A modular circular logistics transport device based on linear motor

Abstract

The present invention relates to the field of logistics and transportation technology, and discloses a modular annular logistics and transportation device based on a linear motor, comprising a guide frame and a plurality of magnetic group modules located on the guide frame, wherein the guide frame is a closed-loop structure, and a plurality of motor stators are laid on the upper and lower ends of the guide frame, and the magnetic group module comprises a U-shaped back iron, and a plurality of motor movers are respectively arranged on the upper and lower ends of the U-shaped back iron, and the motor movers and the motor stators corresponding to the upper and lower ends repel each other, and the U-shaped back iron performs periodic motion around the guide frame, and a guide rail for guiding the magnetic group module is arranged below the guide frame, and a linear motor with an iron core is used as a drive to change the relative position between the stator and the mover, so that when the mover seat bears weight, a part of the weight can be relieved by the repulsive force between the mover and the stator, thereby reducing the pressure directly acting on the guide rail below, and reducing the wear of the guide rail, so as to keep it in a good operating state.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics transportation, and in particular to a modular annular logistics transportation device based on a linear motor. Background Art

[0002] Logistics includes multiple components, among which transportation and circulation processing require multiple different processing steps such as metering, sorting and splitting of items at logistics nodes. In order to meet the increasing logistics volume, conveying devices will be used at the nodes to quickly sort, split and transport items.

[0003] In conventional logistics transportation, the conveying device used for sorting and metering, due to the load, acts on the guide rail below due to its own weight and the weight of the load during use. During use, the guide rail is severely worn, which has a great impact on the overall smooth operation of the equipment, resulting in derailment, deviation, etc. In addition, since the transportation line is a closed-loop structure, when the equipment works on a curved path, the centrifugal force causes the mover seat to be unable to maintain a constant speed on the curved path, and speed limitation is required to reduce the wear between the mover seat and the stator seat. For this reason, a modular annular logistics transportation device based on a linear motor is proposed. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a modular annular logistics transportation device based on linear motors, which has the advantages of reducing guide rail wear and maintaining high speed on curved paths. It solves the problem of severe guide rail wear and inability to maintain constant speed on curved paths during logistics transportation using conventional linear motors.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a modular annular logistics transportation device based on a linear motor, comprising a guide frame and a plurality of magnetic group modules located on the guide frame, the guide frame being a closed-loop structure, a plurality of motor stators being laid at the upper and lower ends of the guide frame, the magnetic group module comprising a U-shaped back iron, a plurality of motor movers being respectively arranged at the upper and lower ends of the U-shaped back iron, the motor movers corresponding to the upper and lower ends being mutually exclusive with the motor stator, the U-shaped back iron performing periodic motion around the guide frame, a guide rail for guiding the magnetic group module being arranged at the bottom of the guide frame, a blocking assembly being connected to the inside of the U-shaped back iron, and a blocking assembly being arranged on the blocking assembly A base plate mover is inserted into the guide frame. The base plate mover and the motor stators at the upper and lower ends of the guide frame repel each other. An iron core linear motor is used as a drive to change the relative position between the stator and the mover. When the mover seat bears weight, the repulsive force between the mover and the stator can relieve part of the weight, thereby reducing the pressure directly acting on the guide rail below, reducing the wear of the guide rail, and keeping it in good operating condition. At the same time, an elastic connection method is arranged between the mover seat and the roller below. When the mover seat sinks due to gravity, the buffering effect of the elastic connection can further reduce the pressure on the guide rail, thereby increasing the service life of the guide rail.

[0006] Preferably, the guide frame is composed of a linear guide frame and a bow-shaped guide frame, which are respectively a straight transport section and a bow-shaped transport section. A partition groove is opened along the guide frame, and the blocking assembly is inserted into the partition groove. An expansion groove is opened on the outer side of the partition groove. The blocking assembly is provided with a rotating wheel placed in the expansion groove. The rotating wheel is placed in the expansion groove. When the device moves to a curved path, it can be used to counteract the centrifugal force, so that the device maintains a high-speed moving state and avoids speed reduction.

