A conveyor line

Abstract

An embodiment of the present application provides a conveying line, comprising: a conveying module, comprising at least one mover and a plurality of stators arranged along a conveying direction, the stator comprising a base and a first coil plate connected to the base and at least one first guide rail, the base being provided with a receiving groove, one of the first coil plate and the first guide rail being arranged in the receiving groove, the mover being movably connected to the first guide rail so as to move along the conveying direction under the drive of the first coil plate; an execution module, connected to the mover, the execution module being capable of executing at least one of driving a conveyed object to rotate, driving the conveyed object to move along a preset direction, clamping or releasing the conveyed object; and a power supply module, comprising a power supply unit and a power receiving unit coupled together, the power supply unit being connected to the base, the power receiving unit being connected to the mover, and the power receiving unit being electrically connected to the execution module so as to supply power to the execution module.

Description

Technical Field

[0001] The present application relates to the technical field of conveyor lines, and in particular to a conveyor line. Background Art

[0002] Conveyor lines using magnetic drive have the advantages of high flexibility, high speed and high precision, and can replace traditional belt conveyor, chain drive and other conveying systems in some areas.

[0003] In the related art, when the conveyed object reaches the preset processing position on the conveyor line, the mover stops moving. At this time, the external manipulator can process the conveyed object on the mover. However, during processing, all actions are performed by the manipulator, which is not conducive to improving processing efficiency. Summary of the invention

[0004] The present application provides a conveyor line, aiming to solve the problem of low processing efficiency in related technologies.

[0005] The embodiment of the present application provides a conveyor line. The conveyor line includes: a conveying module, including at least one mover and a plurality of stators arranged along the conveying direction, the stator including a base and a first coil plate connected to the base and at least one first guide rail, the base is provided with a receiving groove, one of the first coil plate and the first guide rail is arranged in the receiving groove, the mover is movably connected to the first guide rail to move along the conveying direction under the drive of the first coil plate; an execution module, connected to the mover, the execution module can perform at least one operation of driving the conveyed object to rotate, driving the conveyed object to move along a preset direction, clamping or releasing the conveyed object; and a power supply module, including a power supply unit and a power receiving unit coupled, the power supply unit is connected to the base, the power receiving unit is connected to the mover, and the power receiving unit is electrically connected to the execution module to supply power to the execution module.

[0006] In some embodiments, the execution module can drive the conveyed object to rotate. The execution module includes a clamping structure and a rotating component. The clamping structure is used to place the conveyed object. The rotating component is connected to the clamping structure to drive the conveyed object to rotate.

[0007] In some embodiments, the execution module is capable of driving the conveyed object to move, clamp or release the conveyed object along a preset direction. The execution module includes a first clamping member, a second clamping member and a linear drive component. The first clamping member and the second clamping member are arranged to form a clamping cavity for placing the conveyed object. The linear drive component includes a first driving member and a second driving member. The output end of the first driving member is connected to the first clamping member to drive the first clamping member to reciprocate along the preset direction. The output end of the second driving member is connected to the second clamping member to drive the second clamping member to reciprocate along the preset direction.

[0008] In some embodiments, the execution module can drive the conveyed object to rotate and drive the conveyed object to move along the preset direction. The execution module can also clamp or release the conveyed object. The execution module includes: a first clamping member and a second clamping member, and the first clamping member and the second clamping member are arranged to form a receiving cavity for placing the conveyed object; a rotating component, including a first motor, and the first motor is connected to the mover; and a linear drive component, which is connected to the output end of the first motor. The linear drive component includes a first drive member and a second drive member, and the output end of the first drive member is connected to the first clamping member to drive the first clamping member to reciprocate along the preset direction, and the output end of the second drive member is connected to the second clamping member to drive the second clamping member to reciprocate along the preset direction.

[0009] In some embodiments, the execution module further includes a controller, and the controller is electrically connected to the power receiving unit, the first motor, the first driving element, and the second driving element.

[0010] In some embodiments, the power supply unit includes at least one excitation cable, which is fixedly connected to the base and extends along the conveying direction. The power receiving unit is configured to interact with the magnetic field generated by electricity around the excitation cable and generate current to supply the execution module.

[0011] In some embodiments, the power receiving unit includes a second coil plate and an energy storage element, the second coil plate is coupled to the excitation cable, the second coil plate is electrically connected to the energy storage element, and the energy storage element is electrically connected to the execution module.

[0012] In some embodiments, the mover includes: a mover body, including a first sub-body and a second sub-body connected to the first sub-body, the first sub-body is arranged opposite to the base, the second sub-body is located on one side of the base, the power receiving unit is connected to the second sub-body, and the power supply unit is located on the side of the base close to the second sub-body; and a permanent magnet array and at least one guide member, both of which are arranged on the first sub-body, the permanent magnet array is coupled to the first coil plate, and the mover body is connected to the first guide rail through the guide member.

[0013] In some embodiments, the execution module is fixedly connected to the first sub-body or the second sub-body.

[0014] In some embodiments, the accommodating groove is arranged on the side wall of the base and extends along the conveying direction; the first coil plate is arranged in the accommodating groove, and the first guide rail is arranged on the upper surface of the base; or, the first guide rail is arranged in the accommodating groove, and the first coil plate is arranged on the upper surface of the base.

[0015] In some embodiments, the accommodating groove is disposed on the upper surface of the base and extends along the conveying direction; the first coil plate is disposed in the accommodating groove, and the first guide rail is disposed on at least one of the two oppositely disposed side walls of the base; or, the first guide rail is disposed in the accommodating groove, and the first coil plate is disposed on at least one of the two oppositely disposed side walls of the base.

