Conveying system

Abstract

The application discloses a conveying system, which comprises a stator conveying line, a plurality of mover 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 on the mover body. The execution device is used for working on a workpiece. 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 module comprises a plurality of types, and the execution devices in the mover modules of different types are different in function. The transfer module is used for transferring the workpiece between the execution devices of different mover modules. The application can complete different work on the workpiece in the same production line, does not need to additionally increase the production line, saves cost, and the transmission of the workpiece on the same production line is more efficient, thereby effectively improving the transportation efficiency and work efficiency.

Description

Technical Field

[0001] This invention relates to the field of transportation equipment technology, and in particular to a conveying system. Background Technology

[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 related technologies, when performing different operations on a workpiece, it is necessary to transfer the workpiece to different conveyor lines using a mover. This results in high costs, low conveying efficiency, and low production efficiency. Summary of the Invention

[0004] This application provides a conveying system in which actuators on different movers can perform different operations on workpieces within the same production line without the need for additional production lines, thus saving costs; moreover, the transfer of workpieces within the same production line is more efficient, effectively improving transportation efficiency and operational efficiency.

[0005] This application provides a conveying system including a stator conveyor line, multiple mover modules, and a transfer module. The stator conveyor line includes a conveyor body and a power supply device arranged parallel to the conveyor body. Each mover module includes a mover body, an actuator, and a power receiving device. The mover body is magnetically coupled to the conveyor body. The actuator and the power receiving device are both fixed to the mover body. The actuator is used to perform operations on a workpiece. The power receiving device is electrically connected to the power supply device and is configured to provide power to the actuator. The mover modules include multiple types, and the actuators in different types of mover modules have different functions. The transfer module is used to transfer workpieces between actuators in different mover modules. The stator conveyor line also includes a return line connected to one side of the conveyor body, which returns the mover modules located downstream of the conveyor body to the upstream section of the conveyor body.

[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 assembly;

[0007] The air pump is electrically connected to the power receiving device. The air pump is connected to the vacuum adsorption assembly and is used to control the vacuum adsorption assembly to generate negative pressure for adsorption and positive pressure for de-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 passage, an adsorption chamber, and an adsorption hole. The adsorption hole communicates with the adsorption chamber. The vacuum suction cup is connected to the adsorption chamber shell and communicates with the air passage and the adsorption chamber. The air passage communicates with the air pump.

[0009] In some embodiments, the air passage includes a first channel and a second channel that are connected to each other. The first channel is connected to the air pump, and there are at least two second channels. The vacuum suction cup is disposed at the end of the second channel away from the first channel and is connected to 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 being connected to the air pump and the vacuum adsorption assembly, and the first controller controlling the start and stop of the first control valve to control the operating mode of the vacuum adsorption assembly.

[0011] In some embodiments, the first actuator further includes a first pressure gauge for monitoring the vacuum level of the vacuum adsorption assembly;

[0012] The first controller is electrically connected to the first barometer and the air pump respectively. The first controller is configured to control the start / stop and operating mode of the air pump according to the displayed value of the first barometer.

[0013] In some embodiments, the first mover includes a first base, the vacuum adsorption assembly is mounted on the top surface of the first base, the first actuator further includes a first housing, the first housing is mounted on the side of the first base away from the conveyor line and cooperates with the first base to form a first mounting cavity, and the air pump, the first control valve, the first controller and the first pressure gauge are mounted in the first mounting cavity.

[0014] In some embodiments, the plurality of moving parts modules include a second moving part, the execution device of the second moving part is a second execution device, the second execution device includes a drive assembly and a rotary disk, the drive assembly is mounted on the moving part body, the rotary disk is provided with at least two fixing slots, the fixing slots are used to fix the workpiece, the rotary disk rotates under the drive of the drive assembly, so as to drive the workpiece to rotate around the center of the rotary disk.

[0015] In some embodiments, the second actuator further includes a second controller that controls the operation of the drive assembly to control the rotation of the rotary disk.

[0016] In some embodiments, the second actuator further includes a detection sensor electrically connected to the second controller. The rotating disk is provided with a positioning part, and the second controller detects the positioning part based on the detection sensor to determine the rotational position of the rotating disk.

[0017] In some embodiments, the drive assembly includes a motor, a first drive wheel, a second drive wheel, a fixed shaft, and a drive belt. The first drive wheel is mounted on the output shaft of the motor. The fixed shaft is fixed relative to the moving body. The second drive wheel is mounted on the bottom of the rotating disk, sleeved on the fixed shaft, and rotates around the fixed shaft. The drive belt connects the first drive wheel and the second drive 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 housing is installed on the side of the second base away from the conveyor line, and together with the mounting plate and the second base, they 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 embodiments, the second actuator further includes a vision inspection device electrically connected to the second controller and mounted on the actuator body, for visual inspection of the workpiece.

[0021] In some embodiments, the plurality of moving parts modules include a third moving part, the actuator of the third moving part is a third actuator, the third actuator includes a piping structure and a gripping assembly, the gripping assembly is used to clamp the packaging box to fix the workpiece inside the packaging box, and the piping structure is used to drive the operation of the gripping assembly.

[0022] In some embodiments, the third actuator further includes a third controller electrically connected to the piping structure and controlling the operating mode of the gripper assembly.

[0023] In some embodiments, the piping structure includes an air passage structure, a pilot-operated one-way valve, and a cylinder, wherein the air passage structure has a first air passage, a second air passage, and a third air passage.