[0007] Preferably, the blocking assembly includes a positioning base plate, and the rotating wheel is opened at the upper and lower ends of the positioning base plate. The expansion groove extends to the upper and lower sides of the guide frame with the partition groove as the midpoint, and the two rotating wheels are correspondingly placed in the upper and lower expansion grooves. The rotating wheel does not contact the two sides of the expansion groove corresponding to the straight guide frame section, and the rotating wheel contacts the outer side wall of the expansion groove corresponding to the bow-shaped guide frame section. The rotating wheel does not contact the guide frame in the straight area, which can prevent the device from contacting the guide frame when traveling in a straight line, thereby interfering with the movement of the device. In the bow-shaped area, the rotating wheel fits against the outer side wall of the expansion groove and can be used to counteract the effect of centrifugal force.

[0008] Preferably, several motor stators installed at the upper and lower ends of the guide frame extend into the partition slot, and the substrate mover is on the positioning substrate, and its upper and lower ends protrude from the upper and lower surfaces of the positioning substrate. The upper and lower ends of the substrate mover and the motor stators on the upper and lower sides are in a mutually exclusive state, so that when the substrate is in the partition slot, it can be in a suspended state and does not contact the structure of the surrounding guide frame, so as to avoid affecting the device in the operating state.

[0009] Preferably, a limit frame is provided inside the U-shaped back iron, one end of the positioning substrate is connected to a card plate and placed in the limit frame, the limit frame limits the positioning substrate through the card plate, the positioning substrate can be swayed up and down and left and right along the limit frame, the outer wall of the expansion slot area corresponding to the arched guide frame is retracted, and the positioning substrate in the active state can reduce the impact on the positioning substrate when it connects the arched area from the straight area.

[0010] Preferably, two pairs of guide wheels are arranged below the U-shaped back iron, and the two pairs of guide wheels are arranged on both sides of the guide rail. A connecting rod is arranged between the guide wheel and the U-shaped back iron. An annular groove is provided at the middle of the connecting rod and the bottom end of the U-shaped back iron corresponding to the connecting rod. The connecting rod can be inserted into the groove. A buffer spring is arranged on the outside of the connecting rod, and both ends of the buffer spring are between the guide wheel and the U-shaped back iron. By arranging an elastic connection between the mover seat and the roller below, when the mover seat sinks due to gravity, the pressure on the guide rail can be further reduced through the buffering effect of the elastic connection, so as to increase the service life of the guide rail.

[0011] Preferably, a connection module is provided in the guide frame, a driver is provided in the connection module, an encoder is provided at the bottom of the connection module, the driver is a control unit, a signal magnetic backplate is provided at the bottom of the U-shaped back iron, a magnetic field is formed between the encoder and the signal magnetic backplate, the specific position of the transport device can be detected by the encoder, and the transport device can be controlled by the cooperation between the driver and the encoder.

[0012] Preferably, diaphragms are provided at the upper and lower ends of the guide frame, and the diaphragms cover the motor stator. Air gaps are formed between the motor mover on the U-shaped back iron and the upper and lower diaphragms. When the transportation system is in a no-load state, the normal attractions generated by the upper and lower sides of the double sides are offset against each other. When the transportation system is in a heavy-load state, the air gaps on both sides automatically move up and down for adjustment to offset the weight brought by the heavy objects, reduce the pressure of the rollers on the slide rails, and ensure smooth and efficient transportation of the drive parts.

[0013] Preferably, the upper and lower ends of the U-shaped back iron are both arranged on the mover magnetic back plate, and a plurality of motor movers are correspondingly fixedly mounted on the mover magnetic back plates at the upper and lower ends to fix the motor movers.

[0014] Compared with the prior art, the present invention provides a modular annular logistics transport device based on a linear motor, which has the following beneficial effects:

[0015] 1. An iron core linear motor is used as the drive to change the relative position between the stator and the mover, so that when the mover seat bears weight, it can relieve part of the weight through the repulsive force between the mover seat and the stator, reduce the pressure directly acting on the lower guide rail, reduce the wear of the guide rail, and keep it in good operating condition. At the same time, an elastic connection is set between the mover seat and the lower roller. When the mover seat sinks due to gravity, the buffering effect of the elastic connection can further reduce the pressure on the guide rail, thereby increasing the service life of the guide rail;

[0016] 2. Since stators are provided on the upper and lower layers of the guide frame, a guide substrate is provided on the mover seat and inserted between the upper and lower stators. At the same time, another group of movers is provided on the substrate. When placed between the two layers of stators, they are in a mutually exclusive state with the stators in the upper and lower directions, so that the substrate is also in a suspended state. When the device is running, it will not contact the guide frame and affect the movement of the mover seat. At the same time, a rotating wheel is provided on the substrate. When the moving path of the mover seat is arched, the rotating wheel can contact the outer side wall of the expansion slot on the guide frame to counteract the centrifugal force, so that the device can still maintain high-speed movement even on a curved path. In addition, it is avoided that the device is tilted due to the action of centrifugal force and affects the guide rail below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the appearance structure of the main door of a modular annular logistics transportation device based on a linear motor according to the present invention;

