Conveying system

Abstract

The invention discloses a conveying system. The conveying system comprises a rotor module and a conveying body. The rotor module comprises a rotor body, and a magnet assembly and a first guide wheel which are arranged on the rotor body; the conveying main body comprises a first stator module, the first stator module is provided with three first conveying paths extending in different extending directions, the first stator module comprises a first stator body and a first armature winding, the first armature winding is arranged on the first stator body, and the first armature winding is used for being coupled with the magnet assembly; the rotor module is driven to move along the first conveying path; the first stator module further comprises three movable first guide structures, the three first guide structures are arranged on the first stator body and extend along the three first conveying paths respectively, and the first guide structures are used for providing limiting for the first guide wheels so that the mover module can move along any one of the three first conveying paths. The conveying diversity of the conveying system can be improved.

Description

Technical Field

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

[0002] The use of magnetic levitation technology to transport workpieces has the characteristics of fast transportation speed, low maintenance cost, and high flexibility, and has been favored by more and more customers. At present, in the application scenarios of magnetic levitation conveyor lines, the moving module can usually only move in one direction, and the transportation diversity is low. Summary of the invention

[0003] The embodiment of the present application provides a conveying system, which can improve the conveying diversity of the conveying system.

[0004] Specifically, a conveying system is characterized by comprising:

[0005] A mover module, comprising a mover body, a magnet assembly and a first guide wheel arranged on the mover body;

[0006] The conveying body includes a first stator module, the first stator module has three first conveying paths extending in different extension directions, the first stator module includes a first stator body and a first armature winding, the first armature winding is arranged on the first stator body, and the first armature winding is used to couple with the magnet assembly to drive the mover module to move along the first conveying path;

[0007] Among them, the first stator module also includes three movable first guide structures, which are arranged on the first stator body and extend along the three first conveying paths respectively, and the first guide structure is used to provide a limit for the first guide wheel so that the movable module can move along any one of the three first conveying paths.

[0008] In some embodiments of the present application, the first stator module includes a first shunt end, a second shunt end and a third shunt end, a first of the three first conveying paths extends from the first shunt end to the second shunt end, a second of the three first conveying paths extends from the first shunt end to the third shunt end, and a third of the three first conveying paths extends from the second shunt end to the third shunt end.

[0009] In some embodiments of the present application, the first stator module includes a first converging end, a first diverging end, a second diverging end and a third diverging end, a first of the three first conveying paths extends from the first converging end to the first diverging end, a second of the three first conveying paths extends from the first converging end to the second diverging end, and a third of the three first conveying paths extends from the first converging end to the third diverging end.

[0010] In some embodiments of the present application, the first stator body includes an intermediate substrate and a side substrate located on the periphery of the intermediate substrate, the first armature winding is arranged between the intermediate substrate and the side substrate, and the mover module also includes a second guide wheel arranged on the mover body, and the second guide wheel is in contact with the side substrate to provide support for the mover module.

[0011] In some embodiments of the present application, the magnet assembly, the first guide wheel and the second guide wheel are all arranged at the bottom of the mover body, the axial direction of the first guide wheel is parallel to the vertical direction, and the axial direction of the second guide wheel is parallel to the horizontal direction; wherein, the first guide wheels are provided with two groups, and the two groups of first guide wheels are respectively arranged on both sides of the mover module, the magnet assembly and the second guide wheel are located between the two groups of the first guide wheels, and the axial direction of the second guide wheel is parallel to the arrangement direction of the two groups of the first guide wheels.

[0012] In some embodiments of the present application, the first stator module also includes: a first drive component, which is transmission-connected to the first guide structure, and the first drive component is used to drive the first guide structure to move horizontally and / or vertically, so that the first guide structure contacts or separates from the first guide wheel, so that the mover module moves along any one of the three first conveying paths.

[0013] In some embodiments of the present application, the conveying body also includes: a linear stator module, including a linear stator body, a linear armature winding and a linear guide structure, the linear armature winding and the linear guide structure are arranged on the linear stator body, the linear armature winding is used to couple with the magnet assembly to drive the mover module to move along the linear stator module, the linear armature winding is docked with the first armature winding, and the linear guide structure is docked with the first guide structure; wherein, the width of the docking point of the linear armature winding is the same as the width of the docking point of the first armature winding, the docking point of the linear armature winding has a first side and a second side arranged along the width direction of the linear armature winding, the docking point of the first armature winding has a third side and a fourth side arranged along the width direction of the first armature winding, the first side is docked with the third side, and the second side is docked with the fourth side.

[0014] In some embodiments of the present application, the first guide structure has a first guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; the linear guide structure has a linear guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; wherein, when the first guide surface contacts with the first guide wheel, the first guide surface is located on the outside of the first guide wheel, and when the linear guide surface contacts with the first guide wheel, the linear guide surface is located on the outside of the first guide wheel, and the first guide surface is connected to the linear guide surface.

[0015] In some embodiments of the present application, one of the joints of the linear armature winding and the first armature winding has a first protrusion, and the other of the joints of the linear armature winding and the first armature winding has a second protrusion, the first protrusion is spliced ​​with the second protrusion, and the first protrusion is located on one side of the second protrusion along the thickness direction of the linear armature winding.

[0016] In some embodiments of the present application, an actuator and a power supply mechanism are provided on the mover body, and a power supply mechanism is provided on the conveying body. The power supply mechanism is electrically connected to the actuator through the power supply structure to supply power to the actuator.

[0017] In some embodiments of the present application, the actuator includes the first guide wheel and an actuator drive assembly, wherein the actuator drive assembly is arranged on the mover body, the actuator drive assembly is electrically connected to the actuator through the power supply structure, the actuator drive assembly is transmission-connected to the first guide wheel, and the actuator drive assembly is used to drive the first guide wheel to move horizontally and / or vertically so that the first guide wheel contacts or separates from the first guide structure so that the first guide structure provides a limit for the first guide wheel.

[0018] In some embodiments of the present application, the power supply mechanism includes a plurality of conductive members arranged at intervals along the transport direction of the conveying system, the power supply mechanism is electrically connected to the actuator through the conductive members, and the conductive members are slidably connected to the power supply mechanism.

[0019] In some embodiments of the present application, the power supply mechanism is movably connected to the transport body, and the power supply mechanism can move relative to the transport body to contact or separate from the power collection structure.

[0020] In some embodiments of the present application, the conveying body also includes: a second stator module, including a second stator body and two groups of second armature windings, the two groups of second armature windings are arranged on the second stator body, the two groups of second armature windings are arranged horizontally and cross-arranged with each other, and the second armature winding is used to couple with the magnet assembly to drive the mover module to move along the second armature winding.

[0021] In some embodiments of the present application, the magnet assembly includes two groups of cross-arranged magnet arrays, one group of the magnet arrays extends along the extension direction of one group of the second armature windings, and the other group of the magnet arrays extends along the extension direction of another group of the second armature windings.

[0022] In some embodiments of the present application, one group of the second armature windings includes a first part located at a cross position, and another group of the second armature windings includes a second part located at a cross position; wherein the two groups of the second armature windings are arranged on the same layer, and the first part and the second part are the same part; or, the two groups of the second armature windings are located on different layers, and the two groups of the second armature windings are arranged opposite to each other; or, the two groups of the second armature windings are arranged on the same layer, and the first part and the second part are stacked.

[0023] In some embodiments of the present application, the second stator module also includes: two second guide structures, which are arranged on the second stator body and extend along the two groups of second armature windings respectively; a second drive component, which is transmission-connected to the second guide structure, and the second drive component is used to drive the second guide structure to move vertically, so that the second guide structure provides a limit for the first guide wheel, so that the mover module moves along any second armature winding in the two groups of the second armature windings.

[0024] In some embodiments of the present application, the conveying body also includes: a linear stator module, including a linear stator body, a linear armature winding and a linear guide structure, the linear armature winding and the linear guide structure are arranged on the linear stator body, and the linear armature winding is used to couple with the magnet assembly to drive the mover module to move along the linear stator module; wherein the second armature winding is docked with the first armature winding and at least one of the linear armature windings, and the second guide structure is docked with the first guide structure and at least one of the linear guide structure.

[0025] In some embodiments of the present application, the joint of the linear armature winding has a first side and a second side arranged along the width direction of the linear armature winding, the joint of the first armature winding has a third side and a fourth side arranged along the width direction of the first armature winding, and the joint of the second armature winding has a fifth side and a sixth side arranged along the width direction of the second armature winding; wherein, when the second armature winding is butt-jointed with the linear armature winding, the width of the joint of the second armature winding is the same as the width of the joint of the linear armature winding, and the fifth side is butt-jointed with the first side, and the sixth side is butt-jointed with the second side; when the second armature winding is butt-jointed with the first armature winding, the width of the joint of the second armature winding is the same as the width of the joint of the first armature winding, and the fifth side is butt-jointed with the third side, and the sixth side is butt-jointed with the fourth side.

