CN115378221A

CN115378221A - High-performance rail transportation system

Info

Publication number: CN115378221A
Application number: CN202210762154.9A
Authority: CN
Inventors: 汪旭东; 曹娟娟; 辛沅栩; 汪慧; 段广祺
Original assignee: Jiaozuo Huaying Electromechanical Technology Co ltd
Current assignee: Huaying Yunzhi Shenzhen Technology Co ltd
Priority date: 2021-08-20
Filing date: 2022-06-30
Publication date: 2022-11-22
Also published as: CN218498994U; CN218514267U

Abstract

A high performance rail transport system comprising a rail subsystem and a transport subsystem, the rail subsystem comprising: a track; a stator portion arranged along the track; the transportation subsystem includes: a transport body moving along the rail for transport; the moving part is matched with the stator part and arranged on the conveying body and used as primary input for electromagnetically exciting the stator part; the power supply device is connected with the transportation body and used for supplying power, and the power supply device adopts non-sliding contact power supply; and the driving controller is arranged on the transport body, the input end of the driving controller is connected with the power supply device, the output end of the driving controller is connected with the movable sub-part, and the transport body is controlled to move on the track by driving the movable sub-part. The device has the outstanding advantages of simple structure, reliable technology, high efficiency, energy conservation, low cost, high performance and the like. The transmission line control system solves the technical bottlenecks and engineering application problems of complexity, ultrahigh cost, low precision, large loss, low reliability, long installation and adjustment period, large maintenance amount and the like of the existing transmission line control system in high-requirement occasions and complex (clean) environments.

Description

High-performance rail transportation system

Technical Field

The invention belongs to the technical field of intelligent manufacturing and electric power equipment, and particularly relates to a high-performance rail transportation system.

Background

With the increase in the degree of automation of industrial machines, demands for machine tools, semiconductor devices, 3C electronic manufacturing, and laser processing devices have been increasing. The development trend and direction of the equipment are high speed, high precision, compound, intellectualization, opening, parallel driving, networking, polarizing and greening. The linear motor and the direct drive technology improve the production efficiency of electronic production equipment by the characteristics of low moment of inertia, high acceleration, high positioning precision and high rigidity, meet the increasing production requirements from wafers to integrated circuits and PCB assembly, and are widely applied to the fields of high-precision equipment such as 3C electronics, automatic production equipment, precision numerical control machine tools and the like.

The automatic transmission line (loop) system of the linear motor generally has two structures of a moving coil type and a moving magnet type. The moving coil type structure is characterized in that a primary stator coil moves, a secondary permanent magnet is laid on a rail as a stator, power supply and control are simple, contact (sliding contact) power supply is generally adopted, a driver is located on a rotor, independent control is easily performed on multiple rotors, and cost is low. However, the contact (sliding contact) power supply is easy to generate electric sparks and powder, is difficult to maintain, has low operation speed, is difficult to meet the requirements of production technology, is difficult to protect the stator permanent magnet and the like, is generally used in the field of low-end transmission lines with low requirements on environment and performance, is not allowed to be applied to complex environments such as sparkless, dustless and explosion-proof environments and high-speed, high-precision, high-requirement and medium-high-end occasions, and has extremely limited application field.

The linear motor has the advantages that the primary coil is electrified for a short time, the electric density can be increased, the size of the linear motor is reduced, the secondary permanent magnet serving as a rotor has small self weight, the secondary permanent magnet is easy to protect, and power supply is not needed. However, the stator coil needs to be supplied with power in sections, and the switching device needs to be supplied with power in sections according to the number of the unit stators. Common segmented power supply switching devices include power devices such as an IGBT (insulated gate bipolar transistor), a thyristor and a solid-state relay or power switch electronic switching modes, and electromagnetic and mechanical switching modes such as a contactor. The quantity of the change-over switches and drivers (power modules) is large, a large number of position detection sensors, special trigger protection circuits, upper computers and other processing devices are required to be arranged along a track, intermediate links are more, pre-energization is required to be carried out on a stator primary coil which is not coupled with a rotor (equivalent to the abnormal working state of the rotor extracted by a rotating motor), the idle current of the pre-energization coil is 2-3 times larger than that of a normally coupled stator coil, and the defects of large electric energy loss (proportional to the square of the idle current), complex circuit, high cost, malfunction of a sensor or a contactor, unreliable switching and the like are caused. In order to accurately control a plurality of rotors, the length of a unit stator in the motion direction is very short and is generally 1/2 to 1 time of the length of the rotor, so that the number of drivers (power modules), position sensors and cables is large, the number of the unit stators is large, the number of the drivers (power modules) and the number of the position sensors are large, a segmented power supply switching control system is extremely complex, the problem of synchronous control of a plurality of drivers (power modules) for simultaneously controlling one rotor needs to be solved, the reliability of the whole system is greatly related to whether the segmented power supply system is mature and reliable, and the engineering implementation difficulty is high. The construction cost of the whole system is increased sharply, the debugging of the control system is difficult, the debugging period is long (generally 2 to 3 months), the use and maintenance cost is high, the reliability of the system is reduced, and the like, and the whole system is paralyzed when any one position sensor, unit coil and driver (power module) on an operation line (track) is out of order or fails. In the application occasions of the automatic transmission lines, most linear motors run horizontally instead of vertically, the load is light, the required thrust is very small, the benefit of increasing the force density caused by short-time energization of a plurality of primary coils is not obvious in practice, but the cost of the whole system is probably 3 to 5 times of that of a moving coil type. Generally, the method is widely used in the field of high-precision equipment with higher requirements on environment and performance.

In addition, not only automatic transmission line occasion, also there is similar removal power supply problem in a plurality of trades such as workshop, pier, railway, commodity circulation, storage, wind-powered electricity generation, radar, basic station, space flight, naval vessel (such as revolving stage, driving, mobile station, manipulator, stacker), the occasion, generally use brush sliding contact power supply in a large number, or adopt the conducting ring (a sealed rotatory conducting ring, also sliding contact power supply principle, and is small in size, capacity, with high costs, short service life, often change, it is multi-purpose in signal, undercurrent conduction occasion) or be similar to above-mentioned complicated power supply modes such as stator segmentation power supply, how to make removal power supply as most infrastructure (equipment) more high-efficient, more reliable, more convenient, lower cost also is the key technological problem who awaits the solution urgently.

Disclosure of Invention

The invention provides a high-performance rail transport system, aiming at solving the problems that the existing intelligent manufacturing automatic transmission line and mobile power supply equipment are easy to generate electric sparks and powder, have high energy consumption and short service life, need to be frequently replaced and switched by stator sections and other complicated power supply modes, lead to complicated control system, low reliability, high cost and the like.

The object of the invention is achieved in the following way: the utility model provides a high performance rail transport system, includes that the track divides system and transportation branch system, its characterized in that:

the track subsystem includes:

a track;

the stator part is arranged along the track and is at least one of a secondary permanent magnet, a secondary reaction plate and a secondary iron core;

the transportation subsystem includes:

a transport body moving along the rail for transporting the material or the person;

the movable part is matched with the stator part and arranged on the conveying body and used for electromagnetically exciting the stator part as primary input, and the movable part is at least one of a primary air coil, a primary iron coil with a core and a primary iron coil with a permanent magnet belt core;

the power supply device is connected with the transportation body and used for providing power, and the power supply device adopts non-sliding contact power supply;

and the driving controller is arranged on the transport body, the input end of the driving controller is connected with the power supply device, the output end of the driving controller is connected with the movable sub-part, and the movement of the transport body on the track is controlled by driving the movable sub-part.

Further, the power supply device is a wireless power supply device and comprises a wireless power supply transmitting part and a wireless power supply receiving part matched with the wireless power supply transmitting part, the wireless power supply transmitting part is arranged on a track or a foundation, and the wireless power supply receiving part is arranged on the transportation body and used for obtaining electric power from the wireless power supply transmitting part.

Further, at least one of electromagnetic induction type, electric field induction type, electromagnetic wave type, resonance type, reaction type, and coupling type wireless transmission power supply is adopted between the wireless power supply transmitting section and the wireless power supply receiving section.

Furthermore, the power supply device is a traveling transformer and comprises a primary part and a secondary part, the primary part is arranged along a transportation track or a foundation, the secondary part is arranged on the transportation body, the primary part is provided with a primary coil used for input excitation of a main magnetic power supply, the secondary part is provided with a secondary coil used for output of a main magnetic induction power supply, at least one of the primary part and the secondary part is provided with an iron core, the primary part and the secondary part are matched with a parallel moving gap, at least one section of parallel moving gap is formed between the primary part and/or the secondary part, and the parallel moving gap, the primary part and the secondary part form a main magnetic closed loop together; the input end of a primary coil of the traveling transformer is connected with a power supply, and the output end of a secondary coil of the traveling transformer is connected with the driving controller.

Further, the power supply device is at least one of a follow-up transformer and a follow-up generator and is arranged on the track or the foundation; the follow-up transformer comprises a static part and a follow-up part, the static part is provided with a primary coil for input excitation of a main magnetic flux power supply, the follow-up part is provided with a secondary coil for output of a main magnetic flux induction power supply, at least one of the static part and the follow-up part is provided with an iron core, the static part and the follow-up part are arranged in a manner of matching with a rotating gap, at least one section of rotating gap is formed between the static part and the follow-up part, and the rotating gap, the static part and the follow-up part form a main magnetic flux closed loop together; the follow-up generator consists of a motor and a generator which are coaxially arranged, and comprises a stator part and a follow-up rotating part, wherein the stator part of the follow-up generator is a motor stator, and the follow-up rotating part is a generator primary; the primary coil of the follow-up transformer and the input end of the motor stator of the follow-up generator are connected with a power supply, and the secondary coil of the follow-up transformer and the primary output end of the generator of the follow-up generator are connected with the driving controller.

Further, the rail transport system further comprises a communication device or a communication module, which is connected with or contained in the drive controller and used for receiving a control instruction of the rail transport system to the transport body, wherein the communication device or the communication module adopts at least one of wireless communication, wired communication, carrier communication, microwave communication, leaky-wave communication and infrared communication.

Further, the track is provided with a guide rail, and the guide rail is matched with at least one support component of rolling, sliding and floating support components arranged on the transport body and is used for supporting the transport body to move along the track and/or the guide rail.

