Carrying equipment and carrying assembly

Abstract

The invention provides carrying equipment and a carrying assembly. The carrying equipment is used for being matched with a track and comprises a carrying piece, a conveying device and a control device, and the carrying piece is arranged on the track; the linear motor comprises a stator which is located on one side of the object carrying piece and comprises a magnet; the rotor is connected with the carrying frame, the rotor is used for driving the carrying piece to move along the track under the action of the stator, the rotor comprises a rotor iron core, the rotor iron core comprises a yoke part and winding teeth, and the winding teeth are connected to the side, facing the stator, of the yoke part; the winding teeth are inserted into the coil part, and the distance between the winding teeth and the magnet is larger than the distance between the coil part and the magnet; and the magnet and the rotor iron core are magnetically attracted to reduce the force of the carrying piece acting on the track.

Description

Technical Field

[0001] The present application relates to the field of handling equipment, and in particular, to a handling equipment and a handling component. Background Art

[0002] The coreless linear motor is used as the driving source of the overhead crane. The overhead crane includes rollers that can move on the track. The coreless linear motor does not have the function of balancing the gravity of the overhead crane, which causes the rollers of the overhead crane to wear out greatly. The rollers need to be replaced and repaired regularly, which will increase the cost of using the overhead crane and increase the frequency of maintenance of the overhead crane. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, a first aspect of the present application provides a transport device.

[0005] A second aspect of the present application provides a handling assembly.

[0006] In view of this, the first aspect of the present application proposes a transport device, which is used to cooperate with a track, and the transport device includes: a carrier, which is placed on the track; a linear motor, which includes: a stator, which is located on one side of the carrier, and the stator includes a magnet; a mover, which is connected to the carrier, and the mover is used to drive the carrier to move along the track under the action of the stator, and the mover includes: a mover core, which includes a yoke and winding teeth, and the winding teeth are connected to the side of the yoke facing the stator; a coil part, the winding teeth are inserted into the coil part, and the distance from the winding teeth to the magnet is greater than the distance from the coil part to the magnet; wherein, the magnet and the mover core are magnetically attracted to each other to reduce the force of the carrier on the track.

[0007] The present application provides a transport device including a carrier and a linear motor.

[0008] The object carrier is placed on the track and can move along the track.

[0009] Among them, the carrier is used to carry the load, the linear motor includes a mover and a stator, the stator is located on one side of the carrier, the mover is connected to the carrier, and the mover is used to drive the carrier to move along the track under the action of the stator to achieve the purpose of transporting the load.

[0010] In addition, the linear motor also includes a mover and a stator. The stator includes a magnet, and the mover includes a mover core. The magnet and the mover core are both components of the linear motor and can meet the use requirements of the linear motor to drive the movement of the carrier. The mover core can also cooperate with the magnet to reduce the force exerted by the carrier on the track.

[0011] It can be understood that the cooperation between the magnet and the movable core reduces the force exerted by the carrier on the track, that is, it reduces the pressure on the part of the carrier that cooperates with the track (such as the moving part of the carrier). In this way, the wear of the carrier can be reduced when the transport equipment is working, which is beneficial to extend the service life of the carrier, and help reduce the maintenance frequency of the transport equipment, thereby helping to reduce the use cost of the transport equipment.

[0012] That is to say, the structure of the linear motor (such as the rotor core and the magnet) is reused, which can not only meet the use requirements of the smooth operation of the handling equipment, but also achieve low wear of the handling equipment and extend the service life of the handling equipment.

[0013] In addition, the mover core includes a yoke and winding teeth, the winding teeth are connected to the yoke, and the winding teeth are located on the side of the yoke facing the stator. The mover also includes a coil part, the winding teeth are plugged into the coil part, and the coil part covers the winding teeth. Among them, the coil part is closer to the magnet than the winding teeth, that is, the distance from the winding teeth to the magnet is greater than the distance from the coil part to the magnet.

[0014] It is understandable that if the distance from the winding teeth to the magnet is equal to the distance from the coil part to the magnet. Due to the influence of the force between the magnet and the mover core, it is necessary to adjust the magnetic gap (i.e., the distance from the winding teeth to the magnet) to adjust the balance point of the force and the weight of the carrier (the weight of the carrier itself and the weight of the load on the carrier) to reduce the force of the carrier on the track. Among them, the magnetic gap is equal to the mechanical gap (i.e., the distance from the mover to the magnet). At this time, it is necessary to change the structure of the carrier to achieve the purpose of adjusting the magnetic gap. In this way, it will cause difficulties in the use and manufacture of the handling equipment and increase the difficulty of maintenance of the handling equipment. At the same time, adjusting the magnetic gap will also reduce the thrust of the linear motor, resulting in reduced efficiency of the handling equipment.

[0015] The distance from the winding teeth to the magnet of the present application is greater than the distance from the coil part to the magnet. The tooth length of the winding teeth can be designed according to the balance point of the weight of the object carrier without affecting the mechanical clearance. It can achieve stable operation with large thrust under the condition of balanced weight of the object carrier, and can also achieve low wear of the object carrier, reduce the maintenance frequency of the object carrier, and help extend the life of the handling equipment. Since the linear motor adjusts the tooth length of the winding teeth only to change the magnetic clearance but not the mechanical clearance, there is no need to change the structure of the object carrier, which can reduce the modification cost of the handling equipment and facilitate the use and maintenance of the handling equipment.

[0016] In addition, the distance from the winding teeth to the magnet is greater than the distance from the coil to the magnet. This setting can reduce the cogging force and magnetic attraction, while improving the use efficiency of the coil, thereby increasing the thrust density of the linear motor. The winding teeth are inserted into the coil, which has the characteristics of short coil end and low copper loss.

[0017] It is understandable that the coil part can generate a magnetic field after being energized, so that the stator of the linear motor can drive the mover to move through the coil part to achieve power output. Among them, the magnet can generate a magnetic field, and after the coil part of the mover is energized, a magnetic field can also be generated around the coil part. When the linear motor is working, the stator is fixed, and after the coil part is energized, the magnetic field generated by the coil part interacts with the magnetic field generated by the magnet, thereby achieving the output of power by driving the mover to move through the stator.

[0018] The above-mentioned handling equipment according to the present application may also have the following additional technical features:

[0019] In some embodiments, optionally, the carrier includes: a carrier frame; a moving part, the moving part is used to drive the carrier frame to move along a track; along the height direction of the transport equipment, at least a portion of the carrier frame is located below the moving part, or at least a portion of the carrier frame is located above the moving part.

[0020] In this embodiment, the structure of the object carrier is further defined such that the object carrier includes a carrier frame and a moving part.

[0021] The loading frame is used for carrying the load.

[0022] In the height direction of the handling device, at least a part of the loading frame is located below the moving part, that is, at least a part of the loading frame is hoisted below the track. It can also be said that at least a part of the loading frame is suspended below the track, such as an overhead crane.

[0023] The magnet and the mover core are magnetically attracted to each other, and the magnetic attraction between the magnet and the mover core can be used to balance the weight of the carrier (the weight of the carrier itself and the weight of the load on the carrier) to reduce the force of the carrier on the track and, at the same time, reduce the pressure on the moving part.

[0024] Optionally, the stator of the linear motor is fixedly mounted on a mounting carrier (eg, a wall, a ceiling).

[0025] Along the height direction of the transport device, at least a portion of the object frame is located above the moving part, that is, at least a portion of the object frame is located above the track, and the track is supported below the object frame, such as a ground rail.

[0026] The magnet and the mover core are magnetically attracted to each other, and the magnetic attraction of the magnet and the mover core can be used to lift the carrier frame upward to balance the weight of the carrier (the weight of the carrier itself and the weight of the load on the carrier) to reduce the force of the carrier on the track and, at the same time, reduce the pressure on the moving part.