[0026] In some embodiments of the present application, the first guide structure has a first guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; the linear guide structure has a linear guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; the second guide structure has a second guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; wherein, when the first guide surface contacts with the first guide wheel, the first guide surface is located outside the first guide wheel, when the linear guide surface contacts with the first guide wheel, the linear guide surface is located outside the first guide wheel, when the second guide surface contacts with the first guide wheel, the second guide surface is located outside the first guide wheel, and the second guide surface is docked with at least one of the first guide surface and the linear guide surface.

[0027] In some embodiments of the present application, the conveying body also includes: a third stator module, the third stator module has two second conveying paths extending along different extension directions, the third stator module includes a third stator body and a third armature winding, the third armature winding is arranged on the third stator body, and the third armature winding is used to couple with the magnet assembly to drive the movable module to move along the second conveying path; wherein, the third stator module also includes two movable third guide structures, the two third guide structures are arranged on the third stator body, and extend along the two second conveying paths respectively, and the third guide structure is used to provide a limit for the first guide wheel so that the movable module moves along any one of the two second conveying paths.

[0028] In some embodiments of the present application, the conveying body also includes: a linear stator module, including a linear stator body, a linear armature winding and a linear guide structure, the linear armature winding and the linear guide structure are arranged on the linear stator body, and the linear armature winding is used to couple with the magnet assembly to drive the mover module to move along the linear stator module; wherein the third armature winding is docked with the first armature winding and at least one of the linear armature windings, and the third guide structure is docked with the first guide structure and at least one of the linear guide structure.

[0029] In some embodiments of the present application, the joint of the linear armature winding has a first side and a second side arranged along the width direction of the linear armature winding, the joint of the first armature winding has a third side and a fourth side arranged along the width direction of the first armature winding, and the joint of the third armature winding has a seventh side and an eighth side arranged along the width direction of the third armature winding; wherein, when the third armature winding is butt-jointed with the linear armature winding, the width of the joint of the third armature winding is the same as the width of the joint of the linear armature winding, and the seventh side is butt-jointed with the first side, and the eighth side is butt-jointed with the second side; when the third armature winding is butt-jointed with the first armature winding, the width of the joint of the third armature winding is the same as the width of the joint of the first armature winding, and the seventh side is butt-jointed with the third side, and the eighth side is butt-jointed with the fourth side.

[0030] In some embodiments of the present application, the first guide structure has a first guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; the linear guide structure has a linear guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; the third guide structure has a third guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; wherein, when the first guide surface contacts with the first guide wheel, the first guide surface is located outside the first guide wheel, when the linear guide surface contacts with the first guide wheel, the linear guide surface is located outside the first guide wheel, when the third guide surface contacts with the first guide wheel, the third guide surface is located outside the first guide wheel, and the third guide surface is docked with at least one of the first guide surface and the linear guide surface.

[0031] In some embodiments of the present application, the third stator module includes a second converging end, a fifth diverging end and a sixth diverging end, the first of the two second conveying paths extending from the second converging end to the fifth diverging end, and the second of the two second conveying paths extending from the second converging end to the sixth diverging end.

[0032] The conveying system according to the embodiment of the present application has at least the following beneficial effects:

[0033] The first stator module can provide three first conveying paths for the mover module, and guide the moving direction of the mover module through the cooperation of the first guide structure and the first guide wheel. Combined with the driving force of the first armature winding on the mover module, the mover module can choose to move along any one of the three first conveying paths according to predetermined needs, thereby improving the conveying diversity of the conveying system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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 those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 This is a schematic structural diagram of a first stator module and a mover module in an embodiment of the present application;

[0036] Figure 2 This is a schematic structural diagram of a first stator module in an embodiment of the present application;

[0037] Figure 3 This is a schematic structural diagram of a first stator module in another embodiment of the present application;

[0038] Figure 4 This is a structural schematic diagram of a first stator module in another embodiment of the present application;

[0039] Figure 5 This is a structural schematic diagram of a first stator module in another embodiment of the present application;

[0040] Figure 6 This is a schematic structural diagram of a mover module in an embodiment of the present application at a first viewing angle;

[0041] Figure 7 This is a schematic diagram of the structure of a conveying system in one embodiment of the present application;

[0042] Figure 8 This is a partial structural schematic diagram of a conveying system in one embodiment of the present application;

[0043] Fig. 9 This is a schematic diagram of the splicing of the first stator module and the linear stator module in one embodiment of the present application;

[0044] Fig.10 This is a schematic structural diagram of a second stator module in one embodiment of the present application;

[0045] Fig.11 This is a schematic structural diagram of a second armature winding in another embodiment of the present application;

[0046] Fig.12 This is a schematic structural diagram of a second armature winding in another embodiment of the present application;

[0047] Fig.13 This is a schematic structural diagram of a mover module in an embodiment of the present application at a second viewing angle;

[0048] Fig.14 This is a schematic structural diagram of a third stator module in an embodiment of the present application;

[0049] Fig.15 This is a schematic diagram of the structure of a conveying system in another embodiment of the present application.

[0050] Description of reference numerals:

[0051] 10. mover module; 11. mover body; 12. magnet assembly; 121. magnet array; 13. first guide wheel; 14. second guide wheel; 15. actuator; 16. power supply mechanism; 20. first stator module; 21. first conveying path; 22. first stator body; 221. intermediate substrate; 222. side substrate; 23. first armature winding; 24. first guide structure; 241. first guide surface; 25. first drive assembly; A1. first shunt end; A2. second shunt end; A3. third shunt end; A4. fourth shunt end; A5. first confluence end; A6. first corresponding end; A7. second corresponding end; A8. third corresponding end; 30. second stator module; 31. second stator body; 32. second electric armature winding; 321, first part; 322, second part; 33, second guide structure; 331, second guide surface; 34, second drive assembly; B1, first docking end; B1, second docking end; B3, third docking end; B4, fourth docking end; 40, third stator module; 41, second conveying path; 42, third stator body; 43, third armature winding; 44, third guide structure; 441, third guide surface; C1, second confluence end; C2, fifth shunt end; C3, sixth shunt end; 50, linear stator module; 51, linear stator body; 52, linear armature winding; 53, linear guide structure; 531, linear guide surface; 61, power supply mechanism; 62, first protrusion; 63, second protrusion. DETAILED DESCRIPTION

[0052] 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.

[0053] The present application provides a delivery system, such as Figure 1 and Figure 2 As shown, the conveying system includes a moving module 10 and a conveying body; the moving module 10 includes a moving body 11 and a magnet assembly 12 (such as Figure 6) and a first guide wheel 13; the conveying body includes a first stator module 20, the first stator module 20 has three first conveying paths 21 extending in different extension directions, the first stator module 20 includes a first stator body 22 and a first armature winding 23, the first armature winding 23 is arranged on the first stator body 22, and the first armature winding 23 is used to couple with the magnet assembly 12 to drive the mover module 10 to move along the first conveying path 21. It should be noted that the mover module 10 is a device in the conveying system for carrying the objects to be transported, and the mover module 10 is a magnetic power mover. When the mover module 10 moves along the conveying system, the conveying body can be coupled with the magnet assembly 12 through the first armature winding 23 and the like to provide magnetic power to the mover module 10, so as to drive the mover module 10 to move along the first conveying path 21.

[0054] The first stator module 20 further includes three movable first guide structures 24, which are arranged on the first stator body 22 and respectively correspond to the three first conveying paths 21. The three first guide structures 24 extend along the three first conveying paths 21, that is, the extension directions of the three first guide structures 24 correspond to the conveying directions of the three first conveying paths 21. The first guide structures 24 are used to provide a limit for the first guide wheel 13, so that the mover module 10 moves along any one of the three first conveying paths 21.

[0055] It should be noted that in the present application, the first stator module 20 can provide three first conveying paths 21 for the mover module 10, and at the same time guide the moving direction of the mover module 10 through the cooperation of the first guide structure 24 and the first guide wheel 13. Combined with the driving force of the first armature winding 23 on the mover module 10, the mover module 10 can choose to move along any one of the three first conveying paths 21 according to predetermined needs, thereby improving the conveying diversity of the conveying system.

[0056] Specifically, the first stator module 20 includes a first shunt end A1, a second shunt end A2 and a third shunt end A3, which are three different ends of the first stator module 20, respectively. The first shunt end A1, the second shunt end A2 and the third shunt end A3 can be docked with the ends of other stator modules in the conveying body, thereby achieving the docking of the first stator module 20 with other stator modules. The first armature winding 23 can have armature ends corresponding to each end of the first stator module 20 one by one. By controlling the on and off of each armature end of the first armature winding 23 and the current direction, the driving force for the mover module 10 to move along the first conveying path 21 can be provided.

