CN112009925A - High-speed multi-degree-of-freedom flexible wear-free transportation system - Google Patents
High-speed multi-degree-of-freedom flexible wear-free transportation system Download PDFInfo
- Publication number
- CN112009925A CN112009925A CN202010658077.3A CN202010658077A CN112009925A CN 112009925 A CN112009925 A CN 112009925A CN 202010658077 A CN202010658077 A CN 202010658077A CN 112009925 A CN112009925 A CN 112009925A
- Authority
- CN
- China
- Prior art keywords
- platform
- parallel
- track
- transportation
- wear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Non-Mechanical Conveyors (AREA)
Abstract
The invention discloses a high-speed multi-degree-of-freedom flexible wear-free transportation system, which comprises: the parallel transportation platform can move under the action of a magnetic field and has a switchable lifting motion mode, a rotary motion mode and an inclined motion mode; the parallel transport platform can be descended to a singular pose close to the parallel transport platform in a non-working state; the parallel transport platform is arranged on the magnetic suspension transport track, and the magnetic suspension transport track comprises a plurality of connected plane modules so as to generate a magnetic field for driving the parallel transport platform to move; and the starting device is arranged on the magnetic suspension transmission track and is used for driving the parallel transportation platform to be far away from the singular pose. The parallel transportation platform moves on the magnetic suspension transportation track, friction and abrasion are avoided, high-precision and high-dynamic transportation and positioning functions are facilitated, and the parallel transportation platform has multiple movement modes of lifting, rotating and inclining and is high in flexibility.
Description
Technical Field
The invention relates to the technical field of production line transportation, in particular to a high-speed multi-degree-of-freedom flexible wear-free transportation system.
Background
With the development of industry 4.0, realizing automation of material transportation work is an important part of industrial automation, and the traditional conveying belt and the rigid conveying line have poor flexibility and are difficult to adapt to the production trend of customization and flexibility.
At present, the common AGV transportation has good flexibility and flexibility, but the AGV transportation has poor dynamic characteristics, is easy to wear and cause high maintenance cost. The traditional magnetic suspension transportation system has better precision and dynamic characteristics, but can only realize plane motion, cannot realize spatial three-dimensional motion such as large-amplitude lifting, rotating and inclining, and cannot meet various requirements of loading, unloading, transferring, transporting, storing and the like of goods in a three-dimensional warehouse. To solve the above problems, some enterprises at home and abroad, such as the KUKA company, realize the loading, unloading and transportation of goods by installing industrial serial mechanical arms on the AGV, but when this type of transportation system grabs and transfers heavy goods, the centroid is easy to shift and rollover is easy to occur.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a high-speed multi-degree-of-freedom flexible wear-free transportation system, which aims to solve the problems that the existing transportation system is poor in dynamic characteristic and flexibility, easy to wear and prone to side turning.
The embodiment of the invention provides a high-speed multi-degree-of-freedom flexible wear-free transportation system, which comprises: the parallel transportation platform can move under the action of a magnetic field and has a switchable lifting motion mode, a rotary motion mode and a tilting motion mode; the parallel transportation platform can be descended to a singular pose close to the parallel transportation platform in a non-working state; the parallel transport platform is arranged on the magnetic suspension transport track, and the magnetic suspension transport track comprises a plurality of connected plane modules so as to generate a magnetic field for driving the parallel transport platform to move; the starting device is arranged on the magnetic suspension transmission track, the parallel transportation platform is arranged corresponding to the starting device in a non-working state, and the starting device is used for driving the parallel transportation platform to be far away from the singular pose.
According to the high-speed multi-degree-of-freedom flexible wear-free transportation system provided by the embodiment of the invention, the parallel transportation platform moves on the magnetic suspension transportation track, friction and wear cannot be generated, the high-precision and high-dynamic transportation and positioning functions can be realized, in addition, the parallel transportation platform has multiple movement modes of lifting, rotating and inclining, the flexibility is high, various requirements of loading, unloading, transferring, transporting and the like of objects can be met, the stability is strong, the side turning is not easy to occur, and the high-speed multi-degree-of-freedom flexible wear-free transportation system can be applied to industries such as medicine, food, chemical industry and the like with special requirements on cleanness, safety, no emission pollution and the like for transportation operation and.