[0024] The cylinder includes a cylinder body and a piston. The piston is slidably disposed with respect to the cylinder body and is fixedly connected to the gripping assembly. The piston divides the cylinder body into a first chamber and a second chamber. The first chamber is connected to the first air passage, and the second chamber is connected to the second air passage. The first air passage is used to connect to an air supply source. The second air passage is connected to the first air passage. The third air passage connects the second air passage and the first air passage. The pilot-operated one-way valve is disposed on the first air passage and is used to connect the first air passage and the third air passage.

[0025] Specifically, when air enters the first air path and no air enters the second air path, the gas enters the gripping assembly via the pilot-operated one-way valve to drive the gripping assembly to move; when no air enters the first air path and air enters the second air path, the second air path activates the pilot-operated one-way valve and drives the gripping assembly to move in the opposite direction, and the gas is discharged from the gripping assembly via the first air path.

[0026] In some embodiments, a second control valve and a third control valve are also included. The second control valve is disposed in the first gas path and located between the connection between the first gas path and the second gas path and the pilot-operated check valve. The third control valve is disposed in the second gas path and located upstream of the connection between the third gas path and the second gas path.

[0027] In some embodiments, the power supply device includes a power supply coil arranged in parallel with the conveyor line, and the power receiving device includes a power receiving coil, the power receiving coil being magnetically coupled to the power supply coil;

[0028] And / or, the actuator module further includes an energy storage device, which is electrically connected to the power receiving device and provides power to the actuator.

[0029] In some embodiments, a feeding device is also included, which is installed at the upstream end of the conveyor line and is used to transfer the workpiece to the transfer module, which transfers the workpiece on the feeding device to the actuator.

[0030] And / or, the conveying system further includes a feeding device installed at the downstream end of the conveyor line, which feeds the workpiece from the actuator.

[0031] The conveying system based on this application embodiment includes multiple moving modules on the conveyor line. Different moving modules can be equipped with different types of actuators. Workpieces are transferred between different actuators via transfer modules, allowing each actuator to perform different operations on the workpiece. This configuration allows for multiple different operations on the workpiece within the same production line, significantly reducing the need for additional production lines and thus saving costs. Simultaneously, the more efficient transfer of workpieces within the same production line significantly improves overall conveying and inspection efficiency. This system not only enhances the flexibility of the production line but also makes the process more seamless, thereby optimizing the production flow and resource allocation.

[0032] Furthermore, this application further optimizes the stability of power transmission by installing a power supply device on the outer periphery of the base and a power receiving device on the side of the mover body near the base. The input end of the power receiving device is slidably electrically connected to the power supply device, a configuration that allows for continuous and stable power transmission during the movement of the mover module. The output end of the power receiving device is electrically connected to the power receiving end of the actuator fixed on the mover module, a design that avoids the use of traditional cables or cable chains. Since there are no additional cables or cable chains, the system reduces the risk of failure due to problems such as cable tangling or breakage. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of a conveying system provided in an embodiment of this application;

[0035] Figure 2 This is a side view schematic diagram of a conveying system provided in an embodiment of this application;

[0036] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0037] Figure 4 This is a schematic diagram of the structure of the first mover provided in an embodiment of this application;

[0038] Figure 5 An exploded view of the first mover provided in an embodiment of this application;

[0039] Figure 6A cross-sectional schematic diagram of the vacuum adsorption assembly provided in the embodiments of this application;

[0040] Figure 7 This is a schematic diagram of the structure of the second mover provided in an embodiment of this application;

[0041] Figure 8 This is an exploded view of the second mover provided in an embodiment of this application;

[0042] Figure 9 A schematic diagram of the structure of the third mover provided in the embodiments of this application;

[0043] Figure 10 An exploded view of the third mover provided in an embodiment of this application;

[0044] Figure 11 This is a schematic diagram of the gas passage structure provided in the embodiments of this application;

[0045] Figure 12 This is a transportation schematic diagram of a conveying system provided in an embodiment of this application.

[0046] Explanation of icon numbers:

[0047] 1. Conveying system; 10. Stator conveyor line; 11. Conveyor 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. Receiving slot; 220. Permanent magnet array; 22. Power receiving device; 23. Energy storage device; 30. Actuating device; 31. First actuating device 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 pressure gauge; 316. First housing; 31a. Air passage; 31b. Adsorption chamber; 31c. Adsorption hole; 31d. First channel; 31e. Second channel; 32. Second actuator; 321. Drive assembly; 3211. Electricity Machine; 3212, First transmission wheel; 3213, Second transmission wheel; 3214, Fixed shaft; 3215, Transmission belt; 322, Rotary disc; 322a, Fixed groove; 3221, Positioning part; 323, Second controller; 324, Detection sensor; 325, Vision inspection device; 326, Second housing; 327, Mounting plate; 33, Third actuator; 331, Piping structure; 3311, Air circuit structure; 3312, Pilot-operated check valve; 331a, First 331b, Second Chamber; 331c, First Air Passage; 331d, Second Air Passage; 331e, Third Air Passage; 332, Gripping Assembly; 333, Third Controller; 334, Third Housing; 334a, Second Air Inlet; 335, Second Air Pressure Gauge; 336, Second Control Valve; 337, Third Control Valve; 40, Transfer Module; 50, Feeding Device; 60, Unloading Device; 70, Frame; 2, Twisting Device; 3, Testing Equipment; 4, Assembly Equipment.

[0048] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0050] Where the following description relates to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0051] In the description of this invention, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances. Furthermore, in the description of this invention, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0053] Please see Figure 1 This application proposes a conveying system 1, including a frame 70, a stator conveyor line 10, multiple mover modules 20, and a transfer module 40. The stator conveyor line 10 and the transfer module 40 are mounted on the frame 70.

