Moving coil direct drive loop and system and control method thereof

Abstract

The present application discloses a moving coil direct drive loop and its system and control method, wherein the moving coil direct drive loop comprises: a first transmission mechanism, a second transmission mechanism, a lifting mechanism, a plurality of carrier slides and a zero-point sensing component, the first transmission mechanism comprises a transmission slide and a first stator module, the first stator module is arranged at the bottom of the transmission slide, the second transmission mechanism is arranged at intervals with the first transmission mechanism in the vertical direction and is parallel to each other, two lifting mechanisms are provided, and are respectively arranged at the ends of the same side of the first transmission mechanism and the second transmission mechanism, the lifting mechanism comprises a servo motor, a bearing slide and a second stator module, the bearing slide can be flush with the transmission slide through the servo motor, and the second stator module can be flush with the first stator module; a moving module is provided on the carrier slide; and the zero-point sensing component is used to perform zero-point correction on the position of the carrier slide. The present application can make the carrier slide move more smoothly and improve stability.

Description

Technical Field

[0001] The present application relates to the field of automated loop technology, and in particular to a moving coil direct drive loop and its system and control method. Background Art

[0002] In some linear circular line usage scenarios, a more common method is to use moving magnet linear motor control, that is, an iron core linear motor. However, the moving magnet control method involves complex motion control, which restricts the smoothness of the motion. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a moving coil direct drive loop and its system and control method, which can make the object carrier slide move more smoothly and improve stability.

[0004] In a first aspect, the present application provides a moving coil direct drive loop, comprising:

[0005] A first transmission mechanism, the first transmission mechanism comprising a transmission slide and a first stator module, the first stator module being arranged at the bottom of the transmission slide;

[0006] a second transmission mechanism, the second transmission mechanism being spaced apart from the first transmission mechanism in a vertical direction and being parallel to the first transmission mechanism;

[0007] A lifting mechanism, wherein two lifting mechanisms are provided and are respectively arranged at the ends of the same side of the first transmission mechanism and the second transmission mechanism, the lifting mechanism comprises a servo motor, a bearing slide and a second stator module, the bearing slide is connected to the driving end of the servo motor, the second stator module is arranged at the bottom of the bearing slide, the bearing slide can be flush with the transmission slide through the servo motor, and the second stator module can be flush with the first stator module;

[0008] A plurality of carrier slides, each carrier slide is provided with a mover module; the carrier slide can be slidably disposed on the transmission slide and the mover module is inserted into the first stator module, or the carrier slide can be slidably disposed on the bearing slide and the mover module is inserted into the second stator module;

[0009] A zero-point sensing component is used to perform zero-point correction on the position of the object-carrying slide.

[0010] The moving coil direct-drive loop according to the first aspect embodiment of the present application has at least the following beneficial effects: the structure of the first transmission mechanism is similar to that of the second transmission mechanism, the first transmission mechanism, the second transmission mechanism and the two lifting mechanisms together constitute a circular production line, a number of carrier slides are provided on the circular line, the moving module on the carrier slide together with the first stator module and the second stator module constitute a moving coil coreless linear motor, the moving module slides on the first stator module or the second stator module to drive the carrier slide to slide on the first transmission mechanism or the second transmission mechanism, and the lifting mechanism is used to transport the carrier slide in the first transmission mechanism to the second transmission mechanism or the carrier slide in the second transmission mechanism to the first transmission mechanism, thereby realizing the cyclic sliding of the carrier slide on the circular production line, the zero point sensing component can be used to perform zero point correction for the carrier slide before starting, and the moving coil coreless linear motor is formed by the moving module together with the first stator module and the second stator module, which can make the movement of the carrier slide smoother and improve stability.

[0011] According to some embodiments of the first aspect of the present application, a first proximity switch is respectively provided at both ends of the transmission slide, and the first proximity switch is used to sense the position of the loading slide on the transmission slide; a second proximity switch is respectively provided at both ends of the load-bearing slide, and the second proximity switch is used to sense the position of the loading slide on the load-bearing slide.

[0012] According to some embodiments of the first aspect of the present application, the zero-point sensing component includes a zero-point sensing seat and a zero-point sensing switch, the zero-point sensing seat is arranged on the transmission slide and is located on the side of the sliding path of the carrier slide, and the zero-point sensing switch is arranged on the side wall of the carrier slide close to the zero-point sensing seat.