In some embodiments, the parallel transport platform comprises: the supporting platform is used for bearing an object to be transported; the planar motor rotors move under the driving of the magnetic field; the planar motor rotor is arranged on the supporting platform in a one-to-one correspondence mode, the supporting platform is arranged on the supporting platform in a circumferential interval mode, and the other end of the supporting platform is connected with the planar motor rotor in a pivoting mode.
In some embodiments, a connection joint is disposed between the connection rod and the support platform and between the connection rod and the planar motor mover to achieve pivotal connection, and a kinematic pair formed on the connection joint is at least one of a revolute pair, a hooke pair, and a ball pair.
In some embodiments, the number of the links and the planar motor movers is determined according to a transport weight of the parallel transport platform.
In some embodiments, the parallel transport platform further comprises: and the manipulator is arranged on the supporting platform and used for clamping and grabbing the object to be transported.
In some embodiments, the magnetic levitation transport track formed by a plurality of the planar modules is a planar track on which the parallel transport platform can move in any direction.
In some embodiments, the magnetic levitation transport track formed by the plurality of planar modules is a three-dimensional track, and the three-dimensional track is at least one of a slope track, an arc track and a step track.
In some embodiments, each of the plurality of planar modules is a highly integrated module, so that the magnetic levitation transport track can detect the position of the planar motor mover through a controller.
In some embodiments, the starting device is a lifting piece or a vertical upward air injection piece, and is used for driving the parallel transport platform to ascend so as to separate from the singular pose.
In some embodiments, the high-speed multiple degree of freedom flexible wear-free transport system further comprises: the goods shelf is arranged on the magnetic suspension transmission track and is used for the parallel transportation platform to grab the object to be transported; and the robot is arranged on the outer side of the magnetic suspension transmission track to receive the object to be transported, which is grabbed by the parallel transportation platform.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a first schematic perspective view of a high-speed multi-degree-of-freedom flexible wear-free transportation system according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of a high-speed multi-degree-of-freedom flexible wear-free transportation system according to an embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2 at I;
fig. 4 is a schematic perspective view of a parallel transportation platform according to a first embodiment of the present invention;
fig. 5 is a schematic perspective view of a parallel transportation platform according to a second embodiment of the present invention;
fig. 6 is a schematic perspective view of a parallel transportation platform according to a third embodiment of the present invention.
Reference numerals:
100. a high-speed multi-degree-of-freedom flexible wear-free transportation system;
10. parallel transport platforms;
11. a support platform;
12. a connecting rod; 121. a first link; 122. a second link; 123. a third link;
13. a planar motor rotor; 131. a first planar motor mover; 132. a second planar motor mover; 133. a third planar motor mover;
14. a connecting joint; 15. a manipulator;
20. a magnetic levitation transport track;
21. a planar module; 201. a three-dimensional track; 2011. a first orbital plane; 2012. a second orbital plane; 2013. a transition track surface;
30. starting the device; 40. a shelf; 50. a robot.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The high-speed multi-degree-of-freedom flexible wear-free transportation system 100 according to the embodiment of the invention is described below with reference to the accompanying drawings.
As shown in fig. 1, a high-speed multi-degree-of-freedom flexible wear-free transportation system 100 according to an embodiment of the present invention includes: the system comprises a parallel transport platform 10, a magnetic suspension transport track 20 and a starting device 30.
The parallel transport platform 10 can move under the action of a magnetic field, and the parallel transport platform 10 has a switchable lifting motion mode, a rotary motion mode and an inclination motion mode; wherein, the parallel transport platform 10 can descend to a singular pose close to the parallel transport platform 10 when in a non-working state. Under the action of magnetic field force, the parallel transportation platform 10 can do ascending or descending motion when in a lifting motion mode, the parallel transportation platform 10 can do rotating motion on a horizontal plane when in a rotating motion mode, the parallel transportation platform 10 can do pitching tilting motion when in an inclined motion mode, and the parallel transportation platform 10 can meet various requirements of loading, unloading, transferring, transporting and the like of objects by switching among various motion modes of lifting, rotating and tilting. In addition, as shown in fig. 2 and 3, when the whole transportation system is in an idle state, i.e., a non-working state, the parallel transportation platform 10 is lowered to a position close to a singular pose, i.e., the parallel transportation platform 10 is lowered to the lowest position, so that the occupied space can be reduced. It is worth to be noted that, because the parallel transport platform 10 can realize a multi-degree-of-freedom motion mode of lifting, rotating and inclining, rather than a multi-degree-of-freedom motion mode realized by arranging a manipulator or a robot, when the parallel transport platform 10 loads, unloads or transfers an object, the overall mass center is not easy to shift, and is not easy to roll over, the stability is stronger, and the safety is higher.