[0016] In some embodiments, the accommodating groove is arranged on the side wall of the base and extends along the conveying direction, the first coil plate is arranged in the accommodating groove, and the first guide rail is arranged on the upper surface of the base; the first sub-body includes a fixing part, a mounting part and an extending part connecting the fixing part and the mounting part, the fixing part is located above the base, and the mounting part extends into the accommodating groove; the guide member is connected to the fixing part, and the permanent magnet array is connected to the mounting part.

[0017] In some embodiments, the receiving groove includes a bottom wall, a top wall and a side wall connecting the bottom wall and the top wall.

[0018] The first coil plate is arranged on the bottom wall, and the permanent magnet array is arranged on a side surface of the mounting portion close to the bottom wall; or, the first coil plate is arranged on the top wall, and the permanent magnet array is arranged on a side surface of the mounting portion close to the top wall.

[0019] In some embodiments, the first coil plate includes a plurality of armature coils arranged along a conveying direction, and an iron core is provided inside the armature coils.

[0020] In some embodiments, the first coil plate comprises an arc-shaped coil plate, and a plurality of the armature coils in the arc-shaped coil plate are arranged at intervals.

[0021] The conveyor line of the present application is provided with an execution module on the mover. The execution module can perform at least one of the operations of driving the conveyed object to rotate, driving the conveyed object to move linearly in a preset direction, clamping or releasing the conveyed object. When the execution module drives the conveyed object to rotate, the execution module can realize the rotary sealing of the conveyed object in the filling field, or can realize the posture adjustment of the conveyed object. When the execution module drives the conveyed object to move linearly in a preset direction, the execution module can adjust the actual position of the conveyed object when the mover is stationary so that it reaches the preset processing position. When the execution module can clamp or release the conveyed object, the execution module can be adapted to conveyed objects of different sizes, avoiding the replacement of the clamping structure adapted to the size of the conveyed object, and the execution module can also realize the fixation of the conveyed object, avoiding the additional setting of a manipulator for fixing the conveyed object. Therefore, the conveyor line of the present application can complete the processing of the conveyed object under the coordinated action of the execution module and the external manipulator, which is conducive to improving the processing efficiency of the conveyed object.

[0022] In addition, the power supply module of the present application is a contactless power supply structure. Compared with the method of using power lines to directly supply power to electrical components in related technologies, the power supply module in the present application will not cause wiring harness entanglement or breakage due to the movement of the mover, which can also improve the reliability and stability of power supply. On the third aspect, one of the first coil plate and the first guide rail is located in a receiving groove provided on the base. In this way, the floor space and volume of the stator can be reduced, which in turn helps to reduce the floor space and volume of the conveyor line, so as to meet the miniaturization requirements of the conveyor line. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] Figure 1 This is a schematic diagram of the structure of a conveyor line according to an embodiment of the present application;

[0025] Figure 2 A schematic diagram of a partial structure of a conveyor line according to an embodiment of the present application;

[0026] Figure 3 Another partial structural schematic diagram of a conveyor line according to an embodiment of the present application;

[0027] Figure 4 This is a schematic cross-sectional structure diagram of an execution module, a stator, a mover, and a power supply module of an embodiment of the present application;

[0028] Figure 5 This is a schematic structural diagram of a stator according to an embodiment of the present application.

[0029] Description of Figure Numbers:

[0030] 10-Conveyor line;

[0031] 100-transport module, 110-mover, 111-mover body, 112-permanent magnetic array, 113-guide, 1111-first sub-body, 1111a-fixing portion, 1111b-installing portion, 1111c-extension portion, 1112-second sub-body, 120-stator, 121-base, 1211-accommodating groove, 1211a-bottom wall, 1211b-top wall, 1211c-side wall, 122-first coil plate, 123-first guide rail;

[0032] 200-executing module, 210-clamping structure, 211-first clamping member, 212-second clamping member, 220-rotating assembly, 221-first motor, 222-motor fixing seat, 230-linear driving assembly, 231-driving member fixing seat, 232-second guide rail;

[0033] 300-power supply module, 310-power supply unit, 311-excitation cable, 320-power receiving unit, 330-cable bracket;

[0034] 400 - conveyed object, 410 - clamping chamber. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0036] In the description of this application, it should be understood that if the terms "upper", "lower", "left", "right", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only 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.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. "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 previously associated objects are in an "or" relationship.

[0038] In the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0039] As described in the background technology, when the conveyed object reaches the preset processing position on the conveyor line, the mover stops moving. At this time, the external manipulator can process the conveyed object on the mover. However, during processing, all processing actions such as clamping or loosening the conveyed object, position change of the conveyed object, rotary sealing of the conveyed object, posture adjustment, etc. are completed by the manipulator, which is not conducive to improving the processing efficiency of the conveyed object.

[0040] Based on the above problems, the present application proposes a conveyor line 10 that can improve the processing efficiency of the conveyed objects.

[0041] like Figures 1 to 4As shown, the conveying line 10 includes a conveying module 100, an execution module 200 and a power supply module 300. The conveying module 100 includes at least one mover 110 and a plurality of stators 120 arranged along the conveying direction S, the stator 120 includes a base 121 and a first coil plate 122 connected to the base 121 and at least one first guide rail 123, the base 121 is provided with a receiving groove 1211, one of the first coil plate 122 and the first guide rail 123 is arranged in the receiving groove 1211, and the mover 110 is movably connected to the first guide rail 123 to move along the conveying direction S under the drive of the first coil plate 122. The execution module 200 is connected to the mover 110, and the execution module 200 can perform at least one operation of driving the conveyed object 400 to rotate, driving the conveyed object 400 to move along a preset direction, and clamping or releasing the conveyed object 400. The power supply module 300 includes a power supply unit 310 and a power receiving unit 320 which are coupled to each other. The power supply unit 310 is connected to the base 121 , the power receiving unit 320 is connected to the mover 110 , and the power receiving unit 320 is electrically connected to the execution module 200 to supply power to the execution module 200 .

