Rotor module and conveying line body

Abstract

The utility model discloses a mover module and a conveying line body, the conveying line body comprises a stator module and a power supply module arranged in parallel with the stator module, the mover module is applied to the conveying line body and comprises a mover body, a power receiving module, an execution module and a control module; the rotor body is magnetically coupled with the stator module; the power receiving module is mounted on the rotor body and is electrically connected with the power supply module; the execution module comprises a driving part and an execution part, the driving part is installed on the side, away from the stator module, of the mover body, the execution part is installed on the top of the mover body, and the driving part is used for driving the execution part to work on a workpiece; the control module is installed on the side, away from the stator module, of the mover body and electrically connected with the execution module and the power receiving module, the execution module, the power receiving module and the control module are installed at different positions of the mover respectively, the space on the mover body can be effectively utilized, and interference and mutual influence between components are reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of transportation equipment, in particular to a mover module and a conveyor line body. Background Art

[0002] With the development of society, logistics conveyor lines are widely used in various industries. Magnetic drive conveyor lines usually include a mover and a stator. The mover is used to carry the workpiece to transport the workpiece or move the workpiece to different workstations for processing.

[0003] In the related art, in order to facilitate the operation of the workpiece, a control module and an execution module are installed on the mover. Since the installation space of the mover is limited, a larger mounting plate is required to increase the installation space of the mover. Multiple devices are installed on the mounting plate, and a certain isolation space is required to avoid interference, which easily leads to a larger overall size of the mover and occupies more space. Utility Model Content

[0004] The embodiment of the present application provides a mover module and a conveyor line body. By respectively installing an execution module, a power receiving module and a control module at different positions of the mover, the space on the mover body can be effectively utilized and the interference and mutual influence between components can be reduced.

[0005] An embodiment of the present application provides a mover module, which is applied to a conveyor line body, wherein the conveyor line body includes a stator module and a power supply module arranged in parallel with the stator module, including a mover body, which is magnetically coupled to the stator module; a power receiving module, which is installed on a side of the mover body close to the stator module and is electrically connected to the power supply module; an execution module, including a driving part and an execution part, wherein the driving part is installed on a side of the mover body away from the stator module and is electrically connected to the power receiving module, and the execution part is installed on the top of the mover body, and the driving part is used to drive the execution part to operate on a workpiece; and a control module, which is installed on a side of the mover body away from the stator module and is electrically connected to the execution module and the power receiving module, and the control module is used to control the working mode of the execution module.

[0006] In some of the embodiments, the mover body includes a mover bracket and a permanent magnet component disposed on the mover bracket, and the permanent magnet component is magnetically coupled with the stator module;

[0007] The mover module also includes a mounting shell, which is mounted on a side of the mover bracket away from the stator module, the control module and the driving component are mounted in the mounting shell, the power receiving module is mounted on a side of the mounting shell close to the stator module, and the actuator is mounted on the top of the mover bracket.

[0008] In some embodiments, the mover module further includes a power storage module, which is installed on a side of the mover bracket away from the stator module and electrically connected to the power receiving module, and is used to provide electrical energy to the execution module.

[0009] In some embodiments, the execution module includes a first execution component, the driving component of the first execution component includes an air pump, and the execution component of the first execution component includes an adsorption structure;

[0010] The air pump is electrically connected to the power receiving module, and the air pump is connected to the adsorption structure, and is used to control the adsorption structure to generate negative pressure for adsorption and positive pressure for release of adsorption.

[0011] In some embodiments, the adsorption structure includes a base and an adsorption hole plate, the base is provided with an air path channel connected to the air pump, the adsorption hole plate is provided with a vacuum adsorption hole for adsorbing the workpiece, the adsorption hole plate is arranged on the base and forms an adsorption cavity with the base, and the adsorption cavity is connected to the air path channel and the vacuum adsorption hole.

[0012] In some embodiments, the control module includes a first control valve, which connects the air pump and the air path.

[0013] In some embodiments, the execution module includes a second execution component, the execution member of the second execution component includes a rotating disk, and the rotating disk is provided with at least two fixing grooves, and the fixing grooves are used to fix the workpiece. The rotating disk is rotated under the drive of the driving member of the second execution component to drive the workpiece to rotate around the center of the rotating disk.

[0014] In some embodiments, the control module includes a second controller and a detection sensor, the detection sensor is electrically connected to the second controller, a positioning portion is provided on the rotating disk, and the second controller detects the positioning portion according to the detection sensor to determine the rotation position of the rotating disk;

[0015] And / or, the control module further includes a second controller and a visual inspection device, wherein the visual inspection device is used to perform visual inspection on the workpiece, and the visual inspection device is electrically connected to the second controller and installed on the mover body.

