Double-magnetic-circuit plane electromagnetic transfer device with adsorption force and transfer method

Abstract

The invention provides a double-magnetic-circuit plane electromagnetic transfer device with adsorption force and a transfer method, and belongs to the field of aerospace. The problems that an existing transfer platform cannot adapt to the space microgravity environment, and the transfer efficiency is low are solved. The motor comprises a stator module and a mover module, the mover module is arranged above the stator module, the stator module comprises a stator magnet yoke, a stator guide rail, coil assembly mounting racks and coil assemblies, the stator guide rail is arranged on the stator magnet yoke, and the coil assembly mounting racks are arranged on the stator magnet yoke in an array mode. The mover module comprises a mover bottom plate, a mover permanent magnet assembly and a mover upper plate, the mover upper plate is arranged above the mover bottom plate, the mover permanent magnet assembly comprises an upper magnet yoke assembly and a permanent magnet assembly, an air gap exists between the permanent magnet assembly and a stator magnet yoke, the coil assembly is located in the air gap, and the permanent magnet assembly is arranged opposite to the coil assembly; the rotor module is slidably connected with the stator guide rail. The cubesat transfer device is mainly used for cubesat transfer.

Description

Technical Field

[0001] The invention belongs to the field of aerospace, and in particular relates to a double-magnetic-circuit planar electromagnetic transport device with adsorption force and a transport method. Background Art

[0002] Cubic satellites have the advantages of small size, light weight and short development cycle. In particular, the coordinated work of multiple cubic satellites can achieve complex tasks that are difficult for a single large satellite to achieve, such as constellation networking and formation flying. A single cubic satellite is usually stored in a box-type deployer, launched on a rocket, and released in orbit through the spring inside the deployer after reaching the predetermined orbit. For the future large-scale cubic satellite in-orbit application, the deployer is required to be able to complete the storage and release of a larger number of cubic satellites.

[0003] The traditional one-dimensional single-row loading deployer has a small capacity and cannot meet the task requirements of large-capacity storage and synchronous release. To increase the storage quantity and loading rate, the cubic satellites need to be stacked tightly in three-dimensional space. In order to improve the transfer efficiency and system integration and avoid complex multi-dimensional transfer of each cubic satellite, one effective way to achieve this is to push the three-dimensional tightly stacked cubic satellites in layers onto a two-dimensional transfer platform, and the transfer platform realizes multi-target translational transportation. Therefore, a planar transfer device is needed that can realize the multi-target two-degree-of-freedom long-stroke translational transfer function in a low-gravity environment.

[0004] Magnetic levitation platforms and planar motors have the characteristics of multi-degree-of-freedom translational functions, fast dynamic response and high positioning accuracy. However, most of them are single workbenches, which makes it difficult to transport multiple targets at the same time, and it is difficult to achieve large-scale movement of multiple targets. In addition, in the low-gravity environment of space, reliable adsorption force is required to ensure that the mover can be continuously and stably adsorbed on the mechanical track to ensure that it does not derail when it is stationary or moving horizontally, and especially to resist external acceleration interference. Due to the special application background and functional requirements, the relevant magnetic levitation technology cannot be directly applied to multi-target transportation in a space environment. Therefore, a planar electromagnetic transport device with high transport efficiency, small volume and mass and adsorption function is needed to achieve long-stroke rapid planar motion and precise positioning of multiple targets in a space environment. Summary of the invention