[0027] Optionally, the moving part includes a roller, a pulley or a slider, etc., which are not listed here one by one.

[0028] In some embodiments, optionally, along the height direction of the transport device, when at least a portion of the carrier frame is located below the moving part, the mover is located between the stator and the carrier frame.

[0029] In this embodiment, the matching structure of the mover, the stator and the object frame is further defined. When at least a part of the object frame is located below the moving part along the height direction of the handling device, the mover is located between the stator and the object frame. That is, the object frame is suspended below the mover. The stator can be installed on the wall or the ceiling, so as to ensure the effectiveness and feasibility of the mover driving the object to move along the track, while also helping to reduce the space occupancy rate of the handling device.

[0030] In some embodiments, optionally, the transporting equipment further includes: a controller connected to the loading frame; a power supply connected to the loading frame, the linear motor and the controller are both electrically connected to the power supply, and the controller is used to control the operation of the linear motor.

[0031] In this embodiment, the transport device further includes a controller and a power supply unit. The controller is connected to the object-carrying frame, and the power supply unit is also connected to the object-carrying frame.

[0032] The linear motor is electrically connected to the power supply unit, and the controller is electrically connected to the power supply unit. The controller can control the operation of the linear motor to achieve the purpose of automatically controlling the operation of the handling equipment. This setting enables the handling equipment to have an automatic control function, improves the degree of automation of the handling equipment, simplifies the operation difficulty of the handling equipment, and thus is conducive to improving the use performance and market competitiveness of the handling equipment.

[0033] In some embodiments, optionally, the power supply unit is a wireless power supply unit.

[0034] In this embodiment, the type of the power supply unit is further limited so that the power supply unit is a wireless power supply unit. This reduces the difficulty of wiring the transport equipment, simplifies the difficulty of operating the transport equipment, and helps reduce the repair and maintenance costs of the transport equipment.

[0035] Optionally, the wireless power supply unit includes a wireless power supply and a power supply cable.

[0036] In some embodiments, optionally, along the height direction of the transport equipment, when at least a portion of the loading frame is located below the moving part, the loading piece also includes a bracket, the number of the moving parts is multiple, a part of the multiple moving parts are connected to the first side of the bracket, another part of the multiple moving parts are connected to the second side of the bracket, and the loading frame is suspended on one side of the bracket.

[0037] In this embodiment, the structure of the object carrier is further defined, so that the object carrier further includes a bracket. The bracket has a first side and a second side, and the first side of the bracket and the second side of the bracket are arranged opposite to each other.

[0038] There are multiple moving parts, some of which are connected to the first side of the bracket, and another part of which are connected to the second side of the bracket. It can be understood that there are two tracks, the moving part located on the first side of the bracket cooperates with one track, and the moving part located on the second side of the bracket cooperates with the other track.

[0039] The bracket is also connected to the object-carrying frame, that is, the moving part and the object-carrying frame are assembled into a whole through the bracket. The object-carrying frame is suspended on the bracket.

[0040] In some embodiments, optionally, the coil portion includes: a first winding segment, arranged around the winding teeth; a second winding segment, connected to one side of the first winding segment along a direction perpendicular to the stator to the mover, and located between the winding teeth and the stator.

[0041] In this embodiment, the structure of the coil portion is defined such that the coil portion includes a first winding segment and a second winding segment. The second winding segment is connected to one side of the first winding segment in a direction perpendicular to the stator to the mover, that is, in a direction perpendicular to the extension of the winding teeth. That is, the structure enclosed by the first winding segment and the second winding segment is in an "L" shape.

[0042] The second winding segment is located between the winding teeth and the stator, that is, the second winding segment protrudes into between the winding teeth and the magnet, but the size of the coil portion in the extending direction of the winding teeth does not change.

[0043] There is a second winding segment between the winding teeth and the magnet, which not only effectively utilizes the idle space to increase the area of ​​the coil part, but also greatly improves the thrust of the linear motor by adding a coil with high magnetic flux density. The second winding segment is located between the winding teeth and the stator, which can also make the structure of the linear motor more compact, while increasing the thrust output of the linear motor, reducing the volume of the linear motor, thereby reducing the space occupied by the linear motor.

[0044] In some embodiments, optionally, the coil portion includes: a third winding segment, arranged around the winding teeth; a fourth winding segment; a fifth winding segment, along a direction perpendicular to the stator to the mover, the third winding segment is located between the fourth winding segment and the fifth winding segment, and the fourth winding segment and the fifth winding segment are both located between the mover core and the stator.

[0045] In this embodiment, the structure of the coil portion is defined so that the coil portion includes a third winding segment, a fourth winding segment, and a fifth winding segment. In a direction perpendicular to the stator to the mover, that is, in an extending direction perpendicular to the winding teeth, the third winding segment is located between the fourth winding segment and the fifth winding segment. That is, the structure enclosed by the third winding segment, the fourth winding segment, and the fifth winding segment is in a "T" shape.

[0046] The fourth winding segment is located between the mover core and the stator, and the fifth winding segment is located between the mover core and the stator. That is, the fourth winding segment protrudes into between the mover core and the stator, and the fifth winding segment protrudes into between the mover core and the stator. However, the size of the coil portion in the extension direction of the winding teeth remains unchanged.

[0047] There are fourth and fifth winding segments between the mover core and the magnet, which not only effectively utilizes the idle space to increase the area of ​​the coil portion, but also achieves the purpose of greatly improving the thrust of the linear motor by adding coils with high magnetic flux density. The fourth winding segment is located between the mover core and the stator, and the fifth winding segment is located between the mover core and the stator, which can also make the structure of the linear motor more compact, while increasing the thrust output by the linear motor, reducing the volume of the linear motor, and thus reducing the space occupied by the linear motor.

[0048] In some embodiments, optionally, the number of winding teeth and the number of coil parts are both multiple, the multiple winding teeth are connected to the same side of the yoke, and the multiple winding teeth are arranged at intervals, and each winding tooth is inserted into a coil part.

[0049] In this embodiment, the number of winding teeth and the number of coil parts are both multiple, that is, the number of winding teeth is multiple, and the number of coil parts is multiple. The multiple winding teeth are all located on the side of the yoke facing the stator, and the multiple winding teeth are arranged at intervals, and each winding tooth cooperates with a coil part. Specifically, each winding tooth is plugged into a coil part.

[0050] In some embodiments, optionally, the mover core further includes: non-winding teeth, the non-winding teeth and the winding teeth are connected to the same side of the yoke, and the non-winding teeth are spaced and distributed on one side of the winding teeth.

[0051] In this embodiment, the structure of the mover core is further defined, so that the mover core also includes non-winding teeth, the non-winding teeth and the winding teeth are connected to the same side of the yoke, and the non-winding teeth are spaced and distributed on one side of the winding teeth. In other words, the mover core includes winding teeth wound with coil parts, and also includes non-winding teeth not wound with coil parts. This arrangement reduces the number of coil parts and saves the manufacturing cost of the mover. It also simplifies the winding process of the coil part, reduces the difficulty of winding the coil part, and thus improves the production efficiency of the mover.

[0052] In some embodiments, optionally, there are multiple non-winding teeth, and at least one non-winding tooth is arranged between any two adjacent winding teeth.

[0053] In this embodiment, the number of non-winding teeth is multiple, and the matching structure of the multiple winding teeth and the multiple non-winding teeth is defined, so that at least one non-winding tooth is arranged between any two adjacent winding teeth. For example, one non-winding tooth is arranged between any two adjacent winding teeth. For example, two non-winding teeth are arranged between any two adjacent winding teeth, and the two non-winding teeth are arranged at intervals. For example, three non-winding teeth are arranged between any two adjacent winding teeth, and the three non-winding teeth are arranged at intervals.

