Conveying system

Abstract

The application discloses a conveying system, which comprises a mover module and a conveying body. The mover module comprises a mover body, a magnet assembly and a first guide wheel arranged on the mover body. The conveying body comprises a first stator module, which has three first conveying paths extending in different 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 is used for coupling with the magnet assembly to drive the mover module to move along the first conveying paths. The first stator module further comprises three movable first guide structures arranged on the first stator body and extending along the three first conveying paths respectively. The first guide structures are used for providing limiting for the first guide wheel, so that the mover module moves along any one of the three first conveying paths. The conveying diversity of the conveying system can be improved.

Description

Technical Field

[0001] This application relates to the field of magnetic drive conveying technology, and more particularly to a conveying system. Background Technology

[0002] Magnetic levitation technology for workpiece transport offers advantages such as high transport speed, low maintenance costs, and high flexibility, making it increasingly popular with customers. Currently, in applications of magnetic levitation conveyor lines, the moving module typically only moves in one direction, resulting in limited transport versatility. Summary of the Invention

[0003] This application provides a conveying system that can improve the conveying versatility of the conveying system.

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

[0005] The mover module includes a mover body, a magnet assembly and a first guide wheel disposed on the mover body;

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

[0007] The first stator module further includes three movable first guide structures. The three first guide structures are disposed on the first stator body and extend along the three first conveying paths respectively. The first guide structures are used to provide a limit for the first guide wheel so that the mover module can move along any of the three first conveying paths.

[0008] In some embodiments of this application, 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. The third of the three first conveying paths extends from the second shunt end to the third shunt end.

[0009] In some embodiments of this application, the first stator module includes a first confluence end, a first split end, a second split end, and a third split end. The first of the three first conveying paths extends from the first confluence end to the first split end, the second of the three first conveying paths extends from the first confluence end to the second split end, and the third of the three first conveying paths extends from the first confluence end to the third split end.

[0010] In some embodiments of this application, the first stator body includes an intermediate substrate and a side substrate located around the intermediate substrate, the first armature winding is disposed between the intermediate substrate and the side substrate, and the mover module further includes a second guide wheel disposed on the mover body, the second guide wheel contacting the side substrate to provide support for the mover module.

[0011] In some embodiments of this application, the magnet assembly, the first guide wheel, and the second guide wheel are all disposed at the bottom of the moving part body. The axis of the first guide wheel is parallel to the vertical direction, and the axis of the second guide wheel is parallel to the horizontal direction. There are two sets of first guide wheels, and the two sets of first guide wheels are respectively disposed on both sides of the moving part module. The magnet assembly and the second guide wheel are located between the two sets of first guide wheels, and the axis of the second guide wheel is parallel to the arrangement direction of the two sets of first guide wheels.

[0012] In some embodiments of this application, the first stator module further includes: a first drive component, the first drive component being connected to the first guide structure in a transmission manner, the first drive component being 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, thereby causing the mover module to move along any of the three first conveying paths.

[0013] In some embodiments of this application, the conveying body further includes: a linear stator module, comprising a linear stator body, a linear armature winding, and a linear guide structure. The linear armature winding and the linear guide structure are disposed 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. 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 docks with the third side, and the second side docks with the fourth side.

[0014] In some embodiments of this application, the first guide structure has a first guide surface for contacting the first guide wheel to provide a limiting position for the first guide wheel; the linear guide structure has a linear guide surface for contacting the first guide wheel to provide a limiting position 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, and when the linear guide surface contacts the first guide wheel, the linear guide surface is located outside the first guide wheel, and the first guide surface and the linear guide surface are in contact.

[0015] In some embodiments of this application, one of the docking points of the linear armature winding and the first armature winding has a first protrusion, and the other of the docking points 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 this application, the moving body is provided with an actuator and a power taking mechanism, the conveying body is provided with a power supply mechanism, and the power supply mechanism is electrically connected to the actuator through the power taking mechanism to supply power to the actuator.

[0017] In some embodiments of this application, the actuator includes a first guide wheel and an actuator drive assembly. The actuator drive assembly is disposed on the moving body and is electrically connected to the actuator through the power supply mechanism. The actuator drive assembly is driven to the first guide wheel. 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 this application, the power-taking mechanism includes a plurality of conductive elements arranged at intervals along the transport direction of the conveying system, the power supply mechanism is electrically connected to the actuator through the conductive elements, and the conductive elements are slidably connected to the power supply mechanism.

[0019] In some embodiments of this application, the power supply mechanism is movably connected to the conveying body, and the power supply mechanism is movable relative to the conveying body to contact or separate from the power taking mechanism.

[0020] In some embodiments of this application, the conveying body further includes: a second stator module, including a second stator body and two sets of second armature windings, the two sets of second armature windings being disposed on the second stator body, the two sets of second armature windings being arranged horizontally and intersecting each other, the second armature windings being used to couple with the magnet assembly to drive the mover module to move along the second armature windings.

[0021] In some embodiments of this application, the magnet assembly includes two sets of intersecting magnet arrays, one set of the magnet arrays extending along the extension direction of one set of the second armature windings, and the other set of the magnet arrays extending along the extension direction of another set of the second armature windings.

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

[0023] In some embodiments of this application, the second stator module further includes: two second guide structures disposed on the second stator body and extending along two sets of second armature windings respectively; and a second drive assembly, which is drively connected to the second guide structures and is used to drive the second guide structures to move vertically, so that the second guide structures provide a limit for the first guide wheel, thereby allowing the mover module to move along any one of the two sets of second armature windings.

[0024] In some embodiments of this application, the conveying body further 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 disposed 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 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.

[0025] In some embodiments of this application, 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; and the docking point of the second armature winding has a fifth side and a sixth side arranged along the width direction of the second armature winding. Specifically, when the second armature winding docks with the linear armature winding, the width of the docking point of the second armature winding is the same as the width of the docking point of the linear armature winding, and the fifth side docks with the first side, and the sixth side docks with the second side; when the second armature winding docks with the first armature winding, the width of the docking point of the second armature winding is the same as the width of the docking point of the first armature winding, and the fifth side docks with the third side, and the sixth side docks with the fourth side.

[0026] In some embodiments of this application, the first guide structure has a first guide surface for contacting the first guide wheel to provide a limiting position for the first guide wheel; the linear guide structure has a linear guide surface for contacting the first guide wheel to provide a limiting position for the first guide wheel; the second guide structure has a second guide surface for contacting the first guide wheel to provide a limiting position 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 second guide surface contacts the first guide wheel, the second guide surface is located outside the first guide wheel; and the second guide surface abuts against at least one of the first guide surface and the linear guide surface.

