Conveying system

Abstract

The invention discloses a conveying system which comprises a stator conveying line, a plurality of rotor modules and a transfer module. The stator conveying line comprises a conveying line body and a power supply device arranged in parallel with the conveying line body. The mover module comprises a mover body, an execution device and a power receiving device, the mover body is magnetically coupled with the conveying line body, the execution device and the power receiving device are both fixed to the mover body, the execution device is used for operating a workpiece, and the power receiving device is electrically connected with the power supply device and is configured to provide electric energy for the execution device; the mover modules comprise a plurality of types, and the execution devices in the mover modules of different types have different functions; by means of the multi-rotor assembly line, different kinds of work can be completed on the workpieces in the same production line, no extra production line needs to be added, and cost is saved; and the workpieces are conveyed more efficiently on the same production line, and the conveying efficiency and the operation efficiency are effectively improved.

Description

Technical Field

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

[0002] With the development of society, logistics conveyor lines are widely used in various industries. Magnetic drive conveyor lines usually include a mover and a stator. The mover is used to carry the workpiece to transport the workpiece or move the workpiece to different workstations for processing.

[0003] In the related art, when performing different operations on a workpiece, the workpiece needs to be transferred to different conveyor lines through a mover, which is costly, has low conveying efficiency, and low production efficiency. Summary of the invention

[0004] An embodiment of the present application provides a conveying system, in which the actuators on different movers can complete different operations on the workpiece in the same production line, without the need to add additional production lines, thus saving costs; and the transfer of workpieces on the same production line is more efficient, effectively improving transportation efficiency and operating efficiency.

[0005] An embodiment of the present application provides a conveying system, including a stator conveyor line, a plurality of movable modules and a transfer module; the stator conveyor line includes a conveyor line body and a power supply device arranged in parallel with the conveyor line body; the movable module includes a movable body, an actuator and a power receiving device, the movable body is magnetically coupled to the conveyor line body, the actuator and the power receiving device are both fixed on the movable body, the actuator is used to operate on a workpiece, the power receiving device is electrically connected to the power supply device, and is configured to provide electrical energy to the actuator, wherein the movable module includes a plurality of types, and the actuators in different types of movable modules have different functions; the transfer module is used to transfer the workpiece between the actuators of different movable modules.

[0006] In some embodiments, the plurality of mover modules include a first mover, the actuator of the first mover is a first actuator, and the first actuator includes an air pump and a vacuum adsorption component;

[0007] The air pump is electrically connected to the power receiving device, and is connected to the vacuum adsorption component, and is used to control the vacuum adsorption component to generate negative pressure for adsorption and positive pressure for release of adsorption.

[0008] In some embodiments, the vacuum adsorption assembly includes an adsorption chamber shell and a vacuum suction cup, the adsorption chamber shell is provided with an air path, an adsorption chamber and an adsorption hole, the adsorption hole is connected to the adsorption chamber, the vacuum suction cup is connected to the adsorption chamber shell, and is connected to the air path and the adsorption chamber, and the air path is connected to the air pump.

[0009] In some embodiments, the air path channel includes a first channel and a second channel that are connected to each other, the first channel is connected to the air pump, the number of the second channels is at least two, and the vacuum suction cup is arranged at an end of the second channel away from the first channel, and connects the second channel and the adsorption chamber.

[0010] In some embodiments, the first actuator further includes a first control valve and a first controller, the first control valve is connected to the air pump and the vacuum adsorption component, and the first controller controls the start and stop of the first control valve to control the working mode of the vacuum adsorption component.

[0011] In some embodiments, the first execution device further includes a first air pressure measuring gauge, and the first air pressure measuring gauge is used to monitor the vacuum degree of the vacuum adsorption component;

[0012] The first controller is electrically connected to the first air pressure measuring meter and the air pump respectively, and the first controller is configured to control the start and stop and working mode of the air pump according to the displayed value of the first air pressure measuring meter.

[0013] In some embodiments, the first mover includes a first base, the vacuum adsorption assembly is installed on the top surface of the first base, the first actuator also includes a first shell, the first shell is installed on the side of the first base away from the conveying line body, and cooperates with the first base to form a first installation cavity, the air pump, the first control valve, the first controller and the first air pressure measuring gauge are installed in the first installation cavity.

[0014] In some embodiments, the multiple mover modules include a second mover, the actuator of the second mover is a second actuator, the second actuator includes a driving assembly and a rotating disk, the driving assembly is installed on the mover body, and at least two fixing grooves are provided on the rotating disk, the fixing grooves are used to fix the workpiece, and the rotating disk rotates when driven by the driving assembly to drive the workpiece to rotate around the center of the rotating disk.

[0015] In some embodiments, the second execution device further includes a second controller, and the second controller controls the operation of the driving component to control the rotation of the rotating disk.

[0016] In some embodiments, the second execution device further includes a detection sensor, which is electrically connected to the second controller. A positioning portion is provided on the rotating disk, and the second controller detects the positioning portion based on the detection sensor to determine the rotation position of the rotating disk.

[0017] In some embodiments, the driving assembly includes a motor, a first transmission wheel, a second transmission wheel, a fixed shaft and a transmission belt. The first transmission wheel is installed on the output shaft of the motor, the fixed shaft is relatively fixed to the mover body, the second transmission wheel is installed on the bottom of the rotating disk, and is sleeved on the fixed shaft and rotates around the fixed shaft. The transmission belt connects the first transmission wheel and the second transmission wheel.

[0018] In some embodiments, the second mover includes a second base, and the second actuator further includes a second housing and a mounting plate;

[0019] The mounting plate is installed on the top of the second base, the second shell is installed on the side of the second base away from the conveyor line body, and is enclosed with the mounting plate and the second base to form a second mounting cavity, the second controller and the motor are installed in the second mounting cavity, and the detection sensor and the fixed shaft are installed on the mounting plate.

[0020] In some of the embodiments, the second execution device further includes a visual inspection device, which is electrically connected to the second controller, mounted on the mover body, and used for visual inspection of the workpiece.

[0021] In some embodiments, the multiple mover modules include a third mover, the actuator of the third mover is a third actuator, the third actuator includes a pipeline structure and a clamping assembly, the clamping assembly is used to clamp the packaging box to fix the workpiece in the packaging box, and the pipeline structure is used to drive the clamping assembly to work.

[0022] In some of the embodiments, the third actuator further includes a third controller, which is electrically connected to the pipeline structure and controls the working mode of the gripping assembly.