[0054] In some embodiments, optionally, the movable core further includes: a first end tooth; a second end tooth, the first end tooth, the second end tooth and the winding tooth are connected to the same side of the yoke, and a plurality of winding teeth are located between the first end tooth and the second end tooth; wherein the distance from any one of the first end tooth and the second end tooth to the magnet is greater than the distance from the winding tooth to the magnet.

[0055] In this embodiment, the structure of the movable core is defined so that the movable core further includes a first end tooth and a second end tooth, and the first end tooth, the second end tooth and the winding tooth are all connected to the side of the yoke facing the stator. A plurality of winding teeth are located between the first end tooth and the second end tooth.

[0056] The distance from the first end teeth to the magnet is greater than the distance from the winding teeth to the magnet, and the distance from the second end teeth to the magnet is greater than the distance from the winding teeth to the magnet. That is, in the second direction, the length of the first end teeth is less than the length of the winding teeth, and the length of the second end teeth is less than the length of the winding teeth.

[0057] This setting can reduce the cogging force of the linear motor and further improve the stability of the linear motor during operation.

[0058] Optionally, when the mover core includes a plurality of winding teeth and a plurality of non-winding teeth, the plurality of winding teeth and the plurality of non-winding teeth are both located between the first end teeth and the second end teeth.

[0059] In some embodiments, optionally, the mover further includes: an insulating frame, wherein the insulating frame is located between the mover core and the coil portion.

[0060] In this embodiment, the structure of the mover is further defined such that the mover further includes an insulating frame, and the insulating frame is located between the mover core and the coil portion.

[0061] The insulating frame can achieve insulation between the mover core and the coil part, reducing the probability of breakdown of the coil part.

[0062] A second aspect of the present application provides a transport assembly, comprising: a track; and the transport device as in the first aspect.

[0063] The transport assembly provided in the present application includes the transport equipment as in the first aspect, and therefore has all the beneficial effects of the above-mentioned transport equipment, which will not be described one by one here.

[0064] Optionally, the transport assembly includes a track, a carrier and a linear motor. The carrier includes a moving part, which is arranged on the track and can move along the track.

[0065] Additional aspects and advantages of the present application will become apparent in the following description or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0067] Figure 1 A schematic diagram showing the structure of a handling assembly according to an embodiment of the present application is shown;

[0068] Figure 2 A partial structural schematic diagram of a linear motor according to an embodiment of the present application is shown;

[0069] Figure 3 A schematic structural diagram of a mover from a first perspective of a first embodiment of the present application is shown;

[0070] Figure 4 A schematic structural diagram of a mover from a second perspective of the first embodiment of the present application is shown;

[0071] Figure 5 A schematic structural diagram of the mover from a third perspective of the first embodiment of the present application is shown;

[0072] Figure 6 A schematic structural diagram of a mover from a fourth perspective of the first embodiment of the present application is shown;

[0073] Figure 7 A schematic structural diagram showing a mover from a first perspective according to a second embodiment of the present application;

[0074] Figure 8 A schematic structural diagram of a mover from a second perspective of a second embodiment of the present application is shown;

[0075] Fig. 9 A schematic structural diagram showing a mover from a third perspective according to a second embodiment of the present application;

[0076] Fig.10 A schematic structural diagram showing a fourth perspective of a mover according to a second embodiment of the present application;

[0077] Fig.11A schematic structural diagram showing a mover from a first perspective according to a third embodiment of the present application;

[0078] Fig.12 A schematic structural diagram of a mover from a second perspective of a third embodiment of the present application is shown;

[0079] Fig.13 A schematic structural diagram showing a third perspective of a mover according to a third embodiment of the present application;

[0080] Fig.14 A schematic structural diagram showing a fourth perspective of a mover according to a third embodiment of the present application;

[0081] Fig.15 A schematic structural diagram showing a mover from a first perspective according to a fourth embodiment of the present application;

[0082] Fig.16 A schematic structural diagram of a mover from a second perspective of a fourth embodiment of the present application is shown;

[0083] Fig.17 A schematic structural diagram showing a mover from a third perspective according to a fourth embodiment of the present application;

[0084] Fig.18 A schematic structural diagram showing a fourth perspective of a mover of a fourth embodiment of the present application;

[0085] Fig.19 A schematic diagram of a curve showing the relationship between the thrust constant and the magnetic gap of a linear motor in the related art and the linear motor of the present application is shown.

[0086] in, Figures 1 to 18 The corresponding relationship between the reference numerals and component names in the figure is:

[0087] 1 handling equipment, 10 object carrier, 100 object carrier frame, 200 moving part, 300 bracket, 310 first side of the bracket, 320 second side of the bracket, 40 linear motor, 400 stator, 410 magnet, 420 magnetic plate, 500 mover, 510 mover core, 512 yoke, 514 winding teeth, 516 non-winding teeth, 517 first end teeth, 518 second end teeth, 520 coil part, 521 first winding segment, 522 second winding segment, 523 third winding segment, 524 fourth winding segment, 525 fifth winding segment, 530 insulating frame, 60 controller, 70 power supply unit, 8 handling assembly, 80 track. DETAILED DESCRIPTION

[0088] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0089] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0090] Refer to the following Figures 1 to 19 According to some embodiments of the present application, a transport device 1 and a transport assembly 8.

[0091] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, according to some embodiments of the present application, a transport device 1 is used to cooperate with a track 80 , and the transport device 1 includes a carrier 10 and a linear motor 40 .

[0092] The object carrier 10 is placed on the rail 80 .

[0093] The linear motor 40 includes a mover 500 and a stator 400 .

[0094] The stator 400 is located at one side of the object carrier 10 , and the stator 400 includes a magnet 410 .

[0095] The mover 500 is connected to the object carrier 10 , and is used to drive the object carrier 10 to move along the track 80 under the action of the stator 400 .

[0096] The mover 500 includes a mover core 510 and a coil portion 520 .

[0097] The mover core 510 includes a yoke 512 and winding teeth 514 . The winding teeth 514 are connected to a side of the yoke 512 facing the stator 400 .

[0098] The winding teeth 514 are inserted into the coil portion 520 , and the distance between the winding teeth 514 and the magnet 410 is greater than the distance between the coil portion 520 and the magnet 410 .

[0099] The magnet 410 and the mover core 510 are magnetically attracted to each other to reduce the force of the object carrier 10 acting on the track 80 .

[0100] In this embodiment, the handling device 1 includes an object carrier 10 and a linear motor 40 .

[0101] The object carrier 10 is placed on the track 80 , and the object carrier 10 can move along the track 80 .

[0102] Among them, the object carrier 10 is used to carry the load, the linear motor 40 includes a mover 500 and a stator 400, the stator 400 is located on one side of the object carrier 10, the mover 500 is connected to the object carrier 10, and the mover 500 is used to drive the object carrier 10 to move along the track 80 under the action of the stator 400 to achieve the purpose of transporting the load.

[0103] In addition, the linear motor 40 also includes a mover 500 and a stator 400. The stator 400 includes a magnet 410. The mover 500 includes a mover core 510. The magnet 410 and the mover core 510 are both components of the linear motor 40 and can meet the use requirements of the linear motor 40 to drive the carrier 10 to move. The mover core 510 can also cooperate with the magnet 410 to reduce the force of the carrier 10 acting on the track 80.

[0104] It can be understood that the cooperation between the magnet 410 and the movable core 510 reduces the force of the carrier 10 acting on the track 80 (the magnetic attraction between the magnet 410 and the movable core 510 will offset the weight of the carrier 10), that is, it reduces the pressure on the part of the carrier 10 that cooperates with the track 80 (such as the moving part 200 of the carrier 10). In this way, the wear of the carrier 10 can be reduced when the transport device 1 is working, which is beneficial to extend the service life of the carrier 10, and to reduce the maintenance frequency of the transport device 1, and thus to reduce the use cost of the transport device 1.