[0013] According to some embodiments of the first aspect of the present application, a magnetic scale is provided on the side wall of the transmission slide, and a magnetic scale reader corresponding to the magnetic scale is provided on the loading slide.

[0014] According to some embodiments of the first aspect of the present application, the mover module is I-shaped, and the first stator module and the second stator module are provided with installation grooves for sliding connection of one end of the mover module, and the other end of the mover module is connected to the loading slide.

[0015] In a second aspect, the present application also provides a moving coil direct drive loop system, comprising:

[0016] A moving coil direct drive loop as described in any one of the embodiments of the first aspect;

[0017] Communication modules, the number of which corresponds to the number of the object-carrying slides, and the communication modules are arranged on the object-carrying slides in a one-to-one correspondence;

[0018] A main control module, the main control module is electrically connected to the moving coil direct drive loop and the communication module respectively;

[0019] A host computer is connected to the communication module via wireless communication.

[0020] According to the moving coil direct-drive loop system of the second aspect embodiment of the present application, there are at least the following beneficial effects: in the moving coil direct-drive loop, the structure of the first transmission mechanism is similar to that of the second transmission mechanism, the first transmission mechanism, the second transmission mechanism and the two lifting mechanisms together constitute a circular production line, and a plurality of carrier slides are provided on the circular line, the movable module on the carrier slide together with the first stator module and the second stator module constitute a moving coil coreless linear motor, the movable module slides on the first stator module or the second stator module to drive the carrier slide to slide on the first transmission mechanism or the second transmission mechanism, and the lifting mechanism is used to transport the carrier slide in the first transmission mechanism to the second transmission mechanism or the carrier slide in the second transmission mechanism to the first transmission mechanism, thereby realizing the cyclic sliding of the carrier slide on the circular production line, the zero-point sensing component can be used to perform zero-point correction for the carrier slide before starting, and the movable module together with the first stator module and the second stator module constitute a moving coil coreless linear motor, which can make the movement of the carrier slide smoother and improve stability. Each loading slide is also provided with a communication module, which can be connected to the host computer by wireless communication, so as to send control instructions to each loading slide. The main control module controls the corresponding loading slide through the control instructions, providing a low-control cost and easy-to-use dynamic direct-drive loop system.

[0021] According to some embodiments of the second aspect of the present application, a wireless power supply system is further included, where the wireless power supply system is used to supply power to each mover module.

[0022] According to some embodiments of the second aspect of the present application, the host computer is connected to the communication module via TCP wireless communication, and the communication module is a TCP / RS232 conversion module.

[0023] In a third aspect, the present application also provides a moving coil direct drive loop control method, comprising:

[0024] Detecting and acquiring first position information of a loading slide on a first transmission mechanism;

[0025] According to the first position information, controlling the object-carrying slide to move to the zero point position on the first transmission mechanism to perform zero point correction;

[0026] Controlling the object-carrying slide after zero-point correction to move to a preset first target position in sequence;

[0027] Detecting and acquiring second position information of the object-carrying slide on the second transmission mechanism;

[0028] According to the second position information, controlling the object carriage to move to the zero point position on the second transmission mechanism to perform zero point calibration;

[0029] Controlling the object-carrying slide after zero-point correction to move to a preset second target position in sequence;

[0030] Instructions are sent to control the motion states of all the object-carrying slides, and the lifting states of the two lifting mechanisms located at both ends are controlled according to the motion states.

[0031] According to the moving coil direct drive loop control method of the third aspect embodiment of the present application, at least the following beneficial effects are achieved: before the moving coil direct drive loop is started, the first position information of the carrier slide on the first transmission mechanism is detected and obtained in sequence, and according to the first position information, the carrier slide is controlled to move to the zero position on the first transmission mechanism for zero point correction, and the carrier slide after zero point correction is controlled to move to the preset first target position in sequence; the second position information of the carrier slide on the second transmission mechanism is detected and obtained; according to the second position information, the carrier slide is controlled to move to the zero position on the second transmission mechanism for zero point correction; and the carrier slide after zero point correction is controlled to move to the preset second target position in sequence. After all the carrier slides on the circular production line are zero-corrected in sequence, instructions are sent to control the motion state of all the carrier slides, and the lifting state of the two lifting mechanisms at both ends is controlled according to the motion state, providing a moving coil direct drive loop control method with low control cost and convenient use.