[0042] In the present application, the conveyor line 10 includes a conveyor module 100, an execution module 200 and a power supply module 300. The conveyor module 100 is the main part of the conveyor line 10. Specifically, the conveyor module 100 includes a plurality of stators 120 and at least one mover 110. Figure 1 As shown, a plurality of stators 120 are arranged along the conveying direction S. For example, a plurality of stators 120 can form a closed or non-closed conveying track by splicing or docking. Optionally, a plurality of stators 120 may include at least one of a linear stator, an arc stator, and a docking stator. The linear stator can realize the linear motion of the mover 110, the arc stator can realize the arc motion of the mover 110, and the docking stator can realize the docking motion of the mover 110 between two conveying lines. By combining different types of stators 120, a conveying line 10 with different transportation paths can be planned.

[0043] like Figure 2 and Figure 3 As shown, the stator 120 includes a base 121, a first coil plate 122 and at least one first guide rail 123. The first coil plate 122 and the first guide rail 123 are both connected to the base 121 to achieve the fixation of the two on the base 121. One of the first coil plate 122 and the first guide rail 123 is located in a receiving groove 1211 opened on the base 121. As a result, the floor space and volume of the stator 120 can be reduced, thereby reducing the floor space and volume of the conveyor line 10. Optionally, the number of the first guide rails 123 can be one, or two or more, and the present application does not limit this.

[0044] It should be noted that each stator 120 is provided with a first coil plate 122 and at least one first guide rail 123. When a plurality of stators 120 are spliced ​​into a closed or non-closed conveying track, the base 121, the first coil plate 122 and the first guide rail 123 of two adjacent stators 120 are all aligned. Thus, a plurality of first guide rails 123 are spliced ​​into a whole guide rail, and a plurality of first coil plates 122 are spliced ​​into a whole first coil plate 122. In this way, the stability and reliability of the movement of the mover 110 on the stator 120 can be improved.

[0045] At least one mover 110 means that the number of movers 110 can be one, or two or more. When there are two or more movers 110, all movers 110 are movably connected to the first guide rail 123, so that the conveyor line 10 meets the assembly line processing scenario with multiple stations.

[0046] The mover 110 can move along the conveying direction S under the drive of the first coil plate 122. The movement principle of the mover 110 is that the permanent magnetic array in the mover 110 is magnetically coupled with the first coil plate 122 on the stator 120. By energizing the first coil plate 122, the magnetic field generated by the first coil plate 122 interacts with the magnetic field of the permanent magnetic array on the mover 110, thereby driving the mover 110 to move, and then the mover 110 reaches a preset position.

[0047] The execution module 200 is connected to the mover 110. Thus, the execution module 200 can move synchronously with the mover 110 on the stator 120. When the mover 110 reaches the preset processing position, the mover 110 stops moving. At this time, the execution module 200 can perform at least one of driving the conveyed object 400 to rotate, driving the conveyed object 400 to move linearly along a preset direction, and clamping or releasing the conveyed object 400.

[0048] The power supply module 300 includes a power supply unit 310 and a power receiving unit 320. The power supply unit 310 and the power receiving unit 320 are contactless power supply structures. The power supply unit 310 is static and connected to the base 121; the power receiving unit 320 is dynamic and connected to the mover 110. The power receiving unit 320 and the power supply unit 310 are in a magnetoelectric coupling state, and the power receiving unit 320 and the power supply unit 310 can interact based on the principle of electromagnetic induction, thereby causing the power receiving unit 320 to generate current. The current generated by the power receiving unit 320 is then supplied to the execution module 200, so that the execution module 200 performs at least one of the above operations.

[0049] It should be noted that the magnetoelectric coupling between the power receiving unit 320 and the power supply unit 310 means that when the mover 110 is moving or stationary, the power receiving unit 320 can always be coupled with the power supply unit 310, so that when the mover 110 is moving or stationary, the power receiving unit 320 can always obtain electric energy, thereby ensuring the power supply stability of the execution module 200. In other words, the extension direction of the power supply unit 310 and the conveying direction S are roughly parallel in the plane.

[0050] The conveyor line 10 of the present application is provided with an execution module 200 on the mover 110. The execution module 200 can perform at least one of the operations of driving the conveyed object 400 to rotate, driving the conveyed object 400 to move linearly in a preset direction, clamping or releasing the conveyed object 400. When the execution module 200 drives the conveyed object 400 to rotate, the execution module 200 can realize the rotary sealing of the conveyed object 400 in the filling field, or can realize the posture adjustment of the conveyed object 400. When the execution module 200 drives the conveyed object 400 to move linearly in a preset direction, the execution module 200 can adjust the actual position of the conveyed object 400 when the mover 110 is stationary, so that it reaches the preset processing position. When the execution module 200 can clamp or release the conveyed object 400, the execution module 200 can be adapted to conveyed objects 400 of different sizes, avoiding the replacement of the clamping structure adapted to the size of the conveyed object 400. Furthermore, the execution module 200 can also fix the conveyed object 400, avoiding the need for an additional robot for fixing the conveyed object 400. Thus, the conveyor line 10 of the present application can complete the processing of the conveyed object 400 under the synergistic effect of the execution module 200 and the external robot, thereby facilitating the improvement of the processing efficiency of the conveyed object 400.

[0051] In addition, the power supply module 300 of the present application is a contactless power supply structure. Compared with the method of using power lines to directly supply continuous power to electrical components in the related technology, the power supply module 300 in the present application will not have the wire harness entangled or broken due to the movement of the mover, which can also improve the reliability and stability of power supply.