[0105] That is to say, the structure of the linear motor 40 (such as the rotor core 510 and the magnet 410) is reused, which can not only meet the use requirements of the transporting equipment 1 for smooth operation, but also achieve low wear of the transporting equipment 1 and extend the service life of the transporting equipment 1.

[0106] In addition, the mover core 510 includes a yoke 512 and winding teeth 514, the winding teeth 514 are connected to the yoke 512, and the winding teeth 514 are located on the side of the yoke 512 facing the stator 400. The mover 500 also includes a coil portion 520, the winding teeth 514 are plugged into the coil portion 520, and the coil portion 520 covers the winding teeth 514. Among them, the coil portion 520 is closer to the magnet 410 than the winding teeth 514, that is, the distance from the winding teeth 514 to the magnet 410 is greater than the distance from the coil portion 520 to the magnet 410.

[0107] In the related art, the distance from the winding teeth to the magnet is equal to the distance from the coil part to the magnet. Due to the influence of the force between the magnet and the mover core, the magnetic gap (i.e., the distance from the winding teeth to the magnet) is adjusted to adjust the balance point between the force and the weight of the carrier (the weight of the carrier itself and the weight of the load on the carrier) to reduce the force of the carrier on the track. Among them, the magnetic gap is equal to the mechanical gap (i.e., the distance from the mover to the magnet). At this time, it is necessary to change the structure of the carrier to achieve the purpose of adjusting the magnetic gap. In this way, it will cause difficulties in the use and manufacture of the handling equipment and increase the difficulty of maintenance of the handling equipment. At the same time, adjusting the magnetic gap will also reduce the thrust of the linear motor, resulting in reduced efficiency of the handling equipment.

[0108] like Figure 2 As shown, the distance from the winding teeth 514 to the magnet 410 of the present application is greater than the distance from the coil part 520 to the magnet 410. The present application can design the tooth length of the winding teeth 514 according to the balance point of the weight of the carrier 10 without affecting the mechanical gap d2. It can achieve a large thrust and stable operation under the condition of balancing the gravity of the carrier 10, and can achieve low wear of the carrier 10, reduce the maintenance frequency of the carrier 10, and help to extend the life of the handling equipment 1. Since the linear motor 40 adjusts the tooth length of the winding teeth 514 only to change the magnetic gap d1 without changing the mechanical gap d2, there is no need to change the structure of the carrier 10, which can reduce the modification cost of the handling equipment 1 and facilitate the use and maintenance of the handling equipment 1.

[0109] In addition, the distance between the winding teeth 514 and the magnet 410 is greater than the distance between the coil part 520 and the magnet 410. This arrangement can reduce the cogging force and the magnetic attraction force, while improving the use efficiency of the coil part 520, thereby improving the thrust density of the linear motor 40. In addition, the winding teeth 514 are inserted into the coil part 520, which has the characteristics of a short end of the coil part 520 and low copper loss.

[0110] It is understandable that the coil portion 520 can generate a magnetic field after being energized, so that the stator 400 of the linear motor 40 can drive the mover 500 to move through the coil portion 520, thereby achieving power output. Among them, the magnet 410 can generate a magnetic field, and after the coil portion 520 of the mover 500 is energized, a magnetic field can also be generated around the coil portion 520. When the linear motor 40 is working, the stator 400 is fixed, and after the coil portion 520 is energized, the magnetic field generated by the coil portion 520 interacts with the magnetic field generated by the magnet 410, thereby achieving the motion of the mover 500 driven by the stator 400, and the linear motor 40 achieves power output.

[0111] like Figure 4 , Figure 8 , Fig.12 and Fig.16As shown, the mover 500 can move linearly along the first direction relative to the stator 400. The distance from the winding teeth 514 to the magnet 410 is greater than the distance from the coil portion 520 to the magnet 410, that is, the length of the winding teeth 514 in the second direction is less than the length of the coil portion 520 in the second direction, wherein the first direction is perpendicular to the second direction.

[0112] Optionally, the mover core 510 can be made by stamping silicon steel sheets or by processing structural steel. The mover core 510 made by processing structural steel has the advantages of low cost such as no mold required and easy processing.

[0113] like Figure 2 As shown, the stator 400 further includes a magnetic plate 420, which is disposed on a side of the magnet 410 that faces away from the mover 500. The magnetic plate 420 has the function of installing and fixing the magnet 410.

[0114] In some embodiments, optionally, Figure 1 As shown, the object carrier 10 includes an object carrier frame 100 and a moving part 200 .

[0115] The moving part 200 is used to drive the loading frame 100 to move along the track 80 .

[0116] Along the height direction of the transport device 1 , at least a portion of the loading frame 100 is located below the moving portion 200 .

[0117] Alternatively, along the height direction of the transport device 1 , at least a portion of the loading frame 100 is located above the moving portion 200 .

[0118] In this embodiment, the structure of the object mounting member 10 is further defined such that the object mounting member 10 includes a mounting frame 100 and a moving portion 200 .

[0119] The loading frame 100 is used for carrying loads.

[0120] Along the height direction of the handling device 1, at least a portion of the loading frame 100 is located below the moving part 200, that is, at least a portion of the loading frame 100 is suspended below the track 80. It can also be said that at least a portion of the loading frame 100 is suspended below the track 80, such as an overhead crane.

[0121] The magnet 410 and the movable core 510 are magnetically attracted to each other, and the magnetic attraction force of the magnet 410 and the movable core 510 can be used to balance the weight of the carrier 10 (the weight of the carrier 10 itself and the weight of the load on the carrier 10) to reduce the force of the carrier 10 acting on the track 80, and at the same time, reduce the pressure on the moving part 200.

[0122] Optionally, the stator 400 of the linear motor 40 is fixedly mounted on a mounting carrier (eg, a wall, a ceiling).

[0123] Along the height direction of the transport device 1, at least a portion of the carrier frame 100 is located above the moving part 200, that is, at least a portion of the carrier frame 100 is located above the track 80, and the track 80 is supported below the carrier frame 100, such as a floor rail.

[0124] The magnet 410 and the movable core 510 are magnetically attracted to each other, and the magnetic attraction of the magnet 410 and the movable core 510 can be used to lift the carrier frame 100 upward to balance the weight of the carrier 10 (the weight of the carrier 10 itself and the weight of the load on the carrier 10) to reduce the force of the carrier 10 acting on the track 80, and at the same time, reduce the pressure on the moving part 200.

[0125] Optionally, the stator 400 of the linear motor 40 is fixedly mounted on a mounting carrier (eg, a frame).

[0126] Optionally, the moving part 200 includes a roller, a pulley or a slider, etc., which are not listed here one by one.

[0127] In some embodiments, optionally, Figure 1 As shown, along the height direction of the transport device 1 , when at least a portion of the carrier frame 100 is located below the moving portion 200 , the mover 500 is located between the stator 400 and the carrier frame 100 .

[0128] In this embodiment, the matching structure of the mover 500, the stator 400 and the object frame 100 is further defined. When at least a part of the object frame 100 is located below the moving part 200 along the height direction of the transport device 1, the mover 500 is located between the stator 400 and the object frame 100. That is, the object frame 100 is suspended below the mover 500. The stator 400 can be installed on a wall or a ceiling, so as to ensure the effectiveness and feasibility of the mover 500 driving the object 10 to move along the track 80, while also helping to reduce the space occupancy rate of the transport device 1.

[0129] In some other embodiments, along the height direction of the transport equipment 1, when at least a portion of the carrier frame 100 is located above the moving part 200, the stator 400 is located on the peripheral side of the carrier 10, the mover 500 is connected to the carrier 10, and the mover 500 and the stator 400 are arranged opposite to each other.

[0130] In some other embodiments, along the height direction of the transport equipment 1, when at least a portion of the carrier frame 100 is located above the moving part 200, the stator 400 is located above the carrier 10, the mover 500 is connected to the carrier 10, and the mover 500 and the stator 400 are arranged opposite to each other.