[0032] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0034] Figure 1 It is a schematic structural diagram of a moving coil direct drive loop of some embodiments of the present application;

[0035] Figure 2 For this application Figure 1 A partial enlarged schematic diagram of area A;

[0036] Figure 3 This is a schematic structural diagram of a first stator module and a mover module of some embodiments of the present application;

[0037] Figure 4It is a schematic structural diagram of a moving coil direct drive loop of some embodiments of the present application;

[0038] Figure 5 Flow chart of a moving coil direct drive loop control method according to some embodiments of the present application.

[0039] The figures are as follows:

[0040] The first transmission mechanism 100; the transmission slide 110; the first stator module 120; the first proximity switch 130; the second transmission mechanism 200; the lifting mechanism 300; the servo motor 310; the load-bearing slide 320; the second stator module 330; the second proximity switch 340; the loading slide 400; the moving module 410; the zero point sensing seat 510; the zero point sensing switch 520; the magnetic scale 530; and the magnetic scale reader 540. DETAILED DESCRIPTION

[0041] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0042] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0043] In the description of this application, if there is a description of first or second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0044] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0045] First, refer to Figure 1 and Figure 4The present application provides a moving coil direct-drive loop line, comprising: a first transmission mechanism 100, a second transmission mechanism 200, a lifting mechanism 300, a plurality of loading slides 400 and a zero-point sensing component, wherein the first transmission mechanism 100 comprises a transmission slide 110 and a first stator module 120, and the first stator module 120 is arranged at the bottom of the transmission slide 110; the second transmission mechanism 200 is arranged at a distance from the first transmission mechanism 100 in the vertical direction, and is parallel to the first transmission mechanism 100; there are two lifting mechanisms 300, which are respectively arranged at the ends of the same side of the first transmission mechanism 100 and the second transmission mechanism 200, and the lifting mechanism 300 comprises a servo motor 310, a loading slide 320 and a second stator module Group 330, the carrying slide 320 is connected to the driving end of the servo motor 310, the second stator module 330 is arranged at the bottom of the carrying slide 320, the carrying slide 320 can be flush with the transmission slide 110 through the servo motor 310, and the second stator module 330 can be flush with the first stator module 120; a movable module 410 is provided on the object slide 400; the object slide 400 can be slidably set on the transmission slide 110 and the movable module 410 is inserted into the first stator module 120, or, the object slide 400 can be slidably set on the carrying slide 320 and the movable module 410 is inserted into the second stator module 330; the zero point sensing component is used to perform zero point correction on the position of the object slide 400.

[0046] The structure of the first transmission mechanism 100 is similar to that of the second transmission mechanism 200. The first transmission mechanism 100, the second transmission mechanism 200 and the two lifting mechanisms 300 together form a circular production line, on which a plurality of object slides 400 are arranged. The moving submodule 410 on the object slide 400 and the first stator module 120 and the second stator module 330 together form a moving coil type coreless linear motor. The moving submodule 410 slides on the first stator module 120 or the second stator module 330 to drive the object slide 400 to move on the first transmission mechanism 100 or the second transmission mechanism 200. The carrier slide 400 slides upward and is transported from the first transmission mechanism 100 to the second transmission mechanism 200 or from the second transmission mechanism 200 to the first transmission mechanism 100 through the lifting mechanism 300, thereby realizing the circular sliding of the carrier slide 400 on the circular production line. The zero-point sensing component can be used to perform zero-point correction for the carrier slide 400 before starting. The movable coil coreless linear motor is formed by the movable submodule 410, the first stator module 120 and the second stator module 330, so that the carrier slide 400 can move more smoothly and improve stability.