[0052] Thirdly, one of the first coil plate 122 and the first guide rail 123 is located in the receiving groove 1211 provided on the base 121. Thus, the floor space and volume of the stator 120 can be reduced, and further the floor space and volume of the conveyor line 10 can be reduced to meet the miniaturization requirements of the conveyor line 10.

[0053] It should be noted that the preset direction may intersect with the conveying direction S. Preferably, when the conveying direction is a straight line, the preset direction may be perpendicular to the conveying direction S.

[0054] In some embodiments, the execution module 200 can drive the conveyed object 400 to rotate. The execution module 200 includes a clamping structure 210 and a rotating assembly 220. The clamping structure 210 is used to place the conveyed object 400. The rotating assembly 220 is connected to the clamping structure 210 to drive the clamping structure 210 to rotate.

[0055] In this embodiment, the execution module 200 can execute the operation of driving the conveyed object 400 to rotate. Specifically, the execution module 200 includes a clamping structure 210 and a rotating assembly 220. When the conveyed object 400 is placed in the clamping structure 210, the rotating assembly 220 can drive the clamping structure 210 to rotate, thereby driving the conveyed object 400 to rotate. In this way, the execution module 200 can realize the rotation sealing or unsealing of the conveyed object 400 in the filling field, or the posture adjustment of the conveyed object 400 can be realized, which is conducive to improving the processing efficiency of the conveyed object.

[0056] It should be noted that, in this embodiment, the clamping structure 210 does not have the function of adjusting the size of the clamping cavity, and the clamping structure 210 is only adapted to the conveyed object 400 of the corresponding size. In this way, the conveyed object 400 can be prevented from loosening when rotating. Optionally, the clamping structure 210 can be a clamping member with a fixed clamping cavity; or, the clamping structure 210 can be composed of two sub-clamping members with fixed positions, which is not limited in this embodiment.

[0057] In some embodiments, Figures 2 to 4 As shown, the execution module 200 can drive the conveyed object 400 to move along a preset direction and clamp or release the conveyed object 400. The execution module 200 includes a first clamping member 211, a second clamping member 212 and a linear drive assembly 230, the first clamping member 211 and the second clamping member 212 are arranged to form a clamping cavity 410 for placing the conveyed object 400, the linear drive assembly 230 is connected to the mover 110, and the linear drive assembly 230 includes a first drive member (not shown in the figure) and a second drive member (not shown in the figure), the output end of the first drive member is connected to the first clamping member 211 to drive the first clamping member 211 to reciprocate along the preset direction, and the output end of the second drive member is connected to the second clamping member 212 to drive the second clamping member 212 to reciprocate along the preset direction.

[0058] In this embodiment, the execution module 200 can perform two operations: driving the conveyed object 400 to move linearly and clamping or releasing the conveyed object 400. Specifically, the execution module 200 includes a first clamping member 211, a second clamping member 212, and a linear drive assembly 230, and the linear drive assembly 230 includes a first drive member and a second drive member. Driven by the first drive member, the first clamping member 211 can reciprocate along a preset direction; driven by the second drive member, the second clamping member 212 can reciprocate along a preset direction. Thus, when the first clamping member 211 and the second clamping member 212 move synchronously in the same direction, the first clamping member 211 and the second clamping member 212 can drive the conveyed object 400 to move linearly along a preset direction. When the first clamping member 211 and the second clamping member 212 move toward each other, the first clamping member 211 and the second clamping member 212 gradually approach each other, and the clamping cavity 410 shrinks, so that the two can clamp the conveyed object 400, or the clamping cavity 410 is adapted to a smaller conveyed object 400. When the first clamping member 211 and the second clamping member 212 move away from each other, the first clamping member 211 and the second clamping member 212 gradually move away from each other, and the clamping cavity 410 expands, so that the two can release the conveyed object 400, or the clamping cavity 410 is adapted to a larger conveyed object 400. This is conducive to improving the processing efficiency of the conveyed object 400.

[0059] In some embodiments, Figure 2 and Figure 3 As shown, the execution module 200 can drive the conveyed object 400 to rotate and drive the conveyed object 400 to move along a preset direction, and the execution module 200 can also clamp or release the conveyed object 400. The execution module 200 includes a first clamping member 211, a second clamping member 212, a rotating assembly 220 and a linear drive assembly 230. The first clamping member 211 and the second clamping member 212 are arranged to form a clamping cavity 410 for placing the conveyed object 400. The rotating assembly 220 includes a first motor 221, the first motor 221 is connected to the mover 110, the linear drive assembly 230 is connected to the output end of the first motor 221, and the linear drive assembly 230 includes a first drive member and a second drive member, the output end of the first drive member is connected to the first clamping member 211 to drive the first clamping member 211 to move along the preset direction, and the output end of the second drive member is connected to the second clamping member 212 to drive the second clamping member 212 to move along the preset direction.

[0060] In this embodiment, the execution module 200 can execute three operations: driving the conveyed object 400 to move linearly, driving the conveyed object 400 to rotate, and clamping or releasing the conveyed object 400. Specifically, the rotating assembly 220 includes a first motor 221, and the first motor 221 can be, for example, a servo motor. Figure 2 and Figure 3As shown, the rotating assembly 220 also includes a motor fixing seat 222 for accommodating the first motor 221, the motor fixing seat 222 is connected to the mover 110, and the first motor 221 is connected to the motor fixing seat 222. As a result, the first motor 221 is not exposed, thereby improving the aesthetics of the execution module 200. The first motor 221 can drive the linear drive assembly 230, the first clamping member 211 and the second clamping member 212 to rotate, thereby realizing the rotation of the conveyed object 400. The linear drive assembly 230 includes a first drive member and a second drive member, and the output end of the first drive member is connected to the first clamping member 211, and the output end of the second drive member is connected to the second clamping member 212. In this way, under the action of the first drive member and the second drive member, the first clamping member 211 and the second clamping member 212 can move synchronously in the same direction, or can move in opposite directions or in opposite directions, so that the execution module 200 can drive the conveyed object 400 to move linearly and clamp or release the conveyed object 400. As a result, it is beneficial to further improve the processing efficiency of the conveyed object 400.