[0057] Furthermore, the first conveying path 21 corresponding to the first shunt end A1 and the second shunt end A2 is defined as the first sub-conveying path, the first conveying path 21 corresponding to the first shunt end A1 and the third shunt end A3 is defined as the second sub-conveying path, and the first conveying path 21 corresponding to the second shunt end A2 and the third shunt end A3 is defined as the third sub-conveying path; the first guide structure 24 adjacent to the first sub-conveying path and extending in the same direction as the first sub-conveying path is defined as the first sub-guide structure, the first guide structure 24 adjacent to the second sub-conveying path and extending in the same direction as the second sub-conveying path is defined as the second sub-guide structure, and the first guide structure 24 adjacent to the third sub-conveying path and extending in the same direction as the third sub-conveying path is defined as the third sub-guide structure. For example, when the moving sub-module 10 needs to be transported from the first shunt end A1 to the second shunt end A2, the first armature winding 23 corresponding to the first sub-conveying path is energized, so that the moving sub-module 10 is transported along the first sub-conveying path under the excitation of the first armature winding 23. At the same time, the first sub-guide structure corresponding to the first sub-conveying path is controlled to rise or horizontally displace, so that the first sub-guide structure cooperates with the first guide wheel 13; and the second sub-guide structure and the third sub-guide structure respectively corresponding to the second sub-conveying path and the third sub-conveying path are controlled to descend or horizontally displace, so that the first guide wheel 13 is released from the second sub-guide structure and the third sub-guide structure, thereby making the movable module 10 move more stably along the first sub-conveying path under the limitation of the first sub-guide structure.

[0058] like Figure 2 As shown, in some embodiments, the first first conveying path 21 of the three first conveying paths 21 extends from the first shunt end A1 to the second shunt end A2, the second first conveying path 21 of the three first conveying paths 21 extends from the first shunt end A1 to the third shunt end A3, and the third first conveying path 21 of the three first conveying paths 21 extends from the second shunt end A2 to the third shunt end A3. It can be understood that in this embodiment, the first stator module 20 only includes three different ends (i.e., the first shunt end A1, the second shunt end A2, and the third shunt end A3), and the three ends are combined in pairs to form three first conveying paths 21, so that the movable submodule 10 can move between the three shunt ends.

[0059] The first shunt end A1 and the second shunt end A2 can be arranged opposite to each other, and the conveying direction when the movable submodule 10 enters the third shunt end A3 is perpendicular to the conveying direction when the movable submodule 10 enters the first shunt end A1 and the second shunt end A2. The first first conveying path 21 is a linear conveying path, and the second first conveying path 21 and the third first conveying path 21 are both arc conveying paths.

[0060] like Figure 3As shown, in other embodiments, the first stator module 20 may also include a first confluence end A5, a first first conveying path 21 of the three first conveying paths 21 extends from the first confluence end A5 to the first diverging end A1, a second first conveying path 21 of the three first conveying paths 21 extends from the first confluence end A5 to the second diverging end A2, and a third first conveying path 21 of the three first conveying paths 21 extends from the first confluence end A5 to the third diverging end A3. It can be understood that in this embodiment, the first stator module 20 includes only four different ends (i.e., the first confluence end A5, the first diverging end A1, the second diverging end A2, and the third diverging end A3), and three first conveying paths 21 are formed between the first confluence end A5 and the other three ends respectively, and the three first conveying paths 21 overlap at the first confluence end A5, so that the mover module 10 can move between the first confluence end A5 and the other three ends.

[0061] Among them, the first diverging end A1 and the first converging end A5 can be arranged opposite to each other, the second diverging end A2 and the third diverging end A3 are respectively located on the opposite sides of the first first conveying path 21, the first first conveying path 21 is a straight conveying path, and the second first conveying path 21 and the third first conveying path 21 are both arc conveying paths.

[0062] like Figure 4 As shown, in other embodiments, the first stator module 20 may also include a fourth shunt end A4, the first first conveying path 21 of the three first conveying paths 21 extends from the first shunt end A1 to the second shunt end A2, the second first conveying path 21 of the three first conveying paths 21 extends from the first shunt end A1 to the third shunt end A3, and the third first conveying path 21 of the three first conveying paths 21 extends from the second shunt end A2 to the fourth shunt end A4. The first shunt end A1 and the second shunt end A2 may be arranged opposite to each other, the second shunt end A2 and the third shunt end A3 are respectively located on opposite sides of the first first conveying path 21, the first first conveying path 21 is a linear conveying path, and the second first conveying path 21 and the third first conveying path 21 both include a linear conveying path and an arc conveying path.

[0063] like Figure 5As shown, in other embodiments, the first stator module 20 may also include a first corresponding end A6, a second corresponding end A7 and a third corresponding end A8, the first first conveying path 21 of the three first conveying paths 21 extends from the first shunt end A1 to the first corresponding end A6, the second first conveying path 21 of the three first conveying paths 21 extends from the second shunt end A2 to the second corresponding end A7, and the third first conveying path 21 of the three first conveying paths 21 extends from the third shunt end A3 to the third corresponding end A8. Among them, the first shunt end A1, the second shunt end A2 and the third shunt end A3 are located on the same side, the first corresponding end A6, the second corresponding end A7 and the third corresponding end A8 are located on the same side, the first shunt end A1 and the first corresponding end A6 can be arranged oppositely, the second shunt end A2 and the second corresponding end A7 can be arranged oppositely, the third shunt end A3 and the third corresponding end A8 can be arranged oppositely, and the first first conveying path 21 can be a linear conveying path or an arc conveying path.

[0064] Furthermore, if Figures 2 to 5 As shown, in some embodiments, the first guide structure 24 is correspondingly embedded in the first conveying path 21. When the first guide structure 24 descends, the first conveying path 21 is recessed to form a groove structure. At this time, the first guide wheel 13 cooperates with the groove wall and conveys along a first conveying path 21 under the limitation of the groove structure. Figure 5 For example, when the moving submodule 10 is transported from the first diversion end A1 to the first corresponding end A6 along the first first conveying path 21, the first guide structure 24 corresponding to the first first conveying path 21 drops down to form a groove structure to cooperate with the first guide wheel 13; the first guide structures 24 corresponding to the second first conveying path 21 and the third first conveying path 21 do not drop down to avoid forming a groove structure to avoid cooperating with the first guide wheel 13. The above principle also applies to Figure 2 , Figure 3 , Figure 4 In the embodiment shown.

[0065] like Figures 2 to 5 As shown, in other embodiments, the first guide structure 24 is disposed above the first conveying path 21, that is, the first guide structure 24 is disposed on the side of the mover module 10 away from the first conveying path 21. When the first guide descends, that is, the first guide structure 24 moves along the side close to the first conveying path 21, the first guide structure 24 cooperates with the first guide wheel 13 on the mover module 10 to cooperate with the first guide wheel 13 to limit the position, thereby guiding the mover to move along a certain first conveying path 21.

[0066] like Figure 1 , Figure 2 and Figure 6As shown, in some embodiments, the first stator body 22 includes an intermediate substrate 221 and a side substrate 222 located on the peripheral side of the intermediate substrate 221, the first armature winding 23 is arranged between the intermediate substrate 221 and the side substrate 222, and the mover module 10 also includes a second guide wheel 14 arranged on the mover body 11, and the second guide wheel 14 contacts the side substrate 222 to provide support for the mover module 10. It should be noted that the contact between the side substrate 222 and the second guide wheel 14 provides support for the mover module 10, so that the mover module 10 moves more smoothly; in addition, by providing the intermediate substrate 221, the first armature winding 23 corresponding to the area where the intermediate substrate 221 is located can be hollowed out, which can reduce the mutual interference of the three first conveying paths 21 on the first armature winding 23 when energized and excited, and at the same time, the amount of the first armature winding 23 can be reduced to reduce the cost.

[0067] The embodiment of the present application does not limit the number and setting position of the second guide wheels 14. It is understandable that the second guide wheels 14 can be two groups, which are respectively arranged on both sides of the movable module 10 along the conveying direction, so that the operation of the movable module 10 is more stable and more stable support is obtained. In this embodiment, when the movable module 10 moves on the first stator module 20, part of the second guide wheel 14 will directly contact the first armature winding 23. This embodiment arranges a side substrate 222 to contact the second guide wheel 14 to share part of the pressure of the second guide wheel 14 on the first armature winding 23, so as to avoid damage to the first armature winding 23 due to the large load of the movable module 10, so as to ensure the reliability of the operation of the conveying system. Furthermore, an intermediate substrate 221 is provided in the hollow portion in the middle of the first armature winding 23. When the movable module 10 runs to the hollow portion in the middle, the second guide wheel 14 on the movable module 10 contacts the intermediate substrate 221, thereby avoiding the movable module 10 from tipping over when running to the hollow portion, thereby improving the operating stability of the movable module 10. Furthermore, when the movable module 10 runs to the hollow part in the middle, even if the movable module 10 does not tip over if the intermediate substrate 221 is not provided, the movable module 10 will be eccentric at the hollow part under the action of gravity, and the height of the second guide wheel 14 at the hollow part will be lower than the height of the first armature winding 23; as the movable module 10 moves forward, the second guide wheel 14 moves out from the hollow part to contact the first armature winding 23, and because the height of the second guide wheel 14 at the hollow part is lower than the height of the first armature winding 23, the second guide wheel 14 will collide with the first armature winding 23 due to the height difference during the process of moving out and contacting the first armature winding 23, which may cause damage to the first armature winding 23. Therefore, the intermediate substrate 221 provided in the present application not only improves the stability of the operation of the movable module 10, but also reduces the possibility of damage to the first armature winding 23.