The parallel transport platform 10 is provided on a magnetic levitation transport track 20, and the magnetic levitation transport track 20 includes a plurality of planar modules 21 connected to generate a magnetic field for driving the parallel transport platform 10 to move. It can be understood that the magnetic levitation transport rail 20 provides a rail surface required for the motion of the parallel transport platform 10, the parallel transport platform 10 is driven to levitate and move by the generated magnetic field, and a wear-free motion can be achieved between the parallel transport platform 10 and the magnetic levitation transport rail 20, and at the same time, the parallel transport platform 10 can achieve a high-precision and high-dynamic transport and positioning function due to the positioning characteristics of the magnetic levitation transport rail 20. Secondly, through a plurality of plane modules 21, magnetic suspension transmission track 20 has high flexibility as a whole, can splice according to the application demand and form diversified transmission track, satisfies the transportation demand under the different scenes.
The starting device 30 is arranged on the magnetic suspension transmission track 20, the parallel transportation platform 10 is arranged corresponding to the starting device 30 in a non-working state, and the starting device 30 is used for driving the parallel transportation platform 10 to be far away from a singular pose. When the parallel transport platform 10 is in a state close to the singular pose, the parallel transport platform 10 itself is difficult to overcome the singular pose and lift up, and at this time, the starting device 30 can provide an external acting force to make the parallel transport platform 10 far away from the singular pose, so that the parallel transport platform 10 can normally work.
According to the high-speed multi-degree-of-freedom flexible wear-free transportation system 100 provided by the embodiment of the invention, the parallel transportation platform 10 moves on the magnetic suspension transmission track 20, friction and wear cannot be generated, and the high-precision and high-dynamic transportation and positioning functions can be realized, in addition, the parallel transportation platform 10 has multiple movement modes of lifting, rotating and inclining, is high in flexibility, can meet multiple requirements of loading, unloading, transferring, transporting and the like of objects, is strong in stability and difficult to turn over, and can be applied to industries such as medicine, food, chemical industry and the like with special requirements on cleanness, safety, no emission pollution and the like for transportation operation, and special fields such as radiation, toxicity, ultralow temperature and the like.
In some embodiments, as shown in fig. 4, the parallel transport platform 10 includes: a support platform 11 for carrying an object to be transported; the planar motor rotors 13 are driven by magnetic fields to move; the planar motor rotors 13 are arranged in a one-to-one correspondence mode, the connecting rods 12 are arranged along the circumferential direction of the supporting platform 11 at intervals, one end of each connecting rod 12 is connected with the supporting platform 11 in a pivoting mode, and the other end of each connecting rod 12 is connected with the planar motor rotors 13 in a pivoting mode. That is to say, the parallel transport platform 10 formed in this way can realize the motion modes of lifting, rotating and tilting, and has better flexibility, and the planar motor rotor 13 has the characteristics of high positioning accuracy and good dynamic performance in cooperation with the magnetic suspension transmission track 20, thereby being beneficial to realizing the high-accuracy and high-dynamic transport of the parallel transport platform 10. For example, the number of the links 12 and the planar motor movers 13 is three, the links 12 are respectively a first link 121, a second link 122, and a third link 123, the planar motor movers 13 are respectively a first planar motor mover 131, a second planar motor mover 132, and a third planar motor mover 133, and the three planar motor movers 13 are distributed along a circle. In the parallel transport platform 10, in the lifting motion mode, when the three planar motor rotors 13 all move away from the circular center of circle, the three connecting rods 12 rotate between the three planar motor rotors 13 and the supporting platform 11, and the supporting platform 11 descends, and similarly, when the three planar motor rotors 13 all move close to the circular center of circle, the supporting platform 11 ascends. In the parallel transport platform 10, in the rotary motion mode, three planar motor rotors 13 rotate along the circle center, so that the support platform 11 rotates. In the tilting motion mode of the parallel transport platform 10, when both the first planar motor mover 131 and the second planar motor mover 132 move away from the circle center of the circle, the support platform 11 rotates around the pivot point with the third connecting rod 123 to tilt, and similarly, the support platform 11 can also rotate around the pivot point with the first connecting rod 121 and the second connecting rod 122 to tilt.