[0016] In some of these embodiments, the driving member of the second execution assembly includes a motor, a driving wheel, a driven wheel, a rotating shaft, and a transmission belt. The driving wheel is mounted on the output shaft of the motor. The rotating shaft is relatively fixed to the mover body. The driven wheel is sleeved on the rotating shaft and rotates around the rotating shaft. The driven wheel is mounted at the bottom of the rotating disc. The transmission belt connects the driving wheel and the driven wheel.

[0017] In some of these embodiments, the execution module includes a third execution assembly. The driving member of the third execution assembly includes a pipeline structure. The execution member of the third execution assembly includes a clamping assembly. The clamping assembly is used to clamp the packaging box to fix the workpiece in the packaging box. The pipeline structure is used to drive the operation of the clamping assembly.

[0018] In a second aspect, the present application provides a conveying line body, including a stator conveying line, a plurality of mover modules, and a transfer module; the stator conveying line includes a stator module and a power supply module arranged in parallel with the stator module; the mover module includes a mover body, an execution module, and a power receiving module. The mover body is magnetically coupled with the stator module. The execution module and the power receiving module are both fixed on the mover body. The execution module is used to operate on the workpiece. The power receiving module is electrically connected to the power supply module and is configured to supply electrical energy to the execution module. Among them, there are multiple types of mover modules, and the functions of the execution modules in different types of mover modules are different.

[0019] Based on the mover module and the conveying line body of the embodiments of the present application, an execution module, a power receiving module, and a control module are mounted on the mover body. The driving member and the control module of the execution module are both mounted on the side of the mover body facing away from the stator module. The power receiving module is arranged on the side of the mover body close to the base, and the execution member is mounted on the top of the mover body. In this way, the space on the mover body can be effectively utilized, making the installation and maintenance of each component more convenient, and reducing the interference and mutual influence between components, improving the integration and overall performance of the system. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0021] Figure 1 Schematic structural diagram of the first execution assembly of the mover module provided by the embodiment of the present application;

[0022] Figure 2 Schematic structural diagram of the first execution component of the mover module provided by an embodiment of the present application from another perspective;

[0023] Figure 3 Exploded view of the first execution component of the mover module provided by an embodiment of the present application;

[0024] Figure 4 Cross-sectional view of the adsorption structure provided by an embodiment of the present application;

[0025] Figure 5 Schematic structural diagram of the second execution component of the mover module provided by an embodiment of the present application;

[0026] Figure 6 Exploded view of the second execution component of the mover module provided by an embodiment of the present application;

[0027] Figure 7 Schematic structural diagram of the third execution component of the mover module provided by an embodiment of the present application;

[0028] Figure 8 Exploded view of the third execution component of the mover module provided by an embodiment of the present application.

[0029] Explanation of the reference numerals in the drawings:

[0030] 20, mover module; 21, mover body; 20A, mover bracket; 20B, mounting housing; 20C, mounting plate; 210, accommodation groove; 220, permanent magnet assembly; 22, power receiving module; 23, power storage module; 30, execution module; 30A, driving member; 30B, execution member; 31, first execution component; 311, air pump; 312, adsorption structure; 3123, base; 3124, adsorption orifice plate; 31a, air passage; 31b, adsorption chamber; 31c, adsorption hole; 31d, first channel; 31e, second channel; 32, second execution component; 321, driving structure; 3211, motor; 3212, driving wheel; 3213, driven wheel; 3214, rotating shaft; 3215, transmission belt; 322, rotating disk; 322a, fixing groove; 3221, positioning portion; 33, third execution component; 331, pipeline structure; 332, clamping component; 334a, second air inlet; 40, control module; 411, first control valve; 412, first controller; 413, first air pressure gauge; 421, second controller; 422, detection sensor; 423, vision detection device; 432, second air pressure gauge.

[0031] The realization, functional features and advantages of the object of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0032] To make the objectives, technical solutions and advantages of the present utility model clearer, the following will further describe the embodiments of the present application in detail with reference to the accompanying drawings.

[0033] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present utility model. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present utility model as detailed in the appended claims.

[0034] In the description of the present utility model, it should be understood that terms such as "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. In addition, in the description of the present utility model, unless otherwise specified, "a plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present utility model belongs. The terms used in the description of this specification are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0036] An embodiment of the present application provides a conveyor line body, including a frame, a stator conveyor line, and a plurality of mover modules 20. Among them, the stator conveyor line is installed on the frame.