[0068] like Figure 6As shown, in some embodiments, the magnet assembly 12, the first guide wheel 13 and the second guide wheel 14 are all arranged at the bottom of the mover body 11, the axial direction of the first guide wheel 13 is parallel to the vertical direction, and the axial direction of the second guide wheel 14 is parallel to the horizontal direction.

[0069] There are two groups of first guide wheels 13, which are respectively arranged on both sides of the movable module 10. By selecting the first guide structure 24 on one side to cooperate with the first guide wheel 13 on the corresponding side, the conveying direction of the movable module 10 is changed. For example, when the movable module 10 needs to travel along the left side, the first guide structure 24 on the left side is selected to cooperate with the first guide wheel 13 on the left side, and the first guide structure 24 on the right side is released from the first guide wheel 13. Or, when the movable module 10 needs to travel in a straight line, the first guide structure 24 can be selected to cooperate with the first guide wheels 13 on both sides at the same time to better drive the movable module 10 to travel in a straight line. The magnet assembly 12 and the second guide wheel 14 are located between the two groups of first guide wheels 13, and the axial direction of the second guide wheel 14 is parallel to the arrangement direction of the two groups of first guide wheels 13, so that the magnet assembly 12, the first guide wheel 13 and the second guide wheel 14 can be centrally arranged at the bottom of the movable body 11, making the assembly of the movable module 10 more convenient. The magnet assembly 12 is arranged between the two groups of first guide wheels 13. The positions of the abutment forces applied to the first guide wheels 13 on both sides when cooperating with the first guide structure 24 are roughly the same. Eccentricity is avoided when the first guide wheels 13 cooperate with the first guide structure 24, so as to more stably realize the change of the conveying direction of the movable module 10.

[0070] Continue to see Figure 2As shown, in some embodiments of the present application, the first stator module 20 further includes a first drive assembly 25, which is transmission-connected to the first guide structure 24, and the first drive assembly 25 is used to drive the first guide structure 24 to move horizontally or / and vertically, so that the first guide structure 24 contacts or separates from the first guide wheel 13, so that the movable module 10 moves along any of the three first conveying paths 21. The first drive assembly 25 may include a drive member such as an electric cylinder, a motor, a cylinder or a hydraulic cylinder, and the first guide structure 24 is driven to move by the drive member, so that the first guide structure 24 can contact or separate from the first guide wheel 13, thereby achieving the limitation and guidance of the first guide wheel 13. For example, when the movable module 10 needs to move along the first first conveying path 21, the first guide structure 24 corresponding to the first first conveying path 21 can be driven to move to contact with the first guide wheel 13, and the other two first guide structures 24 can be driven to separate from the first guide wheel 13, so that the movable module 10 can be guided. Move along the first first conveying path 21; similarly, when the movable module 10 needs to move along the second first conveying path 21, the first guide structure 24 corresponding to the second first conveying path 21 can be driven to move to contact the first guide wheel 13, and the other two first guide structures 24 can be driven to separate from the first guide wheel 13; when the movable module 10 needs to move along the third first conveying path 21, the first guide structure 24 corresponding to the third first conveying path 21 can be driven to move to contact the first guide wheel 13, and the other two first guide structures 24 can be driven to separate from the first guide wheel 13.

[0071] In some embodiments, the first guide structure 24 can be a movable guide groove. When the first guide structure 24 contacts the first guide wheel 13, the first guide wheel 13 is located in the guide groove and contacts the groove wall of the guide groove, and the guide groove is used to provide a limit for the first guide wheel 13; when the first guide structure 24 is separated from the first guide wheel 13, the first guide wheel 13 moves out of the guide groove, releasing the limit of the guide groove on the first guide wheel 13, and the first drive assembly 25 can drive the guide groove to move horizontally and / or vertically to enable the first guide wheel 13 to enter and exit the guide groove.

[0072] In other embodiments, the first guide structure 24 may also be a movable guide rail, which is located below or to the side of the first guide wheel 13. The first guide wheel 13 has a limiting groove. When the guide rail is inserted into the limiting groove by horizontal movement or vertical movement, the first guide structure 24 contacts the first guide wheel 13 to limit the conveying direction of the movable module 10; when the guide rail moves out of the guide groove, the first guide structure 24 is separated from the first guide wheel 13, and the first guide structure 24 releases the limitation on the movable module 10.

[0073] In other embodiments, the first guide structure 24 may also be two limit members that can move horizontally along the axial direction of the first guide wheel 13. The two limit members are respectively located on opposite sides of the first guide wheel 13. The two limit members move toward each other and contact the first guide wheel 13 to provide guidance and limitation for the first guide wheel 13. When the two limit members move away from each other and separate from the first guide wheel 13, they contact and limit the first guide wheel 13.

[0074] In other embodiments, the first guide structure 24 may also be two limit members that can move vertically, the two limit members are arranged opposite to each other, and a limit channel is formed between the two limit members, when the two limit members move vertically and are respectively located on opposite sides of the first guide wheel 13, the first guide wheel 13 is located in the limit channel and contacts with the two limit members to provide limit for the first guide wheel 13; when the two limit members move vertically until the first guide wheel 13 moves out of the limit channel, the limit on the first guide wheel 13 is released.

[0075] Continue to see Figure 2 and Figure 6 As shown, in some embodiments, an actuator 15 and a power supply mechanism 16 are provided on the mover body 11, and a power supply mechanism 61 is provided on the conveying body. The power supply mechanism 61 is electrically connected to the actuator 15 through the power supply structure to supply power to the actuator 15, so that the actuator 15 on the mover module 10 can directly draw power from the conveying body, and there is no need to provide the actuator 15 with a power supply cable that moves with the mover module 10, which makes it more convenient to draw power from the mover module 10.

[0076] It can be understood that the actuator 15, as an actuator in the conveying system, can process the workpiece carried by the mover module 10. The processing in this embodiment includes but is not limited to workpiece flipping, loading and unloading, workpiece transfer, workpiece processing and other operations. Among them, the actuator 15 needs continuous power supply during operation. In this embodiment, a power supply mechanism 16 is provided on the mover body 11 and a power supply mechanism 61 is provided on the conveying body. The power supply mechanism 16 is electrically connected to the power supply mechanism 61 to power the actuator 15, so that the actuator 15 obtains a continuous and stable power supply.

[0077] Alternatively, in other embodiments, the power taking mechanism 16 is a mobile power source, and the power taking mechanism 16 can provide stable power supply to the actuator 15; when the power in the mobile power source is used up, the power taking mechanism 16 is electrically connected to the power supply mechanism 61, and the power supply mechanism 61 charges the power taking mechanism 16, so that the electric energy in the power taking mechanism 16 can power the actuator 15.

[0078] In some feasible embodiments, the actuator 15 may include a first guide wheel 13 and an actuator drive assembly, wherein the actuator drive assembly is disposed on the mover body 11, the actuator drive assembly is electrically connected to the actuator 15 via a power supply structure, the actuator drive assembly is transmission-connected to the first guide wheel 13, and the actuator drive assembly is used to drive the first guide wheel 13 to move horizontally or / and vertically, so that the first guide wheel 13 contacts or separates from the first guide structure 24, so that the first guide structure 24 provides a limit for the first guide wheel 13. In this embodiment, the first guide wheel 13 is a guide wheel that can move relative to the mover body 11, and can contact or separate from the first guide structure 24 by moving the first guide wheel 13. The actuator drive assembly may include a drive device such as an electric cylinder or an electric motor. The embodiment of the present application controls the first guide wheel 13 to actively select to cooperate or disengage with the first guide structure 24, so as to more quickly and conveniently select the conveying direction of the mover module 10.

[0079] In other embodiments, the actuator 15 may also be a mechanism for changing the shape of the workpiece, such as a rotating table, or include other mechanisms that require electric energy to drive.

[0080] In some embodiments, Figure 2 and Figure 6 As shown, the power-taking mechanism 16 includes a plurality of conductive parts arranged at intervals along the transport direction of the conveying system. The conductive parts are slidably connected to the power supply mechanism 61. The power supply mechanism 61 is electrically connected to the actuator 15 through the conductive parts. The conductive parts can slide with the mover body 11, thereby providing motion support and guide limit for the mover body 11 through the conductive parts.

[0081] In some embodiments, the power supply mechanism 61 is movably connected to the conveying body, and the power supply mechanism 61 can move relative to the conveying body to contact or separate from the power supply structure. It is understandable that when the power supply mechanism 61 needs to supply power, the power supply mechanism 61 can be in contact with the power supply structure, and when the power supply mechanism 61 is not needed, the power supply mechanism 61 can be separated from the power supply structure to achieve power off, so as to meet the diverse needs of the process.