Furthermore, the track is at least one of a continuous type, a discontinuous type, a ferry type and a track changing type, is used for supporting the transport body to move along the track, and the ferry section and the track changing section in the ferry type and track changing type track are driven by a ferry and track changing power mechanism and are used for steering, exiting or entering the transport body.

Furthermore, a power battery and/or a capacitor are arranged on the transportation body of the transportation subsystem, and the power battery and/or the capacitor are connected with the driving controller.

Further, track week side and transportation body week side both at least one of them sets up the robot, the robot is including last at least one of unloading robot and work robot, and work robot includes organism and actuating mechanism, transportation body fixed connection loading board is used for bearing the work piece for transportation system and robot constitute the track transportation operating system who carries and process as an organic whole.

Compared with the prior art, the invention has the advantages of simple structure, economy, practicability, high efficiency, energy saving, and solving the technical bottlenecks and engineering application problems of complexity, low precision, high cost, low reliability, large loss and the like of the existing transmission line and mobile power supply control system.

Drawings

FIG. 1 is a schematic diagram of a direct drive transmission system;

FIG. 2 is a side-by-side (horizontal) ferry-type contour schematic and perspective view;

FIG. 3 is a schematic view and perspective view of a layered (vertical) contour;

FIG. 4 is a schematic view and perspective view of a continuous loop wire;

FIG. 5 is a schematic diagram of one embodiment of a side-by-side arrangement of a stator and a wirelessly powered transmitting device;

FIG. 6 is a schematic diagram of the second embodiment in which the stator and the wirelessly powered transmitting device are arranged side by side;

FIG. 7 is a schematic view of a stator and a wireless power transmitter arranged side by side;

FIG. 8 is a schematic diagram of one embodiment in which the stator and the wirelessly powered transmitting device are separately disposed;

FIG. 9 is a schematic view of the stator and the wirelessly powered transmitting device separately arranged in accordance with a second embodiment;

FIG. 10 is a schematic view of a third embodiment in which the stator and the wirelessly powered transmitting device are separately disposed;

FIG. 11 is a perspective view of a linear motor side-by-side (horizontal) ferry-type transmission line according to one embodiment of the present invention;

fig. 12 is a schematic perspective view of a transmission line with a connectorized (branched) section according to one of the embodiments of the invention;

fig. 13 is a perspective schematic view of a transmission line with a connectorized (branched) section according to one embodiment of the invention;

fig. 14 is a schematic structural view of a linear motor with a permanent magnet secondary stator according to one embodiment of the invention;

fig. 15 is a schematic structural view of a linear motor with a non-permanent magnet secondary stator according to an embodiment of the invention;

FIG. 16 is a schematic diagram of the positioning of the moving stator part (transporter) using linear guide guiding;

FIG. 17 is a schematic diagram of the guiding and positioning of the movable stator part (transporter) by using a V-shaped guide rail;

FIG. 18 is a schematic diagram of the principle of guiding and positioning of the movable stator part (transporter) by using a bevel guide rail;

FIG. 19 is a schematic diagram of the positioning of the moving stator part (transporter) using flat rail guidance;

FIG. 20 is a schematic diagram of the positioning of the moving stator part (transporter) using the guiding of the hub of the train;

FIG. 21 is a schematic view of the guiding positioning of the conjugated stator portion and the dual rotor portion (transporter);

FIG. 22 is a schematic diagram of a traveling transformer;

FIG. 23 is a schematic diagram of a follower transformer power supply circuit;

FIG. 24 is a schematic illustration of a transmission line powered with a rotating electrical ring;

FIG. 25 is a schematic diagram of a single-phase step-up transformer as a step-up power ring;

FIG. 26 is a schematic diagram of a single-phase step-up transformer as a step-up power ring;

FIG. 27 is a schematic diagram of a three-phase step-up transformer as a step-up power ring;

FIG. 28 is a schematic view of a dual rotor follower generator as a follower rotor ring;

FIG. 29 is a schematic view of a dual stator follower generator as a follower rotor ring;

FIG. 30 is a schematic diagram of an embodiment of the transmission line of the present invention in a 3C application scenario;

in the figure: 1-a transportation rail; 2-a guide rail; 3, a sliding block; 4-permanent magnets (or metal layers); 5, a stator; 6-a mover; 7-a wireless power transmission unit; 8-wireless power supply receiving part; 9. 10, 11-configuration board; 12-a drive controller; 13-a ferry section; 16-a first positioning wheel (positioning wheel set), 17-a second positioning wheel (positioning wheel set); 20-a generator; 21-a driven wheel; 22-a transmission belt; 23-a driving wheel; 24-an electric motor; 25-a tension wheel; 26-a transporter; 27-a cable; 28-stationary part of slip ring; 29 — a rotating part of the slip ring; 30 — output of slip ring; 31 — input of slip ring; 32-motor II rotor; 33-generator II primary; 34-motor II stator; 35-a static part of the rotating-current following ring; 36-follow-up part of follow-up rotating electric ring; 37-a coupler; 38-generator II rotor; 39 — input of motor II; 40-output end I of generator II; 41-generator I primary; 42-an inner rotor; 43-motor I stator; 44 — input of motor I; 45-output end of generator I; 46 — the outer circumference of the inner rotor; 47 — the inner circumference of the inner rotor; 51-a bearing; 52-a bearing seat; 53-upper core; 54-a cage; 55-an outer core; 56-primary coil; 57-secondary winding; 61-a middle iron core; 66-secondary core of the traveling transformer; 67-primary core of traveling transformer; 68-secondary winding of the traveling transformer; 69-primary coil of the traveling transformer;

81-fixed position robot; 82-fixed positioning of the manipulator arm of the robot; 83-a workpiece; 84-feeding (or blanking) multi-axis multi-degree-of-freedom robot; and 85, a guide wheel (or a guide shoe) of the traveling transformer.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "central," "longitudinal," "lateral," "normal," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in an orientation or positional relationship indicated in the drawings for the convenience of description and simplicity of description only, and do not indicate or imply that the device or element so indicated must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present invention.

In accordance with one or more embodiments, a high performance rail transport system includes a rail subsystem and a transport subsystem, the rail subsystem comprising:

a track;

a stator portion disposed along the track;

the transportation subsystem includes:

the stator part is matched with the stator part and arranged on the transport body and used as primary input for electromagnetically exciting the stator part;

the power supply device is connected with the transportation body and used for supplying power, and the power supply device adopts non-sliding contact power supply;

and the driving controller is arranged on the transport body, the input end of the driving controller is connected with the power supply device, the output end of the driving controller is connected with the movable sub-part, and the transport body is controlled to move on the track by driving the movable sub-part.

As shown in fig. 1-a and 1-B, wherein fig. 1-a is a schematic structural diagram of the whole structure including a stator transportation track and a mover moving part, and fig. 1-B is a schematic structural diagram of the stator transportation track only. The direct-drive annular line transmission system comprises a transportation track 1, a stator 5 or a unit motor stator module, a rotor 6, a wireless transmission power supply system, a wireless communication system, a drive controller 12 and the like.

The wireless transmission power supply system comprises a wireless power supply transmitting device 7 and a wireless power supply receiving device 8, wherein the common wireless power supply transmitting device 7 comprises a high-frequency current line, a high-frequency current generator and other devices, the high-frequency current line is arranged along the transportation track 1, and the high-frequency current generator, an input power supply and other devices are arranged in the space around the transportation track 1.

The wireless communication system comprises a wireless communication transmitting device and a wireless communication receiving device, wherein the wireless communication transmitting device is arranged along a transportation track or a surrounding space (foundation).

The driving controller 12 receives the power input and the signal input provided by the wireless power supply transmitting device 7 and the wireless communication transmitting device through the wireless power supply receiving device 8 and the wireless communication receiving device.

The primary winding of the rotor 6 is electrically connected with the driving output end of the driving controller 12.

The stator 5 or the unit motor stator module and the wireless power supply transmitting device 7 (high-frequency line) are arranged on one side (horizontal loop line) of the transportation track 1 or below (vertical loop line) of the transportation track 1. The driving controller 12 and the wireless communication receiving device belong to weak current equipment, and are generally arranged on the rotor separately from strong current equipment such as a primary coil and the wireless power supply transmitting device 7 in consideration of electromagnetic compatibility; a guide positioning device is arranged between the rotor 6 and the stator 5, between the wireless power supply transmitting device 7 and the wireless power supply receiving device 8 (power taking device) and between the wireless communication receiving device, and comprises a guide rail 2 and a sliding block (positioning wheel set) 3, wherein the guide rail 2 is arranged at the side end of the transportation track 1, and the rotor 6 and the wireless power supply receiving device 8 (power taking device) are connected with the sliding block 3 through a configuration plate (panel B) 11 and a configuration plate 9. The drive controller 12, the wireless communication receiving device (communication circuit board), the power supply circuit board, and the like may be arranged on both sides of the transport rail 1, may be arranged on one side at the same time, and may be arranged on one side of the end portion of the transport rail 1. The driving controller 12 and the wireless communication receiving device may also be integrated into one unit, that is, the driving controller 12 already includes a wireless communication receiving system therein.

The stator 5 is provided with a secondary permanent magnet, and the secondary permanent magnet of the stator 5 mainly has three structures of a U-shaped back iron double-side permanent magnet, a U-shaped back iron single-side permanent magnet and a single-side back iron single-side permanent magnet. Permanent magnets 4 are respectively stuck to two sides of the inner sides of two parallel upper iron cores of the U-shaped back iron, as shown in the figure 1-C; the U-shaped back iron single-side permanent magnet is formed by sticking a permanent magnet 4 on one side of the inner sides of two parallel upper iron cores of the U-shaped back iron as shown in a figure 1-D; the unilateral back iron unilateral permanent magnet is formed by sticking a permanent magnet 4 on one side of a flat upper iron core, as shown in figure 1-E; the primary coil of the rotor 6 is an air coil (coreless coil) and is arranged between the two-sided permanent magnets or between the one-sided permanent magnet and the one-sided upper iron core; for single-side back iron single-side permanent magnet, a primary coil of the rotor 6 is an iron core coil; the rotor 6 primary coil and the corresponding stator 5 unit secondary permanent magnet are arranged in a matched clearance mode to form a good magnetic circuit, and the magnetic circuit has the outstanding advantages of being large in thrust density, small in fluctuation, good in dynamic response, high in positioning accuracy, simple in permanent magnet protection, high in reliability and intelligent degree, low in cost, good in performance and the like.