[0027] In some embodiments of this application, the conveying body further includes: a third stator module having two second conveying paths extending in different directions; the third stator module includes a third stator body and a third armature winding; the third armature winding is disposed on the third stator body and is used to couple with the magnet assembly to drive the mover module to move along the second conveying paths; wherein, the third stator module further includes two movable third guide structures, the two third guide structures are disposed on the third stator body and extend along the two second conveying paths respectively; the third guide structures are used to provide a limit for the first guide wheel so that the mover module moves along either of the two second conveying paths.

[0028] In some embodiments of this application, the conveying body further 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 disposed 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 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.

[0029] In some embodiments of this application, 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; and the docking point of the third armature winding has a seventh side and an eighth side arranged along the width direction of the third armature winding. When the third armature winding docks with the linear armature winding, the width of the docking point of the third armature winding is the same as the width of the docking point of the linear armature winding, and the seventh side docks with the first side, and the eighth side docks with the second side. When the third armature winding docks with the first armature winding, the width of the docking point of the third armature winding is the same as the width of the docking point of the first armature winding, and the seventh side docks with the third side, and the eighth side docks with the fourth side.

[0030] In some embodiments of this application, the first guide structure has a first guide surface for contacting the first guide wheel to provide a limiting position for the first guide wheel; the linear guide structure has a linear guide surface for contacting the first guide wheel to provide a limiting position for the first guide wheel; the third guide structure has a third guide surface for contacting the first guide wheel to provide a limiting position 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 abuts against at least one of the first guide surface and the linear guide surface.

[0031] In some embodiments of this application, the third stator module includes a second confluence end, a fifth split end, and a sixth split end. The first of the two second conveying paths extends from the second confluence end to the fifth split end, and the second of the two second conveying paths extends from the second confluence end to the sixth split end.

[0032] The conveying system based on the embodiments of this application has at least the following beneficial effects:

[0033] The first stator module can provide three first conveying paths for the mover module. At the same time, the movement direction of the mover module is guided by 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 the predetermined needs, thereby improving the conveying diversity of the conveying system. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the structure of the first stator module and the mover module in one embodiment of this application;

[0036] Figure 2 This is a schematic diagram of the structure of the first stator module in one embodiment of this application;

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

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

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

[0040] Figure 6 This is a schematic diagram of the structure of the actuator module from a first-view perspective in one embodiment of this application;

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

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

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

[0044] Figure 10 This is a schematic diagram of the structure of the second stator module in one embodiment of this application;

[0045] Figure 11 This is a schematic diagram of the structure of the second armature winding in another embodiment of this application;

[0046] Figure 12 This is a schematic diagram of the structure of the second armature winding in another embodiment of this application;

[0047] Figure 13 This is a schematic diagram of the moving part module from a second perspective in one embodiment of this application;

[0048] Figure 14 This is a schematic diagram of the structure of the third stator module in one embodiment of this application;

[0049] Figure 15 This is a schematic diagram of the conveying system in another embodiment of this application.

[0050] Explanation of reference numerals in the attached figures:

[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 extraction mechanism; 20. First stator module; 21. First conveying path; 22. First stator body; 221. Intermediate base plate; 222. Side base plate; 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 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 transport 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 Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0053] This application provides a conveying system, such as Figure 1 and Figure 2 As shown, the conveying system includes a mover module 10 and a conveying body; the mover module 10 includes a mover body 11 and a magnet assembly 12 disposed on the mover body 11 (such as...). Figure 6The conveying body includes a first stator module 20, which has three first conveying paths 21 extending in different directions. The first stator module 20 includes a first stator body 22 and a first armature winding 23. The first armature winding 23 is disposed on the first stator body 22 and 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 used to carry the object to be conveyed. The mover module 10 is a magnetically driven mover. When the mover module 10 moves along the conveying system, the conveying body can couple the first armature winding 23, etc., with the magnet assembly 12 to provide magnetic power to the mover module 10, thereby driving 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 disposed on the first stator body 22 and correspond to the three first conveying paths 21 respectively. The three first guide structures 24 extend along the three first conveying paths 21, meaning their extension directions correspond to the conveying directions of the three first conveying paths 21. The first guide structures 24 provide a limit for the first guide wheel 13, enabling the mover module 10 to move along any one of the three first conveying paths 21.

[0055] It should be noted that in this application, the first stator module 20 can provide three first conveying paths 21 for the mover module 10. At the same time, the movement direction of the mover module 10 is guided by 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 select 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. The first shunt end A1, the second shunt end A2, and the third shunt end A3 are three different ends of the first stator module 20. The first shunt end A1, the second shunt end A2, and the third shunt end A3 can be connected to the ends of other stator modules in the conveying body, thereby realizing the connection between the first stator module 20 and other stator modules. The first armature winding 23 can have armature terminals that correspond one-to-one with each end of the first stator module 20. By controlling the on / off state and current direction of each armature terminal of the first armature winding 23, a driving force can be provided to the mover module 10 to move along the first conveying path 21.

[0057] Furthermore, the first conveying path 21 corresponding to the first shunt end A1 to the second shunt end A2 is defined as the first sub-conveyor path; the first conveying path 21 corresponding to the first shunt end A1 to the third shunt end A3 is defined as the second sub-conveyor path; and the first conveying path 21 corresponding to the second shunt end A2 to the third shunt end A3 is defined as the third sub-conveyor path. A first guiding structure 24 adjacent to the first sub-conveyor path and extending in the same direction as the first sub-conveyor path is defined as the first sub-guiding structure; a first guiding structure 24 adjacent to the second sub-conveyor path and extending in the same direction as the second sub-conveyor path is defined as the second sub-guiding structure; and a first guiding structure 24 adjacent to the third sub-conveyor path and extending in the same direction as the third sub-conveyor path is defined as the third sub-guiding structure. For example, when the mover module 10 needs to be conveyed from the first shunt end A1 to the second shunt end A2, the first armature winding 23 corresponding to the first sub-conveyor path is energized, so that the mover module 10 is conveyed along the first sub-conveyor path under the excitation of the first armature winding 23. Simultaneously, the first sub-guide structure corresponding to the first sub-conveying path is controlled to rise or move horizontally 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 corresponding to the second sub-conveying path and the third sub-conveying path are controlled to fall or move horizontally so that the first guide wheel 13 is disengaged from the second sub-guide structure and the third sub-guide structure, thereby making the moving module 10 move more stably along the first sub-conveying path under the limit of the first sub-guide structure.