[0005] In view of this, the present invention aims to propose a dual-magnetic-circuit planar electromagnetic transfer device and transfer method with adsorption force, so as to solve the problem that the existing transfer platform cannot adapt to the microgravity environment of space and has low transfer efficiency.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a dual-magnetic-circuit planar electromagnetic transport device with adsorption force, comprising a stator module and a mover module, wherein the mover module is arranged above the stator module, the stator module comprises a stator yoke, a stator guide rail, a coil group mounting frame and a coil group, the stator guide rail is arranged on the stator yoke, the coil group mounting frame comprises an upper right coil mounting frame, an upper left coil mounting frame, a lower left coil mounting frame and a lower right coil mounting frame distributed according to the setting orientation, the upper right coil mounting frame, the upper left coil mounting frame, The lower left coil mounting frame and the lower right coil mounting frame are arrayed in the gap of the stator guide rail, and multiple groups of coil group mounting frame arrays are arranged on the stator yoke, the coil group includes an upper right coil, an upper left coil, a lower left coil and a lower right coil, and the upper right coil, the upper left coil, the lower left coil and the lower right coil are respectively wound on the outer sides of the upper right coil mounting frame, the upper left coil mounting frame, the lower left coil mounting frame and the lower right coil mounting frame, the mover module includes a mover bottom plate, a mover permanent magnet assembly and a mover upper plate, the mover upper plate is arranged above the mover bottom plate, and the mover permanent magnet assembly is arranged on the upper left side of the mover bottom plate. The magnet assembly includes an upper yoke assembly and a permanent magnet assembly, wherein the upper yoke assembly includes a right upper yoke, a left upper yoke, a left lower yoke and a right lower yoke which are staggered in the bottom plate of the mover, wherein the right upper yoke, the left upper yoke, the left lower yoke and the right lower yoke each include an upper yoke portion and two side yoke portions, wherein the two side yoke portions are arranged on both sides below the upper yoke portion, and the permanent magnet assembly includes an upper right permanent magnet group, an upper left permanent magnet group, a lower left permanent magnet group and a lower right permanent magnet group, wherein the upper right permanent magnet group, the upper left permanent magnet group, the lower left permanent magnet group The magnet group and the lower right permanent magnet group are respectively arranged on the lower inner side of the upper right upper yoke, the upper left upper yoke, the lower left upper yoke and the lower right upper yoke, the permanent magnet assembly is wrapped in the enclosed area of ​​the upper yoke part and the two side yoke parts, the upper right permanent magnet group, the upper left permanent magnet group, the lower left permanent magnet group and the lower right permanent magnet group adopt the Halbach permanent magnet array arrangement form, there is an air gap between the permanent magnet assembly and the stator yoke, the coil group is located in the air gap, the permanent magnet assembly and the coil group are arranged opposite to each other, and the mover module is slidably connected to the stator guide rail.

[0007] Furthermore, the upper right permanent magnet group, the upper left permanent magnet group, the lower left permanent magnet group and the lower right permanent magnet group all include a left vertical permanent magnet, a transverse permanent magnet and a right vertical permanent magnet, and the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are arranged in order from left to right.

[0008] Furthermore, the magnetization directions of the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are from left to right: top S and bottom N, left N and right S, top N and bottom S or top N and bottom S, left S and right N, top S and bottom N.

[0009] Furthermore, the upper right coil mounting frame, the upper left coil mounting frame, the lower left coil mounting frame and the lower right coil mounting frame are all square mounting frames and are arranged symmetrically in a square shape, and the upper right coil, the upper left coil, the lower left coil and the lower right coil are all square coils.

[0010] Furthermore, the upper surface of the upper plate of the mover is provided with magnetic blocks and positioning posts, and the magnetic blocks are embedded in the upper plate of the mover in a square symmetrical arrangement.

[0011] Furthermore, universal beads are symmetrically arranged around the lower surface of the mover bottom plate, and grooves are opened on the stator guide rail, and the universal beads slide along the grooves.

[0012] Furthermore, the stator yoke and the upper yoke assembly are both made of soft magnetic alloy 1J50 material.

[0013] Furthermore, the permanent magnet assembly is made of NdFeB alloy hard magnetic material.

[0014] Furthermore, the stator guide rail, coil assembly mounting frame, mover bottom plate and mover upper plate are all made of 1060 aluminum alloy material.

[0015] The present invention also provides a transport method for a dual-magnetic-circuit planar electromagnetic transport device with adsorption force, specifically: a load is placed above the mover module, and the magnetic flux generated by the upper yoke assembly, the permanent magnet assembly and the stator yoke forms a lower permanent magnet loop, and the lower permanent magnet loop causes the permanent magnet assembly and the stator yoke to generate adsorption force, and the staggered upper yoke assembly and the permanent magnet assembly respectively generate four permanent magnetic fields in the air gap, and the coil group located in the air gap is affected by the permanent magnetic field, and the coil group is energized to generate electromagnetic force, which drives the mover module to move and complete the transport.