In fig. 1, the stator 5 unit and the wireless power supply transmitting device 7 are arranged below the transportation track 1, the guide rail 2 is arranged at the end part of the transportation track 1, the U-shaped openings of the secondary U-shaped back iron double-side type and single-side type permanent magnets of the stator 5 unit face downwards, or the single-side back iron single-side type permanent magnets face downwards and are located at the lowest part, and a loop operator is not easy to contact with the permanent magnets at ordinary times, so that the wireless power supply transmitting device 7 (high-frequency current lines) and the operator have a good protection effect.

The principle structure of fig. 1 is suitable for both horizontal and vertical loops. The transportation track 1 and the plurality of stator 5 units sequentially arranged along the transportation track 1 are at least provided with two immovable fixed sections and movable ferry sections 13 which are arranged side by side or in a layered manner, the movable ferry sections 13 are one section of movable transportation track 1 which is driven by a motor and can reciprocate along the ferry direction, the movable ferry sections 13 are arranged at two ends of the fixed sections, and the transportation tracks 1 which are arranged horizontally side by side or in a vertical layered manner are communicated to form a horizontal or vertical (ferry type) loop line through the horizontal movement or vertical movement of the ferry sections 13. The moving stroke of the ferry section 13 is short, and a rotary motor screw rod module, a rotary motor gear rack or a linear motor is generally used as a driving source.

When the transportation tracks 1 are arranged in an up-down (vertical) layered manner, a vertical (layered) ferry-type loop is formed, and as shown in a perspective view of fig. 2, the surface where the configuration plate 10 is located serves as a workpiece carrying surface; when the transportation rails 1 are arranged horizontally (horizontally) side by side to form a horizontal (side by side) ferry-type loop, the surface on which the configuration plate 10 is located serves as a workpiece carrying surface, as shown in the perspective view of fig. 3.

The vertical (layered) ferry-type loop line and the horizontal (side-by-side) ferry-type loop line can be mutually converted. The vertical (layered) ferry-type loop (as shown in fig. 2) and the horizontal (side-by-side) ferry-type loop (as shown in fig. 3) are respectively turned over by 90 degrees, so that the surfaces of the original configuration plates 11 are positioned at the uppermost part and used as workpiece carrying surfaces, and the surfaces are respectively converted into the horizontal (side-by-side) ferry-type loop and the vertical (layered) ferry-type loop, and vice versa. According to different application scenarios, such as a ferry type vertical loop, a braking device can be further arranged between the stator 5 (or the transportation track 1) and the mover 6 or an attachment connected with the mover 6 as required.

Fig. 4 shows a schematic diagram and a perspective view of a continuous loop line. The transportation track 1, the stators 5 or the unit motor stator modules and the wireless power supply transmitting device 7 (such as common high-frequency cables) which are sequentially arranged along the transportation track 1 and the guide rail 2 form a continuous loop line by straight line sections and/or arc sections.

Fig. 5, fig. 6 and fig. 7 are schematic diagrams of other topologies that the stator or unit motor stator module 5 and the wireless power supply transmitting device 7 (such as a common high-frequency cable) are arranged on one side of the transportation track 1, and the rest is the same as the above.

As shown in fig. 8, 9 and 10, the transmission system comprises a transportation rail 1, a stator 5 or a unit motor stator module and a wireless power supply transmitting device 7 (such as a common high-frequency cable) which are respectively and independently arranged on two sides of the transportation rail 1. The others are as before.

The transportation track 1 is horizontally arranged, the stator 5 unit and the wireless power supply transmitting device 7 are arranged below and/or above the transportation track 1, and the positioning guide rail 2 is arranged at the side end of the transportation track 1 or below and/or above the transportation track.

The transportation track 1 is vertically arranged, the stator 5 unit and the wireless power supply emitting device 7 are arranged on one side and/or two sides of the transportation track 1, and the positioning guide rail 2 is arranged at the upper end of the transportation track 1 or one side and/or two sides of the transportation track 1.

The secondary U-shaped back iron double-side permanent magnet and the U-shaped back iron single-side permanent magnet of the stator 5 unit are perpendicular to or parallel to the conveying track.

The moving parts such as the above-mentioned configuration board, the moving part, the wireless power receiving part, the driving controller, and the sliding or rolling part constitute the transportation body 26 and move along the rail.

The ferry shaft of the transmission line can be used as a driving source by a screw rod module of a rotating motor and the like, and can also be directly driven by a linear motor. Fig. 11 is a schematic diagram of principle (perspective) of a ferry-type transmission line of a linear motor, in which a ferry shaft is directly driven by the linear motor and forms another horizontal (parallel) ferry-type transmission line of the linear motor together with horizontal segments arranged in parallel.

Fig. 12 and 13 are schematic diagrams of the principle (perspective) of a discontinuous transmission line and a continuous transmission line with a rail-changing junction (branch) section, respectively. Fig. 13-B shows upper and lower connection lines, and the remaining drawings show horizontal connection lines, which include ferry-type, continuous (closed-loop) transmission lines, and transmission lines of various structures such as discontinuous, orbital transfer connection, composite and the like; the vertical and/or horizontal ferry-transition rail-transfer connection section is generally driven by a linear motor or a power mechanism with lower cost, such as a screw rod module, a chain type/belt type conveyor and the like, and can be provided with a horizontal/vertical mixed connection line, so that the vertical and/or horizontal ferry-transition rail-transfer connection section is flexibly configured according to the requirements of production procedures, a plurality of production lines are simultaneously (cooperatively) produced, and the transfer (branch line steering) or fault exit is easily realized. One or more docking (branching) sections may be provided as desired on the same continuous or discontinuous transmission line. According to different application scenarios, for example, upper and lower connection lines, a brake device or a balancing (buffering) device such as a magnetic spring may be further disposed between the stator 5 (or the transportation rail 1) and the mover 6 or an attachment connected to the mover 6 as required.

According to the shape of the transmission line, various transmission lines such as a track shape, a square shape, a strip shape, a round shape, a composite shape, a three-dimensional shape and the like are also available; each rotor can also be in multi-shaft linkage with an additional mechanism (a mechanical arm, a rotary table and the like), so that the flexible manufacturing intelligent system (equipment) with high added value, which integrates conveying and processing.

The track described above includes not only the track itself but also the area around (outside of) the track and the mounting base. Taking a track-shaped track as an example, the track comprises the track (track) itself and a mounting base around the track (track), at least the entire area enclosed by the envelope of the track-shaped track, and the outer bordering area of the envelope.

A conventional wireless power transmission unit includes a transmitting coil (e.g., a high-frequency current line 7 in fig. 1 to 10) and a high-frequency current generator, and a wireless power receiving unit includes a receiving coil with a core (e.g., an E-type, U-type, or C-type power extractor 8 in fig. 1 to 10) or an air-core receiving coil, and a power circuit board that performs necessary processing (e.g., frequency reduction and rectification) on a voltage waveform of a receiving end.

A conventional permanent magnet linear motor has a single-sided or double-sided permanent magnet as a secondary, an air-core coil or a core-coil, and forms a single-sided or double-sided permanent magnet linear motor, as shown in fig. 14, in which fig. 14-a shows a secondary double-sided permanent magnet or a primary air-core coil, fig. 14-B shows a secondary single-sided permanent magnet or a primary air-core coil, fig. 14-C shows a secondary single-sided permanent magnet or a primary single-sided core-coil, fig. 14-D shows a secondary double-sided permanent magnet or a primary double-sided conjugated core-coil, and fig. 14-E shows a secondary conjugated double-sided permanent magnet or a primary double-sided core-coil. In addition, the permanent magnet linear motor is also suitable for the transmission line principle of figures 1-13, and is of a multi-side type with three sides, four sides and the like, an arc type and the like.

Fig. 15 is a schematic view of a linear motor with a non-permanent magnet secondary stator. The non-permanent magnet secondary linear motor is also suitable for various transmission lines in the figures 1-15. In the figure, the stator 5 is a single-side or double-side secondary reaction plate (the surface of the reaction plate can be provided with a composite layer 4 according to the situation) or a secondary iron core, the primary coil of the rotor 6 is an air coil, a coil with an iron core or a permanent magnet coil with an iron core at the same time, and is arranged with a gap with the secondary to form different types of linear motors. As shown in FIGS. 15-A, B, C, D. In FIGS. 15-A, B and C, the lower diagram is a single-sided structure and the upper diagram is a double-sided structure. In fig. 15-a, B, the secondary is a reaction plate, generally made of metal or alloy material such as steel, iron, aluminum, copper, etc., and the mover 6 is primarily a coil with an iron core to constitute a metal (steel, aluminum, copper, etc.) secondary linear induction motor; in fig. 15-B, the secondary stage is a reaction plate with a composite layer 4 on the surface, the composite layer is made of metal materials such as copper, aluminum, etc. or their alloy layers, and the mover 6 is provided with a core coil on the primary stage to form a composite secondary linear induction motor; in fig. 15-C, the secondary is a slotted or unslotted iron core, and the primary of the mover 6 is a permanent magnet linear motor with a permanent magnet coil simultaneously provided with an iron core and arranged with a gap between the secondary and the primary to form a switch flux linkage permanent magnet linear motor. In fig. 15-C, the primary of the mover 6 may also be a switched reluctance linear motor formed by arranging a gap between a core coil with a core and a slotted or unslotted core of the secondary; in fig. 15-D, the upper diagram shows a conjugated primary double-sided linear motor formed by the conjugated primary and U-shaped composite secondary coils, and the lower diagram shows a conjugated composite secondary double-sided linear motor formed by the conjugated composite secondary and U-shaped primary coils. In addition, there are also many types of non-permanent magnet linear motors, such as three-sided, four-sided, etc. polygonal types, and arc-shaped types. Simple and reliable structure, no need of protection, low cost and the like. The principle structures of the figures 1-13 are also suitable for non-permanent magnet secondary linear motors.