[0047] Continue to refer to Figure 1 and Figure 4It can be understood that the first proximity switches 130 are respectively provided at both ends of the transmission slide 110, and the first proximity switches 130 are used to sense the position of the object slide 400 on the transmission slide 110. The second proximity switches 340 are respectively provided at both ends of the load-bearing slide 320, and the second proximity switches 340 are used to sense the position of the object slide 400 on the load-bearing slide 320. The position of the object slide 400 on the transmission slide 110 is sensed by the first proximity switches 130, and correspondingly, the second proximity switches 340 are also provided at both ends of the transmission slide 110 of the second transmission mechanism 200. For example, when the first proximity switch 130 at one end of the transmission slide 110 on the first transmission mechanism 100 senses the approach of the object slide 400, it detects the position of the load slide 320 of the lifting mechanism 300 at the corresponding position. If the load slide 320 of the lifting mechanism 300 is located at the upper layer, the object slide 400 continues to slide to the load slide 320 and stops; if the load slide 320 of the lifting mechanism 300 is located at the lower layer, the object slide 400 stops and waits on the transmission slide 110 until the load slide 320 rises to the upper layer, and then continues to start sliding to the load slide 320. Similarly, in addition to sensing the position of the load slide 400 on the load slide 320, the second proximity switch 340 can also determine whether there is a load slide 400 on the load slide 320 to avoid collisions caused by multiple load slides 400 entering the same load slide 320 at the same time.

[0048] Continue to refer to Figure 1 and Figure 4 It can be understood that the zero-point sensing component includes a zero-point sensing seat 510 and a zero-point sensing switch 520. The zero-point sensing seat 510 is arranged on the transmission slide 110 and is located beside the sliding path of the object slide 400. The zero-point sensing switch 520 is arranged on the side wall of the object slide 400 close to the zero-point sensing seat 510. When the object slide 400 slides on the transmission slide 110, when the zero-point sensing switch 520 located on the side wall of the object slide 400 senses the corresponding zero-point sensing seat 510, it means that the object slide 400 is located at the zero-point position, which can be used for the reset correction of the moving coil direct drive loop of the present application at the start-up.

[0049] Reference Figure 2 It can be understood that a magnetic scale 530 is provided on the side wall of the transmission slide 110, and a magnetic scale reader 540 corresponding to the magnetic scale 530 is provided on the object slide 400. The magnetic scale reader 540 on the object slide 400 cooperates with the magnetic scale 530 on the side wall of the transmission slide 110, so that the position of the object slide 400 can be accurately fed back.

[0050] Reference Figure 3The mover module 410 is in an I-shape, and a mounting groove for sliding connection of one end of the mover module 410 is provided in the first stator module 120 and the second stator module 330, and the other end of the mover module 410 is connected to the object slide 400. The I-shape of the mover module 410 enables the mover module 410 to stably slide in the mounting grooves in the first stator module 120 and the second stator module 330, and is not easy to fall off, thereby improving the overall stability.

[0051] In the second aspect, the present application also provides a moving coil direct-drive loop system, including a moving coil direct-drive loop, a communication module, a main control module and a host computer as in any embodiment of the first aspect, the number of communication modules corresponds to the number of carrier slides 400, and the communication modules are arranged one by one on the carrier slides 400; the main control module is electrically connected to the moving coil direct-drive loop and the communication module, respectively; and the host computer is wirelessly connected to the communication module. In the moving coil direct drive loop, the structure of the first transmission mechanism 100 is similar to that of the second transmission mechanism 200. The first transmission mechanism 100, the second transmission mechanism 200 and the two lifting mechanisms 300 together form a ring production line. A plurality of carrier slides 400 are arranged on the ring line. The moving submodule 410 on the carrier slide 400 and the first stator module 120 and the second stator module 330 together form a moving coil coreless linear motor. The moving submodule 410 slides on the first stator module 120 or the second stator module 330 to drive the carrier slide 400 to move on the first transmission mechanism 100 or the second transmission mechanism 100. The carrier slide 400 slides on the mechanism 200, and the lifting mechanism 300 transports the carrier slide 400 in the first transmission mechanism 100 to the second transmission mechanism 200 or transports the carrier slide 400 in the second transmission mechanism 200 to the first transmission mechanism 100, so as to realize the circular sliding of the carrier slide 400 on the circular production line. The zero-point sensing component can be used to perform zero-point correction for the carrier slide 400 before starting. The moving coil coreless linear motor is formed by the moving submodule 410, the first stator module 120, and the second stator module 330, so that the carrier slide 400 can move more smoothly and improve stability. Each carrier slide 400 is also provided with a communication module, which can be connected to the host computer by wireless communication, so as to send control instructions to each carrier slide 400. The main control module controls the corresponding carrier slide 400 through the control instructions, providing a low-control cost and easy-to-use moving coil direct-drive loop system.

