CN210162684U

CN210162684U - Intelligent conveying practical training unit

Info

Publication number: CN210162684U
Application number: CN201920438852.7U
Authority: CN
Inventors: 陈继权; 优瑞; 吉志敏
Original assignee: Yalong Intelligent Equipment Group Ltd By Share Ltd
Current assignee: Yalong Intelligent Equipment Group Ltd By Share Ltd
Priority date: 2019-04-02
Filing date: 2019-04-02
Publication date: 2020-03-20
Anticipated expiration: 2029-04-02

Abstract

The utility model discloses a real unit of instructing is carried to intelligence, follow including delivery track and at least one the balladeur train of delivery track's support rail sliding motion, the delivery track includes that a plurality of is linear to be carried module, four right angle and carries the module, is located the ascending a pair of right angle of Y axle and carries the module and be linked together, is located and is linked together through the linear transport module of a plurality of that a word distributes between the same straight line of X axle orientation a pair of right angle transport module. The utility model discloses can make up out multiple delivery track, and allow the vehicle to carry out 90 horizontal plane motions on straight line (but not crooked), can provide more accurate space positioning on turn or the orbit that turns around.

Description

Intelligent conveying practical training unit

Technical Field

The utility model relates to an industrial equipment production line technical field, concretely relates to real standard unit of intelligence transport adopts linear conveyor, and the driving source is linear electric motor.

Background

There are many conveyors and conveying systems that move objects on guide rails. For example, conveyor moving vehicles, wheel suspension vehicles driven by rotary or linear motors, magnetic or air suspension vehicles propelled by linear motors or cables, vehicles moving in pneumatically propelled pipes, etc., conveyor transport systems are relatively low cost, but because of the large number of moving parts, they are expensive to maintain and cannot be precisely controlled in many applications, nor are pneumatically propelled pipe cars.

A linear motor drives its secondary elements along a path by generating a magnetic field. For example: the linear motor comprises stator windings along a path providing a magnetic field due to the current flow, which interacts with the magnetic field of one or more magnets coupled with the mover. Such linear motor transmission systems are well known and described in other patents: U.S. Pat. Nos. US3638093, US3858521, US2003217668, US5910691, US7448327, US 19710131041; japanese patent Nos. JP2001063556, JPS61170206, JPH034955, JPH04156263, JPH04308450, JPH 08140333; german patent Nos. DE19723959, DE10151725, DE19528043, DE1998153250 and the like. In most cases such systems provide only linear motion, however transport and transport systems require more complex and flexible motion profiles including turning and slewing motions.

Closer to this application is a transport apparatus in japan that uses a linear motor as a drive source to drive a moving transport carriage (slider) provided on a rail on a base to slide along the rail (japanese patent No. JP 2013102570). The linear conveyor includes: (1) a linear motor stator including a plurality of electromagnets therein, and wherein each portion can be individually controlled to conduct; (2) a plurality of transport carriages, each transport carriage including a linear motor moving module; (3) a linear scale including a scale member fixed to each of the transport carriages, and a detector disposed along the transport path; (4) a plurality of motor controllers for controlling conduction of the electromagnets of each portion, respectively, based on a result of detection by the detection scale member; (5) and a data storage unit for storing position correction data for each of the transport carriages, each of the motor controllers controlling conduction of the electromagnet using the position correction data stored in the data storage.

Another linear conveyor (japanese patent No. JP2015049109), which is close to this patent, comprises a fixed-side module formed of a fixed stator and a steel rail, and a slider, wherein the slider comprises a movable element connected to the track, which is moved along the track by the drive of a linear motor. The position of the slider is detected by a magnetic scale provided to the slider and a magnetic sensor provided to the fixed-side module. The magnetic scale includes a plastic magnet extending along an extending direction of the guide rail and having a plurality of magnetic poles, a portion of the plastic magnet being fixed to the back yoke, and another portion other than the fixed portion being movable in the extending direction of the scale with respect to the back yoke.

Another transport system close to this patent (japanese patent No. JPH02131846), in which, at the intersection of the rails, a point switch device is supported by a support column and inserted rotatably by 90 degrees; thus, the transfer car running on the main track and suspended from operation can be moved to the auxiliary track by the point switch device even in the case of running in the respective forward and backward directions. The mutual movement of the vehicles does not cause any collision or interference.