[0061] Optionally, the first driving member and the second driving member are both linear driving members, for example, both can be electric struts. Of course, the first driving member and the second driving member can also adopt other structures, such as a ball screw driving structure, a gear rack driving structure, etc., and this application does not limit this.

[0062] Alternatively, if Figure 2 and Figure 3 As shown, the linear drive assembly 230 further includes a drive member fixing seat 231 and a second guide rail 232 for accommodating the first drive member and the second drive member, at least part of the first drive member and the second drive member is located in the drive member fixing seat 231, the second guide rail 232 is arranged on the upper surface of the drive member fixing seat 231, and the output end of the second drive member and the output end of the second drive member are slidably connected to the second guide rail 232. In this way, on the one hand, the protection of the first drive member and the second drive member can be improved, and on the other hand, it is also conducive to improving the stability of the movement of the first clamping member 211 and the second clamping member 212.

[0063] Furthermore, in some embodiments, the execution module 200 further includes a controller (not shown in the figure), and the controller is electrically connected to the power receiving unit 320, the first motor 221, the first driving element, and the second driving element.

[0064] In this embodiment, the execution module 200 also includes a controller. The power receiving unit 320 is electrically connected to the controller to supply power to the controller. The controller is electrically connected to the first motor 221, the first drive member and the second drive member, so that the controller issues control commands to the rotating assembly 220 and the linear drive assembly 230 to enable the execution module 200 to perform the above-mentioned multiple operations. Specifically, the controller can control the first motor 221 to rotate to drive the conveyed object 400 to rotate; the controller can also control the output end of the first drive member and the output end of the second drive member to move in a direction close to or away from each other, so that the first clamping member 211 and the second clamping member 212 clamp or release the conveyed object 400, or make the first clamping member 211 and the second clamping member 212 adapt to conveyed objects 400 of different sizes; the controller can also control the output end of the first drive member and the output end of the second drive member to move in the same direction, so that the first clamping member 211 and the second clamping member 212 move together in a preset direction, thereby driving the conveyed object 400 to move in a preset direction.

[0065] In some embodiments, Figure 2 and Figure 3 As shown, the power supply unit 310 includes at least one excitation cable 311, which is fixedly connected to the base 121 and extends along the conveying direction S. The power receiving unit 320 is configured to interact with the magnetic field generated by electricity around the excitation cable 311 and generate current to supply the execution module 200.

[0066] This embodiment proposes a specific structure of the power supply module 300. The power supply unit 310 includes at least one excitation cable 311, which can be, for example, an AC cable, capable of generating a high-frequency alternating magnetic field. The power receiving unit 320 reacts with the high-frequency alternating magnetic field to induce AC power, which is then converted into DC power by a rectifier circuit and supplied to the execution module 200 for use.

[0067] Since the excitation cable 311 extends along the conveying direction S, when the mover 110 is moving or stationary, the power receiving unit 320 can always be coupled with the excitation cable 311, so that the power receiving unit 320 can continuously obtain electrical energy to supply the execution module 200, so that the execution module 200 can continuously obtain electrical energy, ensure the continuity of the execution module 200 obtaining electricity, and avoid the execution module 200 from stopping working due to insufficient power, thereby helping to improve the energy supply continuity and operational reliability of the execution module 200. In addition, compared with the method of using a cable drag chain or busbar to power the execution module 200 in the related art, this embodiment also effectively solves the problem of entanglement or breakage of the connecting cable caused by the movement of the mover 110.

[0068] In some embodiments, the power receiving unit 320 includes a second coil plate (not shown in the figure) and an energy storage element (not shown in the figure), the second coil plate is coupled to the excitation cable 311, the second coil plate is electrically connected to the energy storage element, and the energy storage element is electrically connected to the execution module 200.

[0069] In this embodiment, the second coil plate can generate an induced current under the magnetic field of the excitation cable 311, and supply the energy storage element so that the energy storage element can store electrical energy. The electrical energy stored in the energy storage element can be supplied to the execution module 200 so that the execution module 200 performs related operations. Optionally, the energy storage element can be, for example, a capacitor, a secondary battery, etc. Since the energy storage element can continuously obtain electricity, it can be ensured that there is sufficient electricity in the energy storage element, thereby avoiding the power outage of the execution module 200, which is conducive to improving the reliability and stability of the operation of the execution module 200.

[0070] In some embodiments, Figure 4 Shown and referenced Figure 2 and Figure 3 The mover 110 includes a mover body 111, a permanent magnet array 112 and at least one guide member 113. The mover body 111 includes a first sub-body 1111 and a second sub-body 1112 connected to the first sub-body 1111. The first sub-body 1111 is arranged opposite to the base 121, and the second sub-body 1112 is located at one side of the base 121. The power receiving unit 320 is connected to the second sub-body 1112, and the power supply unit 310 is located at a side of the base 121 close to the second sub-body 1112. The permanent magnet array 112 and the guide member 113 are both arranged on the first sub-body 1111, and the mover body 111 is connected to the first guide rail 123 through the guide member 113. The permanent magnet array 112 is magnetically coupled with the first coil plate 122.