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

[0059] The first diversion end A1 and the second diversion end A2 can be arranged opposite to each other. The conveying direction of the moving module 10 when it enters the third diversion end A3 is perpendicular to the conveying direction of the moving module 10 when it enters the first diversion end A1 and the second diversion end A2. The first conveying path 21 is a straight conveying path, and the second and third first conveying paths 21 are both arc-shaped conveying paths.

[0060] like Figure 3As shown, in some other embodiments, the first stator module 20 may also include a first confluence end A5. The first of the three first conveying paths 21 extends from the first confluence end A5 to the first branch end A1, the second of the three first conveying paths 21 extends from the first confluence end A5 to the second branch end A2, and the third of the three first conveying paths 21 extends from the first confluence end A5 to the third branch end A3. It is understood that in this embodiment, the first stator module 20 includes only four different ends (i.e., the first confluence end A5, the first branch end A1, the second branch end A2, and the third branch end A3). The first confluence end A5 forms three first conveying paths 21 with the other three ends, and the three first conveying paths 21 overlap at the first confluence end A5, allowing the mover module 10 to move between the first confluence end A5 and the other three ends.

[0061] The first diversion end A1 and the first merging end A5 can be arranged opposite each other. The second diversion end A2 and the third diversion end A3 are located on opposite sides of the first conveying path 21. The first conveying path 21 is a straight conveying path, and the second and third first conveying paths 21 are both arc-shaped conveying paths.

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

[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 of the three first conveying paths 21 extends from the first branch end A1 to the first corresponding end A6; the second of the three first conveying paths 21 extends from the second branch end A2 to the second corresponding end A7; and the third of the three first conveying paths 21 extends from the third branch end A3 to the third corresponding end A8. The first branch end A1, the second branch end A2, and the third branch end A3 are located on the same side, as are the first corresponding ends A6, A7, and A8. The first branch end A1 and the first corresponding end A6 can be arranged opposite each other, the second branch end A2 and the second corresponding end A7 can be arranged opposite each other, and the third branch end A3 and the third corresponding end A8 can be arranged opposite each other. The first conveying path 21 can be a linear conveying path or an arc-shaped conveying path.

[0064] Furthermore, such as 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, a groove-shaped structure is formed in the first conveying path 21. At this time, the first guide wheel 13 cooperates with the groove wall and is conveyed along a certain first conveying path 21 under the limitation of the groove-shaped structure. Figure 5 For example, when the moving module 10 is conveyed from the first branch 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 descends to form a groove-shaped structure to cooperate with the first guide wheel 13; the first guide structures 24 corresponding to the second and third first conveying paths 21 do not descend to avoid forming groove-shaped structures and thus avoid cooperation with the first guide wheel 13. The above principle also applies to... Figure 2 , Figure 3 , Figure 4 The illustrated embodiment.

[0065] like Figures 2 to 5 As shown, in some 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, when 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 limit the movement, 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 side substrates 222 located around the intermediate substrate 221. The first armature winding 23 is disposed between the intermediate substrate 221 and the side substrates 222. The mover module 10 also includes a second guide wheel 14 disposed on the mover body 11. 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, making the movement of the mover module 10 more stable. In addition, by setting the intermediate substrate 221, the portion of the first armature winding 23 corresponding to the area of ​​the intermediate substrate 221 can be hollowed out, which can reduce the mutual interference of the three first transmission paths 21 on the first armature winding 23 when energized and excited, and at the same time reduce the amount of the first armature winding 23 used, thereby reducing costs.

[0067] This application embodiment does not limit the number or placement of the second guide wheels 14. It is understood that there can be two sets of second guide wheels 14, respectively located on both sides of the moving module 10 along the conveying direction, to make the operation of the moving module 10 more stable and to provide more stable support. In this embodiment, when the moving module 10 moves on the first stator module 20, some of the second guide wheels 14 will directly contact the first armature winding 23. This embodiment uses a side plate 222 to contact the second guide wheels 14, thereby distributing some of the pressure of the second guide wheels 14 on the first armature winding 23, preventing damage to the first armature winding 23 due to the large load of the moving module 10, and ensuring the reliability of the conveying system operation.

[0068] Furthermore, an intermediate substrate 221 is provided in the hollowed-out area in the middle of the first armature winding 23. When the mover module 10 runs to the hollowed-out area in the middle, the second guide wheel 14 on the mover module 10 contacts the intermediate substrate 221 to avoid the mover module 10 from tipping over when it runs to the hollowed-out area, thereby improving the stability of the mover module 10.

[0069] Furthermore, when the mover module 10 moves to the central cutout, even if the mover module 10 does not tip over without the intermediate substrate 221, the mover module 10 will be eccentric under the influence of gravity at the cutout. The height of the second guide wheel 14 at the cutout will be lower than the height of the first armature winding 23. As the mover module 10 moves forward, the second guide wheel 14 moves out of the cutout to contact the first armature winding 23. Since the height of the second guide wheel 14 at the cutout 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 lead to damage to the first armature winding 23. Therefore, the intermediate substrate 221 provided in this application not only improves the stability of the mover module 10 operation, but also reduces the possibility of damage to the first armature winding 23.

[0070] like Figure 6 As shown, in some embodiments, the magnet assembly 12, the first guide wheel 13 and the second guide wheel 14 are all disposed at the bottom of the moving body 11, the axis of the first guide wheel 13 is parallel to the vertical direction, and the axis of the second guide wheel 14 is parallel to the horizontal direction.

[0071] The first guide wheel 13 is provided in two sets, with the two sets of first guide wheels 13 respectively located on both sides of the moving module 10. By selecting one side of the first guide structure 24 to cooperate with the corresponding side of the first guide wheel 13, the conveying direction of the moving module 10 can be changed. For example, when the moving 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 disengaged from the first guide wheel 13. Alternatively, when the moving 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 simultaneously to better drive the moving module 10 to travel in a straight line. The magnet assembly 12 and the second guide wheel 14 are located between the two sets of first guide wheels 13, and the axis of the second guide wheel 14 is parallel to the arrangement direction of the two sets of first guide wheels 13. This allows the magnet assembly 12, the first guide wheel 13, and the second guide wheel 14 to be centrally located at the bottom of the moving body 11, making the assembly of the moving module 10 more convenient. Furthermore, the magnet assembly 12 is positioned between the two sets of first guide wheels 13. When the first guide wheels 13 on both sides cooperate with the first guide structure 24, the force applied by the abutment is approximately the same. When the first guide wheels 13 cooperate with the first guide structure 24, eccentricity is avoided, so as to more stably realize the change of the conveying direction of the moving module 10.