However, in many cases, including the three cases mentioned above, the following problems occur. Due to the linear design of the drive motor, the turning manoeuvres and/or steering manoeuvres in such systems require the use of additional accessories or devices (switching devices, steering devices and sliders, etc.). With additional moving parts, driven by additional linear or rotary motors (in other cases, pneumatic, hydraulic, etc.), and requiring additional control systems. This disadvantage reduces the reliability of such systems.

Closest to this application are the following U.S. patent nos.: sports system described in US2018009333(fig. 1). The transport system comprises a guideway provided with propulsion coils along the area where the vehicle is propelled (fig.1 a). One or more vehicles are disposed on the guideway, each vehicle including a source of magnetic flux. The track has one or more running surfaces that support the vehicle for rolling or sliding along its surface. Each vehicle has a membrane portion of narrow cross-section that is connected to one or more body portions of the vehicle.

Although it has a steering module, a 90 ° horizontal plane steering is achieved by a curved trajectory. Fig. 1b,1c are an example of a transport system as described above, showing a vehicle turning 90 ° in a horizontal plane. In such a turn, positioning and processing (robot assembly, material processing, PCB assembly, numerical control milling, three-dimensional printing, sampling, detection, etc.) of the moving slider also has difficulties. During cornering, it is difficult to accurately check the motion error of the vehicle on a curved track due to variations in the angle and spatial orientation of the slides.

In view of the above, it is an object of the present application to provide an improved modular linear transport system that allows rapid 90 ° horizontal plane motion in a straight line (but not curved), with fixed spatial positioning, with more precise positioning of the vehicle in turning and u-turn trajectories.

It is an object of the present application to provide a system and apparatus suitable for use in production lines, laboratories or other transport systems requiring complex guideway, tight turns, merge and diverge switching or inversion operations, and which provides more accurate positioning during turns.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a allow the vehicle to carry out 90 horizontal plane motions on straight line (but not crooked), can provide the real unit of instructing of intelligent transport of more accurate space orientation on turn or turn round orbit.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a real unit of instructing of intelligence transport, includes delivery track and at least one edge delivery track's support track sliding motion's balladeur train, delivery track includes that a plurality of linearity carries module and four right angle to carry the module, is located a pair of right angle on the same straight line of Y axle direction and carries the module to be linked together, is located and is linked together through a plurality of linearity that the word distributes between the module to carry at a pair of right angle on the same straight line of X axle direction.

Further, the linear conveying module comprises a linear shell, a linear supporting track of the supporting track fixedly arranged on the linear shell, and a linear motor linear motion driving module, and the carriage slides along the linear supporting track under the action of the linear motor linear motion driving module.

Further, the right-angle conveying module comprises a right-angle shell, a right-angle supporting track and a linear motor right-angle motion driving module, wherein the right-angle supporting track is fixedly arranged on the right-angle shell, and the sliding frame slides along the right-angle supporting track under the action of the linear motor right-angle motion driving module.

Furthermore, a plurality of linear encoder heads are arranged on the linear housing and the right-angle housing, and the linear encoder heads are matched with a linear scale on the sliding frame to read the position of the sliding frame.

Furthermore, the linear motion driving module and the linear motion driving module for right angle motion of the linear motor are respectively composed of a plurality of linear inductors, and each linear inductor can be controlled independently.

Still further, the carriage includes an upper moving panel and a lower moving panel fixedly connected together by a plurality of socket head cap screws, a set of 4N permanent magnets are mounted on the lower moving panel at right angles to each other by mounting screws 4, and the 4N permanent magnets are flush with the linear inductor.

Furthermore, four rollers are arranged on the upper end face of the lower motion panel, and the rollers are used for directionally restraining the sliding frame.

Furthermore, a plurality of wear-resistant pieces are arranged on the bottom surface of the upper moving panel, and the wear-resistant pieces are in contact sliding with the top surface of the supporting track.

Still further, the wear part is an anti-friction slide or ball assembly.

According to the above technical solution, the utility model has the advantages that:

1. the conveying track comprises a plurality of linear conveying modules and four right-angle conveying modules, so that the plurality of linear conveying modules can be combined and spliced in various ways to realize the extension of the length of a transmission path and the change of the shape of the transmission path;

2. the linear motor linear motion driving module and the linear motor right-angle motion driving module are respectively formed by installing and fixing a plurality of linear inductors (namely linear motor primary modules) along a preset conveying path, and each linear inductor can be independently controlled so as to advance one or more carriages arranged on the supporting track along the supporting track;