[0071] In this embodiment, the mover body 111 is the base of the mover 110, and the permanent magnetic array 112, the guide member 113, the power receiving unit 320 and the execution module 200 are all arranged on the mover body 111. Among them, the mover body 111 includes a first sub-body 1111 and a second sub-body 1112, the permanent magnetic array 112 and the guide member 113 are connected to the first sub-body 1111, the power receiving unit 320 is connected to the second sub-body 1112, and the power supply unit 310 is connected to the side surface of the base 121 close to the second sub-body 1112. Such a configuration enables the conveying module 100 and the power supply module 300 to realize a block design. If the power supply module 300 fails, the second sub-body 1112 can be removed separately to repair the power receiving unit 320, thereby improving the convenience of disassembly of the power supply module 300. On the second hand, after the second sub-body 1112 is removed, it will not affect the normal movement of the first sub-body 1111, and the conveyor line 10 can still carry out normal object transportation. On the third hand, the first sub-body 1111 is arranged opposite the base 121, and the permanent magnetic array 112 and the guide member 113 are arranged on the first sub-body 1111, which is also conducive to improving the connection convenience between the first guide rail 123 and the guide member 111, and improving the magnetic coupling performance between the permanent magnetic array 112 and the first coil plate 122. On the fourth hand, the distance between the power receiving unit 320 and the power supply unit 310 is relatively close, which is also conducive to improving the electromagnetic induction effect between the power receiving unit 320 and the power supply unit 310.

[0072] In some embodiments, the execution module 200 is fixedly connected to the first sub-body 1111. This arrangement can increase the positive pressure between the first sub-body 1111 and the base 121, so that the center of gravity of the moving sub-body 111 and the center of gravity of the base 121 will not deviate too much, thereby improving the stability of the moving sub-body 111 running on the first guide rail 123.

[0073] In other embodiments, the execution module 200 is fixedly connected to the second sub-body 1112. Since the power receiving unit 320 and the execution module 200 are both fixedly connected to the second sub-body 1112, such a configuration makes the distance between the power receiving unit 320 and the execution module 200 closer, thereby improving the convenience of electrical connection between the power receiving unit 320 and the execution module 200.

[0074] Optionally, there may be a plurality of guide members 113. This helps to improve the stability of the movement of the mover body 111 on the first guide rail 123. Optionally, the guide member 113 may be a roller or a slider, which is not limited in the present application.

[0075] In a specific embodiment, Figure 3 and Figure 4As shown, there is one first guide rail 123, and the number of guiding members 113 is an even number, and they are evenly arranged on both sides in the width direction of the first guide rail 123. In this way, it is beneficial to improve the smoothness of the movement of the mover body 111 and the reliability of the connection between the mover body 111 and the first guide rail 123.

[0076] In some embodiments, as Figure 4 shown, the power supply module 300 further includes a cable bracket 330 for fixing the exciting cable 311, and the cable bracket 330 is connected to the side of the base 121 close to the second sub-body 1112. With this arrangement, it is beneficial to improve the convenience of arranging the exciting cable 311 and the coupling performance between the power receiving unit 320 and the exciting cable 311.

[0077] Optionally, as Figure 4 shown, the exciting cable 311 can be two parallel AC power cables and are both fixed on the cable bracket 330. The outer shape of the power receiving unit 320 can be approximately "C"-shaped. The power receiving unit 320 can have a plurality of, for example, two second coil plates, and the two second coil plates and the two exciting cables 311 are arranged in an interleaved manner. Thus, it is beneficial to improve the power taking efficiency of the power receiving unit 320.

[0078] In some embodiments, as Figure 3 and Figure 4 shown, the receiving groove 1211 is provided on the side wall of the base 121 and extends along the conveying direction S. The first coil plate 122 is provided in the receiving groove 1211, and the first guide rail 123 is provided on the upper surface of the base 121.

[0079] This embodiment proposes a setting manner of the first guide rail 123 and the first coil plate 122 on the base 121. In this way, it is beneficial to reduce the floor area and volume of the stator 120, thereby facilitating the realization of the miniaturization requirement of the conveying line 10.

[0080] In some other embodiments, the first guide rail 123 can be provided in the receiving groove 1211, and the first coil plate 122 can be provided on the upper surface of the base 121. Thus, it can also reduce the floor area and volume of the stator 120, thereby facilitating the realization of the miniaturization requirement of the conveying line 10.

[0081] It should be noted that the receiving groove 1211 is provided on the side wall of the base 121. Among them, the receiving groove 1211 can be provided on the side wall of the base 121 close to the second sub-body 1112; or, the receiving groove 1211 can be provided on the side wall of the base 121 far from the second sub-body 1112, and the present application does not limit this. In addition, the base 121 has a bottom surface, and the bottom surface of the base 121 is a surface that fits or is fixed to other structures such as the ground, the workbench surface, etc. In this way, the upper surface of the base 121 refers to a surface opposite to the bottom surface of the base 121.

[0082] In addition, in the present application, the first guide rail 123, the first coil plate 122 and the receiving groove 1211 can also be arranged in other ways on the base 121. For example, in some embodiments, the receiving groove 1211 can also be arranged on the upper surface of the base 121 and extend along the conveying direction S. In this case, the first coil plate 122 can be arranged in the receiving groove 1211, and at least one first guide rail 123 is arranged on at least one of the two side walls of the base 121 that are arranged oppositely; or, the first guide rail 123 is arranged in the receiving groove 1211, and the first coil plate 122 is arranged on at least one of the two side walls of the base 121 that are arranged oppositely. Correspondingly, the structure of the mover body 111 also needs to be changed so that the guide member 113 on the mover body 111 can be movably connected with the first guide rail 123, and at the same time, the permanent magnet array 112 on the mover body 111 can be magnetically coupled with the first coil plate 122. The above-mentioned configuration can also reduce the floor space and volume of the stator 120 , thereby facilitating the miniaturization requirement of the conveyor line 10 .