[0016] Compared with the prior art, the beneficial effects of the present invention are: the present invention can efficiently transport multiple cubic satellites to a designated location, improve the capacity and speed of cubic satellite deployment, and provide a new solution for the storage and transportation of space cubic satellites. The present invention utilizes the adsorption force of the stator yoke and the permanent magnet assembly to overcome the suspension force between the permanent magnet and the coil, so that the electromagnetic transport device has the characteristics of adsorption force, and can well adapt to the microgravity of the space environment; the structure of the upper yoke assembly effectively improves the utilization rate of the mover space, and the double magnetic circuit formed by the permanent magnet assembly and the stator yoke effectively alleviates the magnetic saturation of the yoke, reduces leakage magnetism, reduces the thickness of the yoke, and thus reduces the weight; the electromagnetic transport device has a flexible structure, the stator module can be designed into different shapes according to the task requirements, and the mover module can be combined and transported in coordination according to the size of the transported cubic satellite. The present invention has the characteristics of reusability, small size, light weight, and wide applicability, and can realize the on-orbit transportation of cubic satellites of different masses to meet the actual needs of aerospace applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of a double-magnetic-circuit planar electromagnetic transport device with adsorption force according to the present invention;

[0019] Figure 2 It is a schematic diagram of a transverse cross-sectional structure of a double magnetic circuit planar electromagnetic transport device with adsorption force according to the present invention;

[0020] Figure 3 This is a schematic diagram of the transverse cross-sectional structure of the mover module of the present invention;

[0021] Figure 4 This is a schematic diagram of the three-dimensional structure of the mover module of the present invention;

[0022] Figure 5 This is a schematic diagram of the structure of the mover module from above according to the present invention;

[0023] Figure 6 It is a schematic diagram of the coil assembly mounting frame and the coil assembly mounting structure of the present invention;

[0024] Figure 7 This is a schematic diagram of the positional relationship between the stator module and the mover module of the present invention;

[0025] Figure 8 It is a schematic diagram of the three-dimensional structure of the mover permanent magnet assembly described in the present invention.

[0026] In the figure:

[0027] 1- stator yoke, 2- stator guide rail, 3- coil assembly mounting frame, 4- coil assembly, 5- mover bottom plate, 6- universal bead, 7- mover permanent magnet assembly, 8- mover upper plate, 9- upper yoke assembly, 10- permanent magnet assembly, 3A- upper right coil mounting frame, 3B- upper left coil mounting frame, 3C- lower left coil mounting frame, 3D- lower right coil mounting frame, 4A- upper right coil, 4B- upper left coil, 4C- lower left coil, 4D- lower right coil, 9A- upper right upper yoke, 9B- upper left upper yoke, 9C- lower left upper yoke, 9D- lower right upper yoke, 10A- upper right permanent magnet group, 10B- upper left permanent magnet group, 10C- lower left permanent magnet group, 10D- lower right permanent magnet group. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0029] See also Figure 1-8Describe this embodiment, a dual-magnetic-circuit planar electromagnetic transport device with adsorption force, which includes a stator module and a mover module, the mover module is arranged above the stator module, the stator module includes a stator yoke 1, a stator guide rail 2, a coil group mounting frame 3 and a coil group 4, the stator guide rail 2 is arranged on the stator yoke 1, the coil group mounting frame 3 includes an upper right coil mounting frame 3A, an upper left coil mounting frame 3B, a lower left coil mounting frame 3C and a lower right coil mounting frame 3D distributed according to the setting orientation, the upper right coil mounting frame 3A, the upper left coil mounting frame 3B, the lower left coil mounting frame 3C and the lower right coil mounting frame 3D are arranged in an array. In the gap of the stator rail 2, multiple groups of coil group mounting frames 3 are arranged in an array on the stator yoke 1, and the coil group 4 includes an upper right coil 4A, an upper left coil 4B, a lower left coil 4C and a lower right coil 4D. The upper right coil 4A, the upper left coil 4B, the lower left coil 4C and the lower right coil 4D are respectively wound on the outer sides of the upper right coil mounting frame 3A, the upper left coil mounting frame 3B, the lower left coil mounting frame 3C and the lower right coil mounting frame 3D. The mover module includes a mover bottom plate 5, a mover permanent magnet assembly 7 and a mover upper plate 8, and the mover upper plate 8 is arranged above the mover bottom plate 5. The mover permanent magnet assembly 7 includes an upper yoke assembly 9 and a permanent magnet Component 10, the upper yoke component 9 includes an upper right upper yoke 9A, an upper left upper yoke 9B, a lower left upper yoke 9C and a lower right upper yoke 9D which are staggered in the mover bottom plate 5, the upper right upper yoke 9A, the upper left upper yoke 9B, the lower left upper yoke 9C and the lower right upper yoke 9D each including an upper yoke portion and two side yoke portions, the two side yoke portions are arranged on both sides below the upper yoke portion, the permanent magnet component 10 includes an upper right permanent magnet group 10A, an upper left permanent magnet group 10B, a lower left permanent magnet group 10C and a lower right permanent magnet group 10D, the upper right permanent magnet group 10A, the upper left permanent magnet group 10B, the lower left permanent magnet group 10 C and lower right permanent magnet group 10D are respectively arranged on the lower inner side of the upper right upper yoke 9A, the upper left upper yoke 9B, the lower left upper yoke 9C and the lower right upper yoke 9D, the permanent magnet assembly 10 is wrapped in the enclosed area of ​​the upper yoke part and the two side yoke parts, the upper right permanent magnet group 10A, the upper left permanent magnet group 10B, the lower left permanent magnet group 10C and the lower right permanent magnet group 10D adopt the Halbach permanent magnet array arrangement form, there is an air gap between the permanent magnet assembly 10 and the stator yoke 1, the coil group 4 is located in the air gap, the permanent magnet assembly 10 is arranged opposite to the coil group 4, and the mover module is slidably connected to the stator guide rail 2.