[0037] The stator conveyor line includes a stator module and a power supply module. The stator module is arranged on the frame and can be formed by splicing a plurality of stator units. The stator units can include linear stator units and curved stator units; a plurality of linear stator units and curved stator units are connected in sequence to arrange the stator module into a closed moving track. The mover module 20 is magnetically coupled with the stator module to move along the extension direction of the stator module under the drive of the stator module. The power supply module is arranged on the frame and is arranged in parallel with the stator module for accessing a power source.

[0038] Please refer to Figure 1 and Figure 2, the mover module 20 includes a mover body 21, an actuator module 30, a power receiving module 22, and a control module 40. The mover body 21 is magnetically coupled to the stator module; the power receiving module 22 is disposed on one side of the mover body 21 close to the stator module, and has an input end and an output end. The input end of the power receiving module 22 is slidably electrically connected to the power supply module; the actuator module 30 includes a driving member 30A and an actuator member 30B. Among them, the driving member 30A is installed on the side of the mover body 21 facing away from the stator module and has a power connection end, and the power connection end is electrically connected to the output end of the power receiving module 22. The actuator member 30B is installed on the top of the mover body 21, and the driving member 30A is used to drive the actuator member 30B to operate on the workpiece; the control module 40 is installed on the side of the mover body 21 facing away from the stator module and is electrically connected to the actuator module 30 and the power receiving module 22. The control module 40 is used to control the working mode of the actuator module 30.

[0039] In some embodiments, the power supply module includes a power supply coil arranged in parallel with the stator module. The power receiving module 22 includes a power receiving coil, and the power receiving coil is magnetically coupled to the power supply coil. That is to say, the power supply module and the power receiving module 22 of the present application are wireless power supply, which reduces the wear and maintenance requirements of the power receiving coil and the power supply coil. Compared with the form of cable connection, there will be no problems such as cable wear, poor connection or breakage, enhancing the overall reliability of the system. Among them, multiple power supply coils can be arranged in the up and down direction, and the number of power receiving coils is adaptively set to the number of power supply coils, which can further meet the power demand of the actuator module 30. Of course, in other embodiments, the power supply module can be a contact power supply module (such as a sliding contact wire), and the power supply module and the power receiving module 22 are in contact electrical connection. The present application does not limit this here.

[0040] Based on the mover module 20 of the embodiment of the present application, the actuator module 30, the power receiving module 22, and the control module 40 are installed on the mover body 21. The driving member 30A of the actuator module 30 and the control module 40 are both installed on the side of the mover body 21 facing away from the stator module. The power receiving module 22 is disposed on the side of the mover body 21 close to the stator module, and the actuator member 30B is installed on the top of the mover body 21. In this way, the space on the mover body 21 can be effectively utilized, making the installation and maintenance of each component more convenient, and reducing the interference and mutual influence between components, improving the integration and overall performance of the system.

[0041] The mover module 20 also includes a power storage module 23, which is electrically connected to the power receiving module 22 and provides power to the execution module 30. The power storage module 23 can be in the form of a lead-acid battery, a lithium-ion battery, a nickel-metal hydride battery (NiMH), etc. The power storage module 23 can provide backup power when the power supply module is unstable or interrupted, ensuring the continuous operation of the execution module 30. In addition, the power storage module 23 can buffer current fluctuations, reduce the transient burden on the power supply system, and protect other electrical components.

[0042] See also Figure 1 and Figure 2 The mover body 21 includes a mover bracket 20A and a permanent magnet assembly 220 arranged on the mover bracket 20A. The mover bracket 20A is provided with a receiving groove 210. The extension direction of the receiving groove 210 is consistent with the extension direction of the stator track and the receiving groove 210 extends to both ends of the mover bracket 20A. Permanent magnet assemblies 220 are provided on the opposite side walls of the receiving groove 210 or on one of the side walls. The permanent magnet assembly 220 can be selected as a plurality of permanent magnets that can be arranged to form a Halbach array to obtain a more ideal unilateral magnetic field and improve the driving force of the mover module 20.

[0043] Furthermore, a slider is also provided on the mover body 21, and the slider is used to cooperate with the stator track, which can be a sliding connection or a rolling connection to limit the direction of movement of the mover body 21. The stator module is provided with an armature winding, and the armature winding is placed between the two opposite side walls of the accommodating groove 210 through the notch of the accommodating groove 210. The slider is slidably matched with the stator track. When the armature winding is energized, a magnetic field is generated. The permanent magnet assembly 220 generates a driving force under the current excitation of the coil of the armature winding, pushing the entire mover body 21 to move along the track. The specific working principle of the magnetic power track has long been disclosed in the relevant technology, and this application will not be repeated.