[0083] In a specific embodiment, Figures 2 to 5 As shown, the receiving groove 1211 is arranged on the side wall of the base 121 and extends along the conveying direction S, the first coil plate 122 is arranged in the receiving groove 1211, and the first guide rail 123 is arranged on the upper surface of the base 121. Further, the first sub-body 1111 includes a fixing portion 1111a, a mounting portion 1111b, and an extending portion 1111c connecting the fixing portion 1111a and the mounting portion 1111b, the fixing portion 1111a is located above the base 121, the mounting portion 1111b extends into the receiving groove 1211, the guide member 113 is connected to the fixing portion 1111a, and the permanent magnet array 112 is connected to the mounting portion 1111b. With such a configuration, on the first hand, the connection convenience between the guide member 113 and the first guide rail 123 can be improved. Secondly, the permanent magnet array 112 and the first coil plate 122 are both located in the receiving groove 1211, so that the magnetic coupling effect between the permanent magnet array 112 and the first coil plate 122 can be improved, thereby improving the reliability and stability of the movement of the mover 110. Thirdly, it is also conducive to realizing the miniaturization requirement of the conveyor line 10.

[0084] Of course, it is understandable that if the first coil plate 122 is disposed on the upper surface of the base 121, and the first guide rail 123 is disposed in the receiving groove 1211 of the base 121, then the guide member 113 is connected to the mounting portion 1111b, and the permanent magnet array 112 is connected to the fixing portion 1111a. In this way, the connection convenience between the guide member 113 and the first guide rail 123 can be improved.

[0085] In some embodiments, Figures 2 to 5As shown, the receiving groove 1211 includes a bottom wall 1211a, a top wall 1211b and a side wall 1211c connecting the bottom wall 1211a and the top wall 1211b. The side wall 1211c refers to a side wall opposite to the notch of the receiving groove 1211.

[0086] Furthermore, the first coil plate 122 is disposed on the bottom wall 1211a, and the permanent magnet array 112 is disposed on a side surface of the mounting portion 1111b close to the bottom wall 1211a. This is conducive to further improving the magnetic coupling effect between the permanent magnet array 112 and the first coil plate 122, thereby improving the reliability and stability of the movement of the mover 110.

[0087] Or, in other embodiments, Figure 4 and Figure 5 As shown, the first coil plate 122 is disposed on the top wall 1211b, and the permanent magnet array 112 is disposed on a side surface of the mounting portion 1111b close to the top wall 1211b. This is conducive to further improving the magnetic coupling effect between the permanent magnet array 112 and the first coil plate 122, thereby improving the reliability and stability of the movement of the mover 110.

[0088] In some embodiments, the mover 110 further includes a sensing component (not shown in the figure) disposed on the mover body 111, and the stator 120 further includes a sensor array (not shown in the figure) disposed on the base 121, and the sensing component and the sensor array cooperate to obtain the position of the mover 110 on the stator 120. Non-contact signal detection can be performed between the sensing component and the sensor array, and the sensing component can send a signal to the sensor array. For example, the sensor array may include a grating or magnetic grating encoder array, and the sensing component may include a magnetic grating or a grating, etc. The signal emitted by the sensing component is read by the sensor array, so that the position of the mover 110 on the stator 120 can be obtained in real time. In this way, the conveyor line 10 can achieve high-precision object transportation.

[0089] Optionally, the sensing component can be disposed on the mounting portion 1111b of the first sub-body 1111, and the sensor array can be disposed in the receiving groove 1211, for example, on the side wall 1211c of the receiving groove 1211. In this way, position detection can be achieved on the one hand, and a hidden design can be achieved on the other hand, thereby further reducing the volume of the stator 120.

[0090] In other embodiments, the stator 120 includes a Hall sensor (not shown) disposed on the first coil plate 122, and the Hall sensor can identify the position of the permanent magnetic array 112 on the mover 110, and then obtain the specific position of the mover 110. In this way, high-precision object transportation of the conveyor line 10 can also be achieved.

[0091] In some embodiments, the first coil plate 122 includes a plurality of armature coils arranged along the conveying direction, each armature coil having an iron core therein, thereby increasing the magnetic field strength of the armature coil when the armature coil is excited by current, thereby enabling the mover 110 to obtain a greater thrust, thereby increasing the mover load.

[0092] Furthermore, the first coil plate 122 includes an arc-shaped coil plate, and a plurality of armature windings in the arc-shaped coil plate are arranged at intervals, thereby reducing the arrangement density of the armature windings, and further reducing the setting cost of the first coil plate 122; and because an iron core is provided in the armature winding, the armature winding has a higher magnetic field strength when energized, that is, this embodiment provides an iron core in the armature winding and arranges a plurality of armature windings at intervals, thereby reducing the setting cost of the first coil plate 122 and having a higher magnetic field strength, so that the mover 110 has a greater thrust.

[0093] 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 conveyor line (10), characterized in that: include: A conveying module (100) comprises at least one mover (110) and a plurality of stators (120) arranged along a conveying direction, wherein the stator (120) comprises a base (121) and a first coil plate (122) connected to the base (121) and at least one first guide rail (123), wherein the base (121) is provided with a receiving groove (1211), wherein the receiving groove (1211) is arranged on a side wall of the base (121) and extends along the conveying direction, and one of the first coil plate (122) and the first guide rail (123) is arranged in the receiving groove. (1211), and the other is arranged on the upper surface of the base (121); or, the accommodating groove (1211) is arranged on the upper surface of the base (121) and extends along the conveying direction, one of the first coil plate (122) and the first guide rail (123) is arranged in the accommodating groove (1211), and the other is arranged on at least one side wall of two side walls of the base (121) arranged opposite to each other, and the mover (110) is movably connected to the first guide rail (123) so as to move along the conveying direction under the drive of the first coil plate (122); an execution module (200) connected to the mover (110), the execution module (200) being capable of executing at least one of the following operations: driving the conveyed object (400) to rotate, driving the conveyed object (400) to move along a preset direction, and clamping or releasing the conveyed object (400); and The power supply module (300) comprises a power supply unit (310) and a power receiving unit (320) which are coupled to each other, wherein the power supply unit (310) is connected to the base (121), the power receiving unit (320) is connected to the mover (110), and the power receiving unit (320) is electrically connected to the execution module (200) to supply power to the execution module (200).