The linear motor needs to work normally, a certain working air gap (gap) and a certain coupling area need to be kept between a stator and a rotor of the linear motor, electromagnetic thrust is generated between the rotor and the stator in the movement direction, and normal force is generated in the air gap (gap) direction (normal direction), especially for a single-side-band iron core linear motor, the normal force may be 5 to 10 times of the electromagnetic thrust (for a double-side linear motor, when the working air gaps at two sides are the same, the normal force between the rotor and the stator can be mutually offset). Therefore, the moving and stator need to be limited in at least two dimensions in a three-dimensional space (except for the moving direction) and a guiding, positioning and supporting component is arranged between the moving and stator, and the positioning of the transport body is mainly realized by rolling and/or sliding components and floating components such as pneumatic and magnetic suspension components aiming at the support between the moving and stator. According to the type of the moving stator, namely one side or two sides, and the permanent magnet or the non-permanent magnet, the moving stator comprehensively considers various factors such as the arrangement mode of the transmission vehicle, the stress condition, the performance and the cost requirement, the relative positions of the stator, the guide rail and the wireless power supply transmitting part, for example, whether the stator and the guide rail are on the same side, and the like. The dynamic and stator positioning topological structure has various schemes, and has advantages and disadvantages, such as double-track positioning, high positioning precision and high track cost; the monorail positioning has the advantages of simple structure and low cost, but the requirement on the strength of a carrier bearing plate is high; the common guide rail has various types such as a linear guide rail, a V-shaped guide rail, an inclined plane (plane) guide rail and the like, and corresponding sliding and rolling parts have various types such as a sliding block (guide shoe), a V-shaped wheel, a flat guide wheel and the like, and are selected according to specific requirements in practical application. As shown in the embodiment of fig. 16-21.

Fig. 16 is a schematic diagram of a positioning principle of linear guide rails and sliders for the stator part and the mover part, the single-sided stator part 5 in fig. 16-a is arranged on the transportation rail 1, the guide rails 2 are linear guide rails and are positioned on the same side of the transportation rail, two linear guide rails are symmetrically arranged on two sides of the stator part, the mover 6 is connected with the slider 3 through a configuration plate, the slider 3 is matched with the linear guide rails 2, the mover 6 is matched with the stator 5, the wireless power supply sending part 7 is arranged below or above or on any side of the transportation rail 1, and the wireless power supply receiving part is matched with the wireless power supply sending part. The single-side stator part and the mover part in the figure can be replaced by other types such as a double-side type and an arc type. The linear guide rail and the stator part can also be arranged below or at the side of the transportation track 1. The rest is the same as the first embodiment.

Fig. 16-B is different from fig. 16-a in that a single linear guide rail is used for positioning, which belongs to an unbalanced positioning mode. Because the linear motor has larger normal force, in order to overcome unbalanced pressure and torque and reduce the strength of structural members such as structural plates and the weight of a transportation body, an auxiliary supporting wheel 17 can be arranged. The single-side stator portion and the mover portion in fig. 16-B may be replaced with other types such as a double-side type and an arc type. For a bilateral stator (mover), the normal force is small, and the auxiliary support wheel 17 may not be provided. The linear guide rail and the stator part can also be arranged on different sides of the transportation track 1 separately; otherwise as in the embodiment of fig. 16-a.

FIG. 17 is a schematic view of the positioning principle of the stator part and the mover part using V-shaped guide rails and V-shaped wheels. The guide rail 2 is a V-shaped guide rail, the positioning wheels (positioning wheel sets) 3 are V-shaped wheels, the V-shaped guide rail is arranged on two sides (shown in figure 17-A) or one side (shown in figure 17-B) of the stator part, and the V-shaped wheels are arranged on two sides or one side of the V-shaped guide rail in a matching mode. When a single V-shaped guide rail is adopted, two sides of the single V-shaped guide rail are respectively provided with a group of V-shaped wheels, namely, two groups of V-shaped wheels clamp the V-shaped guide rail to be positioned, so that transverse dislocation and side inclination are prevented, as shown in figure 17-B; when two V-shaped guide rails are adopted, four groups of V-shaped wheels on the inner side and the outer side in the graph 17-A can be reduced by two groups, only two groups of V-shaped wheels on the same side of the two V-shaped guide rails are kept to be clamped mutually, and the transverse dislocation preventing effect is also achieved; the remainder is as in the embodiment of fig. 16.

FIG. 18 is a schematic view of the positioning principle of the stator part and the mover part using the inclined guide rail and the flat guide wheel. The guide rail 2 is an inclined guide rail, the positioning wheel (positioning wheel set) 3 is a flat guide wheel, a double-inclined guide rail is arranged on one side of the conveying rail, and the positioning wheel set 16 is matched with three planes of the double-inclined guide rail to ensure transverse and normal positioning and guiding. The rest is the same as the embodiment of fig. 16 and 17.

FIG. 19 is a schematic view of the positioning principle of the stator part and the mover part using the flat guide rail and the flat guide wheel. The guide rail 2 is a flat guide rail, the positioning wheels (positioning wheel sets) 3 are flat guide wheels, the flat guide rails are arranged on two sides (figure 19-A) or one side (figure 19-B) of the transportation rail, the positioning wheel sets 16 and 17 are arranged in a matched mode with three planes of the flat guide rails, the left flat guide rail and the right flat guide rail are clamped by the two lateral wheels on the left side and the right side in figure 19-A, the left flat guide rail and the right flat guide rail are transversely prevented from inclining, and due to the gravity effect of the figure 19-B, a transportation body cannot deviate from the transportation rail upwards, so that only one group of positioning guide wheels are arranged in the rail direction, and upward restraint (limiting) is not needed; and two groups of lateral wheels are arranged on two sides of the flat guide rail, so that the positioning and guiding in the transverse direction and the normal direction can be ensured. The rest is the same as the embodiments of fig. 16, 17 and 18.

Fig. 20 is a schematic view of the principle of positioning the stator part and the mover part by using a hub of a railway wheel. The positioning wheel (positioning wheel set) 3 is provided with a rim, the guide rail and the stator part are arranged above the conveying track 1, the guide rails are arranged on two sides of the stator part, the positioning wheel with the rim is arranged on two sides of the guide rail in a matching way, and the rim needs to be arranged on the inner side or the outer side of the guide rail at the same time, namely, two sets of symmetrically arranged rims are utilized to clamp the guide rail for positioning, so that transverse dislocation and side inclination are prevented. The rest is the same as the embodiments of fig. 16, 17, 18 and 19.

Fig. 21 is a schematic diagram of a conjugate stator and dual sided mover positioning principle. The stator part in the figure is a conjugate stator, the rotor part is a bilateral rotor, the guide rails 2 are arranged on the transportation track, the stator parts are symmetrically arranged on two sides of the transportation track, or the yoke part of the conjugate stator part is used as the transportation track, the guide rails 2 are directly arranged on the yoke part of the conjugate stator part, and the bilateral rotor is matched with the stator parts. The guide rail in the figure is only a V-shaped guide rail as an example, and other types of guide rails such as a linear guide rail, a slant guide rail, and a flat guide rail may be used instead. The rest is the same as the embodiments of fig. 16, 17, 18, 19 and 20.

No matter which kind of locate mode is adopted between the above movable stator, all will follow and guarantee that movable stator is at effective location and spacing of horizontal, normal direction (air gap) direction, must not squint and dislocation, and it is vertical need not spacing for the direction of motion of active cell.

In the above-mentioned structure diagrams of fig. 1 to 21, the driving controller 12, the wireless communication receiving device (communication circuit board), the power circuit board, etc. as the motion electric control component may be flexibly disposed above and/or below the configuration board (a) 10 and/or the lower configuration board 9 of the transportation body according to the requirement, or may be disposed inside and/or outside the configuration board (B) 11 of the transportation body. The driving controller 12, the wireless communication receiving device, the power circuit board and the like may be integrated into one unit or integrated into a whole. In addition, the stator secondary permanent magnet or the secondary reaction plate or the secondary iron core can be arranged vertically, parallel or obliquely at a certain angle with the transportation track.

The structural diagrams of fig. 1 to 21 are only illustrated in terms of a principle topology structure by using horizontal or vertical or specific inclination arrangement, and in fact, all the structural diagrams of fig. 1 to 21 may be arranged by rotating clockwise or counterclockwise by any angle (for example, 30 degrees, 45 degrees, 60 degrees, 90 degrees, 120 degrees, 135 degrees, 150 degrees, 180 degrees, etc.).

The wireless transmission power supply system includes a wireless power supply transmitting part 7 and a wireless power supply receiving part 8, and may be an inductive wireless transmission power supply system, such as a common electromagnetic induction type, an electric field induction type, and other wireless transmission power supply systems, an electromagnetic wave type, a resonance type, and other wireless transmission power supply systems, or a reaction type, a coupling type, an electromechanical conversion type, a mechanical transmission type, and other novel wireless transmission power supply systems; the wireless communication system comprises a wireless communication transmitting device and a wireless communication receiving device, such as common WiFi, 232/485 and Modbus systems, and can also be novel wireless communication systems of 5G, 6G and the like.

The transmission line can also adopt a scheme of simultaneously supplying power by wireless power supply and a storage battery (capacitor) and independently supplying power by the storage battery (capacitor).

Scheme for wireless power supply of rotor and simultaneous power supply of storage battery (capacitor). On the basis of fig. 1-30, a storage battery and/or a capacitor is additionally arranged on the mover, the wireless power supply transmitting part 7 can be arranged along the whole transmission line transportation track, and can also be arranged in a concentrated manner at a section appointed by the transmission line as a charging section so as to reduce the line cost. The scheme has three power supply modes: 1) The wireless power supply transmitting part 7, the wireless power supply receiving part 8 and the storage battery (capacitor) simultaneously supply power to the driver, the mover and the auxiliary device on the mover; 2) The driver, the rotor and the auxiliary device on the rotor are powered by a storage battery (capacitor), and the wireless power supply transmitting part 7 and the wireless power supply receiving part 8 are only used for wirelessly charging the storage battery (capacitor); 3) The wireless power supply transmitting part 7 and the wireless power supply receiving part 8 supply power to the driver, the mover and the auxiliary device on the mover, and wirelessly charge a storage battery (capacitor) which is only used as a backup power supply. Preferably, the battery (capacitor) management system monitors that the electric energy (voltage) of the storage battery (capacitor) on the rotor is insufficient or close to a set value, the wireless power supply system is started, the storage battery (capacitor) is wirelessly charged during the period of non-rapid acceleration (uniform speed) and parking clearance, and the originally wasted huge energy generated in the parking braking and deceleration processes is fully utilized and recycled to charge the storage battery (which is also a great characteristic and advantage of the storage battery scheme), so that the power, the volume and the cost of the wireless power supply device and the storage battery (capacitor) can be reduced to the greatest extent. The storage battery (capacitor) can timely and quickly supplement the electric quantity on the premise of not influencing the production progress, the transportation body can be ensured to continuously run for 24 hours except for maintenance, and the working efficiency is obviously improved. When power failure or wireless power supply device breaks down, the storage battery (capacitor) can still ensure the normal operation of a production line, and the reliability and stability of power supply are effectively guaranteed (increased). The scheme can be generally used in application occasions with higher requirements on reliability, stability (safety), yield and yield.