[0072] See also Figure 2As shown, in some embodiments of this application, the first stator module 20 further includes a first drive assembly 25, which is connected to the first guide structure 24. The first drive assembly 25 is used to drive the first guide structure 24 to move horizontally and / or vertically, so that the first guide structure 24 contacts or separates from the first guide wheel 13, thereby allowing the mover module 10 to move along any of the three first conveying paths 21. The first drive assembly 25 may include a drive component such as an electric cylinder, motor, pneumatic cylinder, or hydraulic cylinder. The drive component drives the first guide structure 24 to move, allowing the first guide structure 24 to contact or separate from the first guide wheel 13, thereby limiting and guiding the first guide wheel 13. For example, when the mover 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 until it contacts the first guide wheel 13, and the other two first guide structures 24 can be driven to separate from the first guide wheel 13, thereby guiding the mover module 10. The moving module 10 moves along the first first conveying path 21. Similarly, when the moving 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 moving 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.

[0073] 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 provides a limit for the first guide wheel 13. When the first guide structure 24 separates from the first guide wheel 13, the first guide wheel 13 moves out of the guide groove, and the guide groove releases the limit on the first guide wheel 13. The first drive assembly 25 can drive the guide groove to move horizontally and / or vertically, so as to realize the first guide wheel 13 entering and exiting the guide groove.

[0074] In other embodiments, the first guide structure 24 may also be a movable guide rail 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 moving horizontally or vertically, the first guide structure 24 contacts the first guide wheel 13 to limit the conveying direction of the moving module 10. When the guide rail moves out of the guide groove, the first guide structure 24 separates from the first guide wheel 13, and the first guide structure 24 releases its limitation on the moving module 10.

[0075] In other embodiments, the first guide structure 24 may also be two limiting members that can move horizontally along the axial direction of the first guide wheel 13. The two limiting members are located on opposite sides of the first guide wheel 13. The two limiting members move towards each other and contact the first guide wheel 13 to provide guidance and limitation for the first guide wheel 13. When the two limiting members move away from each other and separate from the first guide wheel 13, they contact and limit the first guide wheel 13.

[0076] In other embodiments, the first guide structure 24 may also be two vertically movable limiting members. The two limiting members are arranged opposite each other and a limiting channel is formed between the two limiting members. When the two limiting members move vertically and are located on opposite sides of the first guide wheel 13, the first guide wheel 13 is located in the limiting channel and contacts the two limiting members to provide a limit for the first guide wheel 13. When the two limiting members move vertically until the first guide wheel 13 moves out of the limiting channel, the limit on the first guide wheel 13 is released.

[0077] See also Figure 2 and Figure 6 As shown, in some embodiments, the moving body 11 is provided with an actuator 15 and a power taking mechanism 16, and the conveying body is provided with a power supply mechanism 61. The power supply mechanism 61 is electrically connected to the actuator 15 through the power taking mechanism 16 to supply power to the actuator 15. This allows the actuator 15 on the moving module 10 to directly take power from the conveying body, eliminating the need to provide a power cable for the actuator 15 to move with the moving module 10, making it more convenient to take power from the moving module 10.

[0078] It is understood that the actuator 15, as an execution component in the conveying system, can process the workpiece carried on the mover module 10. The processing in this embodiment includes, but is not limited to, workpiece flipping, workpiece loading and unloading, workpiece transfer, and workpiece processing. The actuator 15 requires continuous power during operation. In this embodiment, a power-taking mechanism 16 is provided on the mover body 11, and a power supply mechanism 61 is provided on the conveying body. The power-taking mechanism 16 and the power supply mechanism 61 are electrically connected to supply power to the actuator 15, thereby ensuring a continuous and stable power supply to the actuator 15.

[0079] Alternatively, in some other embodiments, the power taking mechanism 16 is a mobile power source that can provide stable power to the actuator 15. When the power in the mobile power source is depleted, 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, thereby enabling the electrical energy in the power taking mechanism 16 to supply power to the actuator 15.

[0080] In some feasible embodiments, the actuator 15 may include a first guide wheel 13 and an actuator drive assembly. The actuator drive assembly is disposed on the mover body 11 and is electrically connected to the actuator 15 via a power-taking mechanism 16. The actuator drive assembly is drively connected to the first guide wheel 13 and is used to drive the first guide wheel 13 to move horizontally and / or 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. Contact or separation from the first guide structure 24 can be achieved by moving the first guide wheel 13. The actuator drive assembly may include a driving device such as an electric cylinder or an electric motor. In this embodiment, by controlling the first guide wheel 13 to actively select whether to engage or disengage with the first guide structure 24, the conveying direction of the mover module 10 can be selected more quickly and conveniently.

[0081] In other embodiments, the actuator 15 may also be a mechanism that changes the shape of a workpiece, such as a rotary table, or include other mechanisms that require electrical power to drive.

[0082] In some embodiments, such as Figure 2 and Figure 6 As shown, the power taking mechanism 16 includes multiple conductive elements arranged at intervals along the transport direction of the conveying system. The conductive elements are slidably connected to the power supply mechanism 61. The power supply mechanism 61 is electrically connected to the actuator 15 through the conductive elements. The conductive elements can slide with the moving body 11, thereby providing motion support and guiding limit for the moving body 11 through the conductive elements.

[0083] In some embodiments, the power supply mechanism 61 is movably connected to the conveying body and is movable relative to the conveying body to contact or separate from the power taking mechanism 16. It is understood that when power is required from the power supply mechanism 61, it can be contacted with the power taking mechanism 16; when power is not required, it can be separated from the power taking mechanism 16 to achieve power cut-off, thus meeting diverse process requirements.

[0084] like Figure 7 and Figure 8As shown, in some embodiments of this application, the conveying body further 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 disposed on the linear stator body 51. The linear armature winding 52 is used to couple with the magnet assembly 12 to drive the actuator module 10 to move along the linear stator module 50. The linear armature winding 52 is connected to the first armature winding 23, and the linear guide structure 53 is connected to 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 to the mover module 10, driving the mover module 10 to move linearly along the linear stator module 50. Linear movement can include linear and curved movement. The linear armature winding 52 and the first armature winding 23 can be seamlessly or seamlessly connected. 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 or seamlessly connected. 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 this embodiment, by splicing the linear stator module 50 and the first stator module 20, different linear stators can correspond to different processes when the output ends of the first stator module 20 are different.

[0085] The width of the mating point of the linear armature winding 52 is the same as the width of the mating point of the first armature winding 23. The mating point 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 mating point 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 and the third side are mated together, and the second side and the fourth side are mated together, so that the two sides (the first side and the second side) of the mating point of the linear armature winding 52 are respectively mated with the first armature winding 23. The two sides (the third and fourth sides) are aligned, and since the width of the mating point of the linear armature winding 52 is the same as the width of the mating point of the first armature winding 23, the driving force of the moving module 10 on the first stator module 20 at the aligned point can be the same as the driving force of the moving module 10 on the linear stator module 50. Therefore, when the moving module 10 transitions between the linear stator module 50 and the first stator module 20, the moving module 10 has a more stable conveying state at the joint, thereby making the conveying of the moving module 10 more stable.