[0023] In some embodiments, the pipeline structure includes an air path structure, a pilot-operated one-way valve, and a cylinder, and the air path structure has a first air path, a second air path, and a third air path;

[0024] The cylinder includes a cylinder body and a piston, the piston is slidably arranged with the cylinder body and is fixedly connected with the gripping assembly, the piston divides the cylinder body into a first chamber and a second chamber, the first chamber is communicated with the first gas path, the second chamber is communicated with the second gas path, the first gas path is used to communicate with a gas supply source, the second gas path is communicated with the first gas path, the third gas path connects the second gas path with the first gas path, the pilot-operated one-way valve is arranged on the first gas path, and is used to connect the first gas path with the third gas path;

[0025] When air is introduced into the first gas circuit and air is not introduced into the second gas circuit, gas enters the gripping assembly via the pilot one-way valve to drive the gripping assembly to move; when air is not introduced into the first gas circuit and air is introduced into the second gas circuit, the second gas circuit is connected to the pilot one-way valve and drives the gripping assembly to move in the opposite direction, and gas is discharged from the gripping assembly via the first gas circuit.

[0026] In some embodiments, a second control valve and a third control valve are further included, wherein the second control valve is arranged on the first gas path and is located between the connection between the first gas path and the second gas path and the pilot one-way valve, and the third control valve is arranged on the second gas path and is located at the upstream end of the connection between the third gas path and the second gas path.

[0027] In some of the embodiments, the stator conveyor line further includes a return line body, which is connected to one side of the conveyor line body and returns the mover module located in the downstream section of the conveyor line body to the upstream section of the conveyor line body.

[0028] In some embodiments, the power supply device includes a power supply coil arranged in parallel with the transmission line body, and the power receiving device includes a power receiving coil, and the power receiving coil is magnetically coupled with the power supply coil;

[0029] And / or, the mover module further includes a power storage device, which is electrically connected to the power receiving device and provides electrical energy to the actuator.

[0030] In some embodiments, a loading device is further included, the loading device is installed at the upstream end of the conveying line body, and is used to transfer the workpiece to the transfer module, and the transfer module transfers the workpiece on the loading device to the execution device;

[0031] And / or, the conveying system further comprises a material unloading device, which is installed at the downstream end of the conveying line body and unloads the workpiece on the execution device.

[0032] Based on the conveying system of the embodiment of the present application, a plurality of movable sub-modules are arranged on the conveying line body, and different movable sub-modules can be equipped with different types of actuators, and the workpiece is transferred between different actuators through a transfer device, so that different actuators can perform different operations on the workpiece. This configuration allows a variety of different operations to be completed on the workpiece in the same production line, thereby greatly reducing the need to add additional production lines, thereby saving costs. At the same time, since the transfer of workpieces on the same production line is more efficient, the overall conveying efficiency and detection efficiency are also significantly improved. This system not only improves the flexibility of the production line, but also makes the process more coherent, thereby optimizing the production process and resource allocation.

[0033] In addition, the present application further optimizes the stability of power transmission by installing a power supply device on the periphery of the base and providing a power receiving device on the side of the mover body close to the base. The input end of the power receiving device is electrically connected to the power supply device by sliding. This configuration enables power to be continuously and stably transmitted during the movement of the mover module. The output end of the power receiving device is electrically connected to the power connection end of the actuator fixed on the mover module. This design avoids the use of traditional cables or drag chains. Since there are no additional cables or drag chains, the system can reduce the risk of failures caused by cable winding, breakage and other problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0035] Figure 1 A schematic diagram of the structure of a conveying system provided in an embodiment of the present application;

[0036] Figure 2 A schematic side view of a conveying system provided in an embodiment of the present application;

[0037] Figure 3 for Figure 2 The enlarged schematic diagram of point A in the middle;

[0038] Figure 4 A schematic diagram of the structure of the first mover provided in an embodiment of the present application;

[0039] Figure 5 An exploded schematic diagram of a first mover provided in an embodiment of the present application;

[0040] Figure 6 A schematic cross-sectional view of a vacuum adsorption assembly provided in an embodiment of the present application;

[0041] Figure 7 A schematic diagram of the structure of the second mover provided in an embodiment of the present application;

[0042] Figure 8 An exploded schematic diagram of a second mover provided in an embodiment of the present application;

[0043] Fig. 9 A schematic diagram of the structure of the third mover provided in an embodiment of the present application;

[0044] Fig.10An exploded schematic diagram of a third mover provided in an embodiment of the present application;

[0045] Fig.11 A schematic diagram of the structure of the gas path provided in the embodiment of the present application;

[0046] Fig.12 A transport schematic diagram of a conveying system provided in an embodiment of the present application.

[0047] Description of Figure Numbers:

[0048] 1. Conveying system; 10. Stator conveying line; 11. Conveying line body; 12. Power supply device; 13. Return line body; 20. Mover module; 20a. First mover; 20a1. First base; 20b. Second mover; 20b1. Second base; 20c. Third mover; 20c1. Third base; 21. Mover body; 210. Accommodating groove; 220. Permanent magnet array; 22. Power receiving device; 23. Power storage device; 30. Actuator; 31. First actuator ; 311, air pump; 312, vacuum adsorption assembly; 3121, adsorption chamber shell; 3122, vacuum suction cup; 3123, base; 3124, cover plate; 313, first control valve; 314, first controller; 315, first air pressure gauge; 316, first shell; 31a, air path; 31b, adsorption chamber; 31c, adsorption hole; 31d, first channel; 31e, second channel; 32, second actuator; 321, drive assembly; 3211, electric machine; 3212, first transmission wheel; 3213, second transmission wheel; 3214, fixed shaft; 3215, transmission belt; 322, rotating disk; 322a, fixed groove; 3221, positioning part; 323, second controller; 324, detection sensor; 325, visual detection device; 326, second housing; 327, mounting plate; 33, third actuator; 331, pipeline structure; 3311, gas path structure; 3312, pilot check valve; 331a, first chamber; 331b, second chamber; 331c, first air circuit; 331d, second air circuit; 331e, third air circuit; 332, gripping assembly; 333, third controller; 334, third shell; 334a, second air inlet; 335, second air pressure gauge; 336, second control valve; 337, third control valve; 40, transfer module; 50, loading device; 60, unloading device; 70, rack; 2, screwing device; 3, detection equipment; 4, grouping equipment.

[0049] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] In order to make the objectives, technical solutions and advantages of the present invention more clear, the following part will further describe the embodiments of the present application in detail in conjunction with the accompanying drawings.

[0051] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are only examples of devices and methods consistent with some aspects of the present invention as detailed in the attached claims.

[0052] In the description of the present invention, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, in the description of the present invention, unless otherwise specified, "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previously associated objects are in an "or" relationship.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0054] See also Figure 1 The embodiment of the present application proposes a conveying system 1, including a frame 70, a stator conveying line 10, a plurality of moving modules 20 and a transfer module 40. The stator conveying line 10 and the transfer module 40 are installed on the frame 70.