[0044] In order to facilitate the installation of the execution module 30, the power receiving module 22 and the control module 40, the mover module 20 also includes a mounting housing 20B, which is mounted on the side of the mover bracket 20A away from the stator module, the control module and the driver 30A are mounted in the mounting housing 20B, the power receiving module 22 is mounted on the side of the mounting housing 20B close to the stator module, and the actuator 30B is mounted on the top of the mover bracket 20A. In this way, the installation space of the mover bracket 20A can be reasonably utilized, and the mounting housing 20B can effectively protect the control module 40 and the driver 30A from external damage, thereby improving their service life.

[0045] In some embodiments, the execution module 30 includes a first execution component 31, see Figures 1 to 3, the driving member 30A of the first execution assembly 31 includes an air pump 311, and the execution member 30B of the first execution assembly 31 includes an adsorption structure 312; the air pump 311 is electrically connected to the power receiving module 22 and installed in the installation housing 20B, and the adsorption structure 312 is installed on the top of the mover bracket 20A. The air pump 311 is communicated with the adsorption structure 312 and is used to control the adsorption structure 312 to generate negative pressure for adsorption and generate positive pressure for desorption. The first execution assembly 31 of the embodiment of the present application can carry and transport workpieces or drive workpieces for processing through the vacuum adsorption principle. The first execution assembly 31 of the present application has at least two working modes: when it is necessary to adsorb a workpiece, the air pump 311 extracts gas and provides negative pressure to the adsorption structure 312. When the workpiece is placed on the adsorption structure 312, the air pressure difference between the surface and the bottom of the workpiece causes the workpiece to be firmly adsorbed on the adsorption structure 312, realizing the "vacuum pumping" effect; when it is necessary to unload and place the workpiece, the air pump 311 outputs gas and provides positive pressure to the adsorption structure 312, so that the pressure difference inside and outside the adsorption structure 312 rapidly decreases until the internal and external air pressures are balanced, and the workpiece quickly falls off the adsorption structure 312, thereby completing the unloading operation of the workpiece and realizing the "breaking vacuum" effect.

[0046] Of course, in some embodiments, the number of air pumps 311 can be two, which are defined as the first air pump 311 and the second air pump 311. At this time, the first execution assembly 31 can have three working modes: the working mode of adsorbing and pumping vacuum is the same as the above, that is, the first air pump 311 is used to suck gas; in the desorption mode, gas can be output through the first air pump 311, or gas can be output to the gas path through the second air pump 311 to realize "breaking vacuum"; due to the setting of two air pumps 311, this embodiment can also have a "complementary vacuum" working mode compared with the above embodiment, that is, when the first air pump 311 works and the vacuum degree during the adsorption of the adsorption structure 312 is insufficient and the adsorption force of the adsorption structure 312 cannot meet the load demand of the workpiece, the second air pump 311 is turned on to work and suck gas to improve the vacuum degree of the adsorption structure 312, so as to meet the adsorption and load demand of the workpiece.

[0047] In some embodiments, the first actuator 31 may further include a rotating device (not shown in the figure) disposed on the mover bracket 20A, and the rotating device drives the adsorption structure 312 to rotate. When the workpiece is configured as a reagent tube, the reagent tube generally has a tube body and a cover body. Before the reagent in the reagent tube is detected, the cover body needs to be unscrewed, and the external clamping device can clamp the cover body, and the adsorption structure 312 of the first actuator 31 can adsorb and fix the tube body, and the rotating device can drive the tube body to rotate, so that the cover body and the tube body rotate relative to each other to open the reagent tube and detect the reagent. The rotating device may include structures such as a motor and a turntable, and the adsorption structure 312 is mounted on the turntable. The motor drives the turntable to rotate, thereby driving the adsorption structure 312 to rotate relative to the clamping device. It can be understood that the rotating device may also include transmission structures such as couplings and gears. The structure and principle of the rotating device have long been disclosed in the relevant technology, and this application will not repeat them.

[0048] Of course, in some other embodiments, a screwing device can be provided on one side of the stator module, the first actuator 31 adsorbs the reagent tube and drives the reagent tube to move to one side of the screwing device, the adsorption structure 312 adsorbs and fixes the tube body of the reagent tube, and the screwing device clamps the cover body and drives the cover body to rotate to screw the cover body out of the tube body. Among them, the screwing device can be a multi-axis manipulator, or can include a transmission structure such as a motor, a clamping device, and a cylinder. The structure and principle of the screwing device have long been disclosed in the relevant technology, and this application will not repeat them.