[0052] It should be noted that the number of master control modules can correspond to the number of the object-carrying slides 400, and the corresponding object-carrying slides 400 can be controlled separately, or one can be set to control multiple object-carrying slides 400 at the same time, which is not limited in this application. At the same time, the host computer can be a computer terminal or a mobile phone terminal, etc., which is not limited in this application. The host computer can control the motion state of each object-carrying slide 400, and can also check the current motion position of each slider, and can also check the specific position of the load-carrying slide 320, etc., which is not limited in this application.

[0053] It is understandable that the moving coil direct drive loop system provided by the present application also includes a wireless power supply system, which is used to power each moving submodule. By powering each moving submodule with the wireless power supply system, interference with the layout of the wired power supply line can be eliminated, thereby improving the sliding stability of the object slide 400.

[0054] It is understandable that the host computer and the communication module are connected via TCP wireless communication, and the communication module is a TCP / RS232 conversion module, which makes the communication between the object slide 400 and the host computer more stable and reduces the packet loss rate.

[0055] In a third aspect, the present application further provides a moving coil direct drive loop control method, which is applied to a moving coil direct drive loop, specifically a moving coil direct drive loop of any embodiment of the first aspect, including but not limited to the following steps:

[0056] Step S110: Detecting and acquiring first position information of a loading slide on a first transmission mechanism;

[0057] Step S120: According to the first position information, the object-carrying slide is controlled to move to the zero point position on the first transmission mechanism to perform zero point calibration;

[0058] Step S130: sequentially controlling the zero-point-calibrated object-carrying slide to move to a preset first target position;

[0059] Step S140: Detecting and acquiring second position information of the object-carrying slide on the second transmission mechanism;

[0060] Step S150: According to the second position information, the object-carrying slide is controlled to move to the zero point position on the second transmission mechanism for zero point calibration;

[0061] Step S160: sequentially controlling the zero-point-calibrated object-carrying slide to move to a preset second target position;

[0062] Step S170: Sending instructions to control the motion state of all the object-carrying slides, and controlling the lifting state of the two lifting mechanisms located at both ends according to the motion state.

[0063] Before the moving coil direct drive loop is started, the first position information of the carrier slide 400 located on the first transmission mechanism 100 is detected and obtained in sequence, and according to the first position information, the carrier slide 400 is controlled to move to the zero position on the first transmission mechanism 100 for zero point correction, and the carrier slide 400 after zero point correction is controlled to move to the preset first target position in sequence; the second position information of the carrier slide 400 located on the second transmission mechanism 200 is detected and obtained; according to the second position information, the carrier slide 400 is controlled to move to the zero position on the second transmission mechanism 200 for zero point correction; and the carrier slide 400 after zero point correction is controlled to move to the preset second target position in sequence. After all the carrier slides 400 on the circular production line are zero-corrected in sequence, instructions are sent to control the motion state of all the carrier slides 400, and the lifting state of the two lifting mechanisms 300 located at both ends is controlled according to the motion state, providing a moving coil direct drive loop control method with low control cost and convenient use.

[0064] It is understandable that before step S110, the following steps are also included but not limited to:

[0065] The communication status with each carrier slide is obtained, and the abnormal condition of the carrier slide is detected according to the communication status.

[0066] First, determine whether each loading platform 400 is capable of wireless communication, so as to avoid collision caused by the conflict between some sub-loading platforms 400 and the movement trajectory of other loading platforms 400 due to failure to receive the operation instruction.

[0067] It should be noted that the dynamic coil direct-drive loop of the present application can be used in a production line. For example, the first transmission mechanism 100 is located on the upper production line, the second transmission mechanism 200 is located on the lower production line, the loading slide 400 is placed on the processed products, and the first transmission mechanism 100 is provided with a plurality of processing stations. The loading slide 400 moves sequentially from the first transmission mechanism 100 to each processing station in sequence, and stops at each processing station to wait for the completion of the preset processing, and then continues to start and move to the next station. When all the processing stations of the first transmission mechanism 100 are completed, the loading slide 400 is moved to the next station. When the product is at the work station, it means that the processing of the product is completed. The lifting mechanism 300 at one end transports the loading slide 400 located on the first transmission mechanism 100 to the second transmission mechanism 200. The product moves to the designated position for unloading with the second transmission mechanism 200. For example, the unloading is completed by grabbing the product on the loading slide 400 by a manipulator. The loading slide 400 slides to the other end with the second transmission mechanism 200, and is transported to the starting point of the first transmission mechanism 100 again through the lifting mechanism 300 at the other end and reloaded, and the process is repeated continuously to form a circular production line. The specific application scenario of the dynamic coil direct drive loop provided in this application is not specifically limited in this application.