2. The conveyor line (10) according to claim 1, characterized in that: The execution module (200) is capable of driving the conveyed object (400) to rotate. The execution module (200) comprises a clamping structure (210) and a rotating assembly (220). The clamping structure (210) is used to place the conveyed object (400). The rotating assembly (220) is connected to the clamping structure (210) to drive the conveyed object (400) to rotate. Alternatively, the execution module (200) is capable of driving the conveyed object (400) to move, clamp or release the conveyed object (400) along a preset direction, and the execution module (200) comprises a first clamping member (211), a second clamping member (212) and a linear drive assembly (230), wherein the first clamping member (211) and the second clamping member (212) are arranged to form a clamping cavity (410) for placing the conveyed object (400), and the linear drive assembly (230) comprises a first driving member and a second driving member, wherein an output end of the first driving member is connected to the first clamping member (211) to drive the first clamping member (211) to reciprocate along the preset direction, and an output end of the second driving member is connected to the second clamping member (212) to drive the second clamping member (212) to reciprocate along the preset direction.

3. The conveyor line (10) according to claim 1, characterized in that: The execution module (200) is capable of driving the conveyed object (400) to rotate and to drive the conveyed object (400) to move along the preset direction. The execution module (200) is also capable of clamping or releasing the conveyed object (400). The execution module (200) comprises: A first clamping member (211) and a second clamping member (212), wherein the first clamping member (211) and the second clamping member (212) are arranged to form a clamping cavity (410) for placing the transported object (400); A rotating assembly (220) comprises a first motor (221), wherein the first motor (221) is connected to the mover (110); and A linear drive assembly (230) is connected to the output end of the first motor (221), and the linear drive assembly (230) comprises a first drive member and a second drive member, wherein the output end of the first drive member is connected to the first clamping member (211) to drive the first clamping member (211) to reciprocate along the preset direction, and the output end of the second drive member is connected to the second clamping member (212) to drive the second clamping member (212) to reciprocate along the preset direction.

4. The conveyor line (10) according to claim 3, characterized in that: The execution module (200) further comprises a controller, wherein the controller is electrically connected to the power receiving unit (320), the first motor (221), the first driving element, and the second driving element.

5. The conveyor line (10) according to claim 1, characterized in that: The power supply unit (310) includes at least one excitation cable (311), the excitation cable (311) is fixedly connected to the base (121) and extends along the conveying direction, and the power receiving unit (320) is configured to be able to interact with the magnetic field generated by electricity around the excitation cable (311) and generate current to supply the execution module (200).

6. The conveyor line (10) according to claim 5, characterized in that: The power receiving unit (320) comprises a second coil plate and an energy storage element, the second coil plate is coupled to the excitation cable (311), the second coil plate is electrically connected to the energy storage element, and the energy storage element is electrically connected to the execution module (200).

7. The conveyor line (10) according to claim 1, characterized in that: The mover (110) comprises: A movable body (111), comprising a first sub-body (1111) and a second sub-body (1112) connected to the first sub-body (1111), the first sub-body (1111) being arranged opposite to the base (121), the second sub-body (1112) being located on one side of the base (121), the power receiving unit (320) being connected to the second sub-body (1112), and the power supply unit (310) being located on one side of the base (121) close to the second sub-body (1112); and A permanent magnet array (112) and at least one guide member (113) are both arranged on the first sub-body (1111); the permanent magnet array (112) is coupled to the first coil plate (122); and the mover body (111) is connected to the first guide rail (123) via the guide member (113).

8. The conveyor line (10) according to claim 7, characterized in that: The execution module (200) is fixedly connected to the first sub-body (1111) or the second sub-body (1112).

9. The conveyor line (10) according to claim 7, characterized in that: The receiving groove (1211) is arranged on a side wall of the base (121) and extends along the conveying direction; the first coil plate (122) is arranged in the receiving groove (1211); and the first guide rail (123) is arranged on an upper surface of the base (121); The first sub-body (1111) comprises a fixing portion (1111a), a mounting portion (1111b), and an extending portion (1111c) connecting the fixing portion (1111a) and the mounting portion (1111b), wherein the fixing portion (1111a) is located above the base (121), and the mounting portion (1111b) extends into the containing groove (1211); The guide member (113) is connected to the fixing portion (1111a), and the permanent magnet array (112) is connected to the mounting portion (1111b).

10. The conveyor line (10) according to claim 9, characterized in that The containing groove (1211) comprises a bottom wall (1211a), a top wall (1211b) and a side wall (1211c) connecting the bottom wall (1211a) and the top wall (1211b) which are arranged opposite to each other; The first coil plate (122) is arranged on the bottom wall (1211a), and the permanent magnet array (112) is arranged on a side surface of the mounting portion (1111b) close to the bottom wall (1211a); Alternatively, the first coil plate (122) is disposed on the top wall (1211b), and the permanent magnet array (112) is disposed on a side surface of the mounting portion (1111b) close to the top wall (1211b).

11. The conveyor line (10) according to claim 1, characterized in that: The first coil plate (122) comprises a plurality of armature coils arranged along the conveying direction, wherein an iron core is arranged inside the armature coils.

12. The conveyor line (10) according to claim 11, characterized in that The first coil plate (122) comprises an arc-shaped coil plate, in which a plurality of armature coils are arranged at intervals.

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