wherein the polarity of the first movable magnetic member remains fixed; a first matching magnetic member, wherein the polarity of the first matching magnetic member is controlled to change; The shelf includes a first track, the first matching portion is parallel to the first track, and the first matching portion is configured to prevent the magnetic levitation shuttle from fitting into the first track and drive the magnetic levitation shuttle to move along the first track, or brake the magnetic levitation shuttle.

2. The magnetic levitation shuttle vehicle according to claim 1, characterized in that: The shelf includes a second track, and the magnetic suspension shuttle also includes: A second matching portion, the second matching portion is arranged on a side of the main body where the first matching portion is arranged; the second matching portion comprises: a second movable magnetic member, wherein the polarity of the second movable magnetic member remains fixed; a second matching magnetic member, wherein the polarity of the second matching magnetic member is controlled to change; The second matching portion is parallel to the second track, and the second matching portion is configured to prevent the magnetic levitation shuttle from being in contact with the second track, and to drive the magnetic levitation shuttle to move along the second track, or to brake the magnetic levitation shuttle.

3. The magnetic levitation shuttle vehicle according to claim 2, characterized in that: Also includes: A limiting portion, wherein the limiting portion is movably arranged on a side of the main body where the first matching portion and the second matching portion are arranged, and protrudes from the surface of the main body, and the first matching portion and the second matching portion are recessed toward the interior of the main body; when the first matching portion and the first track cooperate with each other, the limiting portion surrounds the side of the first track; when the second matching portion and the second track cooperate with each other, the limiting portion surrounds the side of the second track.

4. The magnetic levitation shuttle vehicle according to claim 3, characterized in that: The cross-sections of the first track and the second track are T-shaped or I-shaped; the limiting portion is configured to match the top structure of the T-shaped or I-shaped structure to surround the side and bottom surfaces of the top structure of the T-shaped or I-shaped structure.

5. The magnetic levitation shuttle vehicle according to claim 2, characterized in that: Also includes: A positioning portion, wherein the positioning portion is fixedly disposed on one side of the main body where the first matching portion and the second matching portion are disposed, and is configured to acquire magnetic field data of the first track and the second track to determine the spatial position of the magnetic levitation shuttle.

6. A shelf with magnetic tracks, characterized in that: Used to carry the movement of the magnetic suspension shuttle according to any one of claims 1 to 5, the shelf comprises: A plurality of columns, wherein the plurality of columns are arranged in a vertical direction; A crossbeam, the crossbeam being arranged between the plurality of columns along a horizontal plane; and A first track, wherein the first track is arranged on the crossbeam, and the first track comprises: A first fixed magnetic member, wherein the first fixed magnetic member is disposed along the first track and the polarity of the first fixed magnetic member remains fixed; A first driving magnetic member, wherein the first driving magnetic member is disposed along the first track and the polarity of the first driving magnetic member is controlled to change; The first track is configured to cooperate with the first matching part in the magnetic levitation shuttle, the first movable magnetic part is directly opposite to the first fixed magnetic part, and the first movable magnetic part and the first fixed magnetic part are configured to prevent the magnetic levitation shuttle from fitting with the first track; the magnetic force between the first driving magnetic part and the first matching magnetic part drives the magnetic levitation shuttle to move along the first track, or brakes the magnetic levitation shuttle.

7. The shelf according to claim 6, characterized in that: Also includes: A second track, wherein the second track is arranged on the crossbeam, and the second track and the first track intersect each other vertically in a horizontal plane, and the second track comprises: A second fixed magnetic member, wherein the second fixed magnetic member is arranged along the second track and the polarity of the second fixed magnetic member remains fixed; A second driving magnetic member, wherein the second driving magnetic member is arranged along the second track, and the polarity of the second driving magnetic member is controlled to change; The magnetic suspension shuttle comprises a second matching portion, wherein the second matching portion comprises: a second movable magnetic part and a second matching magnetic part, wherein the polarity of the second movable magnetic part remains fixed; and the polarity of the second matching magnetic part is controlled to change; The second track is configured to be able to cooperate with the second matching portion, the second movable magnetic part is directly opposite to the second fixed magnetic part, and the second movable magnetic part and the second fixed magnetic part are configured to prevent the magnetic levitation shuttle from fitting with the second track; the magnetic force between the second driving magnetic part and the second matching magnetic part drives the magnetic levitation shuttle to move along the second track, or brakes the magnetic levitation shuttle.

8. The shelf according to claim 7, characterized in that: The first track is an independent track or two tracks parallel to each other; the second track is an independent track or two tracks parallel to each other.

9. The shelf according to claim 7, characterized in that: Also includes: A protection frame is respectively arranged on the sides of the first track and the second track along a direction parallel to the first track and the second track, and the height of the protection frame in the vertical direction is smaller than the height of the first track and the second track.

10. The shelf according to claim 6, characterized in that: Also includes: A connecting rod is arranged on the column and fixedly connected to the adjacent column, and the connecting rod is located close to an end of the column away from the ground.

11. The shelf according to claim 10, characterized in that: Also includes: A support frame, the support frame is arranged on the column, and the position of the support frame is higher than the position of the crossbeam in the vertical direction; and A fixing seat is fixedly arranged on the ground, and the upright post is plugged into the fixing seat.

12. A storage system, characterized in that: include: The shelf as claimed in any one of claims 6 to 11; and At least one magnetic levitation shuttle according to any one of claims 1-5.

13. The storage system according to claim 12, characterized in that: Also includes: A lifting device, the lifting device is arranged on at least one side of the shelf, and the lifting device comprises: A lifting column, wherein the lifting column is arranged along the vertical direction; and The lifting part is configured to be able to move in the vertical direction along the lifting column. In the lifting part, a guide part is further arranged at the connection position with the lifting column, and the guide part is movably connected with the lifting column.

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