[0054] Please refer to the following: Figure 2 and Figure 3 The stator conveyor line 10 includes a conveyor body 11 and a power supply device 12. The conveyor body 11 can be formed by splicing multiple stator modules. The stator modules are mounted on the frame 70 and can include linear stator modules and curved stator modules; multiple linear stator modules and curved stator modules are sequentially connected to arrange the stator modules into a closed moving track. The mover module 20 is magnetically coupled to the stator modules to move along the extension direction of the stator modules under the drive of the stator modules. The power supply device 12 is mounted on the frame 70 and arranged parallel to the stator modules 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 to the stator module; the power receiving device 22 is located on the side of the mover body 21 near 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 perform operations on the workpiece. The actuator 30 has a power receiving 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.

[0055] It should be noted that multiple moving parts modules 20 can be installed simultaneously on the same conveyor line 11, and different moving parts modules 20 are equipped with different actuators 30. Multiple moving parts modules 20 equipped with the same actuator 30 can be installed. Please refer to the relevant documentation. Figure 4 The mover module 20 has a receiving groove 210 on its mover body 21. The extending direction of the receiving groove 210 is consistent with the extending direction of the stator track, and the receiving groove 210 extends to both ends of the mover body 21. A permanent magnet array 220 is provided on one or both side walls of the receiving groove 210. The permanent magnet array 220 can be selected as multiple permanent magnets that can be arranged to form a Helbeck 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. Specifically, it can be a sliding connection or a rolling connection to limit the direction of movement of the mover body 21. The stator module is equipped with an armature winding, which is positioned between the opposite side walls of the receiving slot 210 through the slot opening. The slider slides in engagement with the stator track. When the armature winding is energized, it generates a magnetic field. The permanent magnet array 220 generates a driving force under the current excitation of the armature winding coil, propelling the entire mover body 21 along the track. The specific working principle of the magnetically driven track has been disclosed in related technologies and will not be elaborated upon here.

[0056] In some embodiments, the power supply device 12 includes a power supply coil arranged parallel to the conveyor line 11, and the power receiving device 22 includes a power receiving coil, which is magnetically coupled to the power supply coil. That is, the power supply device 12 and the power receiving device 22 of this application provide contactless power supply, reducing wear and maintenance requirements on the power receiving coil and the power supply coil, and also reducing potential fault points in the cable connection (such as cable wear, poor connection, or breakage), thus enhancing the overall reliability of the system. Multiple power supply coils can be arranged in the vertical direction, and the number of power receiving coils can be appropriately adjusted to meet the power requirements of the actuator 30. Of course, in other embodiments, the power supply device 12 can be a contact-type power supply device (such as a sliding contact line), and the power supply device 12 and the power receiving device 22 are electrically connected by contact; this application does not impose any limitations on this.

[0057] Furthermore, the actuator module 20 also includes an energy storage device 23, which is electrically connected to the power receiving device 22 and provides power to the actuator 30. The energy storage device 23 can provide backup power when the power supply from the power supply device 12 is unstable or interrupted, ensuring the continuous operation of the actuator 30. Moreover, the energy storage device 23 can buffer current fluctuations, reduce transient load on the power system, and protect other electrical components. The energy storage device 23 can be in the form of a lead-acid battery, lithium-ion battery, nickel-metal hydride battery (NiMH), etc.

[0058] The conveying system 1 provided in this application embodiment has multiple moving modules 20 arranged on the conveyor line 11. Different moving modules 20 can be equipped with different types of actuators 30. Workpieces are transferred between different actuators 30 via transfer modules 40, allowing different actuators 30 to perform different operations on the workpieces. This configuration allows for multiple different operations on workpieces within the same production line, significantly reducing the need for additional production lines and thus saving costs. Simultaneously, because the transfer of workpieces within the same production line is more efficient, the overall conveying and inspection efficiency is also significantly improved. This system not only enhances the flexibility of the production line but also makes the process more seamless, thereby optimizing the production flow and resource allocation.

[0059] Furthermore, this application further optimizes the stability of power transmission by installing a power supply device 12 on the outer periphery of the base and a power receiving device 22 on the side of the mover body 21 near the base. The input end of the power receiving device 22 is slidably electrically connected to the power supply device 12, a configuration that allows for continuous and stable power transmission during the movement of the mover module 20. The output end of the power receiving device 22 is electrically connected to the power receiving end of the actuator 30 fixed on the mover module 20, a design that avoids the use of traditional cables or cable chains. Since there are no additional cables or cable chains, the system can reduce the risk of failure due to problems such as cable tangling or breakage.

[0060] Please see Figure 4 and Figure 5 In some embodiments, the multiple mover modules 20 include a first mover 20a, and the actuation device 30 of the first mover 20a is a first actuation device 31. The first actuation device 31 includes an air pump 311 and a vacuum adsorption assembly 312. The air pump 311 is electrically connected to the power receiving device 22 and is connected to the vacuum adsorption assembly 312, and is used to control the vacuum adsorption assembly 312 to generate negative pressure for adsorption and positive pressure for de-adsorption. The first mover 20a of this application embodiment can carry and transport workpieces or drive workpieces for processing through the vacuum adsorption principle. The first actuator 31 of this application has at least two working modes: when it is necessary to adsorb the workpiece, the air pump 311 draws gas and provides negative pressure to the vacuum adsorption assembly 312. When the workpiece is placed on the vacuum adsorption assembly 312, the pressure difference between the surface and bottom of the workpiece makes the workpiece firmly adsorbed on the vacuum adsorption assembly 312, thus achieving the "vacuuming" effect; when it is necessary to unload the workpiece, the air pump 311 outputs gas and provides positive pressure to the vacuum adsorption assembly 312, so that the pressure difference inside and outside the vacuum adsorption assembly 312 decreases rapidly until the internal and external air pressures are balanced, and the workpiece quickly falls off the vacuum adsorption assembly 312, thus completing the workpiece unloading operation and achieving the "vacuum breaking" effect.