In some embodiments, as shown in fig. 5 and 6, the number of the connecting rods 12 and the planar motor movers 13 is six, specifically, as shown in fig. 6, six connecting rods 12 and six planar motor movers 13 are disposed in a one-to-one correspondence, and six connecting rods 12 and six planar motor movers 13 are disposed at equal intervals along the circumferential direction of the supporting platform 11, wherein the process of enabling the parallel transportation platform 10 to realize the lifting motion mode, the rotating motion mode, and the tilting motion mode by the six connecting rods 12 and the six planar motor movers 13 may refer to the above description, and is not repeated here. Secondly, as shown in fig. 5, the six connecting rods 12 and the six planar motor movers 13 can be further divided into three groups, that is, three supporting legs forming the supporting platform 11, that is, two planar motor movers 13 are connected to form one moving foot, and in this way, the processes of realizing the lifting motion mode, the rotating motion mode and the tilting motion mode of the parallel transportation platform 10 in this way can be referred to the above description, and are not repeated here.
In some embodiments, as shown in fig. 4 to 6, a connection joint 14 is disposed between the connection rod 12 and the support platform 11, and between the connection rod 12 and the planar motor mover 13, so as to implement a pivotal connection, and a kinematic pair formed on the connection joint 14 is at least one of a revolute pair, a hooke pair, and a ball pair. According to the different numbers of the connecting rods 12 and the planar motor rotors 12, the kinematic pairs between the connecting rods 12 and the supporting platform 11 and the kinematic pairs between the connecting rods 12 and the planar motor rotors 13 can be different and are determined according to specific conditions, so that the lifting motion mode, the rotating motion mode and the tilting motion mode of the parallel transportation platform 10 are met.
In some embodiments, the number of links 12 and planar motor movers 12 is determined based on the transport weight of the parallel transport platform 10. That is, when the transportation weight of the parallel transportation platform 10 is large, the number of the connecting rods 12 and the planar motor rotors 12 needs to be increased, and the connecting rods 12 and the planar motor rotors 12 with a large number are used to support the support platform 11 with sufficient strength, so as to improve the rigidity and the bearing capacity of the parallel transportation platform 10, for example, the parallel transportation platform 10 is directly applied to the transportation of small-sized shelves. When the transportation weight of the parallel transportation platform 10 is small, the support platform 11 can be sufficiently supported by a small number of connecting rods 12 and the planar motor rotor 12.
In some embodiments, as shown in fig. 4, the parallel transport platform 10 further comprises: and the manipulator 15 is arranged on the supporting platform 11 and used for clamping the object to be transported. That is to say, through the manipulator 15 in order to realize treating snatching and fixing of transporting the object, make things convenient for the object loading and unloading, guarantee that object stability is better in the transportation simultaneously.
Optionally, the manipulator 15 is a pneumatic manipulator, so that the control is convenient, and the clamping and grabbing are reliable.
In some embodiments, the magnetic levitation transport track 20 formed by the plurality of planar modules 21 is a planar track (not shown) on which the parallel transport platform 10 can move in any direction. It is understood that the plane rail is a plane area, which can be applied to plane transportation work, and the parallel transportation platform 10 can move in the front-back and left-right directions on the plane rail.
In some embodiments, as shown in fig. 2, the magnetic levitation transport track 20 formed by the plurality of planar modules 21 is a three-dimensional track 201, and the three-dimensional track 201 is at least one of a ramp track, an arc track and a step track. For example, the stereo track 201 is a stepped track, which includes: the track structure comprises a first track plane 2011, a second track plane 2012 and a transition track plane 2013, wherein one end of the transition track plane 2013 is connected with the first track plane 2011, and the other end of the transition track plane 2013 is connected with the second track plane 2012, and the height of the first track plane 2011 is lower than that of the second track plane 2012. It will be appreciated that the stereo track 201 may be used for non-planar transport operations, for example, where the parallel transport platform 10 is moved from a first track plane 2011, through a transition track plane 2013, and onto a second track plane 2012, transport operations between different elevation positions may be achieved. The three-dimensional track 201 can be a slope track, and objects can be transported up and down along the slope by the parallel transportation platform 10; or, the three-dimensional track 201 may also be an arc track, and the parallel transportation platform 10 transports objects up and down along the arc surface of the arc track. Therefore, the plurality of plane modules 21 can be spliced into diversified and three-dimensional transmission tracks, and the adaptability is strong, so that the transportation operation under different scenes can be met. It should be noted that the three-dimensional track 201 is not limited to a slope track, an arc track, and a step track, but may be other three-dimensional tracks, which are not described herein again.