[0055] Please refer to Figure 2 and Figure 3, the stator conveyor line 10 includes a conveyor line body 11 and a power supply device 12. The conveyor line body 11 can be formed by splicing a plurality of stator modules. The stator module is arranged on the frame 70, and may include a straight stator module and a curved stator module; a plurality of straight stator modules and curved stator modules are connected in sequence to arrange the stator module into a closed moving track. The mover module 20 is magnetically coupled with the stator module to move along the extension direction of the stator module under the drive of the stator module. The power supply device 12 is arranged on the frame 70 and is arranged in parallel with the stator module for connecting to a power source. The mover module 20 includes a mover body 21, an actuator 30 and a power receiving device 22. The mover body 21 is magnetically coupled with the stator module; the power receiving device 22 is arranged on the side of the mover body 21 close to the base, and has an input end and an output end. The input end of the power receiving unit is slidably electrically connected to the power supply device 12; the actuator 30 is fixed to the mover body 21 and is used to operate the workpiece. The actuator has a power connection end, which is electrically connected to the output end of the power receiving device 22. The transfer module 40 is used to transfer the workpiece between the actuators 30 of different mover modules 20.

[0056] It should be noted that a plurality of movable modules 20 may be provided on the same conveyor line body 11, and different movable modules 20 may be provided with different actuators 30, wherein a plurality of movable modules 20 provided with the same actuator 30 may be provided. Figure 4 The mover body 21 of the mover module 20 is provided with a receiving groove 210, the extension direction of the receiving groove 210 is consistent with the extension direction of the stator track and the receiving groove 210 extends to both ends of the mover body 21, and a permanent magnet array 220 is provided on the opposite side walls of the receiving groove 210 or on one of the side walls. The permanent magnet array 220 can be selected as a plurality of permanent magnets that can be arranged to form a Halbach array to obtain a more ideal unilateral magnetic field and improve the driving force of the mover module 20. The mover body 21 is also provided with a slider, which is used to cooperate with the stator track, and can be a sliding connection or a rolling connection to limit the direction of movement of the mover body 21. The stator module is provided with an armature winding, which is placed between the two opposite side walls of the accommodating groove 210 through the notch of the accommodating groove 210, and the slider is slidably matched with the stator track. When the armature winding is energized, a magnetic field is generated, and the permanent magnet array 220 generates a driving force under the current excitation of the coil of the armature winding, pushing the entire mover body 21 to move along the track. The specific working principle of the magnetic power track has long been disclosed in the relevant technology, and this application will not be repeated.

[0057] In some embodiments, the power supply device 12 includes a power supply coil arranged in parallel with the transmission line body 11, and the power receiving device 22 includes a power receiving coil, and the power receiving coil is magnetically coupled with the power supply coil. In other words, the power supply device 12 and the power receiving device 22 of the present application are contactless power supply, which reduces the wear and maintenance requirements of the power receiving coil and the power supply coil, and can also reduce the potential failure points of the cable connection (such as cable wear, poor connection or breakage, etc.), and enhance the overall reliability of the system. Among them, multiple power supply coils can be set in the upper and lower directions, and the number of power receiving coils and power supply coils can be adapted to the setting, so that the power demand of the execution device 30 can be further met. Of course, in other embodiments, the power supply device 12 can be a contact power supply device 12 (such as a busbar), and the power supply device 12 and the power receiving device 22 are contact-type electrical connections, and this application does not limit this.

[0058] Furthermore, the actuator module 20 also includes a power storage device 23, which is electrically connected to the power receiving device 22 and provides power to the actuator 30. The power storage device 23 can provide backup power when the power supply device 12 is unstable or interrupted, ensuring the continuous operation of the actuator 30. In addition, the power storage device 23 can buffer current fluctuations, reduce the transient burden on the power supply system, and protect other electrical components. The power storage device 23 can be in the form of a lead-acid battery, a lithium-ion battery, a nickel-metal hydride battery (NiMH), etc.

[0059] The conveying system 1 provided in the embodiment of the present application is provided with a plurality of movable sub-modules 20 on the conveying line body 11, and different movable sub-modules 20 can be equipped with different types of actuators 30, and the workpiece is transferred between different actuators 30 by means of a transfer device, so that different actuators 30 can perform different operations on the workpiece. This configuration allows a variety of different operations to be performed on the workpiece within the same production line, thereby greatly reducing the need to add additional production lines and thus saving costs. At the same time, since the transfer of workpieces on the same production line is more efficient, the overall conveying efficiency and detection efficiency are also significantly improved. This system not only improves the flexibility of the production line, but also makes the process more coherent, thereby optimizing the production process and resource allocation.

[0060] In addition, the present application further optimizes the stability of power transmission by installing a power supply device 12 on the periphery of the base and providing a power receiving device 22 on the side of the mover body 21 close to the base. The input end of the power receiving device 22 is electrically connected to the power supply device 12 in a sliding manner. This configuration enables power to be continuously and stably transmitted during the movement of the mover module 20. The output end of the power receiving device 22 is electrically connected to the power connection end of the actuator fixed to the mover module 20. This design avoids the use of traditional cables or drag chains. Since there are no additional cables or drag chains, the system can reduce the risk of failures caused by cable winding, breakage and other problems.

[0061] See also Figure 4 and Figure 5 In some embodiments, the plurality of mover modules 20 include a first mover 20a, the actuator 30 of the first mover 20a is a first actuator 31, and the first actuator 31 includes an air pump 311 and a vacuum adsorption component 312; the air pump 311 is electrically connected to the power receiving device 22, and the air pump 311 is connected to the vacuum adsorption component 312, and is used to control the vacuum adsorption component 312 to generate negative pressure for adsorption and generate positive pressure for release. The first mover 20a of the embodiment of the present application can carry and transport the workpiece or drive the workpiece for processing through the vacuum adsorption principle. The first execution device 31 of the present application has at least two working modes: when the workpiece needs to be adsorbed, the air pump 311 extracts gas and provides negative pressure to the vacuum adsorption component 312. When the workpiece is placed on the vacuum adsorption component 312, the air pressure difference between the surface and the bottom of the workpiece causes the workpiece to be firmly adsorbed on the vacuum adsorption component 312, thereby achieving the "vacuuming" effect; when the workpiece needs to be unloaded, the air pump 311 outputs gas and provides positive pressure to the vacuum adsorption component 312, thereby rapidly reducing the pressure difference inside and outside the vacuum adsorption component 312 until the internal and external air pressures are balanced, and the workpiece quickly falls off from the vacuum adsorption component 312 to complete the unloading operation of the workpiece, thereby achieving the "vacuum breaking" effect.

[0062] Of course, in some embodiments, the number of air pumps 311 can be two, and they are defined as the first air pump 311 and the second air pump 311. At this time, the first actuator 31 can have three working modes: the adsorption vacuum working mode is the same as the above, that is, the first air pump 311 is used to suck gas; in the de-adsorption mode, the first air pump 311 can output gas to achieve "breaking vacuum", and the second air pump 311 can also output gas to the gas path to achieve "breaking vacuum"; due to the provision of two air pumps 311, this embodiment can also have a "vacuum filling" working mode compared with the above embodiment, that is, when the first air pump 311 is working, the vacuum degree of the vacuum adsorption component 312 is insufficient during adsorption, and the adsorption force of the vacuum adsorption component 312 cannot meet the load-bearing requirements of the workpiece, the second air pump 311 starts to work and suck gas, thereby increasing the vacuum degree of the vacuum adsorption component 312, thereby meeting the adsorption load-bearing requirements of the workpiece and achieving the "vacuum filling" effect.