The scheme of independent power supply of the rotor storage battery (capacitor) and automatic/manual replacement of the standby (standby charging) storage battery in parking is adopted. The scheme adopts a storage battery (capacitor) to supply power to a transmission line, and does not need to adopt wireless and wired (sliding contact) power supply, namely, a wireless power supply sending part 7 and a wireless power supply receiving part 8 in the figures 1-30 are deleted, the storage battery (capacitor) is arranged on a rotor, a driver, a primary coil and an auxiliary device on the rotor are supplied with power by the storage battery (capacitor), a certain quantity of charging piles and standby (standby) storage batteries are arranged nearby the transmission line, when the storage battery (capacitor) electric energy (voltage) on the rotor is monitored by a battery management system to be insufficient or close to a set value, the storage battery can be replaced manually or the electric energy (voltage) of the storage battery (capacitor) is moved out by a special mechanism of an automatic battery replacement system (device) and the standby (standby) storage battery is replaced. The movable cell transportation body can be further provided with a rail-changing connection (branch) section (such as the rail-changing connection section in fig. 10 and fig. 11), the replacement of the whole movable cell transportation body including the standby movable cell, the standby (standby charging) storage battery, the standby primary coil and the standby driver can be rapidly completed by utilizing the synchronous displacement (transposition) of the rail-changing connection section, and the power-shortage storage battery on the replaced movable cell transportation body can be automatically or manually (in a power-off state) connected and powered on to charge through a special charging plug (socket) and a special charging socket (plug) on the charging pile. The scheme is simple, the cost is low, but the storage battery can be replaced in a parking mode within a certain time, and the utilization rate of the mover transporting body is reduced to a certain extent.

In the situation that the requirements of cost, reliability and the like are more strict and spark and dust are not allowed to be generated, non-sliding contact power supply schemes such as a traveling transformer, a follow-up power conversion ring (including a follow-up transformer and a follow-up generator) and the like can be adopted.

Fig. 22 is a schematic diagram of a principle of a traveling transformer, wherein in fig. 22-a, B, C, D, F, G, and H, iron cores are disposed in a primary portion and a secondary portion, and a primary coil 69 and a secondary coil 68 are respectively sleeved on the primary iron core 67 and the secondary iron core 66; fig. 22-E shows only the secondary part having a core, the secondary coil 68 fitted over the secondary core 67, and the primary part having no core and being only an air core coil; the primary iron core 67 and the secondary iron core 66 are E-shaped, T-shaped, I-shaped, U-shaped, C-shaped, H-shaped, F-shaped, L-shaped, V-shaped, etc.; 22-D, F, G, H are bilaterally symmetrical and balanced structures, the normal force generated by the main flux (magnetic force line) through the breaking iron core is zero (the left and right magnetic forces are mutually counteracted), and the stress is good; in particular, the primary part structure of fig. 22-C, D, F, G, and H is very simple, the stacking direction of the silicon steel sheet lamination should be kept from being consistent with the alternating magnetic flux direction in order to reduce eddy current according to the right-handed screw rule, the primary iron core 67 can be directly formed by stacking a whole length of large silicon steel sheets (generally 0.2 to 0.5mm thick) in a flat manner (fig. 22-C, F, G, and H) and in a vertical manner (fig. 22-D), the processing and assembly process is simple, time and material are saved, the cost is controllable, and the primary part structure is particularly suitable for long-stroke application occasions; fig. 22-F primary portion only sets up a primary coil in the middle of the iron core, the coil is easy to install, but it brings inconvenience for the installation rail (foundation) to form the groove, it can adopt fig. 22-G to divide the coil into two to move to both sides of the primary iron core (symmetrical arrangement), it can also move the primary coil of fig. 22-F to one side of the primary iron core (still fully cover on the iron core), leave the installation position on the other side of the primary iron core to fix on the rail or foundation with the bolt (asymmetrical arrangement), the process structure, installation are simple, cost is lowest, can be regarded as the preferred scheme; the T-shaped primary iron core 67 (with the middle iron core column removed) in the figure 22-B can be changed into an I-shaped horizontally-placed' -shaped iron core, and the primary coil 69, namely an air coil (the position shown in the figure is unchanged), is directly laid on the horizontally-laid I-shaped primary iron core 67 or the rail, and is also an alternative solution; fig. 22-H shows that the secondary iron core 66 is located above the primary iron core 67, the primary coil 69 and the secondary coil 68 are respectively sleeved on the primary iron core 67 and the secondary iron core 66, the bottom of the secondary iron core 66 is provided with a guide wheel or guide shoe 85 made of a magnetic conductive material, and the secondary iron core 66 rolls or slides on the primary iron core through the magnetic conductive guide wheel or guide shoe to reduce the magnetic resistance, fig. 22-H can also be provided with no guide wheel or guide shoe; fig. 22 shows a single-phase traveling transformer, which can be made into a three-phase, four-phase, or other multi-phase traveling transformer according to the same principle. Taking a common three-phase core type transformer as an example, three core legs of an E-shaped iron core of the primary part of the transformer 22-A can be respectively sleeved with A, B and C three-phase primary coils, and three core legs of an E-shaped iron core of the secondary part can be correspondingly respectively sleeved with A ', B ' and C ' three-phase secondary coils, so that a basic structure diagram of the three-phase traveling transformer is formed, and the rest parts are not described again. In addition, the primary part and the secondary part of the single-phase or multi-phase traveling transformer can be arranged interchangeably, and are not described again.

The working principle is described below by taking the single-phase traveling transformer of fig. 22 as an example: the primary part of the traveling transformer is a primary coil with or without a primary iron core, the secondary part is a secondary coil with a secondary iron core, the primary part and the secondary part are arranged in a fit gap (parallel moving gap)), at least a small section of break gap is formed between the primary iron core 67 and/or the secondary iron core 66, the gap and the primary iron core 67 and/or the secondary iron core 66 form a main magnetic flux closed loop, the primary coil 69 is connected with an alternating power supply to generate exciting alternating main magnetic flux, the alternating main magnetic flux simultaneously passes through the primary coil 69 and the secondary coil 68, voltage is induced in the secondary coil 68, the working principle of the traveling transformer is the same as that of a common transformer, the difference between the primary coil and the secondary coil is that the latter has no gap, the former magnetic circuit has a small gap (generally 0.5 to 3 mm) and can mainly bring increase no-load current (generally, the current increase is not more and generally less than 10 percent under the load condition, other basic characteristics of the transformer are not different, and theoretically, the traveling transformer can completely meet the engineering use requirement. The power supply scheme of the traveling transformer is applied to transmission lines of figures 1-30, only the primary part of the traveling transformer is replaced by the wireless power supply transmitting part 7 and is arranged along a track or a foundation, the secondary part of the traveling transformer is replaced by the wireless power supply receiving part 8 and is connected with the transportation body and moves along the longitudinal direction (the direction perpendicular to the paper surface in figure 22) along with the transportation body, and the positioning of the secondary part of the traveling transformer in the transverse direction and the normal direction can be independently arranged and can also be realized by utilizing a supporting (positioning) part of the transportation body. The power supply scheme of the traveling transformer is simple in structure, a large and complex wireless power supply high-frequency (generally 50 to 90kHz) switching power supply device is not needed, a small-gap multi-turn coil with an iron core forms a good closed magnetic circuit of the transformer (namely an open-ended or a sun-shaped closed magnetic circuit), the power supply efficiency and reliability are far higher than those of a large-open-ended hollow single-turn cable (E-shaped, U-shaped or C-shaped) semi-open magnetic circuit, the electromagnetic compatibility and noise control of the power supply of the power frequency (50 Hz) of the traveling transformer are also obviously better than those of a high-frequency power supply device of dozens of kHz of the power supply of the large-power high-frequency power supply device of more than 1kW, the electromagnetic interference and noise are large, and the electromagnetic interference and noise are caused to the surrounding environment, personnel operation and normal alternating current, the electromagnetic interference and the noise are difficult to use in a quiet environment, the cost is controllable, the traveling transformer is real and durable, the wireless power supply device is particularly suitable for complex environments (places) with high reliability and high requirements in all aspects.

Fig. 23 is a schematic diagram of a power supply circuit of the traveling transformer. In the figure, N rotors (transportation bodies) are provided with N secondary parts, primary parts arranged along a track can be equivalent to #1,2#,3#, \8230, # N sections of inductance coil units, N primary parts (inductance coil units) coupled with the rotor secondary parts and N secondary parts form N traveling transformers, secondary coils of the traveling transformers are connected with drivers on the transportation bodies to provide power, N-N primary parts not coupled with the rotor secondary parts can be regarded as inductance coils, and the N traveling transformers and the (N-N) uncoupled inductance coils form a series circuit and are connected with a power supply voltage U. In a similar way, a parallel or series-parallel hybrid circuit can be formed, and each coil can also be connected into a power supply in a segmented power supply mode. The power supply scheme and the wiring are simple and flexible, and a series power supply mode can be generally preferred.

The traveling transformer is provided with N sections of primary parts, wherein N is more than or equal to 1; when N =1, the whole primary section of the traveling transformer is arranged on the moving path of the moving body and matched with the secondary part of the traveling transformer, the primary coil of the whole primary section is connected with a power supply, when N is larger than or equal to 2, the primary section of the traveling transformer is arranged on the moving path of the moving body and matched with the secondary part of the traveling transformer, and the primary coils of the N primary sections are sequentially connected in series or in parallel with the power supply.