In some embodiments, the plurality of planar modules 21 are highly integrated modules, such that the magnetic levitation transport track 20 can detect the position of the planar motor mover 13 through a controller. That is, the controller is electrically connected to the planar motor mover 13 and the planar module 21, and the accurate position of the planar motor mover 13 can be detected by the characteristics of the magnetic suspension planar module 21, so that the parallel transportation platform 10 has a high positioning accuracy.
In some embodiments, as shown in fig. 1 to 3, the actuating device 30 is a lifting member or a vertically upward-blowing air-jet member for lifting the parallel transport platform 10 out of the singular attitude. When the parallel transport platform 10 is close to a singular pose, the height of the support platform 11 is low, the included angle between the connecting rod 12 and the support platform 11 and the included angle between the connecting rod 12 and the planar motor rotor 13 are small, namely the connecting rod 12 abuts against the support platform 11 and the connecting rod 12 abuts against the planar motor rotor 13, so that the transmission angle between the connecting rod 12 and the support platform 11 is too small, the connecting rod 12 cannot generate effective upward acting force on the support platform 11, and the parallel transport platform 10 cannot be lifted, and at the moment, the lifting piece pushes or the air injection piece vertically injects air upwards to provide upward acting force, so that the parallel transport platform 10 can be lifted normally after the support platform 11 is lifted to a certain height.
Optionally, the lifting member is at least one of a lifting cylinder, an electric push rod and a lifting hydraulic cylinder.
Optionally, the gas injection member is a gas injection device to inject compressed gas in a vertical direction, so as to push the supporting platform 11 to ascend.
In some embodiments, as shown in fig. 1 and 2, the high speed multiple degree of freedom flexible wear-free transport system 100 further comprises: a shelf 40 and a robot 50. The goods shelves 40 are arranged on the magnetic suspension transmission track 20, so that the parallel transportation platform 10 can grab the objects to be transported, that is, the goods shelves 40 can be matched with the parallel transportation platform 10 to realize various requirements of loading, unloading, transferring, transporting and storing the objects. The robot 50 is disposed outside the magnetic levitation transport rail 20 to receive the object to be transported grasped by the parallel transport platform 10, so that the parallel transport platform 10 can perform more complicated operations, such as taking out the object from the rack 40, external loading, unloading, transporting, and transferring, in cooperation with the robot 50.
Specific embodiments of the high-speed, multiple degree of freedom, flexible, wear-free conveyor system 100 of the present invention are described below with reference to the accompanying drawings.
Example one
As shown in fig. 1 to 4, a high-speed multiple degree of freedom flexible wear-free transportation system 100 includes: the system comprises a parallel transportation platform 10, a magnetic suspension transportation rail 20, a starting device 30, a shelf 40 and a robot 50.
The parallel transport platform 10 can move under the action of a magnetic field, and the parallel transport platform 10 has a switchable lifting motion mode, a rotary motion mode and an inclination motion mode; wherein, the parallel transport platform 10 can descend to a singular pose close to the parallel transport platform 10 when in a non-working state.
The parallel transport platform 10 includes: the robot comprises a supporting platform 11, three connecting rods 12, three planar motor rotors 13, a connecting joint 14 and a manipulator 15, wherein the supporting platform is used for bearing an object to be transported; three planar motor rotors 13 move under the drive of a magnetic field; the three connecting rods 12 and the three planar motor rotors 13 are arranged in a one-to-one correspondence manner, the three connecting rods 12 are arranged at intervals along the circumferential direction of the supporting platform 11, one end of each connecting rod 12 is pivotally connected with the supporting platform 11, and the other end of each connecting rod 12 is pivotally connected with the planar motor rotors 13. And a connecting joint 14 is arranged between the connecting rod 12 and the supporting platform 11 and between the connecting rod 12 and the planar motor mover 13 to realize pivotal connection.