[0063] In some embodiments, the first actuator 31 may further include a rotating device (not shown in the figure) disposed on the movable body 21 of the first mover 20a, and the rotating device drives the vacuum adsorption assembly 312 to rotate. When the workpiece is configured as a reagent tube, the reagent tube generally has a tube body and a cover body. Before the reagent in the reagent tube is detected, the cover body needs to be unscrewed, and the transfer module 40 provided in the present application can clamp the cover body, and the vacuum adsorption assembly 312 of the first actuator 31 can adsorb and fix the tube body, and the rotating device can drive the tube body to rotate, so that the cover body and the tube body rotate relative to each other, so as to open the reagent tube and detect the reagent. The rotating device may include structures such as a motor and a turntable, and the vacuum adsorption assembly 312 is mounted on the turntable, and the motor drives the mounting plate to rotate, thereby driving the vacuum adsorption assembly 312 to rotate relative to the transfer module 40. It can be understood that the rotating device may also include transmission structures such as couplings and gears. The structure and principle of the rotating device have long been disclosed in the relevant technology, and this application will not repeat them.

[0064] Of course, in some other embodiments, a screwing device 2 can be provided on one side of the conveying line body 11, the first mover 20a adsorbs the reagent tube and drives the reagent tube to move to one side of the screwing device 2, the vacuum adsorption assembly 312 adsorbs and fixes the tube body of the reagent tube, and the screwing device 2 clamps the cover body and drives the cover body to rotate to screw the cover body out of the tube body. Among them, the screwing device 2 can be a multi-axis manipulator, and can also include a transmission structure such as a motor, a clamping device, and a cylinder. The structure and principle of the screwing device 2 have long been disclosed in the relevant technology, and this application will not repeat them.

[0065] See also Figure 5 and Figure 6 The vacuum adsorption component 312 may include an adsorption chamber shell 3121 and a vacuum suction cup 3122. The adsorption chamber shell 3121 is provided with an air path 31a, an adsorption chamber 31b and an adsorption hole 31c. The adsorption hole 31c is connected to the adsorption chamber 31b. The vacuum suction cup 3122 is connected to the adsorption chamber shell 3121 and is connected to the air path 31a and the adsorption chamber 31b. The air path 31a is connected to the air pump 311.

[0066] See also Figure 6, the adsorption chamber shell 3121 may include a base 3123 and a cover plate 3124, the base 3123 is provided with an air path channel 31a, and a groove is provided on the top; the cover plate 3124 is provided with an adsorption hole 31c, and the cover plate 3124 is covered on the base 3123 and forms an adsorption chamber 31b with the groove of the base 3123. The air path channel 31a on the base 3123 may include a first channel 31d and a second channel 31e that are connected, the first channel 31d is connected to the air pump 311, and the number of the second channels 31e is at least two, and the vacuum suction cup 3122 is arranged at one end of the second channel 31e away from the first channel 31d, and connects the second channel 31e and the adsorption chamber 31b. As shown in the figure, there are two first channels 31d and four second channels 31e, wherein one first channel 31d matches two second channels 31e. Four vacuum suction cups 3122 arranged on the second channel 31e are located around the adsorption hole 31c. The present application, through the design of multiple second channels 31e and vacuum suction cups 3122, can form a strong negative pressure in the adsorption chamber 31b, improve the adsorption effect, and ensure that the object is firmly fixed in the adsorption chamber 31b; and multiple vacuum suction cups 3122 are evenly distributed around the adsorption chamber 31b, which can provide a more uniform adsorption force and enhance the stability of adsorption of workpieces of different shapes and sizes.

[0067] To facilitate the control of the operation of the vacuum adsorption assembly 312, refer to Figure 5 The first actuator 31 also includes a first control valve 313 and a first controller 314. The first control valve 313 connects the air pump 311 and the vacuum adsorption component 312. The first controller 314 controls the start and stop of the first control valve 313 to control the working mode of the vacuum adsorption component 312. The first control valve 313 can be in the form of a solenoid valve, an electric valve, etc., and the first controller 314 can be in the form of a PLC (programmable logic controller), a wireless controller, etc., which is not limited in this application. The first control valve 313 can be fully opened or closed as needed, and the opening can also be adjusted as needed to control the on-off of the gas path 31a.

[0068] In order to monitor the vacuum degree of the vacuum adsorption component 312 and control the suction force of the vacuum adsorption component 312, please continue to refer to Figure 5The first actuator 31 also includes a first air pressure gauge 315, which is connected to the air path 31a and is used to monitor the vacuum degree of the adsorption chamber 31b. The first air pressure gauge 315 can be a Bourdon tube or a thin film vacuum gauge that uses mechanical properties for measurement; or a Pirani or thermocouple vacuum gauge that uses gas mechanics effects for measurement. The first controller 314 is electrically connected to the first air pressure gauge 315 and the air pump 311, respectively. The first controller 314 controls the start and stop and working mode of the air pump 311 according to the display value of the first air pressure gauge 315. For example, when the vacuum degree is lower than the preset value, the working frequency of the air pump 311 can be increased to increase the strength of the suction gas; when the vacuum degree is greater than the preset value, the working frequency of the air pump 311 can be controlled to decrease; when the vacuum degree is equal to the preset value, the air pump 311 is controlled to maintain the current working condition. When there are two air pumps 311 , the first controller 314 can further control the number of air pumps 311 working according to the displayed value of the first air pressure measurement meter 315 .

[0069] The first mover 20a includes a first base 20a1 and a permanent magnet array 220, and the first base 20a1 is provided with the above-mentioned accommodating groove 210. In some structural forms, the vacuum adsorption component 312 is installed on the top surface of the first base 20a1, and the first actuator 31 also includes a first shell 316, which is installed on the side of the first base 20a1 away from the conveyor line body 11, and cooperates with the first base 20a1 to form a first installation cavity, and the air pump 311, the first controller 314 and the first air pressure gauge 315 are installed in the first installation cavity. Among them, the first shell 316 is provided with an installation port, and the display surface of the first air pressure gauge 315 is exposed at the installation port, so that the operator can intuitively read the data through the first air pressure gauge 315. In this way, the first shell 316 can effectively protect the electronic components and avoid being affected by the external environment.

[0070] The first housing 316 is provided with a first air inlet, through which the air pump 311 can draw external air, wherein the first air inlet can be optionally provided on a side of the first housing 316 close to the stator module, so that the risk of external impurities or dust blocking the first air inlet can be avoided. A portion of the first control valve 313 can be in the first installation cavity, and a portion can be provided on the top of the first housing 316, so that the first control valve 313 is convenient for connecting the vacuum adsorption assembly 312 and the air pump 311.