[0086] 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.

[0087] 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, and the first guide surface 241 and the linear guide surface 531 are aligned. Taking the first guide structure 24 and the linear guide structure 53 as guide grooves as an example, the first guide surface 241 is a groove wall surface of the first guide structure 24, and the linear guide surface 531 is a groove wall surface of the linear guide structure 53. The first guide surface 241 and the linear guide surface 531 are aligned so that when the moving module 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, preventing the moving module 10 from shifting position.

[0088] In some embodiments, such as Figure 9 As shown, one of the mating points of the linear armature winding 52 and the first armature winding 23 has a first protrusion 62, and the other has a second protrusion 63. The first protrusion 62 and the second protrusion 63 are joined together, with the first protrusion 62 located on one side of the second protrusion 63 along the thickness direction of the linear armature winding 52. This makes the alignment and joining of the linear armature winding 52 and the first armature winding 23 more convenient, increases the joining accuracy of the linear armature winding 52 and the first armature winding 23, and ensures that the mover module 10 is still energized when passing through the joint of the mating point, thereby improving the motion accuracy and control accuracy of the mover module 10. The increased joining accuracy of the linear armature winding 52 and the first armature winding 23 also improves the control accuracy and motion accuracy of the mover module 10, and improves the motion accuracy of the mover module 10 on the conveyor body.

[0089] like Figure 7 and Figure 10As shown, in some embodiments of this application, the conveying body further includes a second stator module 30. The second stator module 30 includes a second stator body 31 and two sets of second armature windings 32. The two sets of second armature windings 32 are disposed on the second stator body 31. The two sets of second armature windings 32 are arranged horizontally and intersected with each other. The second armature windings 32 are used to couple with the magnet assembly 12 to drive the mover module 10 to move along the second armature windings 32. The second armature windings 32 can also provide magnetic power to the mover module 10 to drive the mover module 10 to move along the second stator module 30. The second stator module 30 has four docking ends, namely 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 mover module 10 moves along the second armature windings 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 of the other three docking ends, so that the mover module 10 can have more movable paths on the second stator module 30 for wire changing, which can further improve the conveying diversity of the conveying system.

[0090] 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 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 drively connected to the second guide structures 33 and is used to drive the second guide structures 33 to move vertically, so that the second guide structures 33 can provide a limit for the first guide wheel 13. This allows the mover module 10 to move along any of the two sets of second armature windings 32, thereby enabling the mover module 10 to move arbitrarily between the four docking ends when moving along the second armature windings 32 on the second stator module 30. For example, the mover 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, thus allowing the mover module 10 to have more movable paths for line changing on the second stator module 30, which can further improve the conveying diversity of the conveying system. The second drive component 34 may include drive components such as cylinders, electric cylinders, or motors.

[0091] It is understandable that the second guide structure 33 is driven vertically by the second drive component 34, so that the second guide structure 33 can contact or separate from the first guide wheel 13, thereby limiting and guiding the first guide wheel 13. For example, when the moving 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 moving module 10 is guided by the first second guide structure 33, and the moving module 10 is driven to move by the driving force of the first set of second armature windings 32, so that the moving module 20 moves between the first docking end B1 and the second docking end B2.

[0092] When the moving module 10 needs to move from the first docking end B1 to the third docking end B3 or the fourth docking end B4, it can be driven to move along the first second guide structure 33 until it contacts the first guide wheel 13, and the second second guide structure 33 is driven to separate from the first guide wheel 13 through the first set of second armature windings 32. When the moving module 10 moves along the first second guide structure 33 to the intersection position of the two sets of second armature windings 32, the second second guide structure 33 is driven to move until it contacts the second guide wheel 13, and the second guide structure 33 is driven to move along the first second guide structure 33 until it contacts the second guide wheel 13. The first second guide structure 33 separates from the first guide wheel 13. The second guide structure 33 limits the first guide wheel 13 and drives the mover module 10 through the second set of second armature windings 32, causing the mover module 10 to turn and move toward the third docking end B3 or the fourth docking end B4. The direction of the driving force on the mover module 10 can be changed by changing the current direction of the second set of second armature windings 32, so that the mover module 10 can be selected to move toward the third docking end B3 or the fourth docking end B4.

[0093] In some embodiments, the second guide structure 33 can be a movable guide groove, and the second drive component 34 can drive the guide groove to move vertically so that the first guide wheel 13 enters and exits 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 provides a limit for the first guide wheel 13. When the second guide structure 33 separates from the first guide wheel 13, the first guide wheel 13 moves out of the guide groove, and the limit of the guide groove on the first guide wheel 13 is released.

[0094] In other embodiments, the second guide structure 33 may also be a movable guide rail 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 moving module 10. When the guide rail moves out of the guide groove, the second guide structure 33 separates from the first guide wheel 13, and the second guide structure 33 releases its limitation on the moving module 10.

[0095] In other embodiments, the first guide structure 24 may also be two limiting members that can move horizontally along the axial direction of the first guide wheel 13. The two limiting members are located on opposite sides of the first guide wheel 13. The two limiting members move towards each other and contact the first guide wheel 13 to provide guidance and limitation for the first guide wheel 13. When the two limiting members move away from each other and separate from the first guide wheel 13, they contact and limit the first guide wheel 13.

[0096] In other embodiments, the second guide structure 33 may also be two vertically movable limiting members, which are arranged opposite to each other and form a limiting channel between them. When the two limiting members move vertically and are located on opposite sides of the first guide wheel 13, the first guide wheel 13 is located in the limiting channel and contacts the two limiting members to provide a limit for the first guide wheel 13. When the two limiting members move vertically until the first guide wheel 13 moves out of the limiting channel, the limit on the first guide wheel 13 is released.

[0097] Specifically, the first group of second armature windings 32 are evenly 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 has a plurality of first coils that can be coupled with permanent magnets on the mover and are arranged along the first direction. The second group of second armature windings 32 are evenly 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 has a plurality of second coils that can be coupled with permanent magnets on the mover and are arranged along the second direction. The second direction and the first direction are arranged at an angle, that is, the second direction and the first direction 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 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.