Wherein, a ball pair is formed on the connecting joint 14 at the upper end of each connecting rod 12, namely, the upper end of each connecting rod 12 is connected with the supporting platform 11 through the ball pair. A rotary pair is formed on the connecting joint 14 at the lower end of each connecting rod 12, that is, the lower end of each connecting rod 12 is connected with the corresponding planar motor mover 13 through the rotary pair. A robot 15 is provided on the support platform 11 for gripping the object to be transported.
The parallel transport platform 10 is provided on a magnetic levitation transport track 20, and the magnetic levitation transport track 20 includes a plurality of planar modules 21 connected to generate a magnetic field for driving the parallel transport platform 10 to move.
The magnetic suspension transmission track 20 formed by the plurality of plane modules 21 is a three-dimensional track 201; the three-dimensional track 201 is a stepped track, and includes: the track structure comprises a first track plane 2011, a second track plane 2012 and a transition track plane 2013, wherein one end of the transition track plane 2013 is connected with the first track plane 2011, and the other end of the transition track plane 2013 is connected with the second track plane 2012, and the height of the first track plane 2011 is lower than that of the second track plane 2012.
The plurality of planar modules 21 are highly integrated modules so that the magnetic levitation transport track 20 can detect the position of the planar motor mover 13 through the controller.
The starting device 30 is arranged on the magnetic suspension transmission track 20, the parallel transportation platform 10 is arranged corresponding to the starting device 30 in a non-working state, and the starting device 30 is used for driving the parallel transportation platform 10 to be far away from a singular pose.
The actuating means 30 is a lifter.
The racks 40 are provided on the magnetic levitation transport rail 20 for the parallel transport platform 10 to grasp the object to be transported, and the robot 50 is provided outside the magnetic levitation transport rail 20 to receive the object to be transported grasped by the parallel transport platform 10.
Example two
As shown in fig. 1 to 3 and 5, the structure of the high-speed multi-degree-of-freedom flexible wear-free transportation system 100 in the second embodiment is expanded, and the structure of the high-speed multi-degree-of-freedom flexible wear-free transportation system 100 in the second embodiment is substantially the same as the structure of the high-speed multi-degree-of-freedom flexible wear-free transportation system 100 in the first embodiment, and the same parts are not described herein again.
In contrast, in the second embodiment, the parallel transportation platform 10 includes: the planar motor comprises a supporting platform 11, six connecting rods 12 and six planar motor rotors 13, wherein the six connecting rods 12 and the six planar motor rotors 13 form three groups, and each group of two planar motor rotors 13 are connected. Wherein, a Hooke pair is formed on the connecting joint 14 at the upper end of each connecting rod 12, that is, the upper end of each connecting rod 12 is connected with the supporting platform 11 through a Hooke. A spherical pair is formed on the connecting joint 14 at the lower end of each connecting rod 12, that is, the lower end of each connecting rod 12 is connected with the corresponding planar motor mover 13 through the spherical pair.
EXAMPLE III
As shown in fig. 1 to 3 and 6, the structure of the high-speed multi-degree-of-freedom flexible wear-free transportation system 100 in the third embodiment is expanded, and the structure of the high-speed multi-degree-of-freedom flexible wear-free transportation system 100 in the third embodiment is substantially the same as the structure of the high-speed multi-degree-of-freedom flexible wear-free transportation system 100 in the first embodiment, and the same parts are not described herein again.
In contrast, in the third embodiment, the parallel transportation platform 10 includes: the six planar motor rotors 13 are arranged in a corresponding mode, and the six connecting rods 12 and the six planar motor rotors 13 are arranged at equal intervals along the circumferential direction of the supporting platform 11. Wherein, a Hooke pair is formed on the connecting joint 14 at the upper end of each connecting rod 12, that is, the upper end of each connecting rod 12 is connected with the supporting platform 11 through a Hooke. A spherical pair is formed on the connecting joint 14 at the lower end of each connecting rod 12, that is, the lower end of each connecting rod 12 is connected with the corresponding planar motor mover 13 through the spherical pair.