[0131] In some embodiments, optionally, Figure 1 As shown, the transport device 1 further includes a controller 60 and a power supply unit 70 .

[0132] The controller 60 is connected to the loading frame 100 .

[0133] The power supply unit 70 is connected to the loading frame 100 .

[0134] The linear motor 40 and the controller 60 are both electrically connected to the power supply 70 , and the controller 60 is used to control the operation of the linear motor 40 .

[0135] In this embodiment, the transport device 1 further includes a controller 60 and a power supply unit 70 . The controller 60 is connected to the object-carrying frame 100 , and the power supply unit 70 is also connected to the object-carrying frame 100 .

[0136] The linear motor 40 is electrically connected to the power supply unit 70, and the controller 60 is electrically connected to the power supply unit 70. The controller 60 can control the operation of the linear motor 40 to achieve the purpose of automatically controlling the operation of the conveying equipment 1. This setting enables the conveying equipment 1 to have an automatic control function, improves the degree of automation of the conveying equipment 1, simplifies the operation difficulty of the conveying equipment 1, and is beneficial to improving the use performance and market competitiveness of the conveying equipment 1.

[0137] In some embodiments, optionally, the power supply unit 70 is a wireless power supply unit.

[0138] In this embodiment, the type of the power supply unit 70 is further limited so that the power supply unit 70 is a wireless power supply unit. This reduces the wiring difficulty of the transport equipment 1, simplifies the operation difficulty of the transport equipment 1, and helps to reduce the repair and maintenance costs of the transport equipment 1.

[0139] Optionally, the wireless power supply unit includes a wireless power supply and a power supply cable.

[0140] In some embodiments, optionally, along the height direction of the transport device 1 , when at least a portion of the object frame 100 is located below the moving part 200 , the object carrier 10 further includes a bracket 300 .

[0141] There are plural moving parts 200 .

[0142] A portion of the plurality of moving parts 200 is connected to the first side 310 of the bracket.

[0143] Another part of the plurality of moving parts 200 is connected to the second side 320 of the bracket.

[0144] The loading frame 100 is suspended on one side of the bracket 300 .

[0145] In this embodiment, the structure of the object carrier 10 is further defined, so that the object carrier 10 further includes a bracket 300. The bracket 300 has a first side and a second side, and the first side 310 of the bracket and the second side 320 of the bracket are arranged opposite to each other.

[0146] There are multiple moving parts 200, some of which are connected to the first side 310 of the bracket, and another part of which is connected to the second side 320 of the bracket. It can be understood that there are two tracks 80, the moving part 200 located on the first side 310 of the bracket cooperates with one track 80, and the moving part 200 located on the second side 320 of the bracket cooperates with the other track 80.

[0147] The bracket 300 is also connected to the object frame 100 , that is, the moving part 200 and the object frame 100 are assembled into a whole through the bracket 300 . The object frame 100 is suspended on the bracket 300 .

[0148] Optionally, the bracket 300 includes a connecting frame and a hanging frame, a part of the plurality of moving parts 200 is connected to a first side of the connecting frame, and another part of the plurality of moving parts 200 is connected to a second side of the connecting frame. The hanging frame is connected to the middle of the connecting frame, and the hanging frame extends from the connecting frame through the two rails 80 to the bottom of the rails 80, and the hanging frame is connected to the object frame 100.

[0149] In some embodiments, optionally, Figure 7 , Figure 8 , Fig. 9 and Fig.10 As shown, the coil portion 520 includes a first winding segment 521 and a second winding segment 522 .

[0150] The first winding segment 521 is disposed around the winding tooth 514 .

[0151] Along a direction perpendicular to the stator 400 to the mover 500 , the second winding segment 522 is connected to one side of the first winding segment 521 , and the second winding segment 522 is located between the winding tooth 514 and the stator 400 .

[0152] In this embodiment, the structure of the coil portion 520 is defined such that the coil portion 520 includes a first winding segment 521 and a second winding segment 522. The second winding segment 522 is connected to one side of the first winding segment 521 in a direction perpendicular to the stator 400 to the mover 500, that is, in a direction perpendicular to the extension of the winding teeth 514. That is, the structure enclosed by the first winding segment 521 and the second winding segment 522 is in an "L" shape.

[0153] The second winding segment 522 is located between the winding teeth 514 and the stator 400 , that is, the second winding segment 522 protrudes into between the winding teeth 514 and the magnet 410 , but the size of the coil portion 520 in the extending direction of the winding teeth 514 remains unchanged.

[0154] There is a second winding segment 522 between the winding teeth 514 and the magnet 410, so that not only the idle space is effectively utilized to increase the area of ​​the coil part 520, but also the thrust of the linear motor 40 is greatly improved by adding a coil with a high magnetic flux density. The second winding segment 522 is located between the winding teeth 514 and the stator 400, and can also make the structure of the linear motor 40 more compact, while increasing the thrust output by the linear motor 40, reducing the volume of the linear motor 40, thereby reducing the space occupied by the linear motor 40.

[0155] In some embodiments, optionally, Fig.15 , Fig.16 , Fig.17 and Fig.18 As shown, the coil portion 520 includes a third winding segment 523 , a fourth winding segment 524 and a fifth winding segment 525 .

[0156] The third winding segment 523 is disposed around the winding tooth 514 .

[0157] In a direction perpendicular to the stator 400 to the mover 500 , the third winding segment 523 is located between the fourth winding segment 524 and the fifth winding segment 525 .

[0158] The fourth winding segment 524 and the fifth winding segment 525 are both located between the mover core 510 and the stator 400 .

[0159] In this embodiment, the structure of the coil portion 520 is defined such that the coil portion 520 includes a third winding segment 523, a fourth winding segment 524, and a fifth winding segment 525. In a direction perpendicular to the stator 400 to the mover 500, that is, in a direction perpendicular to the extension of the winding teeth 514, the third winding segment 523 is located between the fourth winding segment 524 and the fifth winding segment 525. That is, the structure enclosed by the third winding segment 523, the fourth winding segment 524, and the fifth winding segment 525 is in a "T" shape.

[0160] The fourth winding segment 524 is located between the movable core 510 and the stator 400, and the fifth winding segment 525 is located between the movable core 510 and the stator 400. That is, the fourth winding segment 524 protrudes into between the movable core 510 and the stator 400, and the fifth winding segment 525 protrudes into between the movable core 510 and the stator 400. However, the size of the coil portion 520 in the extension direction of the winding teeth 514 remains unchanged.

[0161] There are fourth winding segments 524 and fifth winding segments 525 between the mover core 510 and the magnet 410, so that not only the idle space is effectively utilized to increase the area of ​​the coil portion 520, but also the thrust of the linear motor 40 is greatly improved by adding coils with high magnetic flux density. The fourth winding segment 524 is located between the mover core 510 and the stator 400, and the fifth winding segment 525 is located between the mover core 510 and the stator 400, which can also make the structure of the linear motor 40 more compact, while increasing the thrust output by the linear motor 40, reducing the volume of the linear motor 40, thereby reducing the space occupied by the linear motor 40.

[0162] In some embodiments, optionally, Figure 2 , Figure 4 and Figure 8 As shown, the number of the winding teeth 514 and the number of the coil parts 520 are both plural.

[0163] The plurality of winding teeth 514 are connected to the same side of the yoke 512 , and the plurality of winding teeth 514 are arranged at intervals.

[0164] Each winding tooth 514 is plugged into a coil portion 520 .

[0165] In this embodiment, the number of winding teeth 514 and the number of coil parts 520 are both multiple, that is, the number of winding teeth 514 is multiple, and the number of coil parts 520 is multiple. The multiple winding teeth 514 are all located on the side of the yoke 512 facing the stator 400, and the multiple winding teeth 514 are arranged at intervals, and each winding tooth 514 cooperates with one coil part 520. Specifically, each winding tooth 514 is plugged into one coil part 520.