[0071] See also Figure 7 and Figure 8In some embodiments, the plurality of mover modules 20 include a second mover 20b, the actuator 30 of the second mover 20b is a second actuator 32, the second actuator 32 includes a driving assembly 321 and a rotating disk 322, the driving assembly 321 is mounted on the mover body 21 of the second mover 20b, at least two fixing grooves 322a are provided on the rotating disk 322, the fixing grooves 322a are used to fix the workpiece, and the rotating disk 322 is driven by the driving assembly 321 to rotate to drive the workpiece to rotate around the center of the rotating disk 322. As shown in the figure, six fixing grooves 322a are provided on the rotating disk 322, so that the number of workpieces carried by the second mover 20b can be increased. This design allows more workpieces to be processed with fewer equipment on the conveyor line 11, thereby improving the overall transportation efficiency.

[0072] Continuing the description by taking the workpiece as a reagent tube as an example, after the reagent tube transported by the first mover 20a unscrews the cover, the first mover 20a drives the reagent tube to be transported to the transfer module 40. The transfer module 40 transports the tube body with the opened cover to the rotating disk 322. Then the second mover 20b drives the tube body to move on the conveying line 11 and moves to one side of the external detection device 3. The rotating disk 322 is driven to rotate by the driving component 321, and the tube body is driven around the center of the rotating disk 322. During the rotation of the reagent tube, the detection device 3 can quickly and accurately drip the detection reagent into the tube body, thereby improving the efficiency and accuracy of the detection.

[0073] For further information, see Figure 8 , the second execution device 32 also includes a second controller 323, which controls the operation of the driving component 321 to control the rotation operation of the rotating disk 322. For example, the second controller 323 can control the angle of rotation of the rotating disk 322. This angle control allows each rotation to accurately switch to the next reagent tube, ensuring that the detection device 3 can detect each reagent tube. The second controller 323 can also control the dwell time of the rotating disk 322 when it rotates, ensuring that the external detection device 3 can complete each detection task. This ensures the accuracy and consistency of the detection. The specific form of the second controller 323 can be set with reference to the first controller 314.

[0074] In some embodiments, see Figure 8, the second execution device 32 also includes a detection sensor 324, which is electrically connected to the second controller 323. A positioning portion 3221 is provided on the rotating disk 322. The second controller 323 detects the positioning portion 3221 according to the detection sensor 324 to determine the rotation position of the rotating disk 322. Among them, a plurality of positioning portions 3221 can be provided, and are provided corresponding to the number and interval of the fixed grooves 322a. The detection sensor 324 monitors the positioning portions 3221 on the rotating disk 322 in real time and provides accurate position information to the second controller 323. The second controller 323 adjusts the rotation of the rotating disk 322 according to this information to ensure that it reaches the predetermined position accurately. In this way, each reagent tube can be effectively positioned, and high precision can be maintained during the rotation and stay process. Of course, only one positioning portion 3221 can be provided. The detection sensor 324 first detects the positioning portion 3221, marking the starting position of the rotating disk 322, and then detects the positioning portion 3221 again after the rotating disk 322 completes the rotation, confirming that the rotation has been completed. The detection sensor 324 can be in the form of a photoelectric sensor, a Hall effect sensor, a capacitive sensor, a contact switch, etc., and this application does not impose any limitation on this.

[0075] In some embodiments, please refer to Figure 8 The driving assembly 321 includes a motor 3211, a first transmission wheel 3212, a second transmission wheel 3213, a fixed shaft 3214 and a transmission belt 3215. The first transmission wheel 3212 is mounted on the output shaft of the motor 3211. The fixed shaft 3214 is relatively fixed to the mover body 21. The second transmission wheel 3213 is mounted on the bottom of the rotating disk 322, and is sleeved on the fixed shaft 3214 and rotates around the fixed shaft 3214. The transmission belt 3215 connects the first transmission wheel 3212 and the second transmission wheel 3213. Specifically, the motor 3211 drives the first transmission wheel 3212 to rotate through the output shaft, and the rotation of the first transmission wheel 3212 is transmitted to the second transmission wheel 3213 through the transmission belt 3215. The rotation of the second transmission wheel 3213 stably drives the rotation of the rotating disk 322. The fixed shaft 3214 can support the second transmission wheel 3213, thereby supporting the rotating disk 322, and can also improve the stability of the rotation of the second transmission wheel 3213. The present application can have a good shock absorbing effect by setting the first transmission wheel 3212, the second transmission wheel 3213, the fixed shaft 3214 and the transmission belt 3215, thereby smoothly transmitting power.

[0076] The second mover 20b includes a second base 20b1 and a permanent magnet array 220. The second base 20b1 is provided with the above-mentioned receiving groove 210, and the permanent magnet array 220 is arranged on the second base 20b1. In order to facilitate the installation of the driving assembly 321, the second actuator 32 also includes a second housing 326 and a mounting plate 327; the mounting plate 327 is installed on the top of the second base 20b1, and the second housing 326 is installed on the side of the second base 20b1 away from the conveyor line body 11, and is enclosed with the mounting plate 327 and the second base 20b1 to form a second installation cavity. The second controller 323 is installed in the second installation cavity, the main body of the motor 3211 is installed in the second installation cavity, the output shaft extends out from the top of the installation plate 327, the fixed shaft 3214 is installed on the top of the installation plate 327, the first transmission wheel 3212, the second transmission wheel 3213 and the transmission belt 3215 are adapted to be arranged at the top of the installation plate 327, and the detection sensor 324 and the fixed shaft 3214 are installed on the installation plate 327. The second housing 326 provides additional protection, isolating the motor 3211 and the controller from the influence of the external environment. The installation plate 327 provides a mounting platform to facilitate the installation of the detection sensor 324 and the fixed shaft 3214.

[0077] See also Figure 7 and Figure 8 In some embodiments, the second execution device 32 further includes a visual inspection device 325, which is electrically connected to the second controller 323 and mounted on the mounting plate 327, and is used to perform visual inspection on the workpiece. The visual inspection device 325 may include structures such as a camera, an image processing unit, and a light source. The visual inspection device 325 can be used to check the shape, size, color and other characteristics of the workpiece. Taking the workpiece as a reagent tube as an example, the visual inspection device 325 can detect the QR code corresponding to the reagent tube, and then upload the relevant information of the reagent tube to the operating system, so as to facilitate tracking and management of the reagent tube.

[0078] See also Fig. 9 and Fig.10 In some embodiments, the plurality of mover modules 20 include a third mover 20c, the actuator 30 of the third mover 20c is a third actuator 33, the third actuator 33 includes a pipeline structure 331 and a clamping assembly 332, the clamping assembly 332 is used to clamp the packaging box to fix the workpiece in the packaging box, and the pipeline structure 331 is used to drive the clamping assembly 332. Specifically, the packaging box may have a bottom plate and two side plates, the workpiece is placed on the bottom plate, and then the clamping assembly 332 clamps the two side plates, so that the two side plates and the bottom plate both package and protect the workpiece.