[0030] In this embodiment, the upper right permanent magnet group 10A, the upper left permanent magnet group 10B, the lower left permanent magnet group 10C and the lower right permanent magnet group 10D all include left vertical permanent magnets, transverse permanent magnets and right vertical permanent magnets, and the left vertical permanent magnets, transverse permanent magnets and right vertical permanent magnets are arranged in order from left to right.

[0031] In this embodiment, the magnetization directions of the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are from left to right: top S and bottom N, left N and right S, top N and bottom S or top N and bottom S, left S and right N, top S and bottom N.

[0032] In this embodiment, the upper right coil mounting frame 3A, the upper left coil mounting frame 3B, the lower left coil mounting frame 3C and the lower right coil mounting frame 3D are all square mounting frames and are arranged symmetrically in a square shape, and the upper right coil 4A, the upper left coil 4B, the lower left coil 4C and the lower right coil 4D are all square coils.

[0033] In this embodiment, magnetic blocks and positioning posts are disposed on the upper surface of the mover upper plate 8 , and the magnetic blocks are embedded in the mover upper plate 8 in a square symmetrical arrangement.

[0034] In this embodiment, universal beads 6 are symmetrically arranged around the lower surface of the mover bottom plate 5 , and a groove is opened on the stator guide rail 2 , and the universal beads 6 slide along the groove.

[0035] In this embodiment, the stator yoke 1 and the upper yoke assembly 9 are both made of soft magnetic alloy 1J50. The permanent magnet assembly 10 is a hard magnetic material of NdFeB alloy. The stator rail 2, the coil assembly mounting frame 3, the mover bottom plate 5 and the mover upper plate 8 are all made of 1060 aluminum alloy. The stator rail 2 and the coil assembly mounting frame 3 are mounted on the stator yoke 1 by screws, and the mover permanent magnet assembly 7 and the mover upper plate 8 are both mounted on the mover bottom plate 5 by screws.

[0036] The present embodiment is a transport method of a dual-magnetic circuit planar electromagnetic transport device with adsorption force, specifically: the load is placed above the mover module, and the magnetic flux generated by the upper yoke assembly 9, the permanent magnet assembly 10 and the stator yoke 1 forms a lower permanent magnet loop, and the lower permanent magnet loop causes the permanent magnet assembly 10 and the stator yoke 1 to generate adsorption force, and the staggered upper yoke assembly 9 and the permanent magnet assembly 10 respectively generate four permanent magnetic fields in the air gap, and the coil group 4 located in the air gap is affected by the permanent magnetic field. The coil group 4 is energized to generate electromagnetic force, which drives the mover module to move to complete the transport.

[0037] In the embodiment, the adsorption force of the transfer device is provided by the upper yoke assembly 9, the permanent magnet assembly 10 and the stator yoke 1, and the two driving forces in the horizontal plane are provided by the permanent magnet assembly 10 and the coil group 4. The upper yoke assembly 9, the permanent magnet assembly 10 and the stator yoke 1 generate magnetic flux to form a permanent magnet circuit in the air gap, wherein the structure of the upper yoke assembly 9 generates two main and auxiliary permanent magnet circuits at the air gap. When the transfer starts, the coil group 4 in the air gap is energized, and is subjected to electromagnetic force under the air gap permanent magnet circuit, driving the mover module to move. The four staggered permanent magnet assemblies 10 cooperate with the coil group 4 to generate two mutually perpendicular driving forces in the horizontal direction, realizing the movement of the mover module on the stator guide rail 2, wherein the diagonally distributed coils cooperate with the permanent magnet group to generate the same direction driving force, and the adjacently distributed coils cooperate with the permanent magnet group to generate the vertical direction driving force.