[0082] like Figure 7 and Figure 8As shown, in some embodiments of the present application, the conveying body also includes a linear stator module 50, the linear stator module 50 includes a linear stator body 51, a linear armature winding 52 and a linear guide structure 53, the linear armature winding 52 and the linear guide structure 53 are arranged on the linear stator body 51, the linear armature winding 52 is used to couple with the magnet assembly 12 to drive the mover module 10 to move along the linear stator module 50, the linear armature winding 52 is docked with the first armature winding 23, and the linear guide structure 53 is docked with the first guide structure 24. It should be noted that the linear armature winding 52 in the linear stator module 50 can also provide magnetic power for the mover module 10 to drive the mover module 10 to move linearly along the linear stator module 50, and the linear movement can include straight-line movement and curved movement; the linear armature winding 52 and the first armature winding 23 can be seamlessly connected or seamlessly connected, and the structure of the linear armature winding 52 can be the same as or different from the structure of the first armature winding 23; the linear guide structure 53 and the first guide structure 24 can be seamlessly connected or seamlessly connected, and the structure of the linear guide structure 53 can be the same as or different from the structure of the first guide structure 24. In the embodiment of the present application, by splicing the linear stator module 50 with the first stator module 20, when the output end of the first stator module 20 is different, different linear stators can correspond to different processes.

[0083] The width of the joint of the linear armature winding 52 is the same as the width of the joint of the first armature winding 23. The joint of the linear armature winding 52 has a first side and a second side arranged along the width direction of the linear armature winding 52. The joint of the first armature winding 23 has a third side and a fourth side arranged along the width direction of the first armature winding 23. The first side is joined to the third side, and the second side is joined to the fourth side, so that the two sides (the first side and the second side) of the joint of the linear armature winding 52 are respectively joined to the joint of the first armature winding 23. The two side edges (the third side edge and the fourth side edge) at the joint are aligned, and because the width of the joint of the linear armature winding 52 is the same as the width of the joint of the first armature winding 23, the driving force exerted on the movable module 10 at the aligned position on the first stator module 20 can be the same as the driving force exerted on the movable module 10 on the linear stator module 50. Therefore, when the movable module 10 transitions between the linear stator module 50 and the first stator module 20, the movable module 10 has a more stable conveying state at the joint, thereby making the conveying of the movable module 10 smoother.

[0084] In some embodiments, the first guide structure 24 has a first guide surface 241 for contacting the first guide wheel 13 to provide a limit for the first guide wheel 13; the linear guide structure 53 has a linear guide surface 531 for contacting the first guide wheel 13 to provide a limit for the first guide wheel 13.

[0085] When the first guide surface 241 contacts the first guide wheel 13, the first guide surface 241 is located outside the first guide wheel 13. When the linear guide surface 531 contacts the first guide wheel 13, the linear guide surface 531 is located outside the first guide wheel 13. The first guide surface 241 butts with the linear guide surface 531. Taking the first guide structure 24 and the linear guide structure 53 as guide grooves, the first guide surface 241 is a groove wall surface of the first guide structure 24, the linear guide surface 531 is a groove wall surface of the linear guide structure 53, and the first guide surface 241 is aligned with the linear guide surface 531, so that when the movable submodule 10 moves and switches between the first stator module 20 and the linear stator module 50, the first guide wheel 13 can smoothly transition between the first guide surface 241 and the linear guide surface, thereby preventing the movable submodule 10 from being offset.

[0086] In some embodiments, Fig. 9 As shown, one of the joints of the linear armature winding 52 and the first armature winding 23 has a first protrusion 62, and the other of the joints of the linear armature winding 52 and the first armature winding 23 has a second protrusion 63. The first protrusion 62 is spliced ​​with the second protrusion 63, and the first protrusion 62 is located on one side of the second protrusion 63 along the thickness direction of the linear armature winding 52, so that the alignment and splicing of the linear armature winding 52 and the first armature winding 23 are more convenient, and the splicing accuracy of the linear armature winding 52 and the first armature winding 23 can be increased, so that the mover module 10 is still excited when passing through the joint of the joint, so as to improve the movement accuracy and control accuracy of the mover module 10. The increase in the splicing accuracy of the linear armature winding 52 and the first armature winding 23 can also improve the control accuracy and movement accuracy of the mover module 10, and improve the movement accuracy of the mover module 10 on the conveying body.

[0087] like Figure 7 and Fig.10As shown, in some embodiments of the present application, the conveying body also includes a second stator module 30, the second stator module 30 includes a second stator body 31 and two groups of second armature windings 32, the two groups of second armature windings 32 are arranged on the second stator body 31, the two groups of second armature windings 32 are arranged horizontally and cross-arranged with each other, the second armature winding 32 is used to couple with the magnet assembly 12 to drive the mover module 10 to move along the second armature winding 32, and the second armature winding 32 can also provide magnetic power for the mover module 10 to drive the mover module 10 to move along the second stator module 30. The four docking ends of the second stator module 30 are respectively the first docking end B1, the second docking end B2, the third docking end B3 and the fourth docking end B4. The first docking end B1 is arranged opposite to the second docking end B2, and the third docking end B3 is arranged opposite to the fourth docking end B4. The first group of second armature windings 32 are arranged from the first docking end B1 to the second docking end B2, and the second group of second armature windings 32 are arranged from the third docking end B3 to the fourth docking end B4. When the movable module 10 moves along the second armature winding 32 on the second stator module 30, it can move arbitrarily between the four docking ends, for example, it can move from the first docking end B1 to any one of the other three docking ends, so that the movable module 10 can have more movable paths on the second stator module 30 for line changing, which can further improve the conveying diversity of the conveying system.

[0088] In some embodiments, the second stator module 30 further includes two second guide structures 33 and a second drive assembly 34. The two second guide structures 33 are disposed on the second stator body 31 and extend along the two sets of second armature windings 32, respectively. For example, the first second guide structure 33 extends along the first set of second armature windings 32, and the second second guide structure 33 extends along the second set of second armature windings 32. The second drive assembly 34 is transmission-connected to the second guide structure 33. The second drive assembly 34 is used to drive the second guide structure 33 to move vertically, so that the second guide structure 33 can provide a limit for the first guide wheel 13. The limit action of the second guide structure 33 The movable module 10 can be moved along any second armature winding 32 of the two groups of second armature windings 32, so that when the movable module 10 moves along the second armature winding 32 on the second stator module 30, it can move arbitrarily between the four docking ends. For example, the movable module 10 can move from the first docking end B1 to any one of the second docking end B2, the third docking end B3 and the fourth docking end B4, so that the movable module 10 can have more movable paths on the second stator module 30 for line changing, which can further improve the conveying diversity of the conveying system. The second driving component 34 may include driving components such as a cylinder, an electric cylinder or a motor.

[0089] It can be understood that the second guide structure 33 is driven to move vertically by the second driving component 34, so that the second guide structure 33 can contact or separate from the first guide wheel 13, thereby realizing the limitation and guidance of the first guide wheel 13. For example, when the movable module 10 needs to move from the first docking end B1 to the second docking end B2, the first second guide structure 33 can be driven to move to contact the first guide wheel 13, and the second second guide structure 33 can be driven to separate from the first guide wheel 13. The movable module 10 is guided by the first second guide structure 33, and the movable module 10 is driven to move by the driving force of the first group of second armature windings 32, so that the movable module 20 moves between the first docking end B1 and the second docking end B2.

[0090] When the mover module 10 needs to move from the first docking end B1 to the third docking end B3 or the fourth docking end B4, the first second guide structure 33 can be driven to move to contact with the first guide wheel 13, and the second second guide structure 33 can be driven to separate from the first guide wheel 13 through the first group of second armature windings 32. When the mover module 10 moves along the first second guide structure 33 to the intersection of the two groups of second armature windings 32, the second second guide structure 33 can be driven to move to contact with the second guide wheel 13, and the second second guide structure 33 can be driven to separate from the first guide wheel 13. The first second guide structure 33 is separated from the first guide wheel 13, the first guide wheel 13 is limited by the second second guide structure 33, and the mover module 10 is driven by the second group of second armature windings 32, so that the mover module 10 turns and moves toward the third docking end B3 or the fourth docking end B4, wherein the direction of the driving force on the mover module 10 can be changed by changing the current direction of the second group of second armature windings 32, so that the mover module 10 can choose to move to the third docking end B3 or the fourth docking end B4.

[0091] In some embodiments, the second guide structure 33 can be a movable guide groove, and the second drive assembly 34 can drive the guide groove to move vertically to enable the first guide wheel 13 to enter and exit the guide groove. When the second guide structure 33 contacts the first guide wheel 13, the first guide wheel 13 is located in the guide groove and contacts the groove wall of the guide groove, and the guide groove is used to provide a limit for the first guide wheel 13; when the second guide structure 33 is separated from the first guide wheel 13, the first guide wheel 13 moves out of the guide groove, releasing the limit of the guide groove on the first guide wheel 13.

[0092] In other embodiments, the second guide structure 33 may also be a movable guide rail, which is located below or to the side of the first guide wheel 13. The second guide structure 33 has a limiting groove. When the guide rail is inserted into the limiting groove by vertical movement, the second guide structure 33 contacts the first guide wheel 13 to limit the conveying direction of the movable module 10; when the guide rail moves out of the guide groove, the second guide structure 33 is separated from the first guide wheel 13, and the second guide structure 33 releases the limitation on the movable module 10.