[0018] Figure 2 This is a schematic diagram of the bottom appearance structure of a modular annular logistics transportation device based on a linear motor according to the present invention;

[0019] Figure 3 It is a cross-sectional view of the structure of the partial connection state of the magnetic group module and the guide frame of a modular annular logistics transportation device based on a linear motor of the present invention;

[0020] Figure 4 This is a schematic diagram of the structure of a magnetic group module of a modular annular logistics transportation device based on a linear motor according to the present invention;

[0021] Figure 5 A schematic diagram of a motor stator layout structure and a slot separation and expansion structure of a guide frame of a modular annular logistics transport device based on a linear motor according to the present invention;

[0022] Figure 6 It is a schematic diagram of the position of the mover and the guide structure of the rotating wheel on the magnetic group module of a modular annular logistics transportation device based on a linear motor according to the present invention;

[0023] Figure 7It is a schematic diagram of the corresponding expansion slot structure of the linear guide frame and the arched guide frame of a modular annular logistics transportation device based on a linear motor according to the present invention;

[0024] Figure 8 It is a schematic diagram of the position structure of the main door driver of the magnetic group module of a modular annular logistics transportation device based on a linear motor according to the present invention;

[0025] Fig. 9 This is a schematic diagram of the encoder position structure at the bottom of the magnetic group module of a modular annular logistics transportation device based on a linear motor according to the present invention;

[0026] Fig.10 The present invention is a schematic structural diagram of the magnetic relationship between stators and movers of a modular annular logistics transportation device based on a linear motor.

[0027] In the figure: 1. load conveying platform; 2. guide rail; 3. magnetic group module; 11. guide frame; 12. connection module; 13. diaphragm; 14. motor stator; 15. positioning sleeve; 111. linear guide frame; 112. expansion slot; 113. partition slot; 114. bow guide frame; 121. driver; 122. encoder; 31. U-shaped back iron; 32. mover magnetic back plate; 33. motor mover; 34. limit frame; 35. blocking assembly; 36. connecting rod; 37. guide wheel; 38. signal magnetic back plate; 351. positioning substrate; 352. rotating wheel; 353. substrate mover. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0030] As introduced in the background technology, there are deficiencies in the prior art. In order to solve the above technical problems, the present application proposes a modular annular logistics transportation device based on linear motors.

[0031] In a typical implementation of a modular circular logistics transport device based on a linear motor of the present application, Figure 1-10 As shown, a modular annular logistics transport device based on a linear motor includes a load conveying platform 1, a guide frame 11 constituting the load conveying platform 1, and a plurality of magnetic group modules 3 located on the guide frame 11, wherein the guide frame 11 is a closed-loop structure, the magnetic group modules 3 are magnetically connected to the guide frame 11, and perform periodic motion along the guide frame 11 and around it, and a guide rail 2 for guiding the magnetic group modules 3 is arranged below the guide frame 11;

[0032] The guide frame 11 is attached with a motor stator 14, and the main body of the magnetic group module 3 is composed of a U-shaped back iron 31, and the upper and lower ends thereof are both provided with motor movers 33. The U-shaped back iron 31 is magnetically connected to the guide frame 11, and the two are mutually exclusive. An air gap is formed between the upper and lower ends of the U-shaped back iron 31 and the guide frame 11, and the width of the upper and lower air gaps is automatically adjusted according to the load condition of the magnetic group module 3;

[0033] A blocking assembly 35 is arranged at the middle position inside the U-shaped back iron 31, and the blocking assembly 35 includes a positioning substrate 351, and a substrate mover 353 is arranged on the surface of the positioning substrate 351 and inserted into the middle position of the guide frame 11. The substrate mover 353 is magnetically connected to the motor stator 14 on the load conveying platform 1, and the two are mutually exclusive. The positioning substrate 351 is suspended in the middle of the inside of the guide frame 11, and a rotating wheel 352 is respectively arranged on the upper and lower surfaces of the positioning substrate 351 and is rollingly connected to the guide frame 11.

[0034] Specifically, the U-shaped back iron 31 is stuck on the guide frame 11. Since the upper and lower ends of the U-shaped back iron 31 are both provided with motor movers 33, and the upper and lower ends of the guide frame 11 are provided with motor stators 14 that are mutually exclusive with the opposite surfaces of the motor movers 33, and the upper and lower ends of the motor stators 14 are both covered with diaphragms 13, the contact between the U-shaped back iron 31 and the guide frame 11 is in a magnetic levitation state, and an air gap is formed between the two pairs of mutually exclusive stators and movers at the upper and lower ends. When the magnetic group module 3 is in a load state, the magnetic The group module 3 bears the weight and presses down, and part of its force acts on the lower guide rail 2. However, due to the sinking of the magnetic group module 3, the distance between the upper mutually repelling motor stator 14 and the motor mover 33 is reduced, and the repulsive force between the two is increased. The increased repulsive force acts on the magnetic group module 3 to relieve the force on the lower guide rail 2, thereby reducing the wear of the guide rail 2. It should be pointed out here that a pallet material frame can be set on the magnetic group module 3 for sorting express parcels, and the whole can be regarded as a transportation device;

[0035] The substrate mover 353 inserted into the guide frame 11 and the upper and lower motor stators 14 are also in a mutually exclusive state, positioning the connection between the substrate 351 and the U-shaped back iron 31, and the U-shaped back iron 31 only limits the blocking component 35 to a certain extent, so that Figure 3The U-shaped back iron 31 is a reference, and the blocking component 35 can be swung up and down and left and right relative to the U-shaped back iron 31, but cannot be swung forward and backward, that is, corresponding to the above description, when the magnetic group module 3 is loaded, it sinks, and because the blocking component 35 is connected to the U-shaped back iron 31, the blocking component 35 can rise relative to the U-shaped back iron 31 through the mutual repulsion between the substrate mover 353 and the upper and lower motor stators 14, so that the positioning substrate 351 is still in a suspended state inside the guide frame 11, that is, it keeps a constant position relative to the guide frame 11 to avoid collision with surrounding structures, so as to avoid damage caused by structural contact during the operation of the transportation device. At this time, the positioning substrate 351, which remains in a constant position relative to the guide frame 11, also has a constant position of the rotating wheel 352. When the setting is working, when the transportation device moves to a curved path, the centrifugal force of the magnetic group module 3 can be limited by the rotating wheel 352 to reduce the wear on the lower guide rail 2. For the description of the mutual repulsion between the stator and the mover, please refer to Fig.10 .

[0036] For further information, see Figures 1 to 4 A mover magnetic back plate 32 is respectively provided at the upper and lower ends inside the U-shaped back iron 31, which is used to fix several motor movers 33. Two pairs of guide wheels 37 are provided at the bottom of the U-shaped back iron 31. The two pairs of guide wheels 37 are connected to the guide rail 2. The guide wheels 37 are connected to the U-shaped back iron 31 through a connecting rod 36 provided on the upper side thereof. The interior of the connecting rod 36 is a hollow structure. An annular opening corresponding to the connecting rod 36 is provided at the bottom of the U-shaped back iron 31. The connecting rod 36 can be inserted into the annular opening, and the remaining part in the annular opening is inserted into the connecting rod 36 when the connecting rod 36 is inserted into the opening. In addition, a buffer spring is provided on the outside of the connecting rod 36, and the two ends of the spring are connected between the guide wheel 37 and the bottom of the U-shaped back iron 31.

[0037] Specifically, when the transport device is in a loaded state, a part of the weight borne by the U-shaped back iron 31, after being buffered by a pair of mutually exclusive motor stators 14 and motor movers 33, still has a part of gravity accompanying the sinking of the U-shaped back iron 31, acting on the guide rail 2 through the guide wheel 37. At this time, during the operation of the transport device, the pressure between the guide wheel 37 and the guide rail 2 will still remain at a relatively high state, and the wear on the guide rail 2 is still relatively large. Through the action of the connecting rod 36 and the buffer spring, a part of the relatively large pressure between the guide wheel 37 and the guide rail 2 can be relieved by the contraction of the connecting rod 36 toward the inside of the U-shaped back iron 31, so as to further reduce the pressure directly acting on the guide rail 2 by the guide wheel 37, so as to keep the guide rail 2 in a good operating state.

[0038] For further information, see Figures 5 to 7The guide frame 11 is composed of a symmetrical linear guide frame 111 and an arched guide frame 114. The motor stator 14 is arranged at the upper and lower ends of the linear guide frame 111 and the arched guide frame 114. The motor stator 14 is fastened to the guide frame 11 through its external positioning sleeve 15. A partition groove 113 is opened in the middle of the guide frame 11 along the layout path of the motor stator 14. The partition groove 113 runs through the surface of the guide frame 11, and the positioning substrate 351 is inserted into the partition groove 113. A part of the motor stators 14 at the upper and lower ends extends into the partition groove 113. An expansion groove 112 is opened on the outer side of the partition groove 113. The expansion groove 112 extends to the upper and lower sides, and the two rotating wheels 352 are located in the expansion grooves 112 on the upper and lower sides;

[0039] The expanded groove 112 corresponding to the side of the linear guide 111 is wider, and when the rotating wheel 352 is in this part of the expanded groove 112, it does not contact the side walls of the expanded groove 112. The expanded groove 112 corresponding to the side of the bow-shaped guide 114 has a thickened outer wall, and when the rotating wheel 352 is in this part of the expanded groove 112, it contacts the outer wall of the expanded groove 112.

[0040] Specifically, a limit frame 34 is provided in the middle of the magnetic group module 3, and a card plate is provided at the end of the blocking component 35 in the limit frame 34. Combined with the above, due to the limitation of the card plate structure, the blocking component 35 can only swing left and right and up and down, that is, when the card plate is in the limit position on the right side of the limit frame 34, the rotating wheel 352 still cannot contact the inner side wall of the expansion slot 112. Similarly, when the card plate is in the limit position on the left side of the limit frame 34, the rotating wheel 352 cannot dock with the outer side wall of the expansion slot 112 corresponding to the linear guide frame 111, that is, when the transport device is in a linear transport state, it is not affected by centrifugal force, and the rotating wheel 352 does not contact the two side walls of the expansion slot 112, and will not affect the movement of the transport device.

[0041] When the transport device moves to the expansion slot 112 corresponding to the arched guide frame 114 section, due to the thickening of the outer wall of the expansion slot 112 of this section, even when the pallet is in the extreme position on the right side of the limit frame 34, the rotating wheel 352 can still contact the outer wall of the expansion slot 112, that is, at this time, the transport device moves to the arched guide frame 114 section, and its movement is affected by the centrifugal force. The U-shaped back iron 31 deviates to the outside during movement, and at this time, the pallet is also affected by the centrifugal force of the U-shaped back iron 31 and is pulled outward, and the rotating wheel 352 and the arched guide frame 114 section are The outer wall of the expansion groove 112 contacts the inner guide wheel 37 to resist the centrifugal force on the curved path, so that the transport device can still maintain a high-speed motion state during the movement of the transport device. At the same time, the rotation of the rotating wheel 352 can minimize the impact on the movement of the U-shaped back iron 31. In addition, the centrifugal force will also act on the guide rail 2 below through the guide wheel 37. Through the setting of the rotating wheel 352, after resisting the centrifugal force, the pressure between the inner guide wheel 37 and the guide rail 2 due to the centrifugal force can also be reduced to reduce the wear of the guide rail 2.

[0042] It should also be pointed out that the positioning substrate 351 provided here does not restrict its left and right shaking, in order to prevent the width of the expansion slots 112 corresponding to both ends from changing when the transport device moves from the linear guide frame 111 to the arched guide frame 114, and to prevent the positioning substrate 351 from directly hitting the outer wall of the reduced expansion slot 112, causing damage to the card. In addition, the left, right, up, down, etc. directional limiting words mentioned in the aforementioned text are all Figure 3 For reference benchmark.