[0079] The third actuator 33 further includes a third controller 333, which is electrically connected to the pipeline structure 331 and controls the working mode of the clamp assembly 332. It can be understood that the clamp assembly 332 has two working modes: clamping and loosening, and the third controller 333 controls the clamping operation and the loosening operation of the clamp assembly 332 by controlling the pipeline structure 331. The specific form of the third controller 333 can be set with reference to the form of the first controller 314.

[0080] Combined with Fig.11 The specific form of the pipeline structure 331 is introduced in detail: the pipeline structure 331 includes an air path structure 3311, a pilot one-way valve 3312 and a cylinder. The air path structure 3311 has a first air path 331c, a second air path 331d and a third air path 331e; the cylinder includes a cylinder body and a piston. The piston is slidably arranged with the cylinder body and is fixedly connected to the clamp assembly 332. The piston divides the cylinder body into a first chamber 331a and a second chamber 331b. The first chamber 331a is connected to the first gas circuit 331c, the second chamber 331b is connected to the second gas circuit 331d, the first gas circuit 331c is used to connect to the gas supply source, the second gas circuit 331d is connected to the first gas circuit 331c, the third gas circuit 331e connects the second gas circuit 331d and the first gas circuit 331c, and the pilot one-way valve 3312 is set on the first gas circuit 331c, and is used to connect the first gas circuit 331c and the third gas circuit 331e.

[0081] Specifically, when air is introduced into the first air path 331c and no air is introduced into the second air path 331d, the gas enters the first chamber 331a through the pilot one-way valve 3312. At this time, the gas drives the piston to move in the first direction, and the piston drives the clamping assembly 332 to move in the first direction to achieve the clamping operation. Since the pilot one-way valve is provided, the pilot one-way valve 3312 only allows the gas to flow in one direction in the first air path 331c to the clamping assembly 332 when the first air path 331c is connected, that is, it prevents the gas from flowing in the opposite direction, thereby avoiding the backflow of the gas in the clamping assembly 332, thereby further achieving the function of maintaining the pressure of the gas in the clamping assembly 332, thereby improving the gripping efficiency. The clamping stability of the clamping assembly 332 on the workpiece; when the first gas circuit 331c is not fed with air and the second gas circuit 331d is fed with air, the third gas circuit 331e will also be fed with air, and the third gas circuit 331e will be connected to the pilot one-way valve 3312, thereby destroying the pressure-maintaining capacity of the gas in the clamping assembly 332, so that the gas in the clamping assembly 332 is discharged through the first gas circuit 331c, and the gas in the first chamber 331a can flow back through the pilot one-way valve 3312 to release the pressure, and then the gas will pass through the second gas circuit 331d to enter the second chamber 331b, at which time the gas will drive the piston to move in the second direction, thereby driving the clamping assembly 332 to move in the second direction to achieve the loosening operation. The first direction and the second direction are set oppositely.

[0082] It should be noted that the present application describes the connection relationship between a clamping hand in the clamping assembly 332 and the corresponding pipeline structure 331. It is understandable that the clamping assembly 332 will have two clamping hands, and the two clamping hands work together to clamp the packaging box. The connection relationship between the two clamping hands and the corresponding pipeline structure 331 of the present application is the same, and the only difference is that the moving directions of the two clamping hands are set exactly opposite: during the clamping operation, the two clamping hands are close to each other, and during the loosening operation, the two clamping hands are away from each other.

[0083] For further information, see Figure 8 The third actuator 33 also includes a second control valve 336 and a third control valve 337. The second control valve 336 is arranged on the first gas circuit 331c and is located between the connection between the first gas circuit 331c and the second gas circuit 331d and the pilot check valve 3312. The third control valve 337 is arranged on the second gas circuit 331d and is located at the upstream end of the connection between the third gas circuit 331e and the second gas circuit 331d.

[0084] The second control valve 336 controls the on-off of the first gas circuit 331c, and can independently adjust the gas flow and pressure of the first gas circuit 331c to achieve more precise clamping control; the third control valve 337 can control the on-off of the second gas circuit 331d, and can control the gas flow rate in the second gas circuit 331d, thereby adjusting the release speed of the clamping assembly 332. In addition, the second control valve 336 and the third control valve 337 can effectively avoid gas backflow or excessive pressure, and improve the safety and reliability of the system. Among them, the specific forms of the second control valve 336 and the third control valve 337 can be set with reference to the form of the first control valve 313.

[0085] The third mover 20c includes a third base 20c1 and a permanent magnet array 220. The third base 20c1 is provided with the above-mentioned receiving groove 210, and the permanent magnet array 220 is arranged on the third base 20c1. The third actuator 33 also includes a third housing 334, which is installed on the side of the third base 20c1 away from the stator module and forms a third installation cavity with the third base 20c1. The pipeline structure 331, the third controller 333, the second control valve 336 and the third control valve 337 are installed in the third installation cavity, so that various components can be effectively protected and the service life can be improved.

[0086] The air supply source of the present application may be arranged on the third mover 20c, or may be arranged on the frame 70. Exemplarily, the air supply source is arranged on the frame 70, and the outer side of the third shell 334 is provided with a second air inlet 334a, and the air supply source includes components such as an air pump structure, a driving member, and an air supply nozzle, and the air supply nozzle is connected to the air pump structure, and can be close to the second air inlet 334a and connected to the second air inlet 334a under the drive of the driving member, and can be away from the second air inlet 334a to release the air intake operation. It can be understood that by arranging the air supply source on the frame 70, it can be free from the limitation of the installation space, so as to adopt a larger air pump structure to ensure that the air supply source can provide a stable and sufficient gas supply. In addition, arranging the air supply source on the outside can reduce the weight of the third mover 20c and improve the movement efficiency of the third mover 20c.

[0087] In order to facilitate monitoring of the air pressure of the first air circuit 331c and the second air circuit 331d, and further control the suction force of the vacuum adsorption assembly 312, the third actuator 33 also includes a second air pressure measuring gauge 335, which is arranged on the first air circuit 331c and located between the pilot check valve 3312 and the first chamber 331a, and is arranged on the second air circuit 331d and located between the third control valve 337 and the second chamber 331b, and is used to measure the air pressure in the gripping assembly 332, so as to monitor the holding pressure value in the gripping assembly 332. The form of the second air pressure measuring gauge 335 can be set with reference to the specific form of the first air pressure measuring gauge 315.

[0088] In some embodiments, a loading device 50 and a unloading device 60 are also included. The loading device 50 is installed at the upstream end of the conveyor line body 11 and is used to transfer the workpiece to the transfer module 40. The transfer module 40 transfers the workpiece on the loading device 50 to the execution device 30. The unloading device 60 is installed at the downstream end of the conveyor line body 11 and unloads the workpiece on the execution device 30. In this way, the loading efficiency and unloading efficiency of the workpiece can be improved, and the production line automation can be realized. Among them, both the loading device 50 and the unloading device 60 can be belt conveyors.