[0093] In other embodiments, the first guide structure 24 may also be two limit members that can move horizontally along the axial direction of the first guide wheel 13. The two limit members are respectively located on opposite sides of the first guide wheel 13. The two limit members move toward each other and contact the first guide wheel 13 to provide guidance and limitation for the first guide wheel 13. When the two limit members move away from each other and separate from the first guide wheel 13, they contact and limit the first guide wheel 13.

[0094] In other embodiments, the second guide structure 33 may also be two limit members that can move vertically, the two limit members are arranged opposite to each other, and a limit channel is formed between the two limit members, when the two limit members move vertically and are respectively located on opposite sides of the first guide wheel 13, the first guide wheel 13 is located in the limit channel and contacts with the two limit members to provide limit for the first guide wheel 13; when the two limit members move vertically until the first guide wheel 13 moves out of the limit channel, the limit on the first guide wheel 13 is released.

[0095] Specifically, the first group of second armature windings 32 are arranged from the first docking end B1 to the second docking end B2 along the first direction, the first group of second armature windings 32 have a plurality of first coils extending along the first direction and capable of coupling with the permanent magnet on the mover, the second group of second armature windings 32 are arranged from the third docking end B3 to the fourth docking end B4 along the second direction, the second group of second armature windings 32 have a plurality of second coils extending along the second direction and capable of coupling with the permanent magnet on the mover, the second direction and the first direction are arranged at an angle, that is, the second direction and the first direction are arranged to intersect, that is, the mover module 10 moves between the first docking end B1 and the second docking end B2 along the first direction, and the mover module 10 moves between the third docking end B3 and the fourth docking end B4 along the second direction, the first group of second armature windings 32 includes a first part 321 located at the intersection position, and the second group of second armature windings 32 includes a second part 322 located at the intersection position.

[0096] Among them, Fig.10 As shown, the two groups of second armature windings 32 are arranged in the same layer, the first part 321 and the second part 322 are the same part, and the first part 321 and the second part 322 are a part shared by the two groups of second armature windings 32, that is, the first coil and the second coil of the two groups of second armature windings 32 in the overlapping part are a common coil, so that the two groups of second armature windings 32 have an overlapping area, which can reduce the area required for arranging the second armature windings 32, making the arrangement of the second armature windings 32 more convenient, and can save the material of the second armature windings 32, thereby reducing the cost; or, as Fig.11As shown, the two groups of second armature windings 32 are stacked and arranged, and the two groups of second armature windings 32 are located in different layers, and the two groups of second armature windings 32 are arranged opposite to each other, that is, the first coil in the first group of second armature windings 32 and the second coil in the second group of second armature windings 32 are overlapped and arranged, and are located in different layers, which can prevent the two groups of second armature windings 32 from interfering with each other; or Fig.12 As shown, two groups of second armature windings 32 are arranged in the same layer, and the first part 321 and the second part 322 are stacked, the first group of second armature windings 32 has a plurality of first parts 321, the second group of second armature windings 32 has a plurality of second parts 322, and the first part 321 of one part is located below the second part 322, and the first part 321 of the other part is located above the second part 322, and the first part 321 located below the second part 322 and the first part 321 located above the second part 322 are alternately arranged along the first direction, and the second part 322 located below the first part 321 and the second part 322 located above the first part 321 are alternately arranged along the second direction, so that the two groups of second armature windings 32 form a structure similar to a braided structure, so that the two groups of second armature windings 32 are arranged more compactly, the area required for arranging the second armature windings 32 can be reduced, the arrangement of the second armature windings 32 is more convenient, and the material of the second armature windings 32 can be saved to reduce the cost.

[0097] Continue to see Figure 7 and Fig.10 As shown, in some embodiments, the second armature winding 32 is docked with the first armature winding 23 and at least one of the linear armature winding 52, and the second guide structure 33 is docked with the first guide structure 24 and at least one of the linear guide structure 53, so that the second stator module 30 is docked with at least one of the first stator module 20 and the linear stator module 50, thereby further improving the conveying diversity of the conveying system.

[0098] The joint of the second armature winding 32 has a fifth side and a sixth side arranged along the width direction of the second armature winding 32. When the second armature winding 32 is joined with the linear armature winding 52, the width of the joint of the second armature winding 32 is the same as the width of the joint of the linear armature winding 52, and the fifth side is joined with the first side, and the sixth side is joined with the second side, so that the two sides (the fifth side and the sixth side) of the joint of the second armature winding 32 are respectively joined with the two sides (the first side) of the joint of the linear armature winding 52. The linear armature winding 52 and the second armature winding 32 are aligned with each other, and the width of the joint of the linear armature winding 52 is the same as the width of the joint of the second armature winding 32, so that the driving force exerted on the movable module 10 on the second stator module 30 at the aligned position can be the same as the driving force exerted on the movable module 10 on the linear stator module 50. Therefore, when the movable module 10 transitions between the linear stator module 50 and the second stator module 30, the movable module 10 has a more stable conveying state at the joint, thereby making the conveying of the movable module 10 smoother.

[0099] In some embodiments, one of the joints of the linear armature winding 52 and the second armature winding 32 also has a first protrusion 62, and the other of the joints of the linear armature winding 52 and the second armature winding 32 also has a second protrusion 63, so that the alignment and splicing of the linear armature winding 52 and the second armature winding 32 are more convenient, and the splicing accuracy of the linear armature winding 52 and the second armature winding 32 can be increased, so that the mover module 10 is still excited when passing through the joint of the joint, so as to improve the movement accuracy and control accuracy of the mover module 10. The increase in the splicing accuracy of the linear armature winding 52 and the second armature winding 32 can also improve the control accuracy and movement accuracy of the mover module 10, and improve the movement accuracy of the mover module 10 on the conveying body.

[0100] When the second armature winding 32 is docked with the first armature winding 23, the width of the docking point of the second armature winding 32 is the same as the width of the docking point of the first armature winding 23, and the fifth side is docked with the third side, and the sixth side is docked with the fourth side, so that the two sides (the fifth side and the sixth side) of the docking point of the second armature winding 32 are respectively aligned with the two sides (the third side and the fifth side) of the docking point of the first armature winding 23, and since the width of the docking point of the first armature winding 23 is the same as the width of the docking point of the second armature winding 32, the driving force exerted on the movable module 10 at the aligned point on the second stator module 30 can be the same as the driving force exerted on the movable module 10 on the first stator module 20. Therefore, when the movable module 10 transitions between the first stator module 20 and the second stator module 30, the movable module 10 has a more stable conveying state at the joint, thereby making the conveying of the movable module 10 smoother.

[0101] In some embodiments, one of the joints of the first armature winding 23 and the second armature winding 32 also has a first protrusion 62, and the other of the joints of the first armature winding 23 and the second armature winding 32 also has a second protrusion 63, so that the alignment and splicing of the first armature winding 23 and the second armature winding 32 are more convenient, and the splicing accuracy of the first armature winding 23 and the second armature winding 32 can be increased, so that the mover module 10 is still excited when passing through the joint of the joint, so as to improve the movement accuracy and control accuracy of the mover module 10. The increase in the splicing accuracy of the first armature winding 23 and the second armature winding 32 can also improve the control accuracy and movement accuracy of the mover module 10, and improve the movement accuracy of the mover module 10 on the conveying body.

[0102] In some embodiments, the second guide structure 33 has a second guide surface 331 for contacting the first guide wheel 13 to provide a limit for the first guide wheel 13. When the second guide surface 331 contacts the first guide wheel 13, the second guide surface 331 is located outside the first guide wheel 13, and the second guide surface 331 is docked with at least one of the first guide surface 241 and the linear guide surface 531, so that when the movable module 10 moves and switches between the second stator module 30 and the first stator module 20 and the linear stator module 50, the first guide wheel 13 can smoothly transition between the first guide surface 241, the second guide surface 331 and the linear guide surface 531 to prevent the movable module 10 from position displacement.

[0103] like Fig.13 As shown, the magnet assembly 12 includes two groups of cross-arranged magnet arrays 121, one group of magnet arrays 121 extends along the extension direction of one group of second armature windings 32, and the other group of magnet arrays 121 extends along the extension direction of another group of second armature windings 32, so that the second stator module 30 can drive the mover module 10 to move along the two groups of second armature windings 32.

[0104] like Figure 7 and Fig.14 As shown, the conveying body also includes a third stator module 40, the third stator module 40 has two second conveying paths 41 extending along different extension directions, the third stator module 40 includes a third stator body 42 and a third armature winding 43, the third armature winding 43 is arranged on the third stator body 42, and the third armature winding 43 is used to couple with the magnet assembly 12 to drive the mover module 10 to move along the second conveying path 41.

[0105] Among them, the third stator module 40 also includes two movable third guide structures 44, which are arranged on the third stator body 42 and extend along the two second conveying paths 41 respectively. The third guide structures 44 are used to provide a limit for the first guide wheel 13, so that the movable module 10 moves along any second conveying path 41 of the two second conveying paths 41. It can be understood that the third stator module 40 can provide two second conveying paths 41 for the movable module 10, and at the same time, the moving direction of the movable module 10 is guided by the cooperation of the third guide structure 44 and the first guide wheel 13. Combined with the driving force of the third armature winding 43 on the movable module 10, the movable module 10 can choose to move along any second conveying path 41 of the two second conveying paths 41 according to predetermined needs, thereby improving the conveying diversity of the conveying system.