[0049] See also Figure 4 The adsorption structure 312 may include a base 3123 and an adsorption hole plate 3124. The base 3123 is provided with an air passage 31a and a groove is provided on the top. The adsorption hole plate 3124 is provided with adsorption holes 31c. The adsorption hole plate 3124 is covered on the base 3123 and forms an adsorption chamber 31b with the groove of the base 3123. The air passage 31a on the base 3123 may include a first channel 31d and a second channel 31e that are connected. The first channel 31d is connected to the air pump 311. The number of the second channels 31e is at least two. The vacuum suction cup 3122 is provided at one end of the second channel 31e away from the first channel 31d, and the second channel 31e and the adsorption chamber 31b are connected. Figure 4 As shown in the example, there are two first channels 31d and four second channels 31e, wherein one first channel 31d matches two second channels 31e. The present application can form a strong negative pressure in the adsorption chamber 31b by designing multiple second channels 31e, thereby improving the adsorption effect and ensuring that the object is firmly fixed in the adsorption chamber 31b; and the air inlets of the multiple second channels 31e are evenly distributed around the adsorption chamber 31b, which can provide a more uniform adsorption force and enhance the stability of adsorption of workpieces of different shapes and sizes.

[0050] For the convenience of controlling the operation of the adsorption structure 312, please refer to Figure 3 , the control module 40 includes a first control valve 411 and a first controller 412. The first control valve 411 is connected to the air pump 311 and the adsorption structure 312, and the first controller 412 controls the start and stop of the first control valve 411 to control the operation mode of the adsorption structure 312. The first control valve 411 can be in the form of a solenoid valve, an electric valve, etc., and the first controller 412 can be in the form of a PLC (programmable logic controller), a wireless controller, etc. The present application does not limit this. The first control valve 411 can be fully opened or closed as needed to control the on-off of the gas path channel 31a, and can also adjust the opening degree as needed to adjust the magnitude of the suction force.

[0051] For the convenience of monitoring the vacuum degree of the adsorption structure 312 and further controlling the magnitude of the suction force of the adsorption structure 312, please continue to refer to Figure 3 , the control module 40 further includes a first air pressure gauge 413. The first air pressure gauge 413 is connected to the gas path channel 31a and is used to monitor the vacuum degree of the adsorption chamber 31b. Among them, the first air pressure gauge 413 can be a Bourdon tube or a diaphragm vacuum gauge that measures using mechanical properties; or a Pirani or a thermocouple vacuum gauge that measures using gas mechanical effects. The first controller 412 is electrically connected to the first air pressure gauge 413 and the air pump 311 respectively. The first controller 412 controls the start and stop and the operation mode of the air pump 311 according to the displayed value of the first air pressure gauge 413. For example, when the vacuum degree is lower than the preset value, the working frequency of the air pump 311 can be increased to improve the intensity of sucking gas; when the vacuum degree is greater than the preset value, the working frequency of the air pump 311 can be controlled to decrease; when the vacuum degree is equal to the preset value, the air pump 311 is controlled to maintain the current working condition. When there are two air pumps 311, the first controller 412 can further control the number of air pumps 311 working according to the displayed value of the first air pressure gauge 413.

[0052] The above-mentioned air pump 311, the first controller 412 and the first air pressure gauge 413 are all installed in the installation housing 20B. Among them, the installation housing 20B can be provided with an installation opening, and the display surface of the first air pressure gauge 413 is exposed at the installation opening, which is convenient for the operator to directly read the data through the first air pressure gauge 413. In this way, the installation housing 20B can effectively protect the electronic components from being affected by the external environment.

[0053] In this embodiment, the installation housing 20B is provided with a first air inlet, and the air pump 311 can suck external air through the first air inlet, wherein the first air inlet can be optionally provided on a side of the installation housing 20B close to the stator module, so that the risk of external impurities or dust blocking the first air inlet can be avoided. A portion of the first control valve 411 can be inside the installation housing 20B, and a portion can be provided on the top of the installation housing 20B, so that the first control valve 411 is convenient for connecting the adsorption structure 312 and the air pump 311.