[0166] In some embodiments, optionally, Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 , Fig.17 and Fig.18 As shown, the mover core 510 further includes non-winding teeth 516 .

[0167] The non-winding teeth 516 and the winding teeth 514 are connected to the same side of the yoke 512 .

[0168] The non-winding teeth 516 are spaced apart and distributed on one side of the winding teeth 514 .

[0169] In this embodiment, the structure of the mover core 510 is further defined, so that the mover core 510 also includes a non-winding tooth 516, the non-winding tooth 516 and the winding tooth 514 are connected to the same side of the yoke 512, and the non-winding tooth 516 is distributed at intervals on one side of the winding tooth 514. In other words, the mover core 510 includes a winding tooth 514 wound with a coil portion 520, and also includes a non-winding tooth 516 not wound with a coil portion 520. This arrangement reduces the number of coil portions 520 and saves the manufacturing cost of the mover 500. It also simplifies the winding process of the coil portion 520, reduces the difficulty of winding the coil portion 520, and thus improves the production efficiency of the mover 500.

[0170] Optionally, the movable core 510 also includes non-winding teeth 516 and winding teeth 514, the non-winding teeth 516 are not wound with coil portions 520, and the coil portions 520 wound on the winding teeth 514 include: a third winding segment 523, arranged around the winding teeth 514; a fourth winding segment 524; and a fifth winding segment 525, along a direction perpendicular to the stator 400 to the movable core 510, the third winding segment 523 is located between the fourth winding segment 524 and the fifth winding segment 525, and the fourth winding segment 524 and the fifth winding segment 525 are both located between the movable core 510 and the stator 400.

[0171] Optionally, the mover core 510 further includes a plurality of non-winding teeth 516 and a plurality of winding teeth 514, and at least one non-winding tooth 516 is disposed between two adjacent winding teeth 514. The non-winding teeth 516 are not wound with a coil portion 520, and the coil portion 520 wound on the winding teeth 514 includes: a third winding segment 523, disposed around the winding teeth 514; a fourth winding segment 524; and a fifth winding segment 525, along a direction perpendicular to the stator 400 to the mover 500, the third winding segment 523 is located between the fourth winding segment 524 and the fifth winding segment 525, and the fourth winding segment 524 and the fifth winding segment 525 are both located between the mover core 510 and the stator 400.

[0172] Optionally, the mover core 510 further includes a plurality of non-winding teeth 516 and a plurality of winding teeth 514, and at least one non-winding tooth 516 is disposed between two adjacent winding teeth 514. The non-winding teeth 516 are not wound with a coil portion 520, and the coil portion 520 wound on the winding teeth 514 includes: a first winding segment 521, disposed around the winding teeth 514; and a second winding segment 522, which is connected to one side of the first winding segment 521 in a direction perpendicular to the stator 400 to the mover 500, and is located between the winding teeth 514 and the stator 400.

[0173] Optionally, the rotor core 510 also includes non-winding teeth 516 and winding teeth 514, the non-winding teeth 516 are not wound with coil portions 520, and the coil portions 520 wound on the winding teeth 514 include: a first winding segment 521, arranged around the winding teeth 514; a second winding segment 522, along a direction perpendicular to the stator 400 to the rotor 500, the second winding segment 522 is connected to one side of the first winding segment 521, and the second winding segment 522 is located between the winding teeth 514 and the stator 400.

[0174] In some embodiments, optionally, Fig.12 and Fig.16 As shown, there are multiple non-winding teeth 516 , and at least one non-winding tooth 516 is disposed between any two adjacent winding teeth 514 .

[0175] In this embodiment, the number of non-winding teeth 516 is multiple, and the matching structure of multiple winding teeth 514 and multiple non-winding teeth 516 is defined, so that at least one non-winding tooth 516 is provided between any two adjacent winding teeth 514. For example, one non-winding tooth 516 is provided between any two adjacent winding teeth 514. For example, two non-winding teeth 516 are provided between any two adjacent winding teeth 514, and the two non-winding teeth 516 are arranged at intervals. For example, three non-winding teeth 516 are provided between any two adjacent winding teeth 514, and the three non-winding teeth 516 are arranged at intervals.

[0176] In some embodiments, optionally, Figure 2 , Figure 4 , Figure 8 and Fig.12 As shown, the mover core 510 further includes a first end tooth 517 and a second end tooth 518 .

[0177] The first end teeth 517 , the second end teeth 518 , and the winding teeth 514 are connected to the same side of the yoke 512 .

[0178] The plurality of winding teeth 514 are located between the first end teeth 517 and the second end teeth 518 .

[0179] The distance between any one of the first end tooth 517 and the second end tooth 518 and the magnet 410 is greater than the distance between the winding tooth 514 and the magnet 410 .

[0180] In this embodiment, the structure of the mover core 510 is defined so that the mover core 510 further includes a first end tooth 517 and a second end tooth 518. The first end tooth 517, the second end tooth 518 and the winding teeth 514 are all connected to the side of the yoke 512 facing the stator 400. The plurality of winding teeth 514 are located between the first end tooth 517 and the second end tooth 518.

[0181] The distance between the first end teeth 517 and the magnet 410 is greater than the distance between the winding teeth 514 and the magnet 410, and the distance between the second end teeth 518 and the magnet 410 is greater than the distance between the winding teeth 514 and the magnet 410. That is, in the second direction, the length of the first end teeth 517 is less than the length of the winding teeth 514, and the length of the second end teeth 518 is less than the length of the winding teeth 514.

[0182] This configuration can reduce the cogging force of the linear motor 40 and further improve the stability of the linear motor 40 during operation.

[0183] Optionally, when the mover core 510 includes a plurality of winding teeth 514 and a plurality of non-winding teeth 516 , the plurality of winding teeth 514 and the plurality of non-winding teeth 516 are both located between the first end teeth 517 and the second end teeth 518 .

[0184] Alternatively, if Fig.16 As shown, there are multiple coil parts 520 , the fourth winding segment 524 of the middle coil part 520 is located between the winding teeth 514 and the stator 400 , and the fifth winding segment 525 of the middle coil part 520 is located between the winding teeth 514 and the stator 400 .

[0185] Alternatively, if Fig.16 As shown, there are multiple coil parts 520, the coil part 520 located at the left end is recorded as the first coil part, and the coil part 520 located at the right end is recorded as the second coil part. The fourth winding segment 524 of the first coil part is located between the first end tooth 517 and the stator 400, and the fifth winding segment 525 of the first coil part is located between the winding tooth 514 and the stator 400. The fourth winding segment 524 of the second coil part is located between the winding tooth 514 and the stator 400. The fifth winding segment 525 of the second coil part is located between the second end tooth 518 and the stator 400.

[0186] In some embodiments, optionally, Figure 4 , Figure 8 , Fig.12 and Fig.16 As shown, the mover 500 further includes an insulating frame 530 .

[0187] The insulating frame 530 is located between the mover core 510 and the coil part 520 .

[0188] In this embodiment, the structure of the mover 500 is further defined such that the mover 500 further includes an insulating frame 530 , and the insulating frame 530 is located between the mover core 510 and the coil portion 520 .

[0189] The insulating frame 530 can achieve insulation between the mover core 510 and the coil part 520 , thereby reducing the probability of breakdown of the coil part 520 .

[0190] Optionally, the insulating frame 530 is provided with a first insulating groove, the winding tooth 514 is inserted into the first insulating groove, and the first insulating groove is located between the winding tooth 514 and the coil portion 520 .

[0191] Optionally, when there are multiple winding teeth 514 , there are also multiple first insulating slots, and each winding tooth 514 cooperates with one first insulating slot.