[0061] Of course, in some embodiments, there can be two air pumps 311, defined as the first air pump and the second air pump. In this case, the first actuator 31 can have three working modes: the adsorption and vacuuming working mode is the same as that described above, that is, the first air pump is used to draw gas; in the de-adsorption mode, gas can be output by the first air pump to achieve "vacuum breaking", and gas can also be output to the gas path by the second air pump to achieve "vacuum breaking"; since two air pumps 311 are provided, this embodiment can also have a "vacuum replenishment" working mode compared with the above embodiment, that is, when the first air pump is working, the vacuum degree of the vacuum adsorption component 312 is insufficient, and the adsorption force of the vacuum adsorption component 312 cannot meet the load-bearing requirements of the workpiece, the second air pump is turned on and draws gas to improve the vacuum degree of the vacuum adsorption component 312, thereby meeting the adsorption and load-bearing requirements of the workpiece and achieving the "vacuum replenishment" effect.

[0062] In some embodiments, the first actuator 31 may further include a rotating device (not shown in the figure) disposed on the mover body 21 of the first mover 20a, the rotating device driving 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 cap. Before testing the reagent in the reagent tube, the cap needs to be unscrewed. The transfer module 40 provided in this application can clamp the cap, and the vacuum adsorption assembly 312 of the first actuator 31 can adsorb and fix the tube body. The rotating device can drive the tube body to rotate, thereby causing the cap and tube body to rotate relative to each other, so as to open the reagent tube and test the reagent. The rotating device may include a motor, a turntable, or other structures. 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 is understood that the rotating device may also include a coupling, gears, or other transmission structures. The structure and principle of the rotating device have been disclosed in related technologies, and will not be repeated here.

[0063] Of course, in some other embodiments, a screwing device 2 can be provided on one side of the conveyor line 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. The screwing device 2 clamps the cover and drives the cover to rotate, so as to screw the cover out of the tube body. The screwing device 2 can be a multi-axis manipulator, or it can include a motor, a clamping device, a cylinder and other transmission structures. The structure and principle of the screwing device 2 have been disclosed in related technologies, and this application will not repeat them here.

[0064] Please see Figure 5 and Figure 6The vacuum adsorption assembly 312 may include 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.

[0065] Please see 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 passage 31a and a groove on its top. The cover plate 3124 is provided with an adsorption hole 31c. The cover plate 3124 covers the base 3123 and forms an adsorption chamber 31b with the groove of the base 3123. The air passage 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 an air pump 311. There are at least two second channels 31e. A vacuum suction cup 3122 is located at the end of the second channel 31e away from the first channel 31d and connects the second channel 31e and the adsorption chamber 31b. As illustrated in the figure, there are two first channels 31d and four second channels 31e, wherein one first channel 31d matches two second channels 31e. The four vacuum suction cups 3122 located on the second channels 31e are positioned around the adsorption holes 31c. This 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; moreover, the 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.

[0066] For easier control of the operation of the vacuum adsorption assembly 312, please refer to [link / reference]. Figure 5 The first actuator 31 further includes 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 assembly 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 assembly 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., and this application does not impose any limitations on this. The first control valve 313 can be fully opened or closed as needed, and the opening degree can also be adjusted as needed, thereby controlling the opening and closing of the air passage 31a.

[0067] To facilitate monitoring of the vacuum level of the vacuum adsorption component 312 and thus control of its suction force, please refer to [further details]. Figure 5The first actuator 31 also includes a first pressure gauge 315, which is connected to the gas passage 31a and used to monitor the vacuum level of the adsorption chamber 31b. The first pressure gauge 315 can be a Bourdon tube or thin-film vacuum gauge that measures using mechanical properties; or a Pirani or thermocouple vacuum gauge that measures using gas mechanics effects. A first controller 314 is electrically connected to both the first pressure gauge 315 and the air pump 311. The first controller 314 controls the start / stop and operating mode of the air pump 311 based on the displayed value of the first pressure gauge 315. For example, when the vacuum level is lower than a preset value, the operating frequency of the air pump 311 can be increased to improve the intensity of gas suction; when the vacuum level is higher than the preset value, the operating frequency of the air pump 311 can be decreased; when the vacuum level is equal to the preset value, the air pump 311 is controlled to maintain the current operating condition. When there are two air pumps 311, the first controller 314 can further control the number of air pumps 311 operating based on the displayed value of the first air pressure measuring instrument 315.

[0068] The first actuator 20a includes a first base 20a1 and a permanent magnet array 220. The first base 20a1 is provided with the aforementioned receiving groove 210. In some structural configurations, the vacuum adsorption assembly 312 is mounted on the top surface of the first base 20a1. The first actuator 31 also includes a first housing 316, which is mounted on the side of the first base 20a1 away from the conveyor line 11 and cooperates with the first base 20a1 to form a first mounting cavity. The air pump 311, the first controller 314, and the first pressure gauge 315 are mounted in the first mounting cavity. The first housing 316 has a mounting opening, through which the display surface of the first pressure gauge 315 is exposed, allowing operators to intuitively read data from the first pressure gauge 315. Thus, the first housing 316 can effectively protect electronic components from the influence of the external environment.

[0069] A first air inlet is provided on the first housing 316. The air pump 311 can draw in external gas through the first air inlet. The first air inlet can be optionally located on the side of the first housing 316 near the stator module, thus avoiding the risk of external impurities or dust blocking the first air inlet. Part of the first control valve 313 can be located in the first mounting cavity, and part of it can be located on the top of the first housing 316, thus facilitating the connection between the first control valve 313 and the vacuum adsorption assembly 312 and the air pump 311.