A power supply scheme of a power-driven loop (including a power-driven transformer and a power-driven generator) is shown in fig. 24, wherein the power-driven loop is composed of a static part 35 and a power-driven part 36, and the power-driven loop is provided with an input end and an output end respectively. The servo rotating ring is generally disposed at the geometric center (geometric center) of the transmission line (loop), the output end of the servo rotating ring is connected to the drivers on the plurality of transportation bodies 26 through power supply cables (hereinafter referred to as cables), and the input end of the servo rotating ring is connected to a power supply. The cable is laid with multiple mode: (1) use of non-retractable cables. Enough margin (larger than the longest towing distance) is reserved for the length of a common cable, the cable naturally sags or bends (forms an arc shape), so that a transport body can freely move along the cable within a certain running (stroke) range, and when the cable is towed to a certain extent in a stretching manner, the cable drives a rotating part of a rotating ring to freely rotate, so that the transport body can freely run along the whole process of the cable, and the cable is generally used for a transmission line with a small length-width ratio (such as a circular ring type); and (2) adopting a shrinkable cable. There are natural contraction cables and automatic contraction cables. The natural contraction cable is a common cable with a spiral spring, namely the cable is wound into a spiral spring shape by a circle (the earphone connecting wire of the common fixed telephone adopts the spiral cable), and the cable has elasticity and realizes the natural contraction of the cable within a certain range; the automatic retractable cable is based on the principle of automatic take-up (a limiting device can be removed) similar to an automatic retractable tape measure and an automatic retractable (automobile/airplane) safety belt, and mainly comprises a take-up wheel (a wire winding wheel), a spring connected with the take-up wheel and the like, the cable is placed in the automatic take-up device (wound on the take-up wheel), the automatic take-up device is generally arranged on a transporter and can also be arranged on a rotating part of a rotating ring, one end of the cable is connected with a driver, and the other end of the cable is connected with the output end of the rotating ring; as a preferred scheme, the power output with the power conversion ring is connected with the transport body (driver) through an automatic contraction cable. The power supply structure along with the rotating electricity ring is simple, the power supply is stable and reliable during the movement of each transporter, and the power supply device is particularly suitable for the fields of non-branch and non-connection transmission lines, mobile power equipment and the like.

The rotor-following electric ring can also be made into a multi-layer rotor-following electric ring which is formed by coaxially stacking, the number of rotor-following electric rings is the same as that of the rotor, the rotor-following part of each layer of the rotor-following electric ring is correspondingly connected with a different rotor, and the connecting lines of the rotors are completely independent in space and do not interfere with each other. Taking 4 rotors in a continuous horizontal (circular ring or runway-shaped) loop line as an example, a plurality of layers of rotating-following electric rings are stacked up and down layer by layer in the vertical (height) direction and are arranged at the geometric center (center) of the loop line, and the rotating-following parts of the 1,2, 3 and 4 layers of rotating-following electric rings are sequentially and correspondingly connected with the 1#, 2#,3# and 4# rotors from bottom to top, so that the independent motion (control) of each rotor can be realized. Or a plurality of adjacent movers (for example, 2 adjacent movers) can share the same layer of the following rotating electric ring, so that the layer number of the following rotating electric ring is reduced.

The power-following loop supplies power to the power-following transformer, and fig. 25 is a schematic diagram of the principle of the single-phase power-following transformer. The basic working principle of the follower transformer is the same as that of the above-mentioned follower transformer, except that the former is set up by a rotating gap, and the latter is set up by a parallel moving gap. The following part of the following rotating ring is the part where the secondary coil of the following rotating transformer is located, the output end of the following rotating ring is the output end of the secondary coil of the following rotating transformer, the static part of the following rotating ring is the part where the primary coil of the following rotating transformer is located, and the input end of the following rotating ring is the input end of the primary coil (power supply) of the following rotating transformer.

In fig. 25, the middle iron core 61 itself serves as an intermediate rotating shaft, the upper iron core 53 is connected to the bearing seat 52, the primary coil 56 and the bearing 51 are sleeved on the middle iron core 61, the bearing seat 52 is arranged in cooperation with the bearing 31, the secondary coil 57 is arranged in rotation and connected to the upper iron core 53 through the retainer 54, or directly connected to the bearing seat 52 or located between the upper and lower two bearing seats 52, the secondary coil 57 is respectively in clearance fit with the primary coil 56 and the outer iron core 55, so that the upper iron core 53 and the secondary coil 57 can rotate around the middle iron core 61 (intermediate shaft), the rotatable upper iron core 53 is located between the outer iron core 55 and the middle iron core 61 which are arranged in a stationary manner or above the two, and the three are in clearance fit, thereby forming a minimum closed magnetic flux path (loop); in order to reduce the rotating clearance between the rotating part and the static part as much as possible and reduce the magnetic resistance of the magnetic circuit as much as possible, the outgoing line of the output end of the secondary coil can be led out through the through holes of the upper iron core 53 and the bearing seat 52 (drilling), and the area of the upper iron core is reasonably designed, and a plurality of small threading holes are drilled on the upper iron core, so that the main magnetic circuit cannot be influenced; in principle, the upper core 53 may be disposed between the stationary outer core 55 and the middle core 61, or may be disposed above the outer core 55. If the upper iron core 53 is arranged above, because a large inherent normal magnetic attraction exists between the upper iron core 53 and the outer iron core 55 and the middle iron core 61 which are statically arranged in the same closed main magnetic path, a series of problems of structural strength, positioning and guiding can be caused, therefore, in fig. 25, the upper iron core 53 is arranged between the outer iron core 55 and the middle iron core 61, the normal magnetic force direction is in the left-right (horizontal) direction, the normal force can be mutually counteracted and balanced by utilizing the axial (left-right) symmetrical structural characteristics, the structure is simple, the size of the whole device is smaller, and the cost is low. When the primary coil 56 is energized with an ac power, a magnetic flux loop is formed between the middle core 61 and the upper and

outer cores

53 and 55 according to the law of electromagnetic induction to generate an alternating magnetic flux, and the alternating magnetic flux passes through the primary coil 56 and the secondary coil 57 at the same time, thereby inducing a voltage in the secondary coil 57.

The cross sections of the upper iron core 53, the outer iron core 55 and the middle iron core 61 can be triangular, quadrangular, pentagonal or polygonal, and can also be cylindrical, circular or cup-shaped, such as the inner and outer cylindrical middle iron cores 61 and the outer iron cores 55; when the cross sections of the outer iron core 55 and the middle iron core 61 are quadrangular (rectangular) or polygonal, the upper iron core 53 should be arranged in a disc (circular ring) shape or a cylinder shape in order to ensure the continuity of the magnetic flux path, and the structure can be taken as a preferred embodiment, so that the structure has the advantages that the lamination structure and the processing and assembling process of the existing transformer can be fully utilized, and the structure is simpler and more practical; or conversely, when the upper core 53 has a quadrangular (rectangular) or polygonal cross section, the outer core 55 and the middle core 61 are formed in a cylindrical (cylindrical) shape. The primary coil 56 and the secondary coil 57 are matched with the iron cores in cross section. The primary coil 56 and the secondary coil 57 can be sleeved on the central iron core 61 together inside and outside or separately up and down, and can also be sleeved on the outer iron core 55, the upper (or lower) iron core 53 and the central iron core 61 together inside and outside or separately up and down. The upper (or lower) iron core 53, the outer iron core 55 and the middle iron core 61 are made of magnetic conductive materials, and are generally made of silicon steel sheets in a stacked mode, so that eddy current and loss are reduced.

Fig. 25 shows a scheme in which the secondary winding 57 rotates together with the upper core 53, and the rotating part is composed of a bearing seat 52, the upper core 53, the secondary winding 57 and a retainer 54, and has a compact structure and relatively small moment of inertia and mass; because the rotating clearance can be set to be very small (for example 0.3 mm), the influence of the rotating clearance on the magnetic circuit can be ignored in engineering, and the performance of the common transformer is basically the same. In addition, the bearing seat 52 and the bearing 51 may be provided symmetrically in the lower portion as in the upper portion. In addition, the primary coil can also be arranged rotatably.

Common bearings are rolling bearings or sliding bearings. Fig. 25 may also provide a bearing in which the secondary (or primary) coil rotates simultaneously with the outer (or middle) core. As an alternative, the bearing housing can also be used directly as the upper core.

The primary and secondary coils in fig. 25 can be interchanged, i.e. the primary coil is outside, the secondary coil is inside, and is sleeved on the middle iron core, the upper iron core can be directly connected with the outer iron core and the bearing seat, and the upper and lower sets of bearings and bearing seats are symmetrically arranged, so that the secondary coil and the middle iron core can rotate around the outer iron core through the bearings to form an inner rotor structure, the secondary coil can be fixed (clamped) between the upper and lower iron cores by the double-bearing positioning structure, and the coil holder 54 is not arranged.

Fig. 26 shows a secondary coil only rotation scheme. All iron cores are arranged statically, only the secondary coil 57 rotates, the coil retainer 54 is directly connected with the bearing seat 52, or the bearing seat and the retainer are arranged integrally to drive the secondary coil to rotate, and the outgoing line of the secondary coil can be led out through the groove of the retainer and the drill hole of the bearing seat, so that the rotary inertia is small, and the scheme is also an optimal scheme. In fig. 25 and 26, a threaded hole or a counter bore or a through hole may be drilled in the center of the upper portion of the middle core 61, and a fastener (bolt) is disposed in cooperation with the central hole to fix the bearing seat 52 and/or the bearing 51, so that the existing lamination and assembly structure of the transformer core is not substantially changed, the process is simple, and the method is also a practical solution.

Fig. 27 is a schematic diagram of a three-phase converter. In the figure, three groups of upper iron cores 53, three groups of outer iron cores 55 and six groups of coils (two groups per phase) are symmetrically arranged from inside to outside, wherein the three phases A, B and C are sequentially arranged from inside to outside or from outside to inside, and a primary coil 56 of each phase is arranged outside an inner coil 57 and an auxiliary coil 57 which are in clearance fit. In the figure, the outer iron cores 55 and the upper iron cores 53 positioned on the outermost layers can be removed at the same time, that is, only two upper iron cores 53 and two outer iron cores 55 are symmetrically arranged from the inside to the outside, the structure is simpler and more compact, and at the moment, the holder 54 of the secondary coil 57 on the outermost layer can be directly connected with the bearing seat. The rest is the same as fig. 25 and 26. By the same principle, a multiphase follow-up transformer can be manufactured. The single-phase or multi-phase follow-up transformer can be realized by changing the structure principle of the single-phase or multi-phase follow-up transformer into a rotary arrangement (configuration), and the details are not repeated.