In conclusion, the high-speed multi-degree-of-freedom flexible wear-free transportation system 100 can realize spatial multi-degree-of-freedom three-dimensional transportation, has the characteristics of high speed, high precision and no wear, can realize various spatial three-dimensional motions such as lifting, rotating and inclining, meets various requirements of loading, unloading, transferring, transporting, storing and the like of goods in a three-dimensional warehouse, and can be applied to industries such as medicines, foods, chemical engineering and the like with special requirements on cleanness, safety, no emission pollution and the like for transportation operation and special fields such as radiation, toxicity, ultralow temperature and the like.
Other configurations and operations of the high-speed multiple degree of freedom flexible wear-free transport system 100 according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A high-speed multi-degree-of-freedom flexible wear-free transportation system is characterized by comprising:
the parallel transportation platform can move under the action of a magnetic field and has a switchable lifting motion mode, a rotary motion mode and a tilting motion mode; the parallel transportation platform can be descended to a singular pose close to the parallel transportation platform in a non-working state;
the parallel transport platform is arranged on the magnetic suspension transport track, and the magnetic suspension transport track comprises a plurality of connected plane modules so as to generate a magnetic field for driving the parallel transport platform to move;
the starting device is arranged on the magnetic suspension transmission track, the parallel transportation platform is arranged corresponding to the starting device in a non-working state, and the starting device is used for driving the parallel transportation platform to be far away from the singular pose.
2. The high-speed, multiple degree of freedom, flexible, wear-free transport system of claim 1, wherein the parallel transport platform comprises:
the supporting platform is used for bearing an object to be transported;
the planar motor rotors move under the driving of the magnetic field;
the planar motor rotor is arranged on the supporting platform in a one-to-one correspondence mode, the supporting platform is arranged on the supporting platform in a circumferential interval mode, and the other end of the supporting platform is connected with the planar motor rotor in a pivoting mode.
3. The high-speed, multiple degree of freedom, flexible, wear-free conveyance system of claim 2,
and connecting joints are arranged between the connecting rod and the supporting platform and between the connecting rod and the planar motor rotor to realize pivoting connection, and the kinematic pair formed on the connecting joints is at least one of a revolute pair, a hooke pair and a ball pair.
4. The high-speed, multiple degree of freedom, flexible, wear-free conveyance system of claim 2,
the number of the connecting rods and the planar motor rotors is determined according to the transportation weight of the parallel transportation platform.
5. The high-speed, multiple degree of freedom, flexible, wear-free conveyance system of claim 2,
the parallel transport platform further comprises: and the manipulator is arranged on the supporting platform and used for clamping and grabbing the object to be transported.
6. The high-speed, multiple degree of freedom, flexible, wear-free conveyance system of claim 1,
the magnetic suspension transmission track formed by the plurality of the plane modules is a plane track, and the parallel transport platform can move along any direction on the plane track.
7. The high-speed, multiple degree of freedom, flexible, wear-free conveyance system of claim 1,
the magnetic suspension transmission track formed by the plurality of plane modules is a three-dimensional track, and the three-dimensional track is at least one of a slope track, an arc track and a step-shaped track.
8. The high-speed, multiple degree of freedom, flexible, wear-free conveyance system of claim 1,
the plurality of planar modules are highly integrated modules, so that the magnetic suspension transmission track can detect the position of the planar motor rotor through a controller.
9. The high-speed, multiple degree of freedom, flexible, wear-free conveyance system of claim 1,
the starting device is a lifting piece or an air injection piece injecting air upwards vertically and is used for driving the parallel transportation platform to ascend so as to be separated from the singular pose.