[0070] Please see Figure 7 and Figure 8In some embodiments, multiple mover modules 20 include second movers 20b, and the actuator 30 of the second mover 20b is a second actuator 32. The second actuator 32 includes a drive assembly 321 and a rotary disk 322. The drive assembly 321 is mounted on the mover body 21 of the second mover 20b. The rotary disk 322 is provided with at least two fixing slots 322a for fixing workpieces. The rotary disk 322 rotates under the drive of the drive assembly 321 to drive the workpieces to rotate around the center of the rotary disk 322. As exemplarily shown in the figure, the rotary disk 322 is provided with six fixing slots 322a, which can increase the number of workpieces carried by the second mover 20b. This design allows more workpieces to be processed with fewer devices on the conveyor line 11, thereby improving the overall transportation efficiency.

[0071] Taking the reagent tube as an example, after the first mover 20a unscrews the cap of the reagent tube, it is then transported to the transfer module 40. The transfer module 40 transports the tube with the cap open to the rotating disk 322. Then, the second mover 20b moves the tube on the conveyor line 11 and moves it to the side of the external detection device 3. The rotating disk 322 is rotated by the drive component 321, and the tube rotates 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, improving the efficiency and accuracy of the detection.

[0072] For further details, please refer to Figure 8 The second actuator 32 also includes a second controller 323, which controls the operation of the drive assembly 321 to control the rotation of the rotary disk 322. For example, the second controller 323 can control the angle of rotation of the rotary disk 322. This angle control ensures that each rotation accurately switches to the next reagent tube, ensuring that the testing device 3 can test each reagent tube. The second controller 323 can also control the dwell time of the rotary disk 322 during rotation, ensuring that the external testing device 3 can complete each testing task. This ensures the accuracy and consistency of the testing. The specific form of the second controller 323 can be set with reference to the first controller 314.

[0073] In some embodiments, please refer to Figure 8The second actuator 32 also includes a detection sensor 324, which is electrically connected to the second controller 323. A positioning part 3221 is provided on the rotating disk 322. The second controller 323 determines the rotational position of the rotating disk 322 by detecting the positioning part 3221 through the detection sensor 324. Multiple positioning parts 3221 can be provided, corresponding to the number and spacing of the fixing slots 322a. The detection sensor 324 monitors the positioning parts 3221 on the rotating disk 322 in real time, providing precise position information to the second controller 323. The second controller 323 adjusts the rotation of the rotating disk 322 based on this information to ensure it accurately reaches the predetermined position. This effectively positions each reagent tube and maintains high precision during rotation and dwell. Alternatively, only one positioning part 3221 can be provided. The detection sensor 324 first detects the positioning part 3221, marking the starting position of the rotating disk 322, and then detects the positioning part 3221 again after the rotating disk 322 has completed rotation, confirming that the rotation is complete. 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 limit it.

[0074] In some embodiments, please continue reading Figure 8 The drive assembly 321 includes a motor 3211, a first drive wheel 3212, a second drive wheel 3213, a fixed shaft 3214, and a drive belt 3215. The first drive wheel 3212 is mounted on the output shaft of the motor 3211. The fixed shaft 3214 is fixed relative to the mover body 21. The second drive wheel 3213 is mounted on the bottom of the rotating disk 322, sleeved on the fixed shaft 3214, and rotates around the fixed shaft 3214. The drive belt 3215 connects the first drive wheel 3212 and the second drive wheel 3213. Specifically, the motor 3211 drives the first drive wheel 3212 to rotate through the output shaft. The rotation of the first drive wheel 3212 is transmitted to the second drive wheel 3213 through the drive belt 3215. The rotation of the second drive wheel 3213 stably drives the rotation of the rotating disk 322. The fixed shaft 3214 can support the second drive wheel 3213, thereby supporting the rotating disk 322 and improving the stability of the rotation of the second drive wheel 3213. This application achieves good shock absorption by setting up a first transmission wheel 3212, a second transmission wheel 3213, a fixed shaft 3214, and a transmission belt 3215, thereby smoothly transmitting power.

[0075] The second mover 20b includes a second base 20b1 and a permanent magnet array 220. The second base 20b1 is provided with the aforementioned receiving groove 210, and the permanent magnet array 220 is disposed on the second base 20b1. To facilitate the installation of the drive assembly 321, 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, and the second housing 326 is mounted on the side of the second base 20b1 away from the conveyor line 11, and together with the mounting plate 327 and the second base 20b1, forms a second mounting cavity. The second controller 323 is installed in the second mounting cavity, the main body of the motor 3211 is installed in the second mounting cavity, and the output shaft extends out from the top of the mounting plate 327. The fixed shaft 3214 is installed on the top of the mounting plate 327. The first transmission wheel 3212, the second transmission wheel 3213, and the transmission belt 3215 are adapted to be located on the top of the mounting plate 327. The detection sensor 324 and the fixed shaft 3214 are installed on the mounting plate 327. The second housing 326 provides additional protection, isolating the motor 3211 and the second controller 323 from the influence of the external environment. The mounting plate 327 provides a mounting platform to facilitate the installation of the detection sensor 324 and the fixed shaft 3214.

[0076] Please see Figure 7 and Figure 8 In some embodiments, the second execution device 32 further includes a vision 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 vision inspection device 325 may include a camera, an image processing unit, and a light source. The vision inspection device 325 can be used to inspect the shape, size, color, and other characteristics of the workpiece. Taking a reagent tube as an example, the vision 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 for easy tracking and management of the reagent tube.