The follow-up rotating electricity ring is a follow-up generator and at least comprises a double-rotor follow-up generator and/or a double-stator follow-up generator. As shown in fig. 28, the following portion of the following rotor ring is the primary of the generator, the output end of the following rotor ring is the primary of the generator, the stationary portion of the following rotor ring is the stator of the motor, and the input end of the following rotor ring is the input end of the stator of the motor.

A basic principle schematic of a dual rotor follower generator as a follower rotor ring is shown in fig. 28. The dual-rotor follow-up generator consists of a motor I and an outer rotor generator I. The motor I is composed of a stator 43 and an inner circumference 47 of the inner rotor 42, the outer circumference 46 of the inner rotor 42 can be provided with permanent magnet poles (permanent magnets) as a generator secondary (rotor), the outer rotor is provided with a primary coil as a generator I primary 41, and the two form an outer rotor generator. The motor I stator 43 is mounted on the base, and the inner rotor 42 and the outer rotor generator I primary 41 are mounted on the motor stator shaft through bearings. When the input end 44 of the motor I is connected to an input power supply, the coil of the stator 43 of the motor I is electrified, the inner rotor 42 rotates, and simultaneously drives the permanent magnet poles (permanent magnets) on the outer circumference of the inner rotor to rotate, voltage (electromotive force) is induced in the coil of the primary 41 of the generator I of the outer rotor, and the output end 45 of the generator I outputs electric power. The motor type here can be induction motors, permanent magnet synchronous motors, switched reluctance motors, etc. of various types, according to the different configurations of the inner circumference of the inner rotor (e.g. squirrel cage, permanent magnet, iron core, etc.). Preferably, the inner rotor motor is a permanent magnet synchronous motor, that is, the inner and outer circumferences of the inner rotor 42 are respectively provided with permanent magnet poles (permanent magnets), and the rotating speed of the inner rotor is a power frequency synchronous rotating speed, which is not affected by load, and is beneficial to providing more stable power and power output for the generator.

A schematic diagram of another dual stator follower generator as a rotor ring is shown in fig. 29. In the figure, two motors are arranged, wherein the left motor is used as a motor II, the right motor is used as a generator II, a generator II rotor 38 is coaxially connected with a motor II rotor 32 through a coupler 37, the generator II rotor 38 is a permanent magnet pole, when an input end 39 of a motor II stator 34 is electrified, the motor II rotor 32 drives the coaxial generator rotor 38 to rotate, and induced electromotive force in a generator II primary 33 is output from an output end 40 of the generator II. The remainder is the same as the dual rotor follower generator embodiment. The split type double-stator follow-up generator in fig. 29 can also be made into an integrated type double-stator follow-up generator according to a principle similar to that in fig. 28, and details are not repeated.

The following/following transformer and the following generator schemes also comprise wireless and/or wired communication devices (modules), which are not described in detail.

The wireless power supply and the traveling transformer power supply system can also be used for carrier communication at the same time, namely, the wireless/traveling transformer power supply and carrier communication mode. The wireless power supply transmitting unit 7 or the primary part of the traveling transformer transmits a carrier signal (control command) by a power cable or a primary coil carrier method while transmitting power, and the wireless power supply receiving unit 8 or the secondary part of the traveling transformer receives the control command (carrier signal) of the rail transport system to the transport body while receiving power. The wireless power supply system has the advantages that the laid wireless power supply transmitting part (comprising a high-frequency generator, a power cable and the like)/primary coil of the traveling transformer and the laid wireless power supply receiving part (comprising a power acquisition device, a receiving circuit and the like)/secondary part of the traveling transformer are fully utilized, only a carrier signal modulation (transmitting) module and a carrier signal demodulation (receiving) module are needed to be added, a special carrier line/signal pickup device or a special network is not needed to be additionally erected, the wireless power supply system has the advantages of being low in cost, stable in signal, high in transmission rate, strong in anti-interference performance, free of wiring trouble and the like, transmission of information such as control instructions, system states, audio and video can be achieved, the whole communication process can be accurate, compared with wireless communication, the problems that transmission is unstable, data delay, disconnection and the like can exist, the reliability of communication bandwidth and data transmission is improved, and the problem that the wireless communication is prone to serious electromagnetic interference of a complex industrial application environment is avoided. Compared with the background art, the sliding contact power supply transmission line generally adopts wireless communication (if the problems of signal interference/unstable transmission and the like exist in the case of directly using the brush sliding contact line for carrying out carrier communication, and the addition of the special carrier line/signal pickup has the disadvantages of overhigh cost, overlarge volume and no feasibility), greatly improves the communication reliability and the anti-interference capability, and obviously reduces the communication cost, thereby being a great advantage compared with the background art. In addition, communication modes such as microwave communication, leaky-wave communication, infrared communication and the like can also be adopted.

In addition, a scheme of simultaneously supplying power to the traveling transformer, the following rotating ring and the storage battery (capacitor) or independently supplying power is adopted, and the description is omitted.

Due to the adoption of the technical scheme, the invention has the following beneficial effects:

the invention is used as a low-cost high-performance rail transport system, a stator unit is a secondary permanent magnet or a secondary non-permanent magnet, a rotor is a primary winding, and a driving controller arranged on the rotor supplies power and provides electric energy input and signal input by adopting wireless (non-sliding contact) power supply and wireless/wired communication; the stator secondary permanent magnet adopts a U-shaped structure for simple protection, the rotor primary coil adopts a hollow coil, the mass is small, the tooth-slot effect is avoided, the thrust fluctuation is small, and the precise position control can be performed on the rotor; the stator secondary non-permanent magnet adopts a single-side or double-side secondary reaction plate or a secondary iron core, the rotor primary coil adopts a coil with an iron core or a coil with an iron core and permanent magnet, the stator structure is simpler, the protection is not needed, the thrust density is high, the cost is low, and the precise position control can be carried out on the rotor. The transmission line has a uniform topological structure and comprises various transmission lines of a continuous type, a ferry type, a discontinuous type, a rail-changing connection type, a composite type, a runway shape, a square shape, a circular shape, a composite shape and the like; each rotor can also be in multi-shaft linkage with an additional mechanism (a mechanical arm, a rotary table and the like), so that the flexible manufacturing intelligent system (equipment) with high added value, which integrates conveying and processing. When any mover on the running line (track) fails, the mover can be quickly replaced or withdrawn, and the continuous running of the whole transmission line is not influenced. In the aspect of implementation effect, theoretically, the multi-rotor moving coil type magnetic motor has the advantages of being integrated and combined with the advantages of the traditional moving coil type and moving magnetic type schemes, is more suitable for high-precision, high-speed, high-density and highly intelligent operation of the multi-rotor, and has the outstanding advantages of simple structure, reliable operation, high efficiency, energy conservation, high performance, low cost and the like.

Along with the transformation and upgrading of the manufacturing industry, the demand of an automatic production line is larger and larger, and the technical requirement is higher and higher. The multi-rotor flexible transmission line of the linear motor is deeply favored by middle and high-end customers in the market by virtue of the characteristics and advantages of high acceleration, high positioning precision and high rigidity of a direct-drive technology, and becomes high-end precision moving part equipment in the manufacturing field which is urgently needed by the market and has the most conditional foundation to realize large-scale application at first. The automatic production line of the linear motor is mainly used for a moving-coil type sliding contact power supply line in the early stage, abrasion, carbon deposit and spark are generated due to sliding contact operation of an electric brush, the technology is backward, interference/instability exists in signal transmission, the electric brush is allowed to operate at a low speed (generally working at a low speed of below 2 m/s), the abrasion loss/parking maintenance amount is larger when the speed is higher, the production efficiency and the product added value are low, and the automatic production line cannot be applied to the flexible manufacturing field of the complex environment and high reliability and high requirements (generally allowing 24 hours throughout the year to stop, and having high control precision requirements on multiple stations) such as cleanness/inflammability and explosiveness and the like which do not allow spark/dust generation, such as 3C electronics (communication, computers and consumer electronics), semiconductors (wafers), display panels, power (lithium/nickel and the like) batteries and the like. Therefore, the moving-magnetic scheme is adopted at home and abroad: the active cell is passive, the stator coil is supplied with power in sections, stator coil modules and power electronic components/displacement measuring elements/drive controllers/cables and the like are densely arranged along the track, the stator coil coupled with the active cell is electrified at the position where the active cell is located, the stator coil which is not coupled (the idle consumption of the stator coil is generally 4-7 times larger than that of the normally coupled coil) which is to be located is also pre-electrified in advance, the energy consumption of the section power supply switching is large, in a multi-shaft linkage occasion that the transportation and the processing are integrated, an additional mechanism on the active cell cannot get electricity, a special power supply device is additionally arranged, although the problems of no spark and no dust power supply are solved, the system is complex, a plurality of passive active cells running at high speed need to be accurately and independently controlled and have high repeated control and positioning accuracy, the requirements on the control technology and reliability at the track side are high, the technical level is difficult to achieve, and the problem of ultrahigh manufacturing and use cost (more than ten thousand yuan per meter at the entrance line) is still difficult to meet the industrial application requirements of low-cost and high-precision industrial production line, and the development of the large-scale industrial production efficiency is severely restricted.