3. since the carriages each include a magnetic flux source, for example, a permanent magnet, whose magnetic pole amount is equal to 4N (where N is a positive integer), are installed in a right-angled cross shape such that their pole sequences form a right-angled intersection; the permanent magnet (the linear motor secondary module) and the linear motor primary module jointly form a linear motor; the linear transport module contains one or more inductors, wherein one or more windings provide a running magnetic field in the M-direction (where n and M are positive integers), according to which M-direction the slider carriage is allowed to move linearly in the horizontal plane; the linear corner part on the horizontal plane is executed by a carriage, a linear motor rectangular motion driving module comprises one or more inductors with X-coordinate and Y-coordinate orthogonal windings, orthogonal running magnetic fields are provided, a slider bracket is allowed to turn 90 degrees on the linear horizontal plane, the carriage performs space fixed positioning by using a roller, and more accurate positioning is provided on turning and turning tracks;

4. because the linear scale is arranged on the sliding frame, and the plurality of linear encoder heads are arranged in the conveying path, the position detection of the sliding frame can be facilitated.

In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts. In the drawings:

fig.1 is a three-dimensional view of a patent close to the present invention.

Fig. 2 is a schematic perspective view of the present invention.

Fig. 3 is a schematic perspective view of the linear conveying module of the present invention.

Fig. 4 is a three-view illustration of the linear transport module of the present invention.

Fig. 5 is a schematic perspective view of the right-angle conveying module of the present invention.

Fig. 6 is a three-dimensional view of the right angle delivery module of the present invention.

Fig. 7 is a schematic perspective view of the carriage according to the present invention.

Fig. 8 is a bottom view, a front view, and a cross-sectional view of the carriage according to the present invention.

Labeled as: the linear conveying device comprises a conveying rail 20, a linear conveying module 21, a linear shell 31, a linear motor linear motion driving module 32, a first boss 33, a first hole 34, a first foot hole 35, a right-angle conveying module 22, a right-angle shell 51, a linear motor right-angle motion driving module 52, a second boss 53, a second hole 54, a second foot hole 55, a carriage 23, an upper moving panel 71, a lower moving panel 72, a 4N permanent magnet 73, a mounting screw 74, a hexagon socket head cap screw 75, a roller 76, a wear-resistant piece 77, a linear supporting rail 24a and a right-angle supporting rail 24 b.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig.1 to 8, the intelligent transportation training unit shown in fig. 2 includes a transportation rail 20 and at least one carriage 23 sliding along a support rail of the transportation rail 20, where the transportation rail 20 includes a plurality of linear transportation modules 21 and four right-angle transportation modules 22, a pair of right-angle transportation modules 22 located on the same straight line in the Y-axis direction are communicated with each other, a pair of right-angle transportation modules 22 located on the same straight line in the X-axis direction are communicated with each other through a plurality of linear transportation modules 21 distributed in a straight line, and the extension of the length of the transmission path and the change of the shape of the transmission path are realized by adjusting the number of the linear transportation modules 21 to perform various combination splices.

As shown in fig. 3 and 4, the linear conveying module 21 includes a linear housing 31, a linear support rail 24a fixed to the support rail of the linear housing 31, and a linear motor linear motion driving module 32, wherein the linear support rail 24a is composed of mutually parallel stainless steel rails, the stainless steel rails are fixedly connected (or in any other form) to the linear housing 31 through fastening screws passing through first holes 34 on corresponding first bosses 33 on the top of the linear housing 31, and the carriage 23 slides along the linear support rail 24a under the action of the linear motor linear motion driving module 32.

As shown in fig. 5 and 6, the right-angle delivery module 22 includes a right-angle housing 51, a right-angle support rail 24b fixedly disposed on the right-angle housing 51, and a linear motor right-angle motion driving module 52, where the right-angle support rail 24b is formed by an inner L-shaped stainless steel rail and an outer L-shaped stainless steel rail, the L-shaped stainless steel rail is fixedly connected (or in any other form) to the right-angle housing 51 through a fastening screw passing through a second hole 54 on a corresponding second boss 53 on the top of the right-angle housing 51, and the carriage 23 slides along the right-angle support rail 24b under the action of the linear motor right-angle motion driving module 52.

As shown in fig. 2, 4 and 6, a plurality of linear encoder heads are disposed on the first leg hole 35 of the linear housing 31 and the second leg hole 55 of the right-angle housing 51, and cooperate with the linear scale on the carriage 23 to read the position of the carriage 23.