[0098] Among them, such as Figure 10 As shown, two sets of second armature windings 32 are arranged in the same layer. The first part 321 and the second part 322 are the same part, which is a shared part of the two sets of second armature windings 32. That is, the first coil and the second coil of the two sets of second armature windings 32 in the overlapping part are shared coils. This allows the two sets of second armature windings 32 to have overlapping areas, which can reduce the area required to arrange the second armature windings 32, making the arrangement of the second armature windings 32 more convenient, and saving materials for the second armature windings 32, thus reducing costs; or, as Figure 11As shown, two sets of second armature windings 32 are stacked, located on different layers, and arranged opposite each other. That is, the first coil in the first set of second armature windings 32 overlaps with the second coil in the second set of second armature windings 32, but they are located on different layers, which prevents mutual interference between the two sets of second armature windings 32; or, as... Figure 12 As shown, two sets of second armature windings 32 are arranged on the same layer, and the first part 321 and the second part 322 are stacked. The first set of second armature windings 32 has multiple first parts 321, and the second set of second armature windings 32 has multiple second parts 322. 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. The first part 321 located below the second part 322 and the first part 321 located above the second part 322 are arranged alternately along a first direction. The second part 322 located below the first part 321 and the second part 322 located above the first part 321 are arranged alternately along a second direction. This makes the two sets of second armature windings 32 form a braid-like structure, making the arrangement of the two sets of second armature windings 32 more compact. This reduces the area required to arrange the second armature windings 32, making the arrangement of the second armature windings 32 more convenient, and saving materials for the second armature windings 32, thus reducing costs.

[0099] See also Figure 7 and Figure 10 As shown, in some embodiments, the second armature winding 32 is connected to at least one of the first armature winding 23 and the linear armature winding 52, and the second guide structure 33 is connected to at least one of the first guide structure 24 and the linear guide structure 53, so that the second stator module 30 is connected to 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.

[0100] The second armature winding 32 has a fifth side and a sixth side arranged along the width direction of the second armature winding 32 at its docking point. When the second armature winding 32 docks with the linear armature winding 52, the width of the docking point of the second armature winding 32 is the same as the width of the docking point of the linear armature winding 52, and the fifth side docks with the first side, and the sixth side docks with the second 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 connected to the two sides (the first and sixth sides) of the docking point of the linear armature winding 52. The side and the second side are aligned, and since the width of the docking point of the linear armature winding 52 is the same as the width of the docking point of the second armature winding 32, the driving force of the moving module 10 on the second stator module 30 at the aligned point can be the same as the driving force of the moving module 10 on the linear stator module 50. Therefore, when the moving module 10 transitions between the linear stator module 50 and the second stator module 30, the moving module 10 has a more stable conveying state at the joint, thereby making the conveying of the moving module 10 more stable.

[0101] In some embodiments, one of the mating points of the linear armature winding 52 and the second armature winding 32 also has a first protrusion 62, and the other of the mating points of the linear armature winding 52 and the second armature winding 32 also has a second protrusion 63. This makes the alignment and splicing of the linear armature winding 52 and the second armature winding 32 more convenient, increases the splicing accuracy of the linear armature winding 52 and the second armature winding 32, and ensures that the mover module 10 is still energized when passing through the joint of the mating point, thereby improving the motion accuracy and control accuracy of the mover module 10. The increased splicing accuracy of the linear armature winding 52 and the second armature winding 32 can also improve the control accuracy and motion accuracy of the mover module 10, and improve the motion accuracy of the mover module 10 on the conveyor body.

[0102] When the second armature winding 32 is connected to the first armature winding 23, the width of the connection point of the second armature winding 32 is the same as the width of the connection point of the first armature winding 23, and the fifth side is connected to the third side, and the sixth side is connected to the fourth side. This makes the two sides (the fifth side and the sixth side) of the connection point of the second armature winding 32 aligned with the two sides (the third side and the fifth side) of the connection point of the first armature winding 23, respectively. Since the width of the connection point of the first armature winding 23 is the same as the width of the connection point of the second armature winding 32, the driving force on the moving module 10 at the aligned point on the second stator module 30 can be the same as the driving force on the moving module 10 on the first stator module 20. Therefore, when the moving module 10 transitions between the first stator module 20 and the second stator module 30, the moving module 10 has a more stable conveying state at the joint, thereby making the conveying of the moving module 10 more stable.

[0103] In some embodiments, one of the mating points of the first armature winding 23 and the second armature winding 32 also has a first protrusion 62, and the other of the mating points of the first armature winding 23 and the second armature winding 32 also has a second protrusion 63. This makes the alignment and splicing of the first armature winding 23 and the second armature winding 32 more convenient, increases the splicing accuracy of the first armature winding 23 and the second armature winding 32, and ensures that the mover module 10 is still energized when passing through the joint of the mating point, thereby improving the motion accuracy and control accuracy of the mover module 10. The increased splicing accuracy of the first armature winding 23 and the second armature winding 32 can also improve the control accuracy and motion accuracy of the mover module 10, and improve the motion accuracy of the mover module 10 on the conveyor body.

[0104] 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. The second guide surface 331 abuts with at least one of the first guide surface 241 and the linear guide surface 531, so that when the mover module 10 moves and switches between the second stator module 30, 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, preventing the mover module 10 from shifting position.

[0105] like Figure 13 As shown, the magnet assembly 12 includes two sets of intersecting magnet arrays 121. One set of magnet arrays 121 extends along the extension direction of one set of second armature windings 32, and the other set of magnet arrays 121 extends along the extension direction of another set of second armature windings 32, so that the second stator module 30 can drive the actuator module 10 to move along the two sets of second armature windings 32.

[0106] like Figure 7 and Figure 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 in different directions. The third stator module 40 includes a third stator body 42 and a third armature winding 43. The third armature winding 43 is disposed on the third stator body 42 and is used to couple with the magnet assembly 12 to drive the actuator module 10 to move along the second conveying path 41.

[0107] The third stator module 40 further includes two movable third guide structures 44, which are disposed on the third stator body 42 and extend along the two second conveying paths 41 respectively. The third guide structures 44 are used to limit the first guide wheel 13 so that the mover module 10 can move along either 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 mover module 10, and guide the movement direction of the mover module 10 through the cooperation of the third guide structures 44 and the first guide wheel 13. Combined with the driving force of the third armature winding 43 on the mover module 10, the mover module 10 can choose to move along either of the two second conveying paths 41 according to predetermined needs, thereby improving the conveying diversity of the conveying system.

[0108] like Figures 14 to 15 As shown, in some embodiments, the mating point 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.

[0109] 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. This makes the two sides (the seventh side and the eighth side) of the connection point of the third armature winding 43 aligned with the two sides (the first side and the second side) of the connection point of the linear armature winding 52, respectively. The driving force of the moving module 10 on the third stator module 40 at the aligned point can be the same as the driving force of the moving module 10 on the linear stator module 50. Therefore, when the moving module 10 transitions between the linear stator module 50 and the third stator module 40, the moving module 10 has a more stable conveying state at the joint, thereby making the conveying of the moving module 10 more stable.