[0038] Taking the upper right coil 4A and the upper right permanent magnet group 10A as an example, the lower left coil 4C cooperates with the lower left permanent magnet group 10C to generate the same direction force therewith, and the upper left coil 4B and the upper left permanent magnet group 10B generate the perpendicular direction force therewith.

[0039] The formation principle of the upper right air gap main permanent magnet circuit is: the air gap permanent magnet flux starts from the N pole of the vertical permanent magnet on the left side of the upper right permanent magnet group 10A, passes through the air gap, the upper right coil 4A, and the stator yoke 1 to reach the S pole of the vertical permanent magnet on the right side; starts from the N pole of the transverse permanent magnet of the upper right permanent magnet group 10A, passes through the air gap and the stator yoke 1 to reach the S pole of the transverse permanent magnet; the upper right air gap main permanent magnet circuit is the superposition of the above-mentioned vertical permanent magnet magnetic circuit and the transverse permanent magnet magnetic circuit.

[0040] The formation principle of the auxiliary permanent magnet magnetic circuit on the left side of the upper right air gap is: the air gap permanent magnet flux starts from the N pole of the vertical permanent magnet on the left side of the upper right permanent magnet group 10A, and returns to the S pole of the vertical permanent magnet on the left side through the air gap and the upper right upper magnetic yoke 9A; the formation principle of the auxiliary permanent magnet magnetic circuit on the right side of the upper right air gap is: the air gap permanent magnet flux starts from the N pole of the vertical permanent magnet on the right side of the upper right permanent magnet group 10A, and returns to the S pole of the vertical permanent magnet on the right side through the air gap and the upper right upper magnetic yoke 9A.

[0041] The specific embodiments of the present invention disclosed above are only used to help explain the present invention. The specific embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. According to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well.

Claims

1. A dual magnetic circuit planar electromagnetic transport device with adsorption force, characterized in that: It comprises a stator module and a mover module, wherein the mover module is arranged above the stator module, wherein the stator module comprises a stator yoke (1), a stator guide rail (2), a coil assembly mounting frame (3) and a coil assembly (4), wherein the stator guide rail (2) is arranged on the stator yoke (1), wherein the coil assembly mounting frame (3) comprises an upper right coil assembly mounting frame (3A), an upper left coil assembly mounting frame (3B), a lower left coil assembly mounting frame (3C) and a lower right coil assembly mounting frame (3D) which are arranged in a setting orientation, wherein the upper right coil assembly mounting frame (3A), the upper left coil assembly mounting frame (3B), the lower left coil assembly mounting frame (3C) and the lower right coil assembly mounting frame (3D) are arranged in an array in the gap of the stator guide rail (2), and a plurality of coil assembly mounting frames (3) are arranged in an array. On a stator yoke (1), the coil group (4) comprises an upper right coil (4A), an upper left coil (4B), a lower left coil (4C) and a lower right coil (4D); the upper right coil (4A), the upper left coil (4B), the lower left coil (4C) and the lower right coil (4D) are respectively wound on the outside of an upper right coil mounting frame (3A), an upper left coil mounting frame (3B), a lower left coil mounting frame (3C) and a lower right coil mounting frame (3D); the mover module comprises a mover bottom plate (5), a mover permanent magnet assembly (7) and a mover upper plate (8); the mover upper plate (8) is arranged above the mover bottom plate (5); the mover permanent magnet assembly (7) comprises an upper yoke assembly (9) and a permanent magnet assembly (10); the upper magnet assembly (11) is The yoke assembly (9) comprises a right upper magnetic yoke (9A), a left upper magnetic yoke (9B), a left lower magnetic yoke (9C) and a right lower magnetic yoke (9D) which are arranged alternately in a mover bottom plate (5); the right upper magnetic yoke (9A), the left upper magnetic yoke (9B), the left lower magnetic yoke (9C) and the right lower magnetic yoke (9D) each comprise an upper magnetic yoke portion and two side magnetic yoke portions, the two side magnetic yoke portions being arranged on both sides below the upper magnetic yoke portion; the permanent magnet assembly (10) comprises a right upper permanent magnet group (10A), a left upper permanent magnet group (10B), a left lower permanent magnet group (10C) and a right lower permanent magnet group (10D); the right upper permanent magnet group (10A), the left upper permanent magnet group (10B), the left lower permanent magnet group (10C) and the right lower permanent magnet group (10D) are arranged alternately in a mover bottom plate (5); the right upper magnetic yoke ... The lower permanent magnet group (10D) is respectively arranged on the lower inner side of the upper right upper magnetic yoke (9A), the upper left upper magnetic yoke (9B), the lower left upper magnetic yoke (9C) and the lower right upper magnetic yoke (9D); the permanent magnet assembly (10) is wrapped in the enclosed area of ​​the upper magnetic yoke part and the two side magnetic yoke parts; the upper right permanent magnet group (10A), the upper left permanent magnet group (10B), the lower left permanent magnet group (10C) and the lower right permanent magnet group (10D) adopt the Halbach permanent magnet array arrangement form; there is an air gap between the permanent magnet assembly (10) and the stator magnetic yoke (1); the coil group (4) is located in the air gap; the permanent magnet assembly (10) and the coil group (4) are arranged opposite to each other; and the mover module is slidably connected to the stator guide rail (2).