10. The high-speed, multiple degree of freedom, flexible, wear-free conveyance system of claim 1, further comprising:
the goods shelf is arranged on the magnetic suspension transmission track and is used for the parallel transportation platform to grab the object to be transported;
and the robot is arranged on the outer side of the magnetic suspension transmission track to receive the object to be transported, which is grabbed by the parallel transportation platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010658077.3A CN112009925B (en) | 2020-07-09 | 2020-07-09 | High-speed multi-degree-of-freedom flexible wear-free transportation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010658077.3A CN112009925B (en) | 2020-07-09 | 2020-07-09 | High-speed multi-degree-of-freedom flexible wear-free transportation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112009925A true CN112009925A (en) | 2020-12-01 |
| CN112009925B CN112009925B (en) | 2021-07-06 |
Family
ID=73499680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010658077.3A Active CN112009925B (en) | 2020-07-09 | 2020-07-09 | High-speed multi-degree-of-freedom flexible wear-free transportation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112009925B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5251741A (en) * | 1991-06-28 | 1993-10-12 | Kabushiki Kaisha Toshiba | Carrying apparatus having carrier levitated by magnetic force |
| JP3176002B2 (en) * | 1993-09-24 | 2001-06-11 | 日本トムソン株式会社 | Drive unit |
| CN108582038A (en) * | 2018-04-10 | 2018-09-28 | 清华大学 | A kind of contactless force loading device of simulation three axis numerically controlled machine processing |
| CN109795879A (en) * | 2019-03-14 | 2019-05-24 | 北京无线电测量研究所 | A kind of posture adjustment docking facilities, system and method based on six-degree-of-freedom parallel connection mechanism |
| CN110356242A (en) * | 2019-08-02 | 2019-10-22 | 成都睿逸谷科技有限责任公司 | High-temperature superconductor band curved surface stackable unit and method, array, magnetic suspension system |
| CN210557516U (en) * | 2019-09-27 | 2020-05-19 | 深圳市兰星琪科技有限公司 | Novel annular glue sealing production line |
-
2020
- 2020-07-09 CN CN202010658077.3A patent/CN112009925B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5251741A (en) * | 1991-06-28 | 1993-10-12 | Kabushiki Kaisha Toshiba | Carrying apparatus having carrier levitated by magnetic force |
| JP3176002B2 (en) * | 1993-09-24 | 2001-06-11 | 日本トムソン株式会社 | Drive unit |
| CN108582038A (en) * | 2018-04-10 | 2018-09-28 | 清华大学 | A kind of contactless force loading device of simulation three axis numerically controlled machine processing |
| CN109795879A (en) * | 2019-03-14 | 2019-05-24 | 北京无线电测量研究所 | A kind of posture adjustment docking facilities, system and method based on six-degree-of-freedom parallel connection mechanism |
| CN110356242A (en) * | 2019-08-02 | 2019-10-22 | 成都睿逸谷科技有限责任公司 | High-temperature superconductor band curved surface stackable unit and method, array, magnetic suspension system |
| CN210557516U (en) * | 2019-09-27 | 2020-05-19 | 深圳市兰星琪科技有限公司 | Novel annular glue sealing production line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112009925B (en) | 2021-07-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5525029A (en) | Palletizer having vertically movable pallet supports and at least one gripper only in a horizontal plane | |
| JP2023535863A (en) | Goods loading and unloading equipment and goods loading and unloading systems | |
| US6688451B2 (en) | Multi-head robot system and method of use | |
| CN109795832B (en) | High-efficient automatic sorting goods shelves and letter sorting system thereof | |
| US20040197172A1 (en) | Transfer car for loading and unloading transported goods | |
| US20170320669A1 (en) | Inverted Carrier Lift Device System and Method | |
| EP3418220B1 (en) | A transport cart of a storage and retrieval system and a lifting arrangement for such a transport cart | |
| CN112830142B (en) | Storage robot | |
| CN210968860U (en) | Stacking robot capable of moving freely | |
| CN113772315B (en) | Sorting device and warehousing system | |
| CN112009925B (en) | High-speed multi-degree-of-freedom flexible wear-free transportation system | |
| CN112478643A (en) | Tray turnover sorting machine | |
| CN215853255U (en) | Material box transfer system | |
| CN216470109U (en) | Storage system | |
| CN214086318U (en) | Tray turnover sorting machine | |
| EP3872004A1 (en) | A mini load crane for use in an automated warehouse and a method for storing and picking goods in the automated warehouse | |
| CN113335816A (en) | Omnidirectional movement multi-degree-of-freedom warehousing and transportation robot | |
| CN112478644A (en) | Tilting tray sorting trolley and tilting tray sorting device | |
| CN111392060A (en) | Airplane luggage loading and unloading robot and control method thereof | |
| CN221047586U (en) | Loading attachment and laser beam machining equipment | |
| JP6536218B2 (en) | Lifting and conveying device | |
| CN213445154U (en) | Visual guide four-degree-of-freedom pile-up removing robot | |
| CN214877527U (en) | A letter sorting robot and dress warehousing and storage system for dress letter sorting | |
| JP2020163479A (en) | De-palletize apparatus and de-palletize method | |
| CN218023498U (en) | Container handling apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |