Conveying system

Abstract

The present application discloses a conveying system, wherein the conveying system includes a mover module; a linear module is used to drive and guide the mover module to move in a straight line; a first arc module is used to drive and guide the mover module to move in an arc, the first arc module has a first arc coil plate, and the outer arc surface of the first arc coil plate is coupled with the mover module; and a second arc module is used to drive and guide the mover module to move in an arc, the second arc module has a second arc coil plate, and the inner arc surface of the second arc coil plate is coupled with the mover module. The linear module, the first arc module and the second arc module are arbitrarily spliced ​​along the conveying direction. The technical solution of the present application can realize a variety of conveying methods to adapt to different conveying needs.

Description

Technical Field

[0001] The present application relates to the technical field of conveying devices, and in particular to a conveying system. Background Art

[0002] With the continuous development of manufacturing technology, conveyor lines are widely used in various industries. The transmission of products through conveyor lines can improve the transportation efficiency of products.

[0003] In traditional application scenarios, the conveying method of the conveying system is usually linear transmission, which is relatively simple. However, with the diversification and complexity of production needs, this single conveying method has gradually revealed its limitations. Summary of the invention

[0004] The embodiment of the present application provides a conveying system that can realize a variety of conveying modes to adapt to different conveying needs.

[0005] An embodiment of the present application provides a conveying system, which includes a movable module; a linear module for driving and guiding the movable module to move in a straight line; a first arc module for driving and guiding the movable module to move in an arc shape, the first arc module having a first arc coil plate, and the outer arc surface of the first arc coil plate is coupled to the movable module; and a second arc module for driving and guiding the movable module to move in an arc shape, the second arc module having a second arc coil plate, and the inner arc surface of the second arc coil plate is coupled to the movable module; wherein the linear module, the first arc module and the second arc module are arbitrarily spliced ​​along the conveying direction.

[0006] In some embodiments, the conveying system includes a base, the linear module includes a linear stator body and a linear coil plate, the linear stator body is arranged on the base, the linear coil plate also includes a linear mounting end and a linear coupling end opposite to the linear mounting end, the linear mounting end is fixedly connected to the linear stator body, and the linear coupling end is used for magnetically coupling the mover module;

[0007] The first arc-shaped module further includes a first arc-shaped stator body, the first arc-shaped stator body is arranged on the base, the first arc-shaped coil plate includes a first mounting end and a first coupling end opposite to the first mounting end, the first mounting end is fixedly connected to the first arc-shaped stator body, and the first coupling end is used for magnetically coupling the mover module;

[0008] The second arc-shaped module also includes a second arc-shaped stator body, which is arranged on the base. The second arc-shaped coil plate includes a second mounting end and a second coupling end opposite to the second mounting end. The second mounting end is fixedly connected to the second arc-shaped stator body, and the second coupling end is used for magnetically coupling the movable submodule.

[0009] In some embodiments, at least one of the first arc-shaped coil plate, the second arc-shaped coil plate and the linear coil plate comprises a plurality of coils, and the plurality of coils are arranged in a UVW three-phase arrangement in an interval along the conveying direction.

[0010] In some embodiments, at least one of the first arc-shaped coil plate, the second arc-shaped coil plate and the linear coil plate comprises a coupling surface disposed toward the movable submodule, and along a direction perpendicular to the coupling surface, a plurality of the coils are stacked and arranged to form at least two layers of coil units;

[0011] Among the two adjacent layers of coil units, at least part of the coil of the coil unit of the upper layer is located between two adjacent coils of the coil unit of the lower layer, and the coil is manufactured by winding, or the coil is manufactured by a printed circuit board process.

[0012] In some embodiments, at least one of the first arc-shaped coil plate, the second arc-shaped coil plate and the linear coil plate comprises a first protrusion and a second protrusion disposed opposite to each other along the conveying direction, and at least part of the coil is disposed in the first protrusion and the second protrusion;

[0013] The lower surface of the first protrusion of two adjacent coil plates among the first arc coil plate, the second arc coil plate and the linear coil plate is spliced ​​with the upper surface of the second protrusion of the other coil plate.

[0014] In some embodiments, the coil located on the first arc-shaped coil plate includes a first outer arc end close to the first mounting end and a second outer arc end close to the first coupling end, the boundary contour formed by the first outer arc ends of the plurality of coils on the first arc-shaped coil plate is parallel to the arc surface of the first mounting end, and the boundary contour formed by the second outer arc ends of the plurality of coils on the first arc-shaped coil plate is parallel to the arc surface of the first coupling end;

[0015] And / or, the coil located on the second arc-shaped coil plate includes a first inner arc end close to the second mounting end and a second inner arc end close to the second coupling end, the boundary contour formed by the first inner arc ends of the plurality of coils on the second arc-shaped coil plate is parallel to the arc surface of the second mounting end, and the boundary contour formed by the second inner arc ends of the plurality of coils on the second arc-shaped coil plate is parallel to the arc surface of the second coupling end;

[0016] And / or, the coil located on the linear coil plate includes a linear first end close to the linear mounting end and a linear second end close to the linear coupling end, the boundary contour formed by the linear first ends of the multiple coils on the linear coil plate is parallel to the arc surface of the coil mounting end, and the boundary contour formed by the linear second ends of the multiple coils on the linear coil plate is parallel to the arc surface of the linear coupling end.

[0017] In some embodiments, the arc length of the arc surface of the first mounting end is equal to the arc length of the arc surface of the second mounting end, and the curvature of the arc surface of the first mounting end is equal to the curvature of the arc surface of the second mounting end.

[0018] In some embodiments, the radius difference between the arc surface of the first mounting end and the arc surface of the first coupling end is equal to the radius difference between the arc surface of the second mounting end and the arc surface of the second coupling end;

[0019] and / or, the width of the linear coil plate is equal to the radius difference between the arc surface of the first mounting end and the arc surface of the first coupling end;

[0020] And / or, the width of the linear coil plate is equal to the radius difference between the arc surface of the second mounting end and the arc surface of the second coupling end.

[0021] In some embodiments, the mover module includes a mover body and a permanent magnet array, the mover body has a through slot, the through slot extends along a first preset direction to penetrate through both ends of the mover body, and the through slot extends along a second preset direction to connect to a slot opening of the through slot on one side of the mover body, the through slot includes a first slot wall, a second slot wall and a third slot wall, the third slot wall is arranged opposite to the slot opening, the first slot wall and the second slot wall are arranged opposite to each other, and are respectively located on both sides of the third slot wall;

[0022] At least one of the first slot wall and the second slot wall is provided with the permanent magnet array, and the permanent magnet array is used for magnetic coupling with the linear module, the first arc-shaped coil plate and the second arc-shaped coil plate.

[0023] In some embodiments, the permanent magnet array includes a plurality of permanent magnets, the plurality of permanent magnets are arranged along the first preset direction, the permanent magnets have a first end face and a second end face that are arranged opposite to each other in the second preset direction, and the first end face is arranged closer to the notch than the second end face;

[0024] The first end surfaces of at least some adjacent permanent magnets are arranged in a stepped manner along a first preset direction.

[0025] In some embodiments, the plurality of permanent magnets are arranged in a Halbach array, or the polarity arrangement period of the plurality of permanent magnets along the first preset direction is an NHSH period, an NHS period, or an NS period, N represents the North Pole, S represents the South Pole, H represents the Halbach array, and the magnetic field of the first end surface is greater than the magnetic field of the second end surface;

[0026] In some of the embodiments, in the first preset direction, the central axis of the permanent magnet located in the center is used as the axis of symmetry, multiple permanent magnets are symmetrically arranged with respect to the axis of symmetry, and second end faces of multiple permanent magnets are coplanarly arranged. In the second preset direction, the length of at least part of the permanent magnets close to the axis of symmetry is greater than the length of the permanent magnets far away from the axis of symmetry.

[0027] In some embodiments, the permanent magnet array includes a plurality of magnetic blocks sequentially spliced ​​along the first preset direction, and each of the magnetic blocks includes at least two permanent magnets;

[0028] Wherein, the lengths of the permanent magnets in each of the magnetic blocks in the second preset direction are the same, or the lengths of the permanent magnets in each of the magnetic blocks in the second preset direction are different.

[0029] In some embodiments, each of the magnetic blocks includes three permanent magnets. In the first preset direction, the polarity arrangement of the three permanent magnets of the nth magnetic block is NHS, and the polarity arrangement of the three permanent magnets of the n+1th magnetic block is HXH, wherein n is a positive odd number, X is N or S, N represents the North Pole, S represents the South Pole, and H represents the Halbach array.

[0030] In some embodiments, the magnetic blocks located at both ends of the first preset direction are secondary magnetic blocks, and the secondary magnetic blocks include at least two permanent magnets, and the polarity arrangement of the permanent magnets located on the outermost sides is H, where H represents the Halbach array.

[0031] In some embodiments, in the first preset direction, the multiple permanent magnets include secondary magnets located at opposite ends, the permanent magnet located in the middle has a first magnetic moment T1, and the secondary magnet has a second magnetic moment T2, the first magnetic moment T1 is greater than the second magnetic moment T2, the first magnetic moment T1 is the length of the permanent magnet along the second preset direction, and the second magnetic moment T2 is the length of the secondary magnet along the second preset direction.

[0032] In some embodiments, the linear module includes a linear coil plate, the first arc coil plate, the second arc coil plate and at least one of the linear coil plates include multiple coils, and the maximum distance between the first end surface of at least part of the permanent magnet and the coil is less than half of the distance between the opposite ends of the coil in the second preset direction.

[0033] In some embodiments, the permanent magnet array includes a first permanent magnet array and a second permanent magnet array, the first permanent magnet array is arranged on the first slot wall, and the second permanent magnet array is arranged on the second slot wall;

[0034] At least part of the first end faces of the adjacent permanent magnets of the first permanent magnet array are arranged in a stepped manner, and the first end faces of the plurality of permanent magnets of the second permanent magnet array are arranged coplanarly.

[0035] In some of the embodiments, in the second preset direction, the second end faces of the permanent magnets of the first permanent magnet array are coplanar with the second end faces of the permanent magnets of the second permanent magnet array, and the maximum distance between the first end faces and the second end faces of the permanent magnets of the first permanent magnet array is smaller than the distance between the first end faces and the second end faces of the permanent magnets of the second permanent magnet array.

[0036] In some embodiments, the conveying system further comprises an auxiliary support wheel assembly, wherein the auxiliary support wheel assembly comprises a support track, a mounting seat and an auxiliary roller;

[0037] The support track is arranged on the base, and can be sequentially extended along the support track along the conveying direction. The mounting seat is respectively connected to the movable module and the auxiliary roller, and the auxiliary roller is rollingly connected to the support track.

[0038] The conveying system based on the embodiment of the present application is arbitrarily combined and spliced ​​through the linear module, the first arc module and the second arc module, so that the movable module can move along the straight line, the outer arc surface of the first arc coil plate and the extension direction of the inner arc surface of the second arc coil plate respectively. In this way, the required conveying path can be quickly combined according to the actual working conditions, so that the conveying system can flexibly adapt to the complex and changeable conveying path requirements and realize diversified conveying methods to adapt to the conveying needs of different installation environments. At the same time, the conveying path is formed by the combination of the linear module, the first arc module and the second arc module to make the conveying system more compact as a whole. Therefore, the conveying system of the present application not only improves the conveying diversity and flexibility, but also reduces the waste of installation environment space. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0040] Figure 1 This is a schematic structural diagram of an embodiment of the conveying system of the present application;

[0041] Figure 2 This is a schematic diagram of the structure of the conveying system of the present application from a top view;

[0042] Figure 3 This is a schematic structural diagram of the first arc-shaped module of the conveying system of the present application;

[0043] Figure 4 A schematic diagram of the coil arrangement in the linear module of the conveying system of the present application;

[0044] Figure 5 This is a schematic diagram of the structure of the conveying system of this application after adjacent linear modules are spliced ​​together;

[0045] Figure 6 for Figure 1 A partial enlarged view of the middle A;

[0046] Figure 7 This is a structural schematic diagram of an embodiment of a moving module of the conveying system of the present application;

[0047] Figure 8 This is a schematic diagram of the structure of the permanent magnetic array of the conveying system of this application;

[0048] Fig. 9 This is a structural schematic diagram of another embodiment of the moving module of the conveying system of the present application;

[0049] Fig.10 This is a side structural schematic diagram of another embodiment of the movable module of the conveying system of the present application.

[0050] Description of Figure Numbers:

[0051] 100, conveying system; 1A, coil; 1a, first outer arc end; 1b, second outer arc end; 10B, coupling surface; 2B, first protrusion; 2C, second protrusion; 10, mover module; 11, mover body; 111, through groove; 111A, notch; 1111, first groove wall; 1112, second groove wall; 1113, third groove wall; 12, permanent magnet array; 12A, first permanent magnet array; 12B, second permanent magnet array; 121, magnetic block; 121a, secondary magnetic block; 1211, permanent magnet; 1211a, secondary magnet; 12111, first end face; 12112, second end face surface; 13, sliding member; 20, linear module; 21, linear stator body; 22, linear coil plate; 221, linear mounting end; 222, linear coupling end; 30, first arc module; 31, first arc stator body; 32, first arc coil plate; 321, first mounting end; 322, first coupling end; 40, second arc module; 41, second arc stator body; 42, second arc coil plate; 421, second mounting end; 422, second coupling end; 50, base; 60, auxiliary support wheel assembly; 61, support rail; 62, mounting seat; 63, auxiliary roller; 70, guide rail.

[0052] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0053] In order to make the objectives, technical solutions and advantages of the present application clearer, the following part will further describe the embodiments of the present application in detail in conjunction with the accompanying drawings.

[0054] When the following description refers to the 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 application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0055] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0057] With the continuous development of manufacturing technology, conveyor lines are widely used in various industries. The transmission of products through conveyor lines can improve the transportation efficiency of products.

[0058] In traditional application scenarios, the conveying method of the conveying system is usually linear transmission, which is relatively simple. However, with the diversification and complexity of production needs, this single conveying method has gradually revealed its limitations.

[0059] To solve the above problems, please refer to Figure 1 and Figure 2 In a first aspect of the present application, a conveying system 100 is provided. In an embodiment of the present application, the conveying system 100 includes a moving module 10, a linear module 20, a first arc module 30 and a second arc module 40.

[0060] Among them, the mover module 10 is used as a bearing component to stably carry and transport the product. In this process, the linear module 20, the first arc module 30 and the second arc module 40 interact with the mover module 10 by magnetic drive, so that the mover module 10 is driven and guided to move on the linear module 20, the first arc module 30 and the second arc module 40 respectively under the force of magnetic drive, so as to realize the transportation of the product. Specifically, the linear module 20 is used to drive and guide the mover to move in a straight line. The first arc module 30 is used to drive and guide the mover to move in an arc, and the second arc module 40 is used to drive and guide the mover to move in an arc. The first arc module 30 has a first arc coil plate 32, and the outer arc surface of the first arc coil plate 32 is coupled to the mover module 10. The second arc module 40 has a second arc coil plate 42, and the inner arc surface of the second arc coil plate 42 is coupled to the mover module 10. It is understandable that in order to improve the efficiency and flexibility of the entire conveying system 100, multiple mover modules 10 can be provided, so that multiple products can be carried and transported by different mover modules 10, thereby significantly improving the conveying efficiency.

[0061] At the same time, the linear module 20, the first arc module 30 and the second arc module 40 are spliced ​​arbitrarily along the conveying direction. Specifically, the linear module 20, the first arc module 30 and the second arc module 40 are arranged in sequence along the conveying direction. Of course, the linear module 20, the second arc module 30 and the first arc module 40 can also be arranged in sequence along the conveying direction, or the first arc module 30, the linear module 20 and the second arc module 40 can also be arranged in sequence along the conveying direction. In addition, in order to further improve the flexibility and efficiency of the conveying system 100, the linear module 20, the first arc module 30 and the second arc module 40 all support the simultaneous setting of multiple. This design can flexibly configure different numbers and types of module combinations according to actual conveying needs. For example, in a scenario where a large number of products need to be processed and a fast turnover is required, the number of linear modules 20 can be increased to provide more linear transportation channels. On a complex path that requires frequent changes in transportation direction or bypassing obstacles, the number and types of the first arc modules 30 and the second arc modules 40 can be increased accordingly to achieve a more flexible and varied transportation path.

[0062] The conveying system 100 based on the embodiment of the present application is arbitrarily combined and spliced ​​through the linear module 20, the first arc module 30 and the second arc module 40, so that the movable module 10 can move along the straight line, the outer arc surface of the first arc coil plate 32 and the extension direction of the inner arc surface of the second arc coil plate 42 respectively. In this way, the required conveying path can be quickly combined according to the actual working conditions, so that the conveying system 100 can flexibly adapt to the complex and changeable conveying path requirements and realize diversified conveying methods to adapt to the conveying needs of different installation environments. At the same time, the conveying path is formed by the combination of the linear module 20, the first arc module 30 and the second arc module 40 to make the conveying system 100 more compact as a whole. Therefore, the conveying system 100 of the present application not only improves the conveying diversity and conveying flexibility, but also reduces the waste of installation environment space.

[0063] Combined with reference Figure 2 and Figure 3 In some structural forms, the conveying system 100 includes a base 50, which is the base of the conveying system 100 and is used to provide support and installation space for components such as the linear module 20, the first arc module 30, and the second arc module 40. In addition, when the linear module 20, the first arc module 30, and the second arc module 40 are spliced, the base 50 can also be used as a positioning reference when two adjacent modules are spliced, thereby improving the convenience of assembling the conveying system 100.

[0064] The linear module 20 includes a linear stator body 21 and a linear coil plate 22. The linear stator body 21 can be firmly mounted on the base 50 by means of screw connection or snap connection, and the linear stator body 21 is used to provide support for the linear coil plate 22. Among them, the linear coil plate 22 includes a linear mounting end 221 and a linear coupling end 222 opposite to the linear mounting end 221, and the two are arranged relative to each other to make installation more convenient. The linear coil plate 22 is closely connected to the linear stator body 21 through its linear mounting end 221. In the present application, the connection method between the linear stator body 21 and the linear mounting end 221 is not limited, and can be at least one of welding, gluing, screwing, and plugging. The linear coupling end 222 of the linear coil plate 22 is responsible for interacting with the mover module 10 through magnetic coupling to achieve linear motion of the mover module 10 along the extension direction of the linear coupling end 222.

[0065] The first arc-shaped module 30 further includes a first arc-shaped stator body 31, which is disposed on the base 50, and the first arc-shaped coil plate 32 includes a first mounting end 321 and a first coupling end 322 opposite to the first mounting end 321, and the first mounting end 321 is fixedly connected to the first arc-shaped stator body 31. The second arc-shaped module 40 further includes a second arc-shaped stator body 41, which is disposed on the base 50, and the second arc-shaped coil plate 42 further includes a second mounting end 421 and a second coupling end 422 opposite to the second mounting end 421, and the second mounting end 421 is fixedly connected to the second arc-shaped stator body 41.

[0066] Similarly, the first arc-shaped stator body 31 and the second arc-shaped stator body 41 are the same as the linear stator body 21, and are used to provide support for the first arc-shaped coil plate 32 and the second arc-shaped coil plate 42 respectively. The first mounting end 321 is the inner arc surface of the first arc-shaped coil plate 32, the first coupling end 322 is the outer arc surface of the first arc-shaped coil plate 32, the second mounting end 421 is the outer arc surface of the second arc-shaped coil plate 42, and the second coupling end 422 is the inner arc surface of the second arc-shaped coil plate 42. In this way, the first coupling end 322 and the second coupling end 422 interact with the mover module 10 through magnetic coupling, so as to realize the arc motion of the mover module 10 along the extension direction of the first coupling end 322 and along the extension direction of the second coupling end 422.

[0067] Such a conveying system 100 adopts the moving iron conveying principle to achieve continuous conveying of products, and can further flexibly change the transmission path by changing the first coupling end 322 of the first arc coil plate 32 and the second coupling end 422 of the second arc coil plate 42, thereby improving conveying diversity and adapting to different conveying needs.

[0068] Optionally, the arc length of the arc surface of the first mounting end 321 is equal to the arc length of the arc surface of the second mounting end 421, and the curvature of the arc surface of the first mounting end 321 is equal to the curvature of the arc surface of the second mounting end 421. In this way, the arc length of the inner arc surface of the first arc-shaped coil plate 32 is equal to the arc length of the outer arc surface of the second arc-shaped coil plate 42, and the curvature of the inner arc surface of the first arc-shaped coil plate 32 is equal to the curvature of the outer arc surface of the second arc-shaped coil plate 42. In this way, when the first arc-shaped coil plate 32 and the second arc-shaped coil plate 42 are spliced, the inner arc surface of the first arc-shaped coil plate 32 is tangent to the outer arc surface of the second arc-shaped coil plate 42 to ensure the consistency and continuity of the connection position of the two mounting ends. In this way, the operator does not need complex measuring tools, but only observes the continuity of the connection between the first arc-shaped coil plate 32 and the second arc-shaped coil plate 42 with the naked eye to preliminarily evaluate the accuracy of the installation, so as to timely discover and correct possible minor deviations. It improves the installation accuracy, speeds up the installation process and improves work efficiency.

[0069] Furthermore, the radius difference between the arc surface of the first mounting end 321 and the arc surface of the first coupling end 322 is equal to the radius difference between the arc surface of the second mounting end 421 and the arc surface of the second coupling end 422. In this way, when the first arc-shaped coil plate 32 and the second arc-shaped coil plate 42 are spliced ​​into the conveying system 100, not only can the mounting ends of the two be consistent and continuous in position, but also the consistency and continuity of the position at the coupling end of the coil plate are ensured, effectively preventing the magnetic field distortion caused by the local protrusion or depression of the coupling end, ensuring the uniformity of the magnetic force distribution on the mover, and thus improving the stability and reliability of the conveying process. In addition, the width of the linear coil plate 22 is equal to the radius difference between the arc surface of the first mounting end 321 and the arc surface of the first coupling end 322, or the width of the linear coil plate 22 is equal to the radius difference between the arc surface of the second mounting end 421 and the arc surface of the second coupling end 422. In this way, when the first arc coil plate 32 and the linear coil plate 22 are spliced ​​or when the linear coil plate 22 and the second arc coil plate 42 are spliced, the consistency and continuity of the installation of adjacent coil plates can be ensured, thereby maintaining the stability of the entire magnetic field to ensure the stability and reliability of the transportation process.

[0070] Reference Figure 3 In some structural forms, in order to optimize the efficiency of each coil plate and enhance its driving performance, at least one of the first arc coil plate 32, the second arc coil plate 42 and the linear coil plate 22 includes a plurality of coils 1A, and the plurality of coils 1A are arranged in a UVW three-phase manner and spaced apart along the conveying direction. Figure 3 Taking the first arc-shaped coil plate 32 as an example, multiple coils 1A are arranged at uniform intervals along the conveying direction (i.e., the moving direction of the mover module 10), thereby increasing the setting density of the coil 1A to enhance the magnetic field strength, thereby increasing the total amount of magnetic flux, and enhancing the magnetic field output of the first arc-shaped coil plate 32, ensuring the continuity and stability of the magnetic field during the conveying process, and effectively improving the driving force of the mover.

[0071] Combined with reference Figure 4 Furthermore, at least one of the first arc coil plate 32, the second arc coil plate 42 and the linear coil plate 22 includes a coupling surface 10B arranged toward the mover module 10, and a plurality of coils 1A are stacked and arranged in a direction perpendicular to the coupling surface 10B to form at least two layers of coil units. Among them, in two adjacent layers of coil units, at least part of the coil of the upper layer of the coil unit is located between two adjacent coils of the lower layer of the coil unit. In this way, the coils 1A of the two adjacent layers are arranged in a trapezoidal shape, and then the gaps between the multiple coils 1A can be wired to compensate, so as to achieve no tooth slot force fluctuation, maintain a stable thrust ratio, and the linearity of the thrust is very standard and has good consistency.

[0072] In addition, it should be noted that the coil 1A is wound, or the coil 1A is manufactured by a printed circuit board process. The wound coil 1A is known for its high precision and flexibility, and can accurately control various parameters of the coil 1A, such as the number of turns, wire diameter and winding density, so as to meet the occasions with high performance requirements such as inductance, current carrying capacity and frequency response. This method is particularly suitable for scenarios that require customized design and high power processing, such as motor drive and power transmission.

[0073] In contrast, the coil 1A manufactured by the printed circuit board process pays more attention to miniaturization and integration. Through precise process control, such as laser etching and electroplating, they realize the miniaturization design of the coil 1A, which is easy to integrate into various electronic devices, especially modern portable devices and micro systems. This manufacturing method not only helps to reduce the size of the product, but also reduces costs and improves production efficiency and consistency in mass production. In addition, the printed circuit board coil 1A also has high reliability and durability, and can meet the needs of a variety of specific applications, such as high-frequency communications and radio frequency identification.

[0074] Reference Figure 4 Optionally, the first arc coil plate 32, the second arc coil plate 42 and the linear coil plate 22 all include a first protrusion 2B and a second protrusion 2C arranged opposite to each other along the conveying direction. At least part of the coil 1A is arranged in the first protrusion 2B and the second protrusion 2C. Two adjacent coil plates among the first arc coil plate 32, the second arc coil plate 42 and the linear coil plate 22 are spliced ​​with the lower surface of the first protrusion 2B of one of the coil plates and the upper surface of the second protrusion 2C of the other coil plate.

[0075] Taking the linear coil plate 20 as an example, it can be understood that the arrangement of the first protrusion 2B and the second protrusion 2C can facilitate the mutual positioning of the positions, thereby increasing the splicing accuracy between the two adjacent coil plates, so that the mover module 10 has a higher movement accuracy when it runs to the joint of the adjacent coil plates. And because part of the coil 1A is arranged in the first protrusion 2B and the second protrusion 2C, the two adjacent coil plates can still generate current excitation at the joint, so that the mover module 10 can still be driven at the joint of the two adjacent coil plates, and then the mover module 10 can still maintain a higher control accuracy at the joint, so that the mover module 10 has a higher repeatability positioning accuracy in the conveying system 100, and at the same time, the mover module 10 maintains a higher speed to ensure the continuity of the high-speed operation of the mover.

[0076] Reference Figure 3In some structural forms, the coil 1A located on the first arc-shaped coil plate 32 includes a first outer arc end 1a close to the first mounting end 321 and a second outer arc end 1b close to the first coupling end 322. The boundary contour formed by the first outer arc ends 1a of the multiple coils 1A on the first arc-shaped coil plate 32 is parallel to the arc surface of the first mounting end 321, and the boundary contour formed by the second outer arc ends 1b of the multiple coils 1A on the first arc-shaped coil plate 32 is parallel to the arc surface of the first coupling end 322. In this way, under the positive projection of the magnetic field generated by all coils 1A in the first arc-shaped coil plate 32, it can closely fit and simulate the outer contour of the coil plate itself. This not only stabilizes the basic accuracy of the installation, but also greatly promotes the seamless connection and continuity of the magnetic field between different coils 1A, thereby improving the accuracy and stability of the movement module 10 in the magnetic field.

[0077] Similarly, the coil 1A located on the second arc-shaped coil plate 42 includes a second inner arc end near the second mounting end 421 and a second inner arc end near the second coupling end 422. The boundary contour formed by the second inner arc ends of the multiple coils 1A on the second arc-shaped coil plate 42 is parallel to the arc surface of the second mounting end 421, and the boundary contour formed by the second inner arc ends of the multiple coils 1A on the second arc-shaped coil plate 42 is parallel to the arc surface of the second coupling end 422. And the coil 1A located on the linear coil plate 22 includes a linear first end near the linear mounting end 221 and a linear second end near the linear coupling end 222. The boundary contour formed by the linear first ends of the multiple coils 1A on the linear coil plate 22 is parallel to the arc surface of the coil 1A mounting end, and the boundary contour formed by the linear second ends of the multiple coils 1A on the linear coil plate 22 is parallel to the arc surface of the linear coupling end 222. In this way, the coil 1A in each coil plate is parallel to the boundary contour of the corresponding coil plate, so that the conveying accuracy of the movable submodule 10 can be improved when passing through each coil plate.

[0078] It should be noted that when the first arc coil plate 32, the second arc coil plate 42 and the linear coil plate 22 include the first protrusion 2B and the second protrusion 2C, the end point boundary contours of the coil 1A located in the first protrusion 2B and the second protrusion 2C closely follow the arc surfaces of the corresponding mounting end and the coupling end. This strengthens the consistency of the magnetic field and the outer contour of the protrusion, not only improves the overall continuity of the magnetic field, but also significantly enhances the stability and accuracy of the mover module 10 during movement.

[0079] Reference Figure 1 and Figure 6In some structural forms, the conveying system 100 further includes an auxiliary support wheel assembly 60, which includes a support track 61, a mounting seat 62 and an auxiliary roller 63. The support track 61 is arranged on the base 50, and can be sequentially extended along the support track 61 along the conveying direction. The mounting seat 62 is respectively connected to the mover module 10 and the auxiliary roller 63, and the auxiliary roller 63 is rollingly connected to the support track 61. Among them, the mounting seat 62 serves as a connecting bridge to be detachably connected to the mover module 10 and the auxiliary roller 63 at the same time. The connection form of the mounting seat 62 to the mover module 10 and the auxiliary roller 63 can be a snap connection, a screw connection or a magnetic connection, which is not specifically limited in the embodiment of the present application. By enabling the auxiliary roller 63 to roll smoothly and stably on the support track 61 and to withstand a certain pressure, it plays a role in supporting the mover module 10 and its load, realizing the smooth operation of the mover, and at the same time, it can increase the length of the load on the mover in the vertical running direction, reducing the size limitation of the load. Furthermore, the support rail 61 is adjustable along the height direction of the base 50, so that it can be compatible with auxiliary rollers 63 of different sizes. Through the adjustment of the slide rail or similar mechanisms, the support rail 61 can be moved up and down, thereby accurately matching the roller size to ensure the stable operation of the system under different configurations. This high degree of adjustability not only enhances the versatility of the system, but also provides great convenience for subsequent maintenance and upgrades.

[0080] Reference Figure 6 and Figure 7 In some structural forms, the mover module 10 includes a mover body 11 and a permanent magnet array 12, and the mover body 11 is slidably arranged on the base 50. It can be understood that the base 50 includes a guide rail 70, which extends along the conveying direction, and the mover body 11 is used to carry the workpiece or material to be transported. At the same time, the mover body 11 is slidably connected to the guide rail 70 through a sliding member 13, and the guide rail 70 can provide support for the mover body 11 to improve the stability of the movement of the mover body 11. Of course, a plurality of sliding members 13 can be provided on the mover body 11, and the plurality of sliding members 13 are arranged along the conveying direction to further increase the stability of the operation of the mover body 11. Similarly, the number of guide rails 70 can be one, two or more, and the present application does not limit this. It should be noted that the sliding member 13 can be a structure such as a slider, a roller or a ball.

[0081] The movable body 11 has a through slot 111, which extends along a first preset direction to penetrate both ends of the movable body 11, and the through slot 111 extends along a second preset direction to form a slot 111A on one side of the movable body 11 for the coil plate to enter and exit the through slot 111. The first preset direction and the second preset direction can be arranged vertically. The through slot 111 includes a first slot wall 1111, a second slot wall 1112 and a third slot wall 1113, the third slot wall 1113 is arranged opposite to the slot 111A, the first slot wall 1111 and the second slot wall 1112 are arranged opposite to each other, and are respectively located on both sides of the third slot wall 1113. At least one of the first slot wall 1111 and the second slot wall 1112 is provided with a permanent magnet array 12. At least part of the coil plate can pass through the slot 111A and be arranged opposite to the permanent magnet array 12, so that the permanent magnet array 12 is embedded in the mover body 11, so that the structure of the permanent magnet array 12 and the mover body 11 is relatively compact, which is conducive to the miniaturization of the conveying module. At the same time, when the coil plate is periodically energized, the permanent magnet array 12 will cause the mover body 11 to continuously receive a driving force along the conveying direction due to the magnetic field generated by the coil plate.

[0082] Specifically, the present application places the permanent magnet array 12 on the mover body 11 instead of the coil plate. Compared with the traditional layout, this eliminates the drag chain setting of the mover body 11 and greatly improves its movement flexibility and reliability.

[0083] Combined with reference Figure 7 and Figure 8 , further, the permanent magnet array 12 includes a plurality of permanent magnets 1211, and the plurality of permanent magnets 1211 are arranged along a first preset direction, and the permanent magnet 1211 has a first end face 12111 and a second end face 12112 that are relatively arranged in a second preset direction, and the first end face 12111 is arranged closer to the slot 111A than the second end face. It is easy to understand that the more permanent magnets 1211 there are, the stronger the magnetism of the permanent magnet array 12. In this way, the greater the driving force exerted on the permanent magnet array 12, the stronger the carrying capacity of the mover body 11. In this way, the number of permanent magnets 1211 of the permanent magnet array 12 can be increased or decreased according to the conveying load requirements, and the driving force exerted on the permanent magnet array 12 can be reasonably distributed. In this way, it is also beneficial to realize the flexible load requirements of the conveying module and avoid the waste of excess driving force.

[0084] The first end faces 12111 of at least some of the adjacent permanent magnets 1211 form a stepped arrangement. It is understandable that in the process of turning of the arc module, for example, the second arc module 40, when the mover module 10 passes through the inner arc surface of the second arc module 40, if the permanent magnet 1211 at the end of the permanent magnet array 12 is likely to interfere with the second arc coil plate 42. The embodiment of the present application effectively increases the space margin of the permanent magnet array 12 when turning by making the first end faces 12111 of at least some of the adjacent permanent magnets 1211 form a stepped arrangement along the first preset direction, and can effectively reduce the possibility of interference between the permanent magnet 1211 and the second arc stator body 41 when turning. That is, even if the mover module 10 in the embodiment of the present application has a longer permanent magnet array 12, it can ensure stable turning, significantly improve reliability and operating efficiency, and ensure service life.

[0085] Reference Fig. 9 and Fig.10 In some structural forms, the permanent magnetic array 12 includes a first permanent magnetic array 12A and a second permanent magnetic array 12B, the first permanent magnetic array 12A is arranged on the first slot wall 1111, and the second permanent magnetic array 12B is arranged on the second slot wall 1112. In this way, both the first slot wall 1111 and the second slot wall 1112 are arranged with permanent magnetic arrays 12, which not only efficiently utilizes space and realizes the miniaturization of the conveying system 100, but also significantly enhances the magnetic force by increasing the number of permanent magnetic arrays 12.

[0086] The first end faces 12111 of at least some of the adjacent permanent magnets 1211 of the first permanent magnet array 12A form a stepped arrangement, and the first end faces 12111 of the plurality of permanent magnets 1211 of the second permanent magnet array 12B are arranged in the same plane. In this way, the first permanent magnet array 12A forms an avoidance space, and a more regular layout is adopted in the second permanent magnet array 12B to ensure the smooth flow and maximum utilization of the magnetic flux, so that when the boundary contours of the upper cover plate and the lower cover plate of the stator body close to the coil 1A plate are inconsistent, taking the second arc module 40 as an example, the second arc stator body 41 includes an upper cover plate located on the upper side of the second arc coil 1A plate and a lower cover plate located on the lower side of the second arc coil 1A plate, and the boundary contour of the lower cover plate protrudes from the boundary contour of the upper cover plate, and at this time, the lower cover plate is more prone to interference during movement than the upper cover plate. In this way, by placing the first permanent magnet array 12A close to the lower cover plate and utilizing the avoidance space formed by its stepped structure, the motion interference caused by the protruding boundary of the lower cover plate is significantly reduced. At the same time, the second permanent magnet array 12B is arranged in a regular layout corresponding to the shape of the upper cover plate, which not only maximizes the use of limited space, but also enhances the effect of magnetic force transmission, ensuring that the mover module 10 can still maintain stable performance and reliable working state during high-speed and high-frequency dynamic operation.

[0087] Further, in the second preset direction, the second end face 12112 of the permanent magnet 1211 of the first permanent magnet array 12A is coplanar with the second end face 12112 of the permanent magnet 1211 of the second permanent magnet array 12B, and the maximum distance between the first end face 12111 and the second end face 12112 of the permanent magnet 1211 of the first permanent magnet array 12A is less than the distance between the first end face 12111 and the second end face 12112 of the permanent magnet 1211 of the second permanent magnet array 12B. In this way, the multiple permanent magnets 1211 in the first permanent magnet array 12A are more compact, so as to further increase the avoidance space, thereby effectively reducing the motion interference that may be generated due to the movement of the mover module 10.

[0088] Combined with reference Figure 8 Optionally, in the same permanent magnet array, in the first preset direction, the central axis of the permanent magnet 1211 located in the center is the symmetry axis AA, multiple permanent magnets 1211 are symmetrically arranged with the symmetry axis AA, and the second end faces of multiple permanent magnets are coplanarly arranged. In the second preset direction, the length of at least part of the permanent magnet 111 close to the symmetry axis AA is greater than the length of the permanent magnet 111 far from the symmetry axis AA. In this way, in the first preset direction, the length of the permanent magnet 1211 located in the middle is the longest, and the length of the permanent magnet 1211 located at the end is the shortest, so as to facilitate the possibility of collision with the coil plate when further turning.

[0089] Optionally, multiple permanent magnets 1211 are arranged in a Halbach array, and the polarity arrangement period of multiple permanent magnets 1211 along the first preset direction is an NHSH period or an NHS period or an NS period, where N represents the North Pole, S represents the South Pole, and H represents the Halbach array. Specifically, the NHS period refers to that multiple permanent magnets 1211 are arranged in sequence according to N-pole permanent magnets, H arrays, and S-pole permanent magnets in the first preset direction. NHSH periodic arrangement refers to that multiple permanent magnets 1211 are arranged in sequence according to N-pole permanent magnets, H arrays, S-pole permanent magnets, and H arrays in the first preset direction. NS periodic arrangement refers to that multiple permanent magnets 1211 are arranged in sequence according to N-pole permanent magnets and S-pole permanent magnets in the first preset direction. It can be understood that NS permanent magnets are used to couple with coils to drive the motion of the mover module 10, and multiple NS permanent magnets can also be arranged in a periodic regular pattern to form a Halbach array. The H array is a Halbach array. It can be understood that the Halbach array is a magnetic structure that can generate a strong magnetic field with a small number of permanent magnets 1211. The Halbach array can gather magnetic lines of force on one side of the magnet and weaken the magnetic lines of force on the other side of the magnet, thereby enhancing the strength of the magnetic field generated by the permanent magnet array 12 while keeping the number of permanent magnets 1211 in the permanent magnet array 12 unchanged, so as to obtain a more ideal unilateral magnetic field. The specific principle of the Halbach array has long been disclosed in the relevant technology, and this application will not be repeated. In this application, the magnetic field of the first end face 12111 is greater than the magnetic field of the second end face 12112. It can be understood that the side of the Halbach array with denser magnetic lines of force should be arranged close to the coil plate. This layout is based on the basic principle of the Halbach array, that is, ensuring that the side with the densest magnetic lines of force is close to the coil plate to maximize the driving force on the mover body 11, thereby achieving a stronger and more efficient operation effect, which is conducive to further reducing the waste of the magnetic field of the permanent magnet 1211, and then helping to improve the utilization rate of the magnetic field of the permanent magnet 1211 and reduce the construction cost of the conveying system 100.

[0090] Optionally, the permanent magnet array 12 includes a plurality of magnetic blocks 121 sequentially spliced ​​along a first preset direction, and each magnetic block 121 includes at least two permanent magnets 1211. In some embodiments, the permanent magnets 1211 in each magnetic block 121 have the same length in the second preset direction, which significantly reduces the manufacturing cost, because there is no need to customize molds or production processes of different lengths for different permanent magnets 1211, thereby achieving standardization and scale of the production process. Secondly, the permanent magnets 1211 of the same length make the installation process simpler and faster, reduce the installation errors that may be caused by size differences, and improve the overall installation efficiency and quality. In some embodiments, the permanent magnets 1211 in each magnetic block 121 have different lengths in the second preset direction. In this way, the distance between each adjacent permanent magnet 1211 and the mounting end in the direction away from the symmetry axis AA is getting larger and larger, thereby further effectively increasing the space margin of the permanent magnet array 12 when turning, thereby significantly reducing the risk of interference with the coil plate, and ensuring the smooth operation and high efficiency of the mover module 10 on the turning path.

[0091] Reference Figure 8 Optionally, in a first preset direction, a plurality of permanent magnets 1211 include secondary magnets 1211a located at opposite ends, the permanent magnet 1211 located in the middle has a first magnetic moment T1, and the secondary magnet 1211a has a second magnetic moment T2, the first magnetic moment T1 is greater than the second magnetic moment T2, the first magnetic moment T1 is the length of the permanent magnet 1211 along the second preset direction, and the second magnetic moment T2 is the length of the secondary magnet 1211a along the second preset direction. By reducing the magnetic moment T2 of the secondary magnet 1211a and increasing the magnetic moment T1 of the middle permanent magnet 1211, the end effect that may be caused by the arrangement of the two ends of the magnets is effectively reduced. This differentiated design not only improves the working efficiency of the mover module 10, but also enhances its stability and reliability in complex movements.

[0092] In some structural forms, the magnetic blocks 121 at both ends of the first preset direction are secondary magnetic blocks 121a, and the secondary magnetic blocks 121a include at least two permanent magnets 1211, and the polarity arrangement of the permanent magnet 1211 located on the outermost side is H, where H represents the Halbach array. It can be understood that the permanent magnet 1211 located on the outermost side is the permanent magnet 1211 farthest from the axis of symmetry AA. By making the permanent magnet 1211 located on the outermost side a Halbach array, since the Halbach array can enhance the magnetic field in a specific direction, the driving force of the mover module 10 in the conveying direction can be significantly improved. Furthermore, when the outermost permanent magnet 1211 is set as a secondary magnet 1211a at the same time, and the Halbach array is applied, this setting not only enhances the driving force, but also cleverly alleviates the influence of the end effect. The end effect, as a common negative phenomenon in the arrangement of magnets, usually leads to uneven distribution of the magnetic field, thereby affecting the overall performance. Through this special configuration of the secondary magnetic block 121 a , the adverse effects caused by the end effect can be effectively alleviated without sacrificing the overall performance, thereby further improving the overall driving efficiency and stability of the conveying system 100 .

[0093] Reference Figure 8 In some structural forms, each magnetic block 121 includes three permanent magnets 1211. In the first preset direction, the polarity arrangement of the three permanent magnets 1211 of the nth magnetic block 121 is NHS, and the polarity arrangement of the three permanent magnets 1211 of the n+1th magnetic block 121 is HXH, where n is a positive odd number, X is N or S, N represents the North Pole, S represents the South Pole, and H represents the Halbach array. It can be understood that in the first preset direction, when n is 1, the polarity arrangement of the three permanent magnets 1211 of the first magnetic block 121 is NHS, that is, on the side of the permanent magnet 1211 facing the coil plate, the three permanent magnets 1211 are arranged in sequence of N-pole permanent magnet, H array, and S-pole permanent magnet. The polarity arrangement of the three permanent magnets 1211 of the second magnetic block 121 is HXH, that is, on the side of the permanent magnet 1211 facing the coil plate, the three permanent magnets 1211 are arranged in sequence according to the H array, N-pole permanent magnet or S-pole permanent magnet, H array. This structural design can improve the driving force under the action of the Halbach array, but at the same time, it is not necessary to make the permanent magnets 1211 of all magnetic blocks 121 be the Halbach array to reduce costs. Therefore, this design can not only significantly improve the performance of the conveying system 100, but also achieve a balance of cost-effectiveness in technology and economy, providing a reliable and economical solution for various applications.

[0094] Combination Figure 3 and Figure 8, optionally, when the linear module 20 includes a linear coil plate 22, at least one of the first arc coil plate 32, the second arc coil plate 42 and the linear coil plate 22 includes a plurality of coils 1A, the farthest distance between the first end face 12111 of at least part of the permanent magnet 1211 and the coil is less than half of the distance between the two opposite ends of the coil 1A in the second preset direction. It should be noted that due to the nonlinear characteristics of the magnetic field energy distribution, the magnetic field intensity generated at the center of the coil 1A is the strongest and the magnetic flux is the largest. Thus, the above layout of the present application ensures that the permanent magnet 1211 can be as close as possible to the central area where the coil 1A generates the highest magnetic field intensity, thereby maximizing the use of magnetic field energy. The present application sets the magnetic field coupling between the magnet and the center of the coil 1A, thereby ensuring that the permanent magnet 1211 is still subjected to a higher driving force on the basis of avoidance.

[0095] It should be noted that, regarding the expression of "at least part of the permanent magnet 1211", in the first preset direction, only the permanent magnet 1211 on the middle side can be used. For the method of only the permanent magnet 1211 on the middle side, the permanent magnets 1211 on both sides of the first preset direction can play a role of avoidance, preventing the mover from directly contacting the coil plate during movement. On the other hand, "at least part of the permanent magnet 1211" can also be understood as including all permanent magnets 1211, that is, all permanent magnets 1211 are involved in the magnetic field coupling with the coil 1A, and jointly contribute to the improvement of the driving force of the mover. In this case, the permanent magnets 1211 on both sides not only avoid the coil 1A, but also enhance the overall driving force of the mover through the magnetic field generated by it. Compared with the design that only relies on the middle permanent magnet 1211, this method in which all permanent magnets 1211 participate can further improve the performance of the mover module 10.

[0096] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "upper", "lower", "left", "right", etc. indicate an orientation or position relationship based on the orientation or position relationship shown in the drawings, it is only for the convenience of describing this application 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 position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0097] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A conveying system, characterized in that: include: Movers module; A linear module, used to drive and guide the mover module to move in a straight line; A first arc-shaped module, used for driving and guiding the movable submodule to move along an arc, wherein the first arc-shaped module has a first arc-shaped coil plate, and an outer arc surface of the first arc-shaped coil plate is coupled to the movable submodule; as well as A second arc-shaped module, used for driving and guiding the mover module to move along an arc, the second arc-shaped module having a second arc-shaped coil plate, the inner arc surface of the second arc-shaped coil plate being coupled to the mover module; Wherein, the linear module, the first arc module and the second arc module are spliced ​​arbitrarily along the conveying direction; The mover module includes a mover body and a permanent magnet array, the mover body has a through slot, the permanent magnet array is arranged in the through slot, the permanent magnet array is used to magnetically couple with the linear module, the first arc coil plate and the second arc coil plate, the permanent magnet array includes a plurality of permanent magnets, the plurality of permanent magnets are arranged along a first preset direction, the permanent magnets have a first end face and a second end face that are relatively arranged in a second preset direction, the first end face is arranged closer to the notch of the through slot than the second end face, and the first end faces of adjacent permanent magnets form a stepped arrangement; The plurality of permanent magnets include secondary magnets located at opposite ends, the permanent magnet located in the middle has a first magnetic moment T1, and the secondary magnet has a second magnetic moment T2, the first magnetic moment T1 is greater than the second magnetic moment T2, the first magnetic moment T1 is the length of the permanent magnet along the second preset direction, and the second magnetic moment T2 is the length of the secondary magnet along the second preset direction; The linear module includes a linear coil plate, and at least one of the first arc coil plate, the second arc coil plate and the linear coil plate includes multiple coils, and the maximum distance between the first end face of at least part of the permanent magnet and the coil is less than half of the distance between the opposite ends of the coil in the second preset direction.

2. The conveying system according to claim 1, characterized in that The conveying system includes a base, the linear module includes a linear stator body and a linear coil plate, the linear stator body is arranged on the base, the linear coil plate also includes a linear mounting end and a linear coupling end opposite to the linear mounting end, the linear mounting end is fixedly connected to the linear stator body, and the linear coupling end is used for magnetic coupling of the mover module; The first arc-shaped module further includes a first arc-shaped stator body, the first arc-shaped stator body is arranged on the base, the first arc-shaped coil plate includes a first mounting end and a first coupling end opposite to the first mounting end, the first mounting end is fixedly connected to the first arc-shaped stator body, and the first coupling end is used for magnetically coupling the mover module; The second arc-shaped module also includes a second arc-shaped stator body, which is arranged on the base. The second arc-shaped coil plate includes a second mounting end and a second coupling end opposite to the second mounting end. The second mounting end is fixedly connected to the second arc-shaped stator body, and the second coupling end is used for magnetically coupling the movable submodule.

3. The conveying system according to claim 2, characterized in that At least one of the first arc-shaped coil plate, the second arc-shaped coil plate and the linear coil plate includes a plurality of coils, and the plurality of coils are arranged in a UVW three-phase arrangement in an interval along the conveying direction.

4. The conveying system according to claim 3, characterized in that At least one of the first arc-shaped coil plate, the second arc-shaped coil plate and the linear coil plate comprises a coupling surface disposed toward the mover module, and along a direction perpendicular to the coupling surface, a plurality of the coils are stacked and arranged to form at least two layers of coil units; Among the two adjacent layers of coil units, at least part of the coil of the coil unit of the upper layer is located between two adjacent coils of the coil unit of the lower layer, and the coil is manufactured by winding, or the coil is manufactured by a printed circuit board process.

5. The conveying system according to claim 3, characterized in that The first arc-shaped coil plate, the second arc-shaped coil plate and the linear coil plate each include a first protrusion and a second protrusion disposed opposite to each other along the conveying direction, and at least part of the coil is disposed in the first protrusion and the second protrusion; The lower surface of the first protrusion of two adjacent coil plates among the first arc coil plate, the second arc coil plate and the linear coil plate is spliced ​​with the upper surface of the second protrusion of the other coil plate.

6. The conveying system according to any one of claims 3 to 5, characterized in that The coil located on the first arc-shaped coil plate includes a first outer arc end close to the first mounting end and a second outer arc end close to the first coupling end, the boundary contour formed by the first outer arc ends of the plurality of coils on the first arc-shaped coil plate is parallel to the arc surface of the first mounting end, and the boundary contour formed by the second outer arc ends of the plurality of coils on the first arc-shaped coil plate is parallel to the arc surface of the first coupling end; And / or, the coil located on the second arc-shaped coil plate includes a first inner arc end close to the second mounting end and a second inner arc end close to the second coupling end, the boundary contour formed by the first inner arc ends of the plurality of coils on the second arc-shaped coil plate is parallel to the arc surface of the second mounting end, and the boundary contour formed by the second inner arc ends of the plurality of coils on the second arc-shaped coil plate is parallel to the arc surface of the second coupling end; And / or, the coil located on the linear coil plate includes a linear first end close to the linear mounting end and a linear second end close to the linear coupling end, the boundary contour formed by the linear first ends of the multiple coils on the linear coil plate is parallel to the arc surface of the coil mounting end, and the boundary contour formed by the linear second ends of the multiple coils on the linear coil plate is parallel to the arc surface of the linear coupling end.

7. The conveying system according to any one of claims 2 to 5, characterized in that The arc length of the arc surface of the first mounting end is equal to the arc length of the arc surface of the second mounting end, and the curvature of the arc surface of the first mounting end is equal to the curvature of the arc surface of the second mounting end.

8. The conveying system according to claim 7, characterized in that The radius difference between the arc surface of the first mounting end and the arc surface of the first coupling end is equal to the radius difference between the arc surface of the second mounting end and the arc surface of the second coupling end; and / or, the width of the linear coil plate is equal to the radius difference between the arc surface of the first mounting end and the arc surface of the first coupling end; And / or, the width of the linear coil plate is equal to the radius difference between the arc surface of the second mounting end and the arc surface of the second coupling end.

9. The delivery system according to any one of claims 1 to 5, characterized in that The through slot extends along a first preset direction to penetrate through both ends of the mover body, and the through slot extends along a second preset direction to connect to a slot opening of the through slot on one side of the mover body, the through slot comprises a first slot wall, a second slot wall and a third slot wall, the third slot wall is arranged opposite to the slot opening, the first slot wall is arranged opposite to the second slot wall, and are respectively located on both sides of the third slot wall; At least one of the first slot wall and the second slot wall is provided with the permanent magnet array.

10. The delivery system according to claim 1, characterized in that The plurality of permanent magnets are arranged in a Halbach array, or the polarity arrangement period of the plurality of permanent magnets along the first preset direction is an NHSH period, an NHS period, or an NS period, N represents the North Pole, S represents the South Pole, H represents the Halbach array, and the magnetic field of the first end face is greater than the magnetic field of the second end face.

11. The delivery system according to claim 10, characterized in that In a first preset direction, the central axis of the permanent magnet located at the center is taken as the axis of symmetry, a plurality of the permanent magnets are symmetrically arranged about the axis of symmetry, and the second end faces of the plurality of permanent magnets are coplanarly arranged. In the second preset direction, the length of at least part of the permanent magnets close to the axis of symmetry is greater than the length of the permanent magnets far away from the axis of symmetry.

12. The delivery system according to claim 1, characterized in that The permanent magnet array comprises a plurality of magnetic blocks sequentially spliced ​​along the first preset direction, and each of the magnetic blocks comprises at least two permanent magnets; Wherein, the lengths of the permanent magnets in each of the magnetic blocks in the second preset direction are the same, or the lengths of the permanent magnets in each of the magnetic blocks in the second preset direction are different.

13. The delivery system according to claim 12, characterized in that Each of the magnetic blocks includes three permanent magnets. In the first preset direction, the polarity arrangement of the three permanent magnets of the nth magnetic block is NHS, and the polarity arrangement of the three permanent magnets of the n+1th magnetic block is HXH, wherein n is a positive odd number, X is N or S, N represents the North Pole, S represents the South Pole, and H represents the Halbach array.

14. The delivery system according to claim 12, characterized in that The magnetic blocks at both ends of the first preset direction are secondary magnetic blocks, and the secondary magnetic blocks include at least two permanent magnets, and the polarity arrangement of the permanent magnets located on the outermost sides is H, where H represents the Halbach array.

15. The delivery system according to claim 9, characterized in that The permanent magnet array comprises a first permanent magnet array and a second permanent magnet array, the first permanent magnet array is arranged on the first slot wall, and the second permanent magnet array is arranged on the second slot wall; At least part of the first end faces of the adjacent permanent magnets of the first permanent magnet array are arranged in a stepped manner, and the first end faces of the plurality of permanent magnets of the second permanent magnet array are arranged coplanarly.

16. The delivery system according to claim 15, characterized in that In the second preset direction, the second end faces of the permanent magnets of the first permanent magnet array are coplanar with the second end faces of the permanent magnets of the second permanent magnet array, and the maximum distance between the first end faces and the second end faces of the permanent magnets of the first permanent magnet array is smaller than the distance between the first end faces and the second end faces of the permanent magnets of the second permanent magnet array.

17. The delivery system according to any one of claims 2 to 5, characterized in that The conveying system further comprises an auxiliary support wheel assembly, wherein the auxiliary support wheel assembly comprises a support track, a mounting seat and an auxiliary roller; The support track is arranged on the base, and can be sequentially extended along the support track along the conveying direction. The mounting seat is respectively connected to the movable module and the auxiliary roller, and the auxiliary roller is rollingly connected to the support track.

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