[0106] like Figure 14 to Figure 15 As shown, in some embodiments, the joint of the third armature winding 43 has a seventh side and an eighth side arranged along the width direction of the third armature winding 43 .

[0107] Among them, when the third armature winding 43 is connected to the linear armature winding 52, the width of the connection point of the third armature winding 43 is the same as the width of the connection point of the linear armature winding 52, and the seventh side is connected to the first side, and the eighth side is connected to the second side, so that the two sides (the seventh side and the eighth side) of the connection point of the third armature winding 43 are respectively aligned with the two sides (the first side and the second side) of the connection point of the linear armature winding 52, and the driving force exerted on the movable module 10 on the third stator module 40 at the aligned point can be the same as the driving force exerted on the movable module 10 on the linear stator module 50, so when the movable module 10 transitions between the linear stator module 50 and the third stator module 40, the movable module 10 has a more stable conveying state at the joint, so that the conveying of the movable module 10 is smoother.

[0108] In some embodiments, one of the joints of the linear armature winding 52 and the third armature winding 43 also has a first protrusion 62, and the other of the joints of the linear armature winding 52 and the third armature winding 43 also has a second protrusion 63, so that the alignment and splicing of the linear armature winding 52 and the third armature winding 43 are more convenient, and the splicing accuracy of the linear armature winding 52 and the third armature winding 43 can be increased, so that the mover module 10 is still excited when passing through the joint of the joint, so as to improve the movement accuracy and control accuracy of the mover module 10. The increase in the splicing accuracy of the linear armature winding 52 and the third armature winding 43 can also improve the control accuracy and movement accuracy of the mover module 10, and improve the movement accuracy of the mover module 10 on the conveying body.

[0109] When the third armature winding 43 is docked with the first armature winding 23, the width of the docking point of the third armature winding 43 is the same as the width of the docking point of the first armature winding 23, and the seventh side is docked with the third side, and the eighth side is docked with the fourth side, so that the two sides (the seventh side and the eighth side) of the docking point of the third armature winding 43 are respectively aligned with the two sides (the third side and the fourth side) of the docking point of the first armature winding 23, and the driving force exerted on the movable module 10 at the aligned point on the third stator module 40 can be the same as the driving force exerted on the movable module 10 on the first stator module 20, so when the movable module 10 transitions between the first stator module 20 and the third stator module 40, the movable module 10 has a more stable conveying state at the joint, thereby making the conveying of the movable module 10 smoother.

[0110] In some embodiments, one of the joints of the first armature winding 23 and the third armature winding 43 also has a first protrusion 62, and the other of the joints of the first armature winding 23 and the third armature winding 43 also has a second protrusion 63, so that the alignment and splicing of the first armature winding 23 and the third armature winding 43 are more convenient, and the splicing accuracy of the first armature winding 23 and the third armature winding 43 can be increased, so that the mover module 10 is still excited when passing through the joint of the joint, so as to improve the movement accuracy and control accuracy of the mover module 10. The increase in the splicing accuracy of the first armature winding 23 and the third armature winding 43 can also improve the control accuracy and movement accuracy of the mover module 10, and improve the movement accuracy of the mover module 10 on the conveying body.

[0111] In some embodiments, the third guide structure 44 has a third guide surface 441 for contacting the first guide wheel 13 to provide a limit for the first guide wheel 13. When the third guide surface 441 contacts the first guide wheel 13, the third guide surface 441 is located outside the first guide wheel 13, and the third guide surface 441 is docked with at least one of the first guide surface 241 and the linear guide surface 531. When the mover module 10 moves and switches between the third stator module 40 and the first stator module 20 and the linear stator module 50, the first guide wheel 13 can smoothly transition between the first guide surface 241, the third guide surface 441 and the linear guide surface 531 to prevent the mover module 10 from positional displacement. In some embodiments, the third armature winding 43 can also be docked with the second armature winding 32, the third guide structure 44 can be docked with the second guide structure 33, and the third guide surface 441 can also be docked with the second guide surface 331.

[0112] like Figure 14 to Figure 15As shown, in some embodiments, the third stator module 40 includes a second confluence end C1, a fifth divergence end C2, and a sixth divergence end C3. The first second conveying path 41 of the two second conveying paths 41 extends from the second confluence end C1 to the fifth divergence end C2, and the second second conveying path 41 of the two second conveying paths 41 extends from the second confluence end C1 to the sixth divergence end C3. The second confluence end C1, the fifth divergence end C2, and the sixth divergence end C3 are three different ends of the third stator module 40, respectively. The second confluence end C1, the fifth divergence end C2, and the sixth divergence end C3 can be docked with the ends of other stator modules in the conveying body, thereby achieving the docking of the third stator module 40 with other stator modules. The third armature winding 43 may have armature ends corresponding one-to-one to the respective ends of the third stator module 40 . By controlling the on / off state and current direction of the respective armature ends of the third armature winding 43 , a driving force may be provided for the mover module 10 to move along the second conveying path 41 .

[0113] like Fig.15 As shown, in some embodiments, when the conveying body includes the first stator module 20, the second stator module 30, the third stator module 40 and the linear stator module 50 at the same time, the first stator module 20, the second stator module 30, the third stator module 40 and the linear stator module 50 can be Fig.15 The docking method shown is used to dock to form a conveying body with a closed conveying path.

[0114] Among them, see Fig.15 As shown, Fig.15 There are two first stator modules 20 and two third stator modules 40, with the first shunt end A1 of the first stator module 20 located on the upper side being upper A1, the second shunt end A2 being upper A2, and the third shunt end A3 being upper A3, and the first shunt end A1 of the first stator module 20 located on the lower side being lower A1, the second shunt end A2 being lower A2, and the third shunt end A3 being lower A3; taking the second confluence end C1 of the third stator module 40 located on the left side being left C1, the fifth shunt end C2 being left C2, and the sixth shunt end C3 being left C3, and the second confluence end C1 of the third stator module 40 located on the right side being right C1, the fifth shunt end C2 being right C2, and the sixth shunt end C3 being right C3 as an example.

[0115] When the movable module 10 takes the first shunt end A1 in the first stator module 20 located at the lower side as the starting point and needs to be transported to the second stator module 30, for example, the transport path of the movable module 10 can be: lower A1-left C1-left C3-B3; or, lower A1-left C1-left C2-upper A1-upper A3-B1; or, lower A1-left C1-left C2-upper A1-upper A2-right C2-right C3-B4; or , lower A1-left C1-left C2-upper A1-upper A2-right C2-right C1-lower A2-lower A3-B2; or, lower A1-lower A3-B2; or, lower A1-lower A2-right C1-right C3-B4; or, lower A1-lower A2-right C1-right C2-upper A2-upper A3-B1; or, lower A1-lower A2-right C1-right C2-upper A2-upper A1-left C2-left C3-B3. It should also be noted that when the mover module 10 uses other stator modules as the starting point for transportation in the transportation body, it can also be transported in the combination of the above-mentioned transportation paths, thereby greatly enhancing the transportation diversity of the transportation system.

[0116] 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.

[0117] The above description is only a preferred embodiment of the present application and is 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: A mover module, comprising a mover body, a magnet assembly and a first guide wheel arranged on the mover body; The conveying body includes a first stator module, the first stator module has three first conveying paths extending in different extension directions, the first stator module includes a first stator body and a first armature winding, the first armature winding is arranged on the first stator body, and the first armature winding is used to couple with the magnet assembly to drive the mover module to move along the first conveying path; Among them, the first stator module also includes three movable first guide structures, which are arranged on the first stator body and extend along the three first conveying paths respectively, and the first guide structure is used to provide a limit for the first guide wheel so that the movable module can move along any one of the three first conveying paths.

2. The conveying system according to claim 1, characterized in that The first stator module includes a first shunt end, a second shunt end and a third shunt end. The first of the three first conveying paths extends from the first shunt end to the second shunt end, the second of the three first conveying paths extends from the first shunt end to the third shunt end, and the third of the three first conveying paths extends from the second shunt end to the third shunt end.

3. The conveying system according to claim 1, characterized in that The first stator module includes a first converging end, a first diverging end, a second diverging end and a third diverging end. The first of the three first conveying paths extends from the first converging end to the first diverging end, the second of the three first conveying paths extends from the first converging end to the second diverging end, and the third of the three first conveying paths extends from the first converging end to the third diverging end.

4. The conveying system according to claim 2, characterized in that: The first stator body includes an intermediate substrate and a side substrate located on the circumferential side of the intermediate substrate, the first armature winding is arranged between the intermediate substrate and the side substrate, and the mover module also includes a second guide wheel arranged on the mover body, and the second guide wheel is in contact with the side substrate to provide support for the mover module.