[0077] Please see Figure 9 and Figure 10 In some embodiments, the multiple moving parts 20 include a third moving part 20c, and the actuator 30 of the third moving part 20c is a third actuator 33. The third actuator 33 includes a piping structure 331 and a gripping assembly 332. The gripping assembly 332 is used to clamp the packaging box to fix the workpiece inside the packaging box, and the piping structure 331 is used to drive the operation of the gripping 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 gripping assembly 332 clamps the two side plates, so that both side plates and the bottom plate provide packaging protection for the workpiece.

[0078] The third actuator 33 also includes a third controller 333, which is electrically connected to the piping structure 331 and controls the operating mode of the gripper assembly 332. Understandably, the gripper assembly 332 has two operating modes: clamping and releasing. The third controller 333 controls the switching between clamping and releasing operations of the gripper assembly 332 by controlling the piping structure 331. The specific form of the third controller 333 can be set with reference to the form of the first controller 314.

[0079] Combined with appendix Figure 11 The specific form of the pipeline structure 331 is described in detail: The pipeline structure 331 includes an air passage structure 3311, a pilot-operated one-way valve 3312, and a cylinder. The air passage structure 3311 has a first air passage 331c, a second air passage 331d, and a third air passage 331e. The cylinder includes a cylinder body and a piston. The piston is slidably disposed with the cylinder body and is fixedly connected to 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 connected to the first air passage 331c, the second chamber 331b is connected to the second air passage 331d, the first air passage 331c is used to connect to the air supply source, the second air passage 331d is connected to the first air passage 331c, and the third air passage 331e is connected to the second air passage 331d and the first air passage 331c. The pilot-operated one-way valve 3312 is installed on the first air passage 331c and is used to connect the first air passage 331c and the third air passage 331e.

[0080] Specifically, when air enters the first air passage 331c but not the second air passage 331d, the gas enters the first chamber 331a via the pilot-operated one-way valve 3312. At this time, the gas drives the piston to move in the first direction, which in turn moves the gripping assembly 332 in the first direction to achieve clamping. Because of the pilot-operated one-way valve 3312, when the first air passage 331c is open, it only allows gas to flow in one direction to the gripping assembly 332, preventing reverse flow and thus avoiding backflow of gas in the gripping assembly 332. This further achieves the function of maintaining pressure on the gas in the gripping assembly 332, improving gripping performance. The clamping stability of the clamping assembly 332 for the workpiece is as follows: When the first air passage 331c is not filled with air, and the second air passage 331d is filled with air, the third air passage 331e will also be filled with air. The third air passage 331e will activate the pilot-operated one-way valve 3312, thereby disrupting the pressure holding capacity of the gas in the clamping assembly 332. As a result, the gas in the clamping assembly 332 will be discharged through the first air passage 331c, and the gas in the first chamber 331a can be depressurized by backflow through the pilot-operated one-way valve 3312. Then, the gas will enter the second chamber 331b through the second air passage 331d. At this 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 release operation. The first direction and the second direction are set in opposite directions.

[0081] It should be noted that this application describes the connection relationship between one gripper and the corresponding tubing structure 331 in the gripper assembly 332. Understandably, the gripper assembly 332 may have two grippers, which work together to clamp the packaging box. The connection relationship between the two grippers and the corresponding tubing structure 331 in this application is the same, the only difference being that the two grippers move in opposite directions: during clamping, the two grippers move closer to each other, and during releasing, they move further apart.

[0082] For further details, please refer to Figure 8 The third actuator 33 further includes a second control valve 336 and a third control valve 337. The second control valve 336 is disposed on the first air passage 331c and located between the connection between the first air passage 331c and the second air passage 331d and the pilot-operated check valve 3312. The third control valve 337 is disposed on the second air passage 331d and located upstream of the connection between the third air passage 331e and the second air passage 331d.

[0083] The second control valve 336 controls the on / off state of the first air passage 331c and can independently adjust the gas flow rate and pressure of the first air passage 331c to achieve more precise clamping control. The third control valve 337 controls the on / off state of the second air passage 331d and can control the gas flow rate in the second air passage 331d, thereby adjusting the release speed of the gripping assembly 332. Furthermore, the second control valve 336 and the third control valve 337 can effectively prevent gas backflow or excessive pressure, improving the safety and reliability of the system. The specific form 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.

[0084] The third mover 20c includes a third base 20c1 and a permanent magnet array 220. The third base 20c1 is provided with the aforementioned receiving groove 210, and the permanent magnet array 220 is disposed 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 mounting cavity with the third base 20c1. The piping structure 331, the third controller 333, the second control valve 336, and the third control valve 337 are installed in the third mounting cavity, which can effectively protect the components and improve their service life.

[0085] The air supply source of this application can be located on the third mover 20c or on the frame 70. For example, the air supply source is located on the frame 70. The outer side of the third housing 334 is provided with a second air inlet 334a. The air supply source includes an air pump structure, a drive component, and an air supply nozzle, etc. The air supply nozzle is connected to the air pump structure and, driven by the drive component, can approach and connect to the second air inlet 334a, and can also move away from the second air inlet 334a to cancel the air intake operation. It is understood that by locating the air supply source on the frame 70, it is not limited by installation space, thus allowing for the use of a larger air pump structure, ensuring a stable and sufficient gas supply. Furthermore, locating the air supply source externally can reduce the weight of the third mover 20c and improve its movement efficiency.