[0054] See also Figure 5 and Figure 6 In some embodiments, the execution module 30 includes a second execution component 32, the driving member 30A of the second execution component 32 includes a driving structure 321, and the execution member 30B of the second execution component 32 includes a rotating disk 322. The driving structure 321 is installed on the mover bracket 20A. At least two fixing grooves 322a are provided on the rotating disk 322. The fixing grooves 322a are used to fix the workpiece. The rotating disk 322 rotates under the drive of the driving structure 321 to drive the workpiece to rotate around the center of the rotating disk 322. Figure 5 As shown in the figure, six fixing grooves 322a are provided on the rotating disk 322, so that the number of workpieces carried by the movable module 20 can be increased. This design allows more workpieces to be processed on the stator module with fewer devices, thereby improving the overall transportation efficiency.

[0055] Continuing the description with the workpiece being a reagent tube as an example, a plurality of reagent tubes with opened covers are placed on the rotating disk 322, and then the movable module 20 drives the reagent tube to move on the stator module and to one side of the external detection device, and the rotating disk 322 is driven to rotate by the driving structure 321, thereby driving the tube body to rotate around the center of the rotating disk 322. During the rotation of the reagent tube, the detection device can quickly and accurately drip the detection reagent into the tube body, thereby improving the efficiency and accuracy of the detection.

[0056] See also Figure 6 In this embodiment, the control module 40 includes a second controller 421, which controls the operation of the driving structure 321 to control the rotation of the rotating disk 322. For example, the second controller 421 can control the angle of rotation of the rotating disk 322 to ensure that each rotation can accurately align with the next reagent tube, thereby achieving effective detection of each reagent tube. In addition, the second controller 421 can also adjust the dwell time of the rotating disk 322 during rotation to ensure that the external detection equipment can successfully complete each detection task. The specific form of the second controller 421 can be set with reference to the first controller 412.

[0057] In some embodiments, see Figure 6, the control module 40 further includes a detection sensor 422. The detection sensor 422 is electrically connected to the second controller 421. A positioning portion 3221 is provided on the rotating disk 322. The second controller 421 detects the positioning portion 3221 according to the detection sensor 422 to determine the rotation position of the rotating disk 322. Among them, multiple positioning portions 3221 can be provided, and they are correspondingly arranged according to the number and interval of the fixing grooves 322a. The detection sensor 422 monitors the positioning portion 3221 on the rotating disk 322 in real time and provides accurate position information to the second controller 421. The second controller 421 adjusts the rotation of the rotating disk 322 according to this information to ensure that it accurately reaches the predetermined position. In this way, each reagent tube can be effectively positioned, and high precision can be maintained during rotation and stay. Of course, only one positioning portion 3221 can be provided. The detection sensor 422 first detects the positioning portion 3221, which marks the starting position of the rotating disk 322. Subsequently, the detection sensor 422 detects the positioning portion 3221 again after the rotating disk 322 completes rotation to confirm that the rotation has been completed. The detection sensor 422 can be in the form of a photoelectric sensor, a Hall effect sensor, a capacitive sensor, a contact switch, etc., and the present application does not limit this.

[0058] In some embodiments, please continue to refer to Figure 6 , the driving structure 321 includes a motor 3211, a driving wheel 3212, a driven wheel 3213, a rotating shaft 3214 and a transmission belt 3215. The driving wheel 3212 is installed on the output shaft of the motor 3211. The rotating shaft 3214 is relatively fixed to the mover body 21. The driven wheel 3213 is installed at the bottom of the rotating disk 322 and sleeved on the rotating shaft 3214 and rotates around the rotating shaft 3214. The transmission belt 3215 connects the driving wheel 3212 and the driven wheel 3213. Specifically, the motor 3211 drives the driving wheel 3212 to rotate through the output shaft. The rotation of the driving wheel 3212 is transmitted to the driven wheel 3213 through the transmission belt 3215. The rotation of the driven wheel 3213 stably drives the rotation of the rotating disk 322. The rotating shaft 3214 can support the driven wheel 3213, thereby supporting the rotating disk 322, and can also improve the rotation stability of the driven wheel 3213. By providing the driving wheel 3212, the driven wheel 3213, the rotating shaft 3214 and the transmission belt 3215, the present application can have a good shock absorption effect, so as to smoothly transmit power.