[0089] In some embodiments, the transfer module 40 includes a transverse movement device, a lifting device and a clamping device. The transverse movement device drives the lifting device to move in the horizontal direction, the lifting device drives the clamping device to lift in the vertical direction, and the clamping device is used to clamp the workpiece. The transverse movement device and the lifting device can adopt linear motors 3211, screw rods, cylinders and other devices, and this application does not limit this. As shown in the figure, the transverse movement device may include a drive coil and a mover, and the drive coil drives the mover to move horizontally. The clamping device can be set with reference to the form of the third actuator 33 of the present application. In some embodiments, the transfer module 40 may also include a drive motor, which drives the clamping device to rotate and is connected to the lifting device in a transmission manner. At this time, the transfer module 40 may also be integrated with a screwing function.

[0090] Furthermore, the transfer module 40 of the present application is provided with two clamping devices, so that the transfer efficiency of the transfer module 40 can be improved. Specifically, during the transfer process, one of the clamping devices can clamp the reagent tube of the loading device 50, and the other clamping device can clamp the reagent tube that has been screwed on the first mover 20a, and then one of the clamping devices places the unscrewed reagent tube on the first mover 20a, and then when the second mover 20b moves to the transfer module 40, the unscrewed reagent tube is placed on the second mover 20b.

[0091] In order to further improve the transportation efficiency of the present application, the stator conveyor line 10 also includes a return line body 13, which is connected to one side of the conveyor line body 11, and returns the mover module 20 located in the downstream section of the conveyor line body 11 to the upstream section of the conveyor line body 11. In this way, a certain type of mover only moves in the corresponding area, which can reduce the moving time and speed up the processing speed. For example, if the first mover 20a does not need to pass through the subsequent detection device 3, the return line body 13 is set at the front side of the detection device 3, and the first mover 20a can quickly return from the rear side of the transfer module 40 to the front side of the transfer module 40. Of course, the return line body 13 can be set with two, for example, if the second mover 20b does not need to move to the unloading device 60, the second mover 20b can be returned to the front end of the transfer module 40 after being detected by the detection device 3. The return line body 13 of the present application can speed up the circulation speed of the mover module 20 and shorten the overall production cycle.

[0092] Based on the conveying system 1 of the embodiment of the present application, taking the workpiece as a reagent tube as an example, please refer to Fig.12 The loading device 50 transports the reagent tube to the transfer module 40, and the transfer module 40 places the reagent tube on the first mover 20a. The first mover 20a can cooperate with the transfer module 40 to screw the cover of the reagent tube to open the tube body, or the first mover 20a transports the reagent tube to the screwing device 2, and cooperates with the screwing device 2 to screw the reagent tube, and then the first mover 20a refluxes to the upstream end of the transfer module 40 through the reflux line 13; the transfer module 40 transfers the tube body screwed open on the first mover 20a to the second mover 20b, and the second mover 20b can carry multiple reagent tubes, improve the transportation efficiency, and drive the reagent tube to move to the detection device 3 At the place, the detection device 3 detects the reagent tube to improve the detection efficiency; after the detection is completed, the second mover 20b returns the reagent tube to the upstream end of the transfer module 40 through the reflux line body 13, and the transfer module 40 clamps the reagent tube again and moves the reagent tube to the third mover 20c, and the third mover 20c packages and groups the reagent tube; it can be understood that the third mover 20c needs a packaging box when packaging the reagent tube. The present application is provided with a grouping device 4 on one side of the conveying line body 11. The grouping device 4 can place the packaging box on the third mover 20c. The third mover 20 transfers the packaged reagent tube to the unloading device 60, and the unloading device 60 performs unloading. In this way, the present application completes the opening, detection, and packaging operations on one conveying line, reduces the material transfer and line change time, improves the detection efficiency and conveying efficiency; and does not require the addition of other conveying lines, reducing costs.

[0093] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0094] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A conveying system (1), characterized in that: include: A stator conveyor line (10) comprises a conveyor line body (11) and a power supply device (12) arranged in parallel with the conveyor line body (11); A plurality of movable submodules (20), wherein the movable submodules (20) comprise a movable submodule body (21), an actuator (30) and a power receiving device (22), wherein the movable submodule body (21) is magnetically coupled to the conveying line body (11), the actuator (30) and the power receiving device (22) are both fixed to the movable submodule body (21), the actuator (30) is used to operate a workpiece, and the power receiving device (22) is electrically connected to the power supply device (12) and is configured to provide electric energy to the actuator (30), wherein the movable submodule (20) comprises a plurality of types, and the actuators (30) in the movable submodules (20) of different types have different functions; as well as The transfer module (40) is used to transfer the workpiece between the execution devices (30) of different mover modules (20).

2. The conveying system (1) according to claim 1, characterized in that The plurality of mover modules (20) include a first mover (20a); the actuator (30) of the first mover (20a) is a first actuator (31); the first actuator (31) includes an air pump (311) and a vacuum adsorption component (312); The air pump (311) is electrically connected to the power receiving device (22), and the air pump (311) is connected to the vacuum adsorption component (312) and is used to control the vacuum adsorption component (312) to generate negative pressure for adsorption and positive pressure for release of adsorption.

3. The conveying system (1) according to claim 2, characterized in that The vacuum adsorption component (312) comprises an adsorption chamber shell (3121) and a vacuum suction cup (3122); the adsorption chamber shell (3121) is provided with an air passage (31a), an adsorption chamber (31b) and an adsorption hole (31c); the adsorption hole (31c) is connected to the adsorption chamber (31b); the vacuum suction cup (3122) is connected to the adsorption chamber shell (3121) and is connected to the air passage (31a) and the adsorption chamber (31b); the air passage (31a) is connected to the air pump (311).

4. The conveying system (1) according to claim 3, characterized in that The air path channel (31a) comprises a first channel (31d) and a second channel (31e) which are connected to each other, the first channel (31d) being connected to the air pump (311), the number of the second channels (31e) being at least two, and the vacuum suction cup (3122) being arranged at an end of the second channel (31e) away from the first channel (31d), and connecting the second channel (31e) and the adsorption chamber (31b).

5. The conveying system (1) according to claim 3, characterized in that The first actuator (31) further comprises a first control valve (313) and a first controller (314); the first control valve (313) is connected to the air pump (311) and the vacuum adsorption component (312); the first controller (314) controls the start and stop of the first control valve (313) to control the working mode of the vacuum adsorption component (312).

6. The conveying system (1) according to claim 5, characterized in that The first execution device (31) further comprises a first air pressure measuring gauge (315), wherein the first air pressure measuring gauge (315) is used to monitor the vacuum degree of the vacuum adsorption component (312); The first controller (314) is electrically connected to the first air pressure measuring meter (315) and the air pump (311) respectively, and the first controller (314) is configured to control the start and stop and working mode of the air pump (311) according to the display value of the first air pressure measuring meter (315).