[0110] In some embodiments, one of the mating points of the linear armature winding 52 and the third armature winding 43 also has a first protrusion 62, and the other of the mating points of the linear armature winding 52 and the third armature winding 43 also has a second protrusion 63. This makes the alignment and splicing of the linear armature winding 52 and the third armature winding 43 more convenient, increases the splicing accuracy of the linear armature winding 52 and the third armature winding 43, and ensures that the mover module 10 is still energized when passing through the joint of the mating point, thereby improving the motion accuracy and control accuracy of the mover module 10. The increased splicing accuracy of the linear armature winding 52 and the third armature winding 43 can also improve the control accuracy and motion accuracy of the mover module 10, and improve the motion accuracy of the mover module 10 on the conveyor body.

[0111] When the third armature winding 43 is connected to the first armature winding 23, the width of the connection point of the third armature winding 43 is the same as the width of the connection point of the first armature winding 23, and the seventh side is connected to the third side, and the eighth side is connected to the fourth side, so that the two sides (the seventh side and the eighth side) of the connection point of the third armature winding 43 are aligned with the two sides (the third side and the fourth side) of the connection point of the first armature winding 23, respectively. Moreover, the driving force of the moving module 10 on the third stator module 40 at the aligned point can be the same as the driving force of the moving module 10 on the first stator module 20. Therefore, when the moving module 10 transitions between the first stator module 20 and the third stator module 40, the moving module 10 has a more stable conveying state at the joint, thereby making the conveying of the moving module 10 more stable.

[0112] In some embodiments, one of the mating points of the first armature winding 23 and the third armature winding 43 also has a first protrusion 62, and the other of the mating points of the first armature winding 23 and the third armature winding 43 also has a second protrusion 63. This makes the alignment and splicing of the first armature winding 23 and the third armature winding 43 more convenient, increases the splicing accuracy of the first armature winding 23 and the third armature winding 43, and ensures that the mover module 10 is still energized when passing through the joint of the mating point, thereby improving the motion accuracy and control accuracy of the mover module 10. The increased splicing accuracy of the first armature winding 23 and the third armature winding 43 can also improve the control accuracy and motion accuracy of the mover module 10, and improve the motion accuracy of the mover module 10 on the conveyor body.

[0113] 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 abuts with at least one of the first guide surface 241 and the linear guide surface 531. This allows the first guide wheel 13 to smoothly transition between the first guide surface 241, the third guide surface 441, and the linear guide surface 531 when the mover module 10 moves and switches between the third stator module 40, the first stator module 20, and the linear stator module 50, preventing the mover module 10 from shifting position. In some embodiments, the third armature winding 43 can also abut with the second armature winding 32, the third guide structure 44 can abut with the second guide structure 33, and the third guide surface 441 can abut with the second guide surface 331.

[0114] like Figures 14 to 15As shown, in some embodiments, the third stator module 40 includes a second confluence end C1, a fifth branch end C2, and a sixth branch end C3. The first of the two second conveying paths 41 extends from the second confluence end C1 to the fifth branch end C2, and the second of the two second conveying paths 41 extends from the second confluence end C1 to the sixth branch end C3. The second confluence end C1, the fifth branch end C2, and the sixth branch end C3 are three different ends of the third stator module 40. These three ends can be connected to the ends of other stator modules in the conveying body, thereby enabling the third stator module 40 to connect with other stator modules. The third armature winding 43 may have armature terminals that correspond one-to-one with each end of the third stator module 40. By controlling the on / off state and current direction of each armature terminal of the third armature winding 43, a driving force can be provided to the mover module 10 to move along the second transport path 41.

[0115] like Figure 15 As shown, in some embodiments, when the conveying body simultaneously includes a first stator module 20, a second stator module 30, a third stator module 40, and a linear stator module 50, the first stator module 20, the second stator module 30, the third stator module 40, and the linear stator module 50 can be... Figure 15 The docking method shown is used to dock the components to form a conveyor body with a closed conveying path.

[0116] Among them, see Figure 15 As shown, Figure 15 The device has two first stator modules 20 and two third stator modules 40. Taking the first shunt end A1 of the upper first stator module 20 as upper A1, the second shunt end A2 as upper A2, and the third shunt end A3 as upper A3, and the first shunt end A1 of the lower first stator module 20 as lower A1, the second shunt end A2 as lower A2, and the third shunt end A3 as lower A3; taking the second merging end C1 of the left third stator module 40 as left C1, the fifth shunt end C2 as left C2, and the sixth shunt end C3 as left C3, and the second merging end C1 of the right third stator module 40 as right C1, the fifth shunt end C2 as right C2, and the sixth shunt end C3 as right C3 as an example.

[0117] Taking the first shunt end A1 in the lower first stator module 20 as a starting point, and needing to transport the data to the second stator module 30, the transport path of the mover 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 The following combinations of transport paths can be used: A1-C1-C2-A1-A2-C2-C1-A3-B2; or A1-A3-B2; or A1-A2-C1-C3-B4; or A1-A2-C1-C2-A3-B1; or A1-A2-C1-C2-A3-B3. It should also be noted that when the moving module 10 uses other stator modules as starting points for transport within the transport body, it can also transport them using the above combinations of transport paths, thereby greatly enhancing the transport versatility of the transport system.

[0118] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0119] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A conveying system, characterized in that, include: The mover module includes a mover body, a magnet assembly and a first guide wheel disposed on the mover body; The conveying body includes a first stator module, which has three first conveying paths extending in different directions. The first stator module includes a first stator body and a first armature winding. The first armature winding is disposed on the first stator body and is used to couple with the magnet assembly to drive the mover module to move along the first conveying paths. 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 disposed between the intermediate substrate and the side substrate. The first stator module further includes three movable first guide structures, which are disposed on the first stator body and extend along the three first conveying paths respectively. The first guide structures are used to limit the first guide wheels so that the moving module can move along any of the three first conveying paths. The moving module further includes a second guide wheel disposed on the moving body, which contacts the side plate to provide support for the moving module. The first stator module further 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. The third of the three first conveying paths extends from the second shunt end to the third shunt end.

2. The conveying system according to claim 1, characterized in that, The magnet assembly, the first guide wheel, and the second guide wheel are all disposed at the bottom of the moving body. The axis of the first guide wheel is parallel to the vertical direction, and the axis of the second guide wheel is parallel to the horizontal direction. The first guide wheel is provided in two sets, and the two sets of first guide wheels are respectively arranged on both sides of the moving part module. The magnet assembly and the second guide wheel are located between the two sets of first guide wheels, and the axial direction of the second guide wheel is parallel to the arrangement direction of the two sets of first guide wheels.