[0059] To facilitate the installation of the drive structure 321 and the rotating disk 322, the second execution component 32 further includes a mounting plate 20C; the mounting plate 20C is mounted on the top of the mover bracket 20A. The above-mentioned second controller 421 is mounted within the mounting housing 20B, the main body of the motor 3211 is mounted within the mounting housing 20B, and the output shaft extends out to be located at the top of the mounting plate 20C. The rotating shaft 3214 is mounted on the top of the mounting plate 20C, and the driving wheel 3212, the driven wheel 3213, and the transmission belt 3215 are adaptively arranged on the top of the mounting plate 20C. The detection sensor 422 and the rotating shaft 3214 are mounted on the mounting plate 20C. The mounting housing 20B provides additional protection, isolating the motor 3211 and the controller from the external environment. The mounting plate 20C provides a mounting platform, facilitating the installation operations of the detection sensor 422 and the rotating shaft 3214.

[0060] Please refer to Figure 5 and Figure 6 In some embodiments, the control module 40 further includes a vision detection device 423. The vision detection device 423 is electrically connected to the second controller 421, mounted on the mounting plate 20C, and used for visually detecting the workpiece. The vision detection device 423 may include structures such as a camera, an image processing unit, and a light source. The vision detection device 423 can be used to inspect characteristics of the workpiece such as its shape, size, and color. Taking the workpiece as a reagent tube as an example, the vision detection device 423 can detect the corresponding QR code of the reagent tube and then upload the relevant information of the reagent tube to the operating system, facilitating the tracking and management of the reagent tube.

[0061] Please refer to Figure 7 and Figure 8 In some embodiments, the execution module 30 includes a third execution component 33. The driving member 30A of the third execution component 33 includes a pipeline structure 331, and the execution member 30B of the third execution component 33 includes a clamping component 332. The clamping component 332 is used to clamp the packaging box to fix the workpiece within the packaging box, and the pipeline structure 331 is used to drive the operation of the clamping component 332. Specifically, the packaging box may have a bottom plate and two side plates. The workpiece is placed on the bottom plate, and then the clamping component 332 clamps the two side plates, so that both the two side plates and the bottom plate provide packaging protection for the workpiece.

[0062] It should be noted that the clamping component 332 may include clamping jaws and a cylinder. The pipeline structure 331 realizes the clamping and loosening of the clamping jaws by driving the piston of the cylinder. In the related art, the structure of the pipeline structure 331, as well as the principle and working process of driving the cylinder to move to achieve clamping and loosening, have been disclosed, and will not be elaborated in this application.

[0063] It can be understood that the pipeline structure 331 is connected to a gas supply source to drive the cylinder to work through gas. Among them, the gas supply source can be arranged on the mover body 21 or on the frame. Exemplarily, the gas supply source is arranged on the frame, and a second air inlet 334a is arranged on the outer side surface of the installation housing 20B. The gas supply source includes components such as an air pump structure, a driving device, and a gas supply nozzle. The gas supply nozzle is connected to the air pump structure and can approach and connect to the second air inlet 334a under the drive of the driving device, and can move away from the second air inlet 334a to cancel the air intake operation. It can be understood that by arranging the gas supply source on the frame, it is not restricted by the installation space, so a larger air pump structure can be adopted to ensure that the gas supply source can provide stable and sufficient gas supply. In addition, arranging the gas supply source outside can reduce the weight of the third mover 20c and improve the movement efficiency of the third mover 20c.

[0064] To facilitate the monitoring of the air pressure in the pipeline structure 331 and further control the clamping and loosening of the clamping assembly 332, the control module 40 further includes a second air pressure gauge 432. The second air pressure gauge 432 can be used to measure the air pressure in the clamping assembly 332, so as to monitor the pressure holding value in the clamping assembly 332. Among them, the form of the second air pressure gauge 432 can be set with reference to the specific form of the first air pressure gauge 413.

[0065] In the drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be understood as a limitation of the present invention. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0066] The above is only the preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A mover module (20) is applied to a conveyor line body. The conveyor line body includes a stator module and a power supply module arranged in parallel with the stator module. It is characterized in that, Comprising: A mover body (21), magnetically coupled to the stator module; A power receiving module (22), installed on one side of the mover body (21) close to the stator module and electrically connected to the power supply module; An execution module (30), including a driving member (30A) and an execution member (30B). The driving member (30A) is installed on the side of the mover body (21) facing away from the stator module and electrically connected to the power receiving module (22). The execution member (30B) is installed on the top of the mover body (21). The driving member (30A) is used to drive the execution member (30B) to operate on the workpiece; And A control module (40), installed on the side of the mover body (21) facing away from the stator module and electrically connected to the execution module (30) and the power receiving module (22). The control module (40) is used to control the working mode of the execution module (30).