As shown in fig. 2, 3 and 5, the linear motor linear motion driving module 32 and the linear motor right-angle motion driving module 52 are respectively formed by installing and fixing a plurality of linear inductors along a predetermined conveying path, and each linear inductor can be controlled independently, and the linear inductors (i.e. the linear motor primary modules) are controlled independently by a control system, which can be implemented by a PLC or an embedded microcontroller, etc.

As shown in fig. 7 and 8, the carriage 23 comprises an upper moving panel 71 and a lower moving panel 72 which are fixedly connected together by a plurality of socket head cap screws 75 (or any other form), a set of 4N permanent magnets 73 (where N is a positive integer) are mounted on the lower moving panel 72 at right angles to each other by mounting screws 74, the 4N permanent magnets 73 are linearly flush with linear inductors which, when operated, form linear motors with the corresponding 4N permanent magnets 73 so as to propel one or more carriages disposed on the support rail along the corresponding path of the support rail.

Four rollers 76 are provided on the upper end surface of the lower motion panel 72, and the rollers 76 are used for directional restraint of the carriage 23.

Since the linear motor rectangular motion drive module 52 contains one or more inductors with orthogonal windings in the X and Y coordinates, providing an orthogonal operating magnetic field, allowing the slider carriage to make a 90 ° turn in a straight horizontal plane, the carriage 23 is spatially fixed in position using the four rollers 76, preventing rotation of the carriage 23, and providing more precise positioning in turn and turn trajectories.

The bottom surface of the upper motion panel 71 is provided with a plurality of wear-resistant members 77, the wear-resistant members 77 slide in contact with the top surface of the support rail to provide a small friction coefficient, and the wear-resistant members 77 can be replaced after being worn, wherein the wear-resistant members are anti-friction sliding blocks or ball assemblies (or any other form capable of reducing friction).

The application can be applied to the fields of production lines, laboratories and conveyors requiring complex guide rails, sharp turns, merging and shunting switching, forward and reverse operation and the like, but is not limited to the fields.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a real unit of instructing of intelligence transport, its characterized in that includes delivery track (20) and at least one along delivery track (20) support orbit sliding motion's balladeur train (23), delivery track (20) include a plurality of linear transport module (21) and four right angle transport module (22), are located a pair of right angle transport module (22) on the ascending collinear of Y axle and are linked together, are located a pair of right angle transport module (22) on the collinear of X axle direction and are linked together through a plurality of linear transport module (21) of word distribution between.

2. The intelligent transportation practical training unit according to claim 1, wherein the linear transportation module (21) comprises a linear housing (31), a linear supporting track (24a) of the supporting track fixedly arranged on the linear housing (31), and a linear motor linear motion driving module (32), and the carriage (23) slides along the linear supporting track (24a) under the action of the linear motor linear motion driving module (32).

3. The intelligent transportation practical training unit according to claim 2, wherein the right-angle transportation module (22) comprises a right-angle housing (51), a right-angle supporting rail (24b) of the supporting rail fixedly arranged on the right-angle housing (51), and a linear motor right-angle motion driving module (52), and the carriage (23) slides along the right-angle supporting rail (24b) under the action of the linear motor right-angle motion driving module (52).

4. The intelligent transportation practical training unit according to claim 3, wherein a plurality of linear encoder heads are arranged on the linear housing (31) and the right-angle housing (51), and the linear encoder heads are matched with a linear scale on the carriage (23) to read the position of the carriage (23).

5. The intelligent transportation practical training unit according to claim 3, wherein the linear motor linear motion driving module (32) and the linear motor right-angle motion driving module (52) are respectively composed of a plurality of linear inductors, and each linear inductor can be controlled independently.

6. The intelligent transportation training unit of claim 5, wherein the carriage (23) comprises an upper moving panel (71) and a lower moving panel (72) fixedly connected together by a number of socket head cap screws (75), a set of 4N permanent magnets (73) are mounted on the lower moving panel (72) at right angles to each other by mounting screws (74), the 4N permanent magnets (73) are flush with the linear inductor.

7. The intelligent transportation training unit according to claim 6, wherein four rollers (76) are arranged on the upper end face of the lower motion panel (72), and the rollers (76) are used for carrying out directional constraint on the sliding frame (23).

8. The intelligent transportation practical training unit according to claim 7, wherein a plurality of wear-resistant pieces (77) are arranged on the bottom surface of the upper moving panel (71), and the wear-resistant pieces (77) slide in contact with the top surface of the support rail.

9. The intelligent transportation training unit of claim 8, wherein the wear part is an anti-friction slider or a ball assembly.