3. The conveying system according to claim 1, characterized in that, The first stator module also includes: A first drive assembly is connected to the first guide structure via a transmission connection. The first drive assembly 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, thereby causing the moving module to move along any of the three first conveying paths.

4. The conveying system according to claim 1, characterized in that, The conveying body also includes: A linear stator module includes a linear stator body, a linear armature winding, and a linear guide structure. The linear armature winding and the linear guide structure are disposed 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 connected to the first armature winding, and the linear guide structure is connected to the first guide structure. Wherein, the width of the mating point of the linear armature winding is the same as the width of the mating point of the first armature winding, the mating 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 mating 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 and the third side are mated together, and the second side and the fourth side are mated together.

5. The conveying system according to claim 4, characterized in that, The first guide structure has a first guide surface for contacting the first guide wheel to provide a limiting position for the first guide wheel; the linear guide structure has a linear guide surface for contacting the first guide wheel to provide a limiting position 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, and the first guide surface and the linear guide surface are in contact.

6. The conveying system according to claim 4, characterized in that, One of the connection points of the linear armature winding and the first armature winding has a first protrusion, and the other of the connection points of the linear armature winding and the first armature winding has a second protrusion. The first protrusion is joined to 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.

7. The conveying system according to claim 1, characterized in that, The moving body is provided with an actuator and a power taking 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 taking mechanism to supply power to the actuator.

8. The conveying system according to claim 7, characterized in that, The actuator includes a first guide wheel and an actuator drive assembly. The actuator drive assembly is disposed on the moving body and is electrically connected to the actuator through the power supply mechanism. The actuator drive assembly is driven to the first guide wheel. 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.

9. The conveying system according to claim 7, characterized in that, The power-taking mechanism includes a plurality of conductive elements arranged at intervals along the transport direction of the conveying system. The power supply mechanism is electrically connected to the actuator through the conductive elements, and the conductive elements are slidably connected to the power supply mechanism.

10. The conveying system according to claim 7, characterized in that, The power supply mechanism is movably connected to the conveying body, and the power supply mechanism is movable relative to the conveying body to contact or separate from the power taking mechanism.

11. 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 sets of second armature windings. The two sets of second armature windings are disposed on the second stator body. The two sets of second armature windings are arranged horizontally and intersected with each other. The second armature windings are used to couple with the magnet assembly to drive the mover module to move along the second armature windings.

12. The conveying system according to claim 11, characterized in that, The magnet assembly includes two sets of intersecting magnet arrays, one set of the magnet arrays extending along the extension direction of one set of the second armature windings, and the other set of the magnet arrays extending along the extension direction of the other set of the second armature windings.

13. The conveying system according to claim 11, characterized in that, One set of the second armature windings includes a first portion located at a cross position, and another set of the second armature windings includes a second portion located at a cross position; In this configuration, the two sets of the second armature windings are arranged on the same layer, and the first portion and the second portion are the same portion; or... The two sets of the second armature windings are located on different layers, and are arranged opposite to each other; or... The two sets of the second armature windings are arranged in the same layer, and the first part and the second part are stacked.

14. The conveying system according to claim 11, characterized in that, The second stator module also includes: Two second guide structures are disposed on the second stator body and extend along the two sets of second armature windings respectively; The second drive assembly is connected to the second guide structure in a transmission manner. The second drive assembly 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, and the mover module moves along any one of the two sets of second armature windings.

15. The conveying system according to claim 14, characterized in that, The conveying body also includes: A linear stator module includes a linear stator body, a linear armature winding, and a linear guide structure. The linear armature winding and the linear guide structure are disposed 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 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.

16. The conveying system according to claim 15, characterized in that, The connection 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 connection point 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 connection point 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 connected to the linear armature winding, the width of the connection point of the second armature winding is the same as the width of the connection point of the linear armature winding, and the fifth side is connected to the first side, and the sixth side is connected to the second side. When the second armature winding is connected to the first armature winding, the width of the connection point of the second armature winding is the same as the width of the connection point of the first armature winding, and the fifth side is connected to the third side, and the sixth side is connected to the fourth side.

17. The conveying system according to claim 15, characterized in that, The first guide structure has a first guide surface for contacting the first guide wheel to provide a limiting position for the first guide wheel; the linear guide structure has a linear guide surface for contacting the first guide wheel to provide a limiting position for the first guide wheel; the second guide structure has a second guide surface for contacting the first guide wheel to provide a limiting position 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 second guide surface contacts the first guide wheel, the second guide surface is located outside the first guide wheel; and the second guide surface is abutted against at least one of the first guide surface and the linear guide surface.

18. The conveying system according to claim 1, characterized in that, The conveying body also includes: The third stator module has two second transport paths extending in different directions. The third stator module includes a third stator body and a third armature winding. The third armature winding is disposed on the third stator body and is used to couple with the magnet assembly to drive the mover module to move along the second transport path. The third stator module further includes two movable third guide structures, which are disposed on the third stator body and extend along the two second conveying paths respectively. The third guide structures are used to provide a limit for the first guide wheel so that the mover module can move along either of the two second conveying paths.

19. The conveying system according to claim 18, characterized in that, The conveying body also includes: A linear stator module includes a linear stator body, a linear armature winding, and a linear guide structure. The linear armature winding and the linear guide structure are disposed 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 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.

20. The conveying system according to claim 19, characterized in that, The connection 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 connection point 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 connection point 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 connected to the linear armature winding, the width of the connection point of the third armature winding is the same as the width of the connection point of the linear armature winding, and the seventh side is connected to the first side, and the eighth side is connected to the second side. When the third armature winding is connected to the first armature winding, the width of the connection point of the third armature winding is the same as the width of the connection point of the first armature winding, and the seventh side is connected to the third side, and the eighth side is connected to the fourth side.

21. The conveying system according to claim 19, characterized in that, The first guide structure has a first guide surface for contacting the first guide wheel to provide a limiting position for the first guide wheel; the linear guide structure has a linear guide surface for contacting the first guide wheel to provide a limiting position for the first guide wheel; the third guide structure has a third guide surface for contacting the first guide wheel to provide a limiting position 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 abutted with at least one of the first guide surface and the linear guide surface.

22. The conveying system according to claim 18, characterized in that, The third stator module includes a second confluence end, a fifth split end, and a sixth split end. The first of the two second conveying paths extends from the second confluence end to the fifth split end, and the second of the two second conveying paths extends from the second confluence end to the sixth split end.

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