[0068] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present application.

Claims

1. A moving coil direct drive loop, characterized in that: include: A first transmission mechanism, the first transmission mechanism comprising a transmission slide and a first stator module, the first stator module being arranged at the bottom of the transmission slide; a second transmission mechanism, the second transmission mechanism being spaced apart from the first transmission mechanism in a vertical direction and being parallel to the first transmission mechanism; A lifting mechanism, wherein two lifting mechanisms are provided and are respectively arranged at the ends of the same side of the first transmission mechanism and the second transmission mechanism, the lifting mechanism comprises a servo motor, a bearing slide and a second stator module, the bearing slide is connected to the driving end of the servo motor, the second stator module is arranged at the bottom of the bearing slide, the bearing slide can be flush with the transmission slide through the servo motor, and the second stator module can be flush with the first stator module; A plurality of carrier slides, each carrier slide is provided with a mover module; the carrier slide can be slidably disposed on the transmission slide and the mover module is inserted into the first stator module, or the carrier slide can be slidably disposed on the bearing slide and the mover module is inserted into the second stator module; A zero-point sensing component, wherein the zero-point sensing component is used to perform zero-point correction on the position of the object-carrying slide; Wherein, a first proximity switch is respectively provided at both ends of the transmission slide, and the first proximity switch is used to sense the position of the loading slide on the transmission slide; a second proximity switch is respectively provided at both ends of the load-bearing slide, and the second proximity switch is used to sense the position of the loading slide on the load-bearing slide.

2. The moving coil direct drive loop according to claim 1, characterized in that: The zero-point sensing component includes a zero-point sensing seat and a zero-point sensing switch. The zero-point sensing seat is arranged on the transmission slide and is located beside the sliding path of the object carrier slide. The zero-point sensing switch is arranged on the side wall of the object carrier slide close to the zero-point sensing seat.

3. The moving coil direct drive loop according to claim 1, characterized in that: A magnetic scale is provided on the side wall of the transmission slideway, and a magnetic scale reader corresponding to the magnetic scale is provided on the object loading slide.

4. The moving coil direct drive loop according to claim 1, characterized in that: The movable module is in an I-shape, and a mounting groove for sliding connection of one end of the movable module is provided in the first stator module and the second stator module, and the other end of the movable module is connected to the object carriage.

5. A moving coil direct drive loop system, characterized in that: include: The moving coil direct drive loop as claimed in any one of claims 1 to 4; Communication modules, the number of which corresponds to the number of the object-carrying slides, and the communication modules are arranged on the object-carrying slides in a one-to-one correspondence; A main control module, the main control module is electrically connected to the moving coil direct drive loop and the communication module respectively; A host computer is connected to the communication module via wireless communication.

6. The moving coil direct drive loop system according to claim 5, characterized in that: Also included is a wireless power supply system, which is used to supply power to each mover module.

7. The moving coil direct drive loop system according to claim 5, characterized in that: The host computer is connected to the communication module via TCP wireless communication, and the communication module is a TCP / RS232 conversion module.

8. A moving coil direct drive loop control method, characterized in that: Applied to the moving coil direct drive loop according to any one of claims 1 to 4, the control method comprises: Detecting and acquiring first position information of a loading slide on a first transmission mechanism; According to the first position information, controlling the object-carrying slide to move to the zero point position on the first transmission mechanism to perform zero point correction; Controlling the object-carrying slide after zero-point correction to move to a preset first target position in sequence; Detecting and acquiring second position information of the object-carrying slide on the second transmission mechanism; According to the second position information, controlling the object carriage to move to the zero point position on the second transmission mechanism to perform zero point calibration; Controlling the object-carrying slide after zero-point correction to move to a preset second target position in sequence; Instructions are sent to control the motion states of all the object-carrying slides, and the lifting states of the two lifting mechanisms located at both ends are controlled according to the motion states.

9. The moving coil direct drive loop control method according to claim 8, characterized in that: Before the step of detecting and acquiring the first position information of a plurality of object-carrying slides on the first transmission mechanism, the method further includes: The communication status with each of the object-carrying slides is acquired, and an abnormal condition of the object-carrying slide is detected according to the communication status.

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