7. The conveying system (1) according to claim 6, characterized in that The first mover (20a) includes a first base (20a1), the vacuum adsorption component (312) is installed on the top surface of the first base (20a1), the first actuator (31) also includes a first shell (316), the first shell (316) is installed on the side of the first base (20a1) away from the conveying line body (11), and cooperates with the first base (20a1) to form a first installation cavity, the air pump (311), the first control valve (313), the first controller (314) and the first air pressure measuring meter (315) are installed in the first installation cavity.

8. The conveying system (1) according to claim 1, characterized in that The plurality of mover modules (20) include a second mover (20b); the actuator (30) of the second mover (20b) is a second actuator (32); the second actuator (32) includes a driving component (321) and a rotating disk (322); the driving component (321) is mounted on the mover body (21); at least two fixing grooves (322a) are provided on the rotating disk (322); the fixing grooves (322a) are used to fix a workpiece; the rotating disk (322) is driven by the driving component (321) to rotate so as to drive the workpiece to rotate around the center of the rotating disk (322).

9. The conveying system (1) according to claim 8, characterized in that The second execution device (32) further comprises a second controller (323), and the second controller (323) controls the operation of the driving component (321) to control the rotation operation of the rotating disk (322).

10. The conveying system (1) according to claim 9, characterized in that The second execution device (32) further comprises a detection sensor (324), wherein the detection sensor (324) is electrically connected to the second controller (323), and a positioning portion (3221) is provided on the rotating disk (322). The second controller (323) detects the positioning portion (3221) based on the detection sensor (324) to determine the rotation position of the rotating disk (322).

11. The conveying system (1) according to claim 10, characterized in that The driving assembly (321) comprises a motor (3211), a first transmission wheel (3212), a second transmission wheel (3213), a fixed shaft (3214) and a transmission belt (3215), wherein the first transmission wheel (3212) is mounted on the output shaft of the motor (3211), the fixed shaft (3214) is relatively fixed to the mover body (21), the second transmission wheel (3213) is mounted on the bottom of the rotating disk (322), and is sleeved on the fixed shaft (3214) and rotates around the fixed shaft (3214), and the transmission belt (3215) connects the first transmission wheel (3212) and the second transmission wheel (3213).

12. The conveying system (1) according to claim 11, characterized in that The second mover (20b) includes a second base (20b1), and the second actuator (32) also includes a second housing (326) and a mounting plate (327); The mounting plate (327) is mounted on the top of the second base (20b1), the second shell (326) is mounted on the side of the second base (20b1) away from the conveyor line body (11), and is enclosed with the mounting plate (327) and the second base (20b1) to form a second mounting cavity, the second controller (323) and the motor (3211) are mounted in the second mounting cavity, and the detection sensor (324) and the fixed shaft (3214) are mounted on the mounting plate (327).

13. The conveying system (1) according to claim 9, characterized in that The second execution device (32) further comprises a visual inspection device (325), wherein the visual inspection device (325) is electrically connected to the second controller (323), is mounted on the mover body (21), and is used for visual inspection of the workpiece.

14. The conveying system (1) according to claim 1, characterized in that The plurality of mover modules (20) include a third mover (20c); the actuator (30) of the third mover (20c) is a third actuator (33); the third actuator (33) includes a pipeline structure (331) and a gripping assembly (332); the gripping assembly (332) is used to clamp the packaging box to fix the workpiece in the packaging box; and the pipeline structure (331) is used to drive the gripping assembly (332) to operate.

15. The conveying system (1) according to claim 14, characterized in that The third actuator (33) (30) further comprises a third controller (333), wherein the third controller (333) is electrically connected to the pipeline structure (331) and controls the working mode of the gripping assembly (332).

16. The conveying system (1) according to claim 14, characterized in that The pipeline structure (331) comprises an air path structure (3311), a pilot-operated one-way valve (3312) and a cylinder, wherein the air path structure (3311) has a first air path (331c), a second air path (331d) and a third air path (331e); The cylinder comprises a cylinder body and a piston, the piston is slidably arranged with the cylinder body and fixedly connected with the gripping assembly (332), the piston divides the cylinder body into a first chamber (331a) and a second chamber (331b), the first chamber (331a) is communicated with the first air path (331c), the second chamber (331b) is communicated with the second air path (331d), the first air path (331c) is used to communicate with an air supply source, the second air path (331d) is communicated with the first air path (331c), the third air path (331e) communicates the second air path (331d) with the first air path (331c), and the pilot-operated one-way valve (3312) is arranged on the first air path (331c) and is used to connect the first air path (331c) with the third air path (331e); When air is introduced into the first air circuit (331c) and air is not introduced into the second air circuit (331d), the gas enters the gripping assembly (332) via the pilot one-way valve (3312) to drive the gripping assembly (332) to move; when air is not introduced into the first air circuit (331c) and air is introduced into the second air circuit (331d), the second air circuit (331d) is connected to the pilot one-way valve (3312) and drives the gripping assembly (332) to move in the opposite direction, and the gas is discharged from the gripping assembly (332) via the first air circuit (331c).

17. The air source device according to claim 16, characterized in that: It also includes a second control valve (336) and a third control valve (337), wherein the second control valve (336) is arranged on the first gas circuit (331c) and is located between the connection between the first gas circuit (331c) and the second gas circuit (331d) and the pilot one-way valve (3312), and the third control valve (337) is arranged on the second gas circuit (331d) and is located at the upstream end of the connection between the third gas circuit (331e) and the second gas circuit (331d).

18. The conveying system (1) according to any one of claims 1 to 17, characterized in that The stator conveyor line (10) further comprises a return line body (13), wherein the return line body (13) is connected to one side of the conveyor line body (11) and returns the mover module (20) located at the downstream section of the conveyor line body (11) to the upstream section of the conveyor line body (11).

19. The conveying system (1) according to any one of claims 1 to 17, characterized in that The power supply device (12) includes a power supply coil arranged in parallel with the transmission line body (11), and the power receiving device (22) includes a power receiving coil, and the power receiving coil is magnetically coupled to the power supply coil; And / or, the mover module (20) further comprises an electric storage device (23), wherein the electric storage device (23) is electrically connected to the power receiving device (22) and provides electric energy to the actuator (30).

20. The conveying system (1) according to any one of claims 1 to 17, characterized in that It also includes a loading device (50), which is installed at the upstream end of the conveyor line (11) and is used to transfer the workpiece to the transfer module (40), and the transfer module (40) transfers the workpiece on the loading device (50) to the execution device (30); And / or, the conveying system (1) further comprises a material unloading device (60), wherein the material unloading device (60) is installed at the downstream end of the conveying line body (11) and unloads the workpiece on the execution device (30).

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