[0192] Optionally, when the rotor core 510 includes winding teeth 514 and non-winding teeth 516, the insulating frame 530 is provided with a first insulating groove and a second insulating groove, the winding teeth 514 are inserted into the first insulating groove, the first insulating groove is located between the winding teeth 514 and the coil part 520, and the non-insulating teeth are inserted into the second insulating groove, and the second insulating groove is located between the non-winding teeth 516 and the stator 400.

[0193] Optionally, when the number of winding teeth 514 and non-winding teeth 516 is both plural, the number of first insulation slots and second insulation slots is both plural, each winding tooth 514 cooperates with a first insulation slot, and each non-winding tooth 516 cooperates with a second insulation slot.

[0194] Optionally, when the movable core 510 includes a winding tooth 514, a non-winding tooth 516, a first end tooth 517 and a second end tooth 518, the insulating frame 530 is provided with a first insulating groove, a first extension section and a second extension section of the second insulating groove, the winding tooth 514 is inserted into the first insulating groove, the first insulating groove is located between the winding tooth 514 and the coil portion 520, the non-insulating tooth is inserted into the second insulating groove, the second insulating groove is located between the non-winding tooth 516 and the stator 400, the first extension section is located between the first end tooth 517 and the stator 400, and the second extension section is located between the second end tooth 518 and the stator 400.

[0195] like Figure 1 As shown, a transport assembly 8 according to some embodiments of the present application includes: a track 80; and a transport device 1 as any of the above embodiments.

[0196] In this embodiment, the handling assembly 8 includes a rail 80 and a handling device 1 .

[0197] The object carrier 10 is placed on the track 80 , and the object carrier 10 can move along the track 80 .

[0198] Among them, the object carrier 10 is used to carry the load, the linear motor 40 includes a mover 500 and a stator 400, the stator 400 is located on one side of the object carrier 10, the mover 500 is connected to the object carrier 10, and the mover 500 is used to drive the object carrier 10 to move along the track 80 under the action of the stator 400 to achieve the purpose of transporting the load.

[0199] In addition, the linear motor 40 also includes a mover 500 and a stator 400. The stator 400 includes a magnet 410. The mover 500 includes a mover core 510. The magnet 410 and the mover core 510 are both components of the linear motor 40 and can meet the use requirements of the linear motor 40 to drive the carrier 10 to move. The mover core 510 can also cooperate with the magnet 410 to reduce the force of the carrier 10 acting on the track 80.

[0200] It can be understood that the cooperation between the magnet 410 and the movable core 510 reduces the force exerted by the carrier 10 on the track 80, that is, reduces the pressure on the part of the carrier 10 that cooperates with the track 80 (such as the moving part 200 of the carrier 10). In this way, the wear of the carrier 10 can be reduced when the transport device 1 is working, which is beneficial to extend the service life of the carrier 10 and reduce the maintenance frequency of the transport device 1, and thus helps to reduce the use cost of the transport device 1.

[0201] That is to say, the structure of the linear motor 40 (such as the rotor core 510 and the magnet 410) is reused, which can not only meet the use requirements of the transporting equipment 1 for smooth operation, but also achieve low wear of the transporting equipment 1 and extend the service life of the transporting equipment 1.

[0202] In addition, the mover core 510 includes a yoke 512 and winding teeth 514, the winding teeth 514 are connected to the yoke 512, and the winding teeth 514 are located on the side of the yoke 512 facing the stator 400. The mover 500 also includes a coil portion 520, the winding teeth 514 are plugged into the coil portion 520, and the coil portion 520 covers the winding teeth 514. Among them, the coil portion 520 is closer to the magnet 410 than the winding teeth 514, that is, the distance from the winding teeth 514 to the magnet 410 is greater than the distance from the coil portion 520 to the magnet 410.

[0203] like Figure 2 As shown, the distance from the winding teeth 514 to the magnet 410 of the present application is greater than the distance from the coil part 520 to the magnet 410. The present application can design the tooth length of the winding teeth 514 according to the balance point of the weight of the carrier 10 without affecting the mechanical gap d2. It can achieve a large thrust and stable operation under the condition of balancing the gravity of the carrier 10, and can achieve low wear of the carrier 10, reduce the maintenance frequency of the carrier 10, and help to extend the life of the handling equipment 1. Since the linear motor 40 adjusts the tooth length of the winding teeth 514 only to change the magnetic gap d1 without changing the mechanical gap d2, there is no need to change the structure of the carrier 10, which can reduce the modification cost of the handling equipment 1 and facilitate the use and maintenance of the handling equipment 1.

[0204] In addition, the distance between the winding teeth 514 and the magnet 410 is greater than the distance between the coil part 520 and the magnet 410. This arrangement can reduce the cogging force and the magnetic attraction force, while improving the use efficiency of the coil part 520, thereby improving the thrust density of the linear motor 40. In addition, the winding teeth 514 are inserted into the coil part 520, which has the characteristics of a short end of the coil part 520 and low copper loss.

[0205] It is understandable that the coil portion 520 can generate a magnetic field after being energized, so that the stator 400 of the linear motor 40 can drive the mover 500 to move through the coil portion 520, thereby achieving power output. Among them, the magnet 410 can generate a magnetic field, and after the coil portion 520 of the mover 500 is energized, a magnetic field can also be generated around the coil portion 520. When the linear motor 40 is working, the stator 400 is fixed, and after the coil portion 520 is energized, the magnetic field generated by the coil portion 520 interacts with the magnetic field generated by the magnet 410, thereby achieving the motion of the mover 500 driven by the stator 400, and the linear motor 40 achieves power output.

[0206] Optionally, without changing the structure of the overhead crane, the short-tooth linear motor 40 is used to adjust the balance point between the magnetic attraction force (the tooth length is adjusted as required to achieve the purpose of adjusting the magnetic gap without changing the gap between the end face of the mover 500 and the magnet 410) and the gravity, thereby achieving low wear and long life of the overhead crane while realizing smooth operation of the overhead crane.

[0207] The transport device 1 of the present application can be used to transport semiconductors.

[0208] The transport assembly 8 includes a track 80 and a transport device 1 (eg, an overhead travelling crane). The transport device 1 includes a linear motor 40 and a carrier 10 . The carrier 10 includes a bracket 300 , a carrier frame 100 and a moving part 200 (eg, a roller).

[0209] The linear motor 40, as the driving source of the overhead travelling crane, can also use the magnetic attraction between the mover 500 and the magnet 410 of the stator 400 to balance the weight of the overhead travelling crane (the weight of the overhead travelling crane and the weight of the load placed on the overhead travelling crane). This arrangement enables the overhead travelling crane to run smoothly, reduces the wear of the rollers of the overhead travelling crane, and can extend the service life of the rollers.

[0210] The mover 500 includes a mover core 510 and a coil portion 520. The mover core 510 includes a yoke portion 512 and a winding tooth 514. The winding tooth 514 is plugged into the coil portion 520. The distance from the winding tooth 514 to the magnet 410 is greater than the distance from the coil portion 520 to the magnet 410. The extension length of the winding tooth 514 can be set by the gravity balance point of the overhead crane to achieve a large thrust and stable operation under the condition of balancing the gravity of the overhead crane, thereby achieving low wear, maintenance-free and long life of the roller of the overhead crane. The present application only changes the magnetic gap but not the mechanical gap by adjusting the extension length of the winding tooth 514. Therefore, the overall structural setting of the overhead crane does not need to be changed, which facilitates the use and maintenance of the overhead crane.

[0211] The handling device 1 further includes a power supply unit 70 and a controller 60, and the controller 60 and the linear motor 40 are both electrically connected to the power supply unit 70. The power supply unit 70 includes a wireless power supply and a power supply cable. The power of the power supply unit 70 is output to the controller 60 to realize the autonomous operation of the overhead crane.