[0086] To facilitate monitoring of the air pressure in the first air path 331c and the second air path 331d, and thus control the suction force of the vacuum adsorption assembly 312, the third actuator 33 further includes a second air pressure gauge 335. The second air pressure gauge 335 is installed on the first air path 331c between the pilot-operated one-way valve 3312 and the first chamber 331a, and on the second air path 331d between the third control valve 337 and the second chamber 331b. It is used to measure the air pressure in the gripping assembly 332, thereby monitoring the holding pressure value in the gripping assembly 332. The form of the second air pressure gauge 335 can be set with reference to the specific form of the first air pressure gauge 315.

[0087] In some embodiments, the system further includes a loading device 50 and a unloading device 60. The loading device 50 is installed at the upstream end of the conveyor line 11 and is used to transfer workpieces to the transfer module 40. The transfer module 40 transfers the workpieces from the loading device 50 to the execution device 30. The unloading device 60 is installed at the downstream end of the conveyor line 11 and unloads the workpieces from the execution device 30. This improves the loading and unloading efficiency of workpieces and achieves production line automation. Both the loading device 50 and the unloading device 60 can be belt conveyors.

[0088] In some embodiments, the transfer module 40 includes a traversing device, a lifting device, and a clamping device. The traversing device drives the lifting device to move horizontally, the lifting device drives the clamping device to move vertically, and the clamping device is used to clamp the workpiece. The traversing device and the lifting device can be devices such as a linear motor 3211, a lead screw, or a cylinder, and this application is not limited to these. As exemplarily shown in the figures, the traversing device may include a drive coil and a mover, the drive coil driving the mover to traverse horizontally. The clamping device can be configured in the form of the third actuator 33 of this application. In some embodiments, the transfer module 40 may also include a drive motor, the drive motor driving the clamping device to rotate and being connected to the lifting device in a transmission connection. In this case, the transfer module 40 may also integrate a twisting function.

[0089] Furthermore, the transfer module 40 of this application is provided with two clamping devices, which can improve the transfer efficiency of the transfer module 40. Specifically, during the transfer process, one clamping device can clamp the reagent tube of the feeding device 50, and the other clamping device can clamp the reagent tube that has been unscrewed on the first mover 20a. Then, one clamping device places the unscrewed reagent tube on the first mover 20a. Then, when the second mover 20b moves to the transfer module 40, the unscrewed reagent tube is placed on the second mover 20b.

[0090] To further improve the transportation efficiency of this application, the stator conveyor line 10 also includes a return line 13, which is connected to one side of the conveyor line 11 and returns the mover module 20 located downstream of the conveyor line 11 to the upstream section of the conveyor line 11. In this way, a certain type of mover only moves in its corresponding area, reducing travel time and accelerating processing speed. For example, if the first mover 20a does not need to pass through the subsequent inspection device 3, the return line 13 is positioned in front of the inspection device 3, allowing the first mover 20a to quickly return from the rear of the transfer module 40 to the front. Of course, two return lines 13 can be provided. For example, if the second mover 20b does not need to move to the unloading device 60, it can be returned to the front of the transfer module 40 after being inspected by the inspection device 3. The return line 13 of this application can accelerate the circulation speed of the mover module 20 and shorten the overall production cycle.

[0091] Based on the conveying system 1 of this application embodiment, taking a reagent tube as an example, please refer to the following: Figure 12 The feeding device 50 transports the reagent tube to the transfer module 40, which places the reagent tube onto the first mover 20a. The first mover 20a can cooperate with the transfer module 40 to screw on the cap of the reagent tube to open it, or it can transport the reagent tube to the screwing device 2 and screw on it. Then, the first mover 20a returns to the upstream end of the transfer module 40 via the return line 13. The transfer module 40 transfers the opened tube from the first mover 20a to the second mover 20b. The second mover 20b can carry multiple reagent tubes, improving transport efficiency, and moves the reagent tubes to the testing equipment. At three locations, the testing device 3 tests the reagent tubes, improving testing efficiency. After testing, the second mover 20b returns the reagent tubes to the upstream end of the transfer module 40 via the return line 13. The transfer module 40 then picks up the reagent tubes again and moves them to the third mover 20c, which packages and groups the reagent tubes. It is understood that packaging boxes are needed when the third mover 20c packages the reagent tubes. This application provides a grouping device 4 on one side of the conveyor line 11. The grouping device 4 can place the packaging boxes on the third mover 20c, which then transfers the packaged reagent tubes to the unloading device 60 for unloading. Thus, this application completes the opening, testing, and packaging operations on a single conveyor line, reducing material transfer and line change time, improving testing and conveying efficiency; moreover, it eliminates the need for additional conveyor lines, reducing costs.

[0092] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this invention, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0093] The above are merely 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 within the protection scope of the present invention.

Claims

1. A delivery system (1) characterized by, include: The stator conveyor line (10) includes a conveyor line body (11) and a power supply device (12) arranged in parallel with the conveyor line body (11). Multiple mover modules (20), each mover module (20) including a mover body (21), an actuator (30), and a power receiving device (22), wherein the mover body (21) is magnetically coupled to the conveyor line (11), the actuator (30) and the power receiving device (22) are both fixed to the mover body (21), the actuator (30) is used to perform operations on the workpiece, and the power receiving device (22) is electrically connected to the power supply device (12) and configured to provide power to the actuator (30). The mover modules (20) include multiple types, and the actuators (30) in different types of mover modules (20) have different functions; and The transfer module (40) is used to transfer workpieces between the actuators (30) of different moving modules (20); The stator conveyor line (10) also includes a return line (13), which is connected to one side of the conveyor line (11) and returns the mover module (20) located in the downstream section of the conveyor line (11) to the upstream section of the conveyor line (11).