5. The conveying system according to claim 4, characterized in that: The magnet assembly, the first guide wheel and the second guide wheel are all arranged at the bottom of the mover body, the axial direction of the first guide wheel is parallel to the vertical direction, and the axial direction of the second guide wheel is parallel to the horizontal direction; Among them, there are two groups of first guide wheels, and the two groups of first guide wheels are respectively arranged on both sides of the movable module, the magnet assembly and the second guide wheel are located between the two groups of first guide wheels, and the axial direction of the second guide wheel is parallel to the arrangement direction of the two groups of first guide wheels.

6. The conveying system according to claim 1, characterized in that The first stator module further includes: A first driving component is transmission-connected to the first guide structure, and the first driving component is used to drive the first guide structure to move horizontally and / or vertically, so that the first guide structure contacts or separates from the first guide wheel, so that the movable module moves along any one of the three first conveying paths.

7. The conveying system according to claim 1, characterized in that The conveying body also includes: A linear stator module, comprising a linear stator body, a linear armature winding and a linear guide structure, wherein the linear armature winding and the linear guide structure are arranged on the linear stator body, the linear armature winding is used to couple with the magnet assembly to drive the mover module to move along the linear stator module, the linear armature winding is docked with the first armature winding, and the linear guide structure is docked with the first guide structure; Among them, the width of the joint of the linear armature winding is the same as the width of the joint of the first armature winding, the joint of the linear armature winding has a first side and a second side arranged along the width direction of the linear armature winding, the joint of the first armature winding has a third side and a fourth side arranged along the width direction of the first armature winding, the first side is butted with the third side, and the second side is butted with the fourth side.

8. The conveying system according to claim 7, characterized in that The first guide structure has a first guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; the linear guide structure has a linear guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; When the first guide surface contacts the first guide wheel, the first guide surface is located outside the first guide wheel; when the linear guide surface contacts the first guide wheel, the linear guide surface is located outside the first guide wheel; the first guide surface is connected to the linear guide surface.

9. The conveying system according to claim 7, characterized in that: One of the joints of the linear armature winding and the first armature winding has a first protrusion, and the other of the joints of the linear armature winding and the first armature winding has a second protrusion, the first protrusion is spliced ​​with the second protrusion, and the first protrusion is located on one side of the second protrusion along the thickness direction of the linear armature winding.

10. The conveying system according to claim 1, characterized in that The mover body is provided with an actuator and a power supply mechanism, and the conveying body is provided with a power supply mechanism. The power supply mechanism is electrically connected to the actuator through the power supply structure to supply power to the actuator.

11. The conveying system according to claim 10, characterized in that The actuator includes the first guide wheel and an actuator drive component, the actuator drive component is arranged on the mover body, the actuator drive component is electrically connected to the actuator through the power supply structure, the actuator drive component is transmission connected to the first guide wheel, and the actuator drive component is used to drive the first guide wheel to move horizontally and / or vertically so that the first guide wheel contacts or separates from the first guide structure, so that the first guide structure provides a limit for the first guide wheel.

12. The conveying system according to claim 10, characterized in that The power taking mechanism comprises a plurality of conductive members arranged at intervals along the transporting direction of the conveying system, the power supply mechanism is electrically connected to the actuator via the conductive members, and the conductive members are slidably connected to the power supply mechanism.

13. The conveying system according to claim 10, characterized in that The power supply mechanism is movably connected to the transport body, and the power supply mechanism can move relative to the transport body to contact or separate from the power collection structure.

14. The conveying system according to claim 1, characterized in that The conveying body also includes: The second stator module includes a second stator body and two groups of second armature windings, the two groups of second armature windings are arranged on the second stator body, the two groups of second armature windings are arranged horizontally and cross each other, and the second armature winding is used to couple with the magnet assembly to drive the mover module to move along the second armature winding.

15. The conveying system according to claim 14, characterized in that The magnet assembly includes two groups of cross-arranged magnet arrays, one group of the magnet arrays extends along the extension direction of one group of the second armature windings, and the other group of the magnet arrays extends along the extension direction of another group of the second armature windings.

16. The conveying system according to claim 14, characterized in that One set of the second armature windings includes a first portion located at a crossover position, and another set of the second armature windings includes a second portion located at a crossover position; Wherein, two groups of the second armature windings are arranged in the same layer, and the first part and the second part are the same part; or, The two groups of the second armature windings are located in different layers, and the two groups of the second armature windings are arranged opposite to each other; or, The two groups of the second armature windings are arranged in the same layer, and the first part and the second part are stacked.

17. The conveying system according to claim 14, characterized in that The second stator module further includes: Two second guide structures, which are arranged on the second stator body and extend along two sets of second armature windings respectively; A second drive component is transmission-connected to the second guide structure, and the second drive component is used to drive the second guide structure to move vertically so that the second guide structure provides a limit for the first guide wheel, so that the mover module moves along any one of the two groups of the second armature windings.

18. The conveying system according to claim 16, characterized in that The conveying body also includes: A linear stator module, comprising a linear stator body, a linear armature winding and a linear guide structure, wherein the linear armature winding and the linear guide structure are arranged on the linear stator body, and the linear armature winding is used to couple with the magnet assembly to drive the mover module to move along the linear stator module; The second armature winding is connected to at least one of the first armature winding and the linear armature winding, and the second guide structure is connected to at least one of the first guide structure and the linear guide structure.

19. The delivery system according to claim 17, characterized in that The joint of the linear armature winding has a first side and a second side arranged along the width direction of the linear armature winding, the joint of the first armature winding has a third side and a fourth side arranged along the width direction of the first armature winding, and the joint of the second armature winding has a fifth side and a sixth side arranged along the width direction of the second armature winding; Wherein, when the second armature winding is butted against the linear armature winding, the width of the butted portion of the second armature winding is the same as the width of the butted portion of the linear armature winding, and the fifth side is butted against the first side, and the sixth side is butted against the second side; When the second armature winding is butted against the first armature winding, the width of the butted portion of the second armature winding is the same as the width of the butted portion of the first armature winding, and the fifth side is butted against the third side, and the sixth side is butted against the fourth side.

20. The delivery system according to claim 17, characterized in that The first guide structure has a first guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; the linear guide structure has a linear guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; the second guide structure has a second guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; When the first guide surface contacts the first guide wheel, the first guide surface is located outside the first guide wheel; when the linear guide surface contacts the first guide wheel, the linear guide surface is located outside the first guide wheel; when the second guide surface contacts the first guide wheel, the second guide surface is located outside the first guide wheel; the second guide surface is connected to at least one of the first guide surface and the linear guide surface.

21. The delivery system according to claim 1, characterized in that The conveying body also includes: A third stator module, the third stator module having two second conveying paths extending in different extending directions, the third stator module comprising a third stator body and a third armature winding, the third armature winding being arranged on the third stator body, the third armature winding being used to couple with the magnet assembly to drive the mover module to move along the second conveying path; Among them, the third stator module also includes two movable third guide structures, which are arranged on the third stator body and extend along two second conveying paths respectively. The third guide structure is used to provide a limit for the first guide wheel so that the movable module can move along any one of the two second conveying paths.

22. The delivery system according to claim 20, characterized in that The conveying body also includes: A linear stator module, comprising a linear stator body, a linear armature winding and a linear guide structure, wherein the linear armature winding and the linear guide structure are arranged on the linear stator body, and the linear armature winding is used to couple with the magnet assembly to drive the mover module to move along the linear stator module; The third armature winding is connected to at least one of the first armature winding and the linear armature winding, and the third guide structure is connected to at least one of the first guide structure and the linear guide structure.

23. The delivery system according to claim 21, characterized in that The joint of the linear armature winding has a first side and a second side arranged along the width direction of the linear armature winding, the joint of the first armature winding has a third side and a fourth side arranged along the width direction of the first armature winding, and the joint of the third armature winding has a seventh side and an eighth side arranged along the width direction of the third armature winding; Wherein, when the third armature winding is butted against the linear armature winding, the width of the butted portion of the third armature winding is the same as the width of the butted portion of the linear armature winding, and the seventh side is butted against the first side, and the eighth side is butted against the second side; When the third armature winding is butted against the first armature winding, the width of the butted portion of the third armature winding is the same as the width of the butted portion of the first armature winding, and the seventh side is butted against the third side, and the eighth side is butted against the fourth side.

24. The delivery system according to claim 21, characterized in that The first guide structure has a first guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; the linear guide structure has a linear guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; the third guide structure has a third guide surface for contacting with the first guide wheel to provide a limit for the first guide wheel; Wherein, when the first guide surface contacts the first guide wheel, the first guide surface is located outside the first guide wheel, when the linear guide surface contacts the first guide wheel, the linear guide surface is located outside the first guide wheel, when the third guide surface contacts the first guide wheel, the third guide surface is located outside the first guide wheel, and the third guide surface is connected to at least one of the first guide surface and the linear guide surface.

25. The delivery system according to claim 20, characterized in that The third stator module includes a second converging end, a fifth diverging end and a sixth diverging end. The first of the two second conveying paths extends from the second converging end to the fifth diverging end, and the second of the two second conveying paths extends from the second converging end to the sixth diverging end.

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