2. The dual-magnetic-circuit planar electromagnetic transport device with adsorption force according to claim 1, characterized in that: The upper right permanent magnet group (10A), the upper left permanent magnet group (10B), the lower left permanent magnet group (10C) and the lower right permanent magnet group (10D) all include a left vertical permanent magnet, a transverse permanent magnet and a right vertical permanent magnet, and the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are arranged in order from left to right.

3. The dual-magnetic-circuit planar electromagnetic transport device with adsorption force according to claim 2, characterized in that: The magnetization directions of the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are from left to right: top S and bottom N, left N and right S, top N and bottom S or top N and bottom S, left S and right N, top S and bottom N.

4. The dual magnetic circuit planar electromagnetic transport device with adsorption force according to claim 1, characterized in that: The upper right coil mounting frame (3A), the upper left coil mounting frame (3B), the lower left coil mounting frame (3C) and the lower right coil mounting frame (3D) are all square mounting frames and are arranged symmetrically in a square shape; the upper right coil (4A), the upper left coil (4B), the lower left coil (4C) and the lower right coil (4D) are all square coils.

5. The dual-magnetic-circuit planar electromagnetic transport device with adsorption force according to claim 1, characterized in that: The upper surface of the mover upper plate (8) is provided with magnetic blocks and positioning posts, and the magnetic blocks are embedded in the mover upper plate (8) in a square symmetrical arrangement.

6. The dual-magnetic-circuit planar electromagnetic transport device with adsorption force according to claim 1, characterized in that: Universal beads (6) are symmetrically arranged around the lower surface of the mover bottom plate (5), and a groove is provided on the stator guide rail (2), and the universal beads (6) slide along the groove.

7. The dual-magnetic-circuit planar electromagnetic transport device with adsorption force according to claim 1, characterized in that: The stator yoke (1) and the upper yoke assembly (9) are both made of soft magnetic alloy 1J50 material.

8. The dual-magnetic-circuit planar electromagnetic transport device with adsorption force according to claim 1, characterized in that: The permanent magnet assembly (10) is made of a neodymium iron boron alloy hard magnetic material.

9. The dual-magnetic-circuit planar electromagnetic transport device with adsorption force according to claim 1, characterized in that: The stator guide rail (2), the coil assembly mounting frame (3), the mover bottom plate (5) and the mover upper plate (8) are all made of 1060 aluminum alloy material.

10. A method for transporting the dual magnetic circuit planar electromagnetic transport device with adsorption force as claimed in claim 1, characterized in that: The load is placed above the mover module, and the magnetic flux generated by the upper magnetic yoke assembly (9), the permanent magnet assembly (10) and the stator magnetic yoke (1) forms a lower permanent magnet loop, which causes the permanent magnet assembly (10) and the stator magnetic yoke (1) to generate an adsorption force. The staggered upper magnetic yoke assembly (9) and the permanent magnet assembly (10) respectively generate four permanent magnetic fields in the air gap, and the coil group (4) located in the air gap is affected by the permanent magnetic field. The coil group (4) is energized to generate electromagnetic force, which drives the mover module to move and complete the transfer.

Images