[0212] like Figures 3 to 6 As shown, the mover core 510 includes a plurality of winding teeth 514 and a plurality of coil parts 520, and each winding tooth 514 is inserted into a coil part 520. The mover 500 also includes an integrally formed insulating frame 530 and a plastic sealing part. Along the second direction, the length of the winding teeth 514 is less than the length of the coil part 520, that is, the coil part 520 is closer to the magnet 410 than the winding teeth 514. It has the advantages of low copper loss and easy manufacturing.

[0213] like Figures 7 to 10 As shown, the mover core 510 includes a plurality of winding teeth 514 and a plurality of coil parts 520, and each winding tooth 514 is inserted into a coil part 520. The coil part 520 includes a first winding segment 521 and a second winding segment 522, and the second winding segment 522 is connected to one side of the first winding segment 521 along a direction perpendicular to the stator 400 to the mover 500, and the second winding segment 522 is located between the winding teeth 514 and the stator 400. That is, the second winding segment 522 is inserted between the winding teeth 514 and the stator 400. However, the length of the coil part 520 in the second direction remains unchanged. There is a second winding segment 522 below the winding teeth 514, which not only effectively utilizes the idle space and increases the winding area of ​​the coil part 520, but also increases the coil with high magnetic flux density, thereby greatly improving the thrust of the linear motor 40.

[0214] like Figures 11 to 14As shown, the mover 500 includes a mover core 510, a plurality of coil parts 520, an integrally formed insulating frame 530 and a plastic sealing part, and the mover core 510 includes a yoke 512, a plurality of winding teeth 514 and a plurality of non-winding teeth 516, and a non-winding tooth 516 is arranged between two adjacent winding teeth 514. Along the second direction, the length of the winding teeth 514 is less than the length of the coil part 520. Each winding tooth 514 is inserted into a coil part 520. This arrangement uses fewer coil parts 520, is easy to manufacture, and has a low cost.

[0215] Figures 15 to 18 As shown, the mover 500 includes a mover core 510, a plurality of coil parts 520, an integrally formed insulating frame 530 and a plastic sealing part. The mover core 510 includes a yoke 512, a plurality of winding teeth 514 and a plurality of non-winding teeth 516, and a non-winding tooth 516 is arranged between two adjacent winding teeth 514. The coil part 520 includes a third winding segment 523, a fourth winding segment 524 and a fifth winding segment 525. In the direction perpendicular to the stator 400 to the mover 500, that is, in the extending direction perpendicular to the winding teeth 514, the third winding segment 523 is located between the fourth winding segment 524 and the fifth winding segment 525. That is, the structure enclosed by the third winding segment 523, the fourth winding segment 524 and the fifth winding segment 525 is in a "T" shape. The fourth winding segment 524 is located between the mover core 510 and the stator 400, and the fifth winding segment 525 is located between the mover core 510 and the stator 400. However, the length of the coil portion 520 along the second direction remains unchanged. Since there is a winding segment below the winding teeth 514, this not only effectively utilizes the idle space to increase the area of ​​the coil portion 520, but also greatly increases the thrust of the linear motor 40 by increasing the coil with high magnetic flux density.

[0216] like Figure 2 As shown, the magnetic attraction of the mover 500 is changed by changing the magnetic gap (i.e., the distance from the winding teeth 514 to the magnet 410). The magnetic gap of the present application is not equal to the mechanical gap (i.e., the distance from the mover 500 to the magnet 410). To change the magnetic gap, it is only necessary to change the length of the winding teeth 514 in the second direction without changing the mechanical gap. Therefore, the purpose of changing the magnetic attraction can be achieved without changing the mechanical gap.

[0217] like Fig.19 As shown, as the magnetic gap increases, the thrust reduction of the linear motor in the related art (along the second direction, the length of the winding teeth and the length of the coil portion are equal) is greater than that of the linear motor 40 of the present application. This means that under the condition of the same magnetic gap (i.e., the same magnetic attraction), the linear motor 40 of the present application will obtain a greater thrust.

[0218] In this application, the term "plurality" means two or more than two, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0219] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A handling device, characterized in that: The transport device is used to cooperate with the track, and the transport device includes: An object carrier, the object carrier being placed on the track; A linear motor, the linear motor comprising: A stator, located at one side of the object carrier, wherein the stator comprises a magnet; A mover is connected to the object carrier, and is used to drive the object carrier to move along the track under the action of the stator. The mover includes: A mover core, the mover core comprising a yoke and winding teeth, the winding teeth being connected to a side of the yoke facing the stator; A coil portion, wherein the winding teeth are inserted into the coil portion, and the distance between the winding teeth and the magnet is greater than the distance between the coil portion and the magnet; The magnet and the mover core are magnetically attracted to each other to reduce the force of the object carrier acting on the track.

2. The handling equipment according to claim 1, characterized in that: The object carrier comprises: Carrying box; A moving part, the moving part is used to drive the object-carrying frame to move along the track; Along the height direction of the transport device, at least a portion of the object-carrying frame is located below the moving part, or at least a portion of the object-carrying frame is located above the moving part.

3. The handling equipment according to claim 2, characterized in that: Along the height direction of the transport device, when at least a portion of the loading frame is located below the moving part, the mover is located between the stator and the loading frame.

4. The handling equipment according to claim 2, characterized in that: Also includes: A controller connected to the loading frame; The power supply unit is connected to the loading frame, the linear motor and the controller are both electrically connected to the power supply unit, and the controller is used to control the operation of the linear motor.

5. The handling equipment according to claim 4, characterized in that: The power supply unit is a wireless power supply unit.

6. The handling equipment according to claim 2, characterized in that: Along the height direction of the transport equipment, when at least a portion of the loading frame is located below the moving part, the loading piece also includes a bracket, the moving parts are multiple, a part of the multiple moving parts are connected to the first side of the bracket, another part of the multiple moving parts are connected to the second side of the bracket, and the loading frame is suspended on one side of the bracket.

7. The handling equipment according to any one of claims 1 to 6, characterized in that: The coil portion includes: A first winding segment, arranged around the winding teeth; The second winding segment is connected to one side of the first winding segment along a direction perpendicular to the stator to the mover, and the second winding segment is located between the winding teeth and the stator.

8. The handling equipment according to any one of claims 1 to 6, characterized in that: The coil portion includes: A third winding segment is arranged around the winding teeth; a fourth winding segment; The fifth winding segment is located between the fourth winding segment and the fifth winding segment along a direction perpendicular to the stator to the mover, and both the fourth winding segment and the fifth winding segment are located between the mover core and the stator.

9. The handling equipment according to any one of claims 1 to 6, characterized in that: The number of the winding teeth and the number of the coil parts are both multiple, the multiple winding teeth are connected to the same side of the yoke part, and the multiple winding teeth are arranged at intervals, and each winding tooth is inserted into one of the coil parts.

10. The handling equipment according to claim 9, characterized in that: The mover core also includes: The non-winding teeth are connected to the same side of the yoke as the winding teeth, and the non-winding teeth are distributed at intervals on one side of the winding teeth.

11. The handling equipment according to claim 10, characterized in that: There are multiple non-winding teeth, and at least one non-winding tooth is arranged between any two adjacent winding teeth.

12. The handling equipment according to claim 9, characterized in that: The mover core also includes: first end teeth; second end teeth, wherein the first end teeth, the second end teeth and the winding teeth are connected to the same side of the yoke, and a plurality of the winding teeth are located between the first end teeth and the second end teeth; Wherein, the distance from any one of the first end tooth and the second end tooth to the magnet is greater than the distance from the winding tooth to the magnet.

13. The handling equipment according to any one of claims 1 to 6, characterized in that: The mover also includes: An insulating frame is located between the mover core and the coil portion.

14. A transport assembly, characterized in that: include: track; and A handling device as claimed in any one of claims 1 to 13.

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