Fig. 30 is a schematic view of an embodiment of the transmission line in a 3C (computer, communication, consumer electronics) application scenario, where a robot is disposed on at least one of the periphery of a track and the periphery of a transportation body, the robot includes at least one of a loading and unloading robot and a working robot, the working robot includes a machine body and an execution mechanism, the transportation body is fixedly connected with a bearing plate for bearing a workpiece, so that the transportation system and the robot form a track transportation working system integrating transportation and processing, and in detail, the transmission line includes a direct-drive multi-mover transmission line, a plurality of fixed-position robots 81, a plurality of workpieces 83, and a multi-axis multi-degree-of-freedom robot 84 for loading and unloading, which are shown in fig. 1 to 29 of the present invention. In the feeding process, for example, workpieces are sequentially conveyed to the vicinity of a feeding multi-axis multi-degree-of-freedom robot by a conveyor belt, the feeding multi-axis multi-degree-of-freedom robot grabs the workpieces 83 (such as 3C products such as mobile phones, display screens and chips) and sequentially places the workpieces 83 on a structural plate 10 or a tray (the structural plate or the tray can be further provided with a clamping device), the direct-drive multi-rotor transmission line disclosed by the invention is used for accurately moving the workpieces 83 to product tooling/detection positions where a plurality of fixed-position robots 81 are located (namely the lower parts of control arms 82 of the fixed-position robots and the control arms 82 can be further provided with the clamping device) at the same time or according to a certain sequence, the control arms 82 of the fixed-position robots are started to perform high-precision dispensing, mounting, detection and other procedures on the workpieces (such as mobile phones and display screens) 3C products, the workpieces are accurately moved to a feeding area after the procedures are completed, and the workpieces are matched with the feeding multi-degree-of freedom robot to move the workpieces to a next working area. The plurality of fixed-position robots 81 may be the same process or different processes.

A complete automatic production line can be formed by arranging a continuous direct-drive loop processing system, a feeding multi-axis multi-degree-of-freedom robot and a direct-drive loop processing system, and the automatic production line is suitable for 3C products such as mobile phones, display screens and chips with extremely high requirements on processing precision.

The invention relates to a wireless/non-sliding contact power supply, a wireless/carrier communication & moving coil type precise control technology, a plus modularized Direct Drive (DD) technology and other innovative technologies, breaks through the prior art and application bottlenecks, fundamentally solves the defects that the existing moving coil type electric brush sliding contact power supply is easy to generate electric sparks/carbon deposit, high in energy consumption, low in allowable operation speed, unstable in signal transmission, large in maintenance amount, complex in moving magnetic type subsection power supply control system, low in reliability, ultrahigh in cost and the like, and solves the long-time uninterrupted power supply and precise control problems of multiple rotors, realizes the sparkless/carbon deposit-free/low energy consumption/maintenance-free/low cost/high precision/high reliability/multi-station flexible transmission for the first time, has a simple structure and good electromagnetic compatibility, and is more convenient for the accurate control of the multiple rotors and the attached mechanisms to get electricity. From the implementation effect, the transmission line prototype adopting the wireless power supply scheme of the invention respectively achieves the actually measured repeated positioning precision and the absolute position precision of +/-1.6 mu m and +/-50 mu m/m, can be greatly improved by more than 75% compared with the corresponding precision (only +/-10 mu m and +/-250 mu m/m) of the moving magnetic type products on the current domestic and foreign markets, has advanced technical index performance and low manufacturing and using cost (about 1/5 to 1/4 of imported products), has differentiation advantages in all aspects, meets the application requirements of low-cost and high-precision production lines in large-scale industry, and fundamentally solves the technical bottlenecks and engineering application problems of complex existing transmission line control systems, ultrahigh cost, large loss, low precision, poor stability, low reliability, long installation and adjustment period, large maintenance amount and the like in high-reliability and high-requirement occasions and complex environments; the application scenario adopts a power supply scheme of a power-transfer-following ring (power-transfer-following transformer and an electric motor), which can be satisfied under the general condition, but the power supply scheme is preferred to a wireless power supply scheme in the aspects of adaptability of the use scenario, mover concentration and technical advancement; if the cost requirement is severe (the cost is extremely low), a voltage converter-following power supply scheme can be preferred; if the requirements on reliability, electromagnetic compatibility, noise, energy consumption, operation and maintenance, environment and the like are particularly high, a power supply scheme of the traveling transformer is preferred.

The transformer/motor is the most successful and largest-scale engineering application result of human beings by utilizing the classical electromagnetic theory, becomes the most reliable and most convenient power supply basic equipment which cannot be replaced by the modern society, and is updated after centuries; the follower/follower transformer and the follower generator are essentially transformers/motors, return the solution of the complex mobile power supply problem to the classic and the original source, inherit all the advantages of the transformers/motors, and have wide power range from dozens of watts to hundreds of kilowatts. Is a great advantage and characteristic of the invention compared with the background technology.

With the rapid progress of novel electrical materials such as wireless power supply, wireless/carrier communication, drive control, motor (transformer) manufacturing technology, high resistivity electrical steel/magnetic fluid/superconductivity and the like, the volumes of a wireless/follow-up (follow-up) transformer power supply system, a wireless/carrier communication system, power electronics and a drive control circuit are more and more compact, the cost performance is higher and higher, the power and signal input adopts a wireless/follow-up (follow-up) transformer, a follow-up generator for power supply and wireless/carrier communication, the device has the obvious characteristics of advanced technology, is easy to realize high precision, high speed, high density, high power, high reliability and high-efficiency transmission and high intellectualization/miniaturization of the device, and accords with the intelligent development direction of a new era; on the other hand, the following/converter transformer and the following generator are used as the most basic, most reliable and most convenient mobile power supply basic equipment, and provide a new development space and a huge market for transformation and upgrading of the traditional motor (transformer) industry.

In conclusion, no matter the principle topological structure or the implementation effect, the invention is different from the prior art, abandons a series of defects of the background technology, solves the key technology and engineering application bottleneck problems of the long-standing key application field from the principle scheme, can become the preferred structure scheme of the field, and is particularly suitable for high-performance transmission lines and logistics storage transportation lines in sparkless, dustless complex environments and high-requirement occasions. In addition, the device can also be used in the industries and fields of personnel transportation and various types of mobile power supply equipment.

It should be noted that while the foregoing has described the spirit and principles of the invention with reference to several specific embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, nor is the division of aspects, which is for convenience only as the features in these aspects cannot be combined. The invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that various changes and modifications can be made by those skilled in the art without departing from the overall concept of the present invention, and these should also be construed as the scope of the present invention.

Claims

1. The utility model provides a high performance rail transport system, includes that the track divides system and transportation branch system, its characterized in that:

the track subsystem includes:

a track;

the transportation subsystem includes:

2. The high-performance rail transportation system according to claim 1, wherein the power supply device is a wireless power supply device, and comprises a wireless power supply transmitting part and a wireless power supply receiving part, the wireless power supply transmitting part is disposed on the rail or the foundation, and the wireless power supply receiving part is disposed on the transportation body and is used for obtaining power from the wireless power supply transmitting part.

3. A high performance rail transit system as claimed in claim 2, wherein: at least one of electromagnetic induction type, electric field induction type, electromagnetic wave type, resonance type, reaction type, and coupling type wireless transmission power supply is adopted between the wireless power supply transmitting unit and the wireless power supply receiving unit.

4. The high-performance rail transportation system according to claim 1, wherein the power supply device is a traveling transformer, and comprises a primary part and a secondary part, the primary part is arranged along the transportation rail or the foundation, the secondary part is arranged on the transportation body, the primary part is provided with a primary coil for inputting and exciting a main magnetic flux, the secondary part is provided with a secondary coil for outputting a main magnetic flux induction power, at least one of the primary part and the secondary part is provided with an iron core, the primary part and the secondary part are arranged in cooperation with a parallel moving gap, at least one section of parallel moving gap is formed between the primary part and the secondary part, and the parallel moving gap, the primary part and the secondary part form a main magnetic flux closed loop; the input end of a primary coil of the traveling transformer is connected with a power supply, and the output end of a secondary coil of the traveling transformer is connected with the driving controller.

5. A high performance rail transit system as claimed in claim 1, wherein: the power supply device is at least one of a follow-up transformer and a follow-up generator and is arranged on the track or the foundation; the follow-up transformer comprises a static part and a follow-up part, the static part is provided with a primary coil for input excitation of a main magnetic flux power supply, the follow-up part is provided with a secondary coil for output of a main magnetic flux induction power supply, at least one of the static part and the follow-up part is provided with an iron core, the static part and the follow-up part are arranged in a rotating clearance manner in a matching manner, at least one section of rotating clearance is formed between the static part and the follow-up part, and the rotating clearance, the static part and the follow-up part form a main magnetic flux closed loop together; the follow-up generator consists of a motor and a generator which are coaxially arranged, and comprises a stator part and a follow-up rotating part, wherein the stator part of the follow-up generator is a motor stator, and the follow-up rotating part is a generator primary; the primary coil of the follow-up converter and the input end of the motor stator of the follow-up generator are connected with a power supply, and the secondary coil of the follow-up converter and the primary output end of the generator of the follow-up generator are connected with the driving controller.

6. A high performance rail transit system as claimed in claim 1, wherein: the rail transport system further comprises a communication device or a communication module, wherein the communication device or the communication module is connected with the driving controller or contained in the driving controller and used for receiving a control instruction of the rail transport system to a transport body, and the communication device or the communication module adopts at least one of wireless communication, wired communication, carrier communication, microwave communication, leaky wave communication and infrared communication.

7. A high performance rail transit system as claimed in claim 1, wherein: the track is provided with a guide rail, and the guide rail is matched with at least one support component of rolling, sliding and floating support components arranged on the transport body and is used for supporting the transport body to move along the track and/or the guide rail.

8. A high performance rail transit system as claimed in claim 1, wherein: the track is at least one of a continuous type, a discontinuous type, a ferry type and a track change type and is used for supporting the transport body to move along the track, and the ferry section and the track change section in the ferry type and track change type track are driven by a ferry and track change power mechanism and are used for steering, exiting or entering the transport body.

9. A high performance rail transport system as claimed in any one of claims 1 to 8, wherein the transport body of said transport subsystem is provided with power batteries and or capacitors, said power batteries and or capacitors being connected to said drive controllers.

10. A high performance rail transport system as claimed in claim 1, wherein the power supply means is a power battery and or capacitor disposed on the transport body, the power battery and or capacitor being connected to the drive controller.

11. The high-performance rail transportation system of claim 1, wherein a robot is disposed on at least one of the side of the rail and the side of the transportation body, the robot includes at least one of a loading and unloading robot and a working robot, the working robot includes a body and an actuator, and the transportation body is fixedly connected to the loading plate for carrying the workpiece, so that the transportation system and the robot form a rail transportation working system for transporting and processing the workpiece.