[0043] It should be supplemented that the load conveying platform 1 also includes a connection module 12, in which a driver 121 is arranged. The driver 121 is a control unit, and an encoder 122 is arranged at the bottom thereof. Corresponding to the encoder 122, a signal magnetic back plate 38 is arranged at the bottom of the U-shaped back iron 31, and a magnetic field signal source is formed between the signal magnetic back plate 38 and the encoder 122. The specific position of the transportation device can be detected by the encoder 122, and the transportation device can be controlled by the cooperation between the driver 121 and the encoder 122.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A modular annular logistics transport device based on a linear motor, comprising a guide frame (11) and a plurality of magnetic group modules (3) located on the guide frame (11), characterized in that: The guide frame (11) is a closed-loop structure. A plurality of motor stators (14) are laid on the upper and lower ends of the guide frame (11). The magnetic assembly module (3) comprises a U-shaped back iron (31). A plurality of motor movers (33) are respectively arranged on the upper and lower ends of the U-shaped back iron (31). The motor movers (33) and the motor stators (14) corresponding to the upper and lower ends are mutually exclusive. The U-shaped back iron (31) performs periodic motion around the guide frame (11). A guide rail (2) for guiding the magnetic assembly module (3) is arranged below the guide frame (11). A blocking component (35) is connected inside the U-shaped back iron (31). A base plate mover (353) is arranged on the blocking component (35) and inserted into the guide frame (11). The base plate mover (353) and the motor stators (14) at the upper and lower ends of the guide frame (11) are mutually exclusive. The guide frame (11) is composed of a linear guide frame (111) and an arched guide frame (114), which are respectively a straight transport section and an arched transport section. A partition groove (113) is provided along the guide frame (11), and the blocking component (35) is inserted into the partition groove (113). An expansion groove (112) is provided on the outer side of the partition groove (113). A rotating wheel (352) is provided on the blocking component (35) and is placed in the expansion groove (112). The blocking assembly (35) includes a positioning substrate (351), the rotating wheel (352) is provided at the upper and lower ends of the positioning substrate (351), the expansion groove (112) is taken as the midpoint by the partition groove (113), and extends toward the upper and lower sides of the guide frame (11), the two rotating wheels (352) are correspondingly placed in the upper and lower side expansion grooves (112), the rotating wheel (352) does not contact the two sides of the expansion groove (112) corresponding to the linear guide frame (111) section, and the rotating wheel (352) contacts the outer side wall of the expansion groove (112) corresponding to the arched guide frame (114) section.

2. A modular circular logistics transport device based on a linear motor according to claim 1, characterized in that: A plurality of motor stators (14) mounted on the upper and lower ends of the guide frame (11) extend into the partition groove (113); the substrate mover (353) is located on the positioning substrate (351); its upper and lower ends protrude from the upper and lower surfaces of the positioning substrate (351); the upper and lower ends of the substrate mover (353) and the motor stators (14) on the upper and lower sides are in a mutually exclusive state.

3. According to claim 1, a modular annular logistics transport device based on a linear motor is characterized in that: A limit frame (34) is arranged inside the U-shaped back iron (31); one end of the positioning substrate (351) is connected to a clamping plate and is placed in the limit frame (34); the limit frame (34) limits the positioning substrate (351) via the clamping plate; the positioning substrate (351) can be swung up and down and left and right along the limit frame (34).

4. The modular circular logistics transport device based on a linear motor according to claim 1, characterized in that: Two pairs of guide wheels (37) are arranged below the U-shaped back iron (31), and the two pairs of guide wheels (37) are arranged on both sides of the guide rail (2). A connecting rod (36) is arranged between the guide wheels (37) and the U-shaped back iron (31). An annular groove is provided in the middle of the connecting rod (36) and at the bottom end of the U-shaped back iron (31) corresponding to the connecting rod (36). The connecting rod (36) can be inserted into the groove. A buffer spring is arranged outside the connecting rod (36), and both ends of the buffer spring are located between the guide wheel (37) and the U-shaped back iron (31).

5. The modular circular logistics transport device based on a linear motor according to claim 1, characterized in that: A connection module (12) is arranged in the guide frame (11), a driver (121) is arranged in the connection module (12), an encoder (122) is arranged at the bottom of the connection module (12), the driver (121) is a control unit, a signal magnetic back plate (38) is arranged at the bottom of the U-shaped back iron (31), and a magnetic field is formed between the encoder (122) and the signal magnetic back plate (38).

6. The modular circular logistics transport device based on a linear motor according to claim 1, characterized in that: The upper and lower ends of the guide frame (11) are both provided with diaphragms (13), the diaphragms (13) covering the motor stator (14), and air gaps are formed between the motor mover (33) on the U-shaped back iron (31) and the upper and lower diaphragms (13).

7. The modular circular logistics transport device based on a linear motor according to claim 1, characterized in that: The upper and lower ends of the U-shaped back iron (31) are both arranged on the mover magnetic back plate (32), and a plurality of motor movers (33) are correspondingly fixedly mounted on the mover magnetic back plates (32) at the upper and lower ends.

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