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

3. The delivery system (1) according to claim 2, characterized in that The vacuum adsorption assembly (312) includes 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 delivery system (1) according to claim 3, characterized in that The air passage (31a) includes a first passage (31d) and a second passage (31e) that are connected. The first passage (31d) is connected to the air pump (311). There are at least two second passages (31e). The vacuum suction cup (3122) is located at the end of the second passage (31e) away from the first passage (31d) and is connected to the second passage (31e) and the adsorption chamber (31b).

5. The delivery system (1) according to claim 3, characterized in that The first actuator (31) further includes 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 assembly (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 assembly (312).

6. The delivery system (1) according to claim 5, characterized in that The first actuator (31) further includes a first pressure gauge (315), which is used to monitor the vacuum degree of the vacuum adsorption assembly (312); The first controller (314) is electrically connected to the first barometer (315) and the air pump (311) respectively. The first controller (314) is configured to control the start-up, shutdown and working mode of the air pump (311) according to the displayed value of the first barometer (315).

7. The conveying system (1) as described in claim 6, characterized in that, The first mover (20a) includes a first base (20a1), the vacuum adsorption assembly (312) is mounted on the top surface of the first base (20a1), the first actuator (31) also includes a first housing (316), the first housing (316) is mounted on the side of the first base (20a1) away from the conveyor line (11), and cooperates with the first base (20a1) to form a first mounting cavity, the air pump (311), the first control valve (313), the first controller (314) and the first air pressure measuring gauge (315) are mounted in the first mounting cavity.

8. The delivery system (1) according to claim 1, characterized in that The plurality of mover modules (20) include a second mover (20b), and the actuator (30) of the second mover (20b) is a second actuator (32). The second actuator (32) includes a drive assembly (321) and a rotary disk (322). The drive assembly (321) is mounted on the mover body (21). The rotary disk (322) is provided with at least two fixing slots (322a). The fixing slots (322a) are used to fix the workpiece. The rotary disk (322) rotates under the drive of the drive assembly (321) to drive the workpiece to rotate around the center of the rotary disk (322).

9. The conveying system (1) as described in claim 8, characterized in that, The second actuator (32) further includes a second controller (323), which controls the operation of the drive assembly (321) to control the rotation of the rotary disk (322).

10. The delivery system (1) according to claim 9, characterized in that The second actuator (32) further includes a detection sensor (324), which is electrically connected to the second controller (323). The rotating disk (322) is provided with a positioning part (3221). The second controller (323) detects the positioning part (3221) according to the detection sensor (324) to determine the rotation position of the rotating disk (322).

11. The delivery system (1) according to claim 10, characterized in that The drive assembly (321) includes a motor (3211), a first drive wheel (3212), a second drive wheel (3213), a fixed shaft (3214), and a drive belt (3215). The first drive wheel (3212) is mounted on the output shaft of the motor (3211). The fixed shaft (3214) is fixed relative to the moving body (21). The second drive 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 drive belt (3215) connects the first drive wheel (3212) and the second drive wheel (3213).

12. The delivery 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 housing (326) is mounted on the side of the second base (20b1) away from the conveyor line (11), and together with the mounting plate (327) and the second base (20b1) 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) as described in claim 9, characterized in that, The second actuator (32) further includes a vision inspection device (325), which is electrically connected to the second controller (323) and installed on the actuator body (21), and is used to perform vision inspection on the workpiece.

14. The delivery system (1) according to claim 1, characterized in that The plurality of moving parts modules (20) include a third moving part (20c), and the actuator (30) of the third moving part (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 inside the packaging box. The pipeline structure (331) is used to drive the operation of the gripping assembly (332).

15. The delivery system (1) according to claim 14, characterized in that 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 gripper assembly (332).

16. The delivery system (1) according to claim 14, characterized in that The pipeline structure (331) includes an air passage structure (3311), a pilot-operated one-way valve (3312), and a cylinder. The air passage structure (3311) has a first air passage (331c), a second air passage (331d), and a third air passage (331e). The cylinder includes a cylinder body and a piston. The piston is slidably disposed with respect to the cylinder body and fixedly connected to 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 connected to the first air passage (331c), and the second chamber (331b) is connected to the second air passage (331d). The first air passage (331c) is used to connect to an air supply source. The second air passage (331d) is connected to the first air passage (331c). The third air passage (331e) connects the second air passage (331d) and the first air passage (331c). The pilot-operated one-way valve (3312) is disposed on the first air passage (331c) and is used to connect the first air passage (331c) and the third air passage (331e). When air enters the first air passage (331c) and not the second air passage (331d), the gas enters the gripping assembly (332) through the pilot-operated one-way valve (3312) to drive the gripping assembly (332) to move; when air enters the second air passage (331d) and not the first air passage (331c), the second air passage (331d) opens the pilot-operated 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) through the first air passage (331c).

17. The delivery system (1) according to claim 16, characterized in that It also includes a second control valve (336) and a third control valve (337). The second control valve (336) is disposed on the first air passage (331c) and located between the connection between the first air passage (331c) and the second air passage (331d) and the pilot-operated check valve (3312). The third control valve (337) is disposed on the second air passage (331d) and located upstream of the connection between the third air passage (331e) and the second air passage (331d).

18. 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 conveyor line (11), and the power receiving device (22) includes a power receiving coil, which is magnetically coupled to the power supply coil. And / or, the actuator module (20) further includes an energy storage device (23) which is electrically connected to the power receiving device (22) and provides power to the actuator (30).

19. The delivery system (1) according to any one of claims 1 to 17, characterized in that It also includes a feeding 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), which transfers the workpiece on the feeding device (50) to the execution device (30). And / or, the conveying system (1) further includes a feeding device (60), which is installed at the downstream end of the conveying line (11) and feeds the workpiece on the actuator (30).

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