2. The mover module (20) according to claim 1, characterized in that, The mover body (21) includes a mover bracket (20A) and a permanent magnet assembly (220) arranged on the mover bracket (20A). The permanent magnet assembly (220) is magnetically coupled to the stator module; The mover module (20) further includes a mounting housing (20B). The mounting housing (20B) is installed on the side of the mover bracket (20A) facing away from the stator module. The control module (40) and the driving member (30A) are installed inside the mounting housing (20B). The power receiving module (22) is installed on the side of the mounting housing (20B) close to the stator module. The execution member (30B) is installed on the top of the mover bracket (20A).

3. The mover module (20) according to claim 2, wherein The mover module (20) further includes a power storage module (23). The power storage module (23) is used to supply electrical energy to the execution module (30) and the control module (40). The power storage module (23) is installed on the side of the mounting housing (20B) facing away from the stator module and electrically connected to the power receiving module (22).

4. The mover module (20) according to any one of claims 1 to 3, characterized in that The execution module (30) includes a first execution component (31). The driving member (30A) of the first execution component (31) includes an air pump (311) electrically connected to the power receiving module (22). The execution member (30B) of the first execution component (31) includes an adsorption structure (312); The air pump (311) is connected to the adsorption structure (312) and is used to control the adsorption structure (312) to generate negative pressure for adsorption and positive pressure for desorption.

5. The mover module (20) according to claim 4, wherein The adsorption structure (312) includes a base (3123) and an adsorption orifice plate (3124). The base (3123) is provided with an air passage (31a) communicating with the air pump (311). The adsorption orifice plate (3124) is provided with vacuum adsorption holes (31c) for adsorbing the workpiece. The adsorption orifice plate (3124) is arranged on the base (3123) and forms an adsorption cavity (31b) with the base (3123). The adsorption cavity (31b) communicates with the air passage (31a) and the vacuum adsorption holes (31c).

6. The mover module (20) according to claim 5, wherein The control module (40) includes a first control valve (411), and the first control valve (411) communicates with the air pump and the air passage (31a).

7. The mover module (20) according to any one of claims 1 to 3, characterized in that, The execution module (30) includes a second execution component (32). The execution member (30B) of the second execution component (32) includes a rotating disk (322). At least two fixing grooves (322a) are provided on the rotating disk (322), and the fixing grooves (322a) are used to fix the workpiece. The rotating disk (322) rotates under the drive of the driving member (30A) of the second execution component (32) to drive the workpiece to rotate around the center of the rotating disk (322).

8. The mover module (20) according to claim 7, wherein, The control module (40) includes a second controller (421) and a detection sensor (422). The detection sensor (422) is electrically connected to the second controller (421). A positioning portion (3221) is provided on the rotating disk (322). The second controller (421) determines the rotation position of the rotating disk (322) according to the detection of the positioning portion (3221) by the detection sensor (422). And / or, the control module (40) further includes a second controller (421) and a vision detection device (423). The vision detection device (423) is used for vision detection of the workpiece. The vision detection device (423) is electrically connected to the second controller (421) and is installed on the mover body (21).

9. The mover module (20) according to claim 7, wherein The driving member (30A) of the second execution component (32) includes a motor (3211), a driving wheel (3212), a driven wheel (3213), a rotating shaft (3214), and a transmission belt (3215). The driving wheel (3212) is installed on the output shaft of the motor (3211). The rotating shaft (3214) is relatively fixed to the mover body (21). The driven wheel (3213) is sleeved on the rotating shaft (3214) and rotates around the rotating shaft (3214). The driven wheel is installed at the bottom of the rotating disk (322), and the transmission belt (3215) connects the driving wheel (3212) and the driven wheel (3213).

10. The mover module (20) according to claim 5, characterized in that, The execution module (30) includes a third execution component (33). The driving member (30A) of the third execution component (33) includes a pipeline structure (331). The execution member (30B) of the third execution component (33) includes a clamping component (332). The clamping component (332) is used for clamping the packaging box to fix the workpiece in the packaging box. The pipeline structure (331) is used to drive the operation of the clamping component (332).

11. A conveying line body, characterized in that, Including: A stator conveying line, including a stator module and a power supply module arranged in parallel with the stator module; Multiple mover modules (20), the mover module (20) includes a mover body (21), an execution module (30), and a power receiving module (22), the mover body (21) is magnetically coupled with the stator module, the execution module (30) and the power receiving module (22) are both fixed on the mover body (21), the execution module (30) is used to operate on the workpiece, and the power receiving module (22) is electrically connected to the power supply module and is configured to supply electrical energy to the execution module (30); Among them, the mover module (20) includes multiple types, and the functions of the execution modules (30) in different types of mover modules (20) are different.

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