Magnetic suspension experiment system and transfer method

Abstract

The invention provides a magnetic suspension experiment system and a transfer method, the system comprises a working platform, bypass equipment, a magnetic suspension stator and at least one transfer device, the magnetic suspension stator is arranged on the working platform, and the magnetic suspension stator is used for driving the transfer device to move on the magnetic suspension stator; the bypass device is arranged on the working platform and located on one side of the magnetic suspension stator, and the transfer device is used for transferring materials and can conduct material interaction with the bypass device. By implementing the technical scheme of the invention, more flexible material interaction can be realized, the experiment space utilization rate and the material transportation flexibility are greatly improved, and the experiment efficiency is further improved.

Description

Technical Field

[0001] This application relates to the technical field of automation equipment, in particular to a magnetic levitation experiment system and a transfer method. Background Art

[0002] With the emergence of large-scale integrated circuits, new permanent magnet materials, and the urgent need for scientific and technological development, magnetic levitation technology has developed rapidly and has been applied in many fields. Among them, in the field of material transportation, magnetic levitation systems have attracted attention due to their advantages such as no friction, no wear, no need for lubrication, long service life, low power consumption, and no noise. In a magnetic levitation transportation system, magnets are used to precisely control planar motion in a frictionless propulsion manner to complete the task of transporting materials without generating or carrying any pollutants, nor causing mechanical wear due to friction.

[0003] In related technologies, a magnetic levitation system generally requires external intervention to place the object to be transferred on the magnetic levitation mover. After the magnetic levitation mover moves to the designated position, external intervention is required again to take away the object. It can be seen that the flexibility of this system is poor and it cannot meet the transportation tasks with high flexibility requirements. Summary of the Invention

[0004] In view of this, this application provides a magnetic levitation experiment system and a transfer method, which can grab the materials to be transferred and can meet the transportation tasks with high flexibility requirements, greatly improving the utilization rate of the experimental space and the experimental efficiency.

[0005] In a first aspect, an embodiment of this application provides a magnetic levitation experiment system, including a working platform, a bypass device, a magnetic levitation stator, and at least one transfer device. The magnetic levitation stator is disposed on the working platform and is used to drive the transfer device to move on the magnetic levitation stator; the bypass device is disposed on the working platform and on one side of the magnetic levitation stator, and the transfer device is used to transfer materials and can perform material interaction with the bypass device;

[0006] The transfer device includes: a magnetic levitation mover configured to be driven by the magnetic levitation stator; a support seat disposed on one side of the magnetic levitation mover; a guiding mechanism disposed on the support seat and extending along a first direction; a carrying assembly slidably connected to the guiding mechanism and used to clamp or support the materials to be transferred; and a first driving mechanism disposed at one end of the support seat close to the magnetic levitation mover and connected to the carrying assembly for driving the carrying assembly to slide along the first direction on the guiding mechanism so that the carrying assembly approaches or moves away from the magnetic levitation mover.

[0007] It can be seen that through the above-mentioned maglev experimental system, including a working platform, a bypass device, a maglev stator, and at least one transfer device, the maglev stator is arranged on the working platform, and the maglev stator is used to drive the transfer device to move on the maglev stator; the bypass device is arranged on the working platform and on one side of the maglev stator, and the transfer device is used for material interaction with the bypass device. By implementing the technical solution of the present application, more flexible material interaction can be realized, greatly improving the utilization rate of the experimental space and the flexibility of material transportation, and thus contributing to improving the experimental efficiency.

[0008] In a second aspect, an embodiment of the present application provides a central control system applied to a maglev experimental system, and the maglev experimental system further includes a maglev stator and at least one transfer device;

[0009] The transfer device includes: a maglev mover configured to be driven by the maglev stator; a support base arranged on one side of the maglev mover; a guiding mechanism arranged on the support base and extending along a first direction; a carrying component slidably connected to the guiding mechanism and used for clamping or supporting an object to be transferred; and a first driving mechanism arranged at one end of the support base close to the maglev mover, the first driving mechanism being connected to the carrying component and used for driving the carrying component to slide along the first direction on the guiding mechanism so that the carrying component approaches or moves away from the maglev mover;

[0010] The method includes:

[0011] Determine the material to be transferred and the transfer route, where the transfer route includes a transfer starting point and a transfer ending point;

[0012] Control the transfer device to complete a first operation, where the first operation is to pick up the material to be transferred from the transfer starting point;

[0013] Control the transfer device to complete a second operation, where the second operation is to place the material to be transferred at the transfer ending point along the transfer route. Description of the Drawings

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0015] Figure 1Structural schematic diagram of a magnetic levitation experiment system according to an embodiment of the present application;

[0016] Figure 2 Structural schematic diagram of a transfer device according to an embodiment of the present application;

[0017] Figure 3 Structural schematic diagram of a transfer device according to another embodiment of the present application;

[0018] Figure 4 Structural schematic diagram of a transfer device according to yet another embodiment of the present application;

[0019] Figure 5 Structural schematic diagram of a transfer device according to yet another embodiment of the present application;

[0020] Figure 6 Circuit block diagram of a transfer device according to an embodiment of the present application;

[0021] Figure 7 Schematic diagram of the cooperation relationship between a transfer device and a material to be transferred according to an embodiment of the present application;

[0022] Figure 8 Structural schematic diagram of a transfer device according to yet another embodiment of the present application;

[0023] Figure 9 Structural schematic diagram of a transfer device according to yet another embodiment of the present application;

[0024] Figure 10 Circuit block diagram of a transfer device according to another embodiment of the present application;

[0025] Figure 11 Schematic diagram of the cooperation relationship between a transfer device and a material to be transferred according to another embodiment of the present application;

[0026] Figure 12 Structural schematic diagram of a transfer device according to yet another embodiment of the present application;

[0027] Figure 13 Structural schematic diagram of a transfer device according to yet another embodiment of the present application;

[0028] Figure 14 Flow schematic diagram of a transfer method provided by an embodiment of the present application;

[0029] Figure 15 Functional unit composition block diagram of a central control system provided by an embodiment of the present application;

[0030] Figure 16 Another functional unit composition block diagram of a central control system provided by an embodiment of the present application.

[0031] Explanation of reference numerals:

[0032] 100 - Transfer device, 110 - Maglev mover, 120 - Guide mechanism, 130 - Carrying assembly, 131 - First jaw, 132 - Second jaw, 133 - Support member, 1331 - Support body, 1332 - First limiting member, 1333 - Second limiting member, 1334 - First positioning member, 140 - Telescopic mechanism, 150 - First driving mechanism, 160 - Second driving mechanism, 170 - Power supply module, 180 - Support base, 190 - Third driving mechanism, 200 - Maglev experiment system, 210 - Maglev stator, 220 - Working platform; 300 - Material to be transferred, 310 - Body to be transferred, 320 - Second positioning member, 400 - Bypass equipment. Detailed implementation manners

[0033] In order to enable those skilled in the art of the present technology to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of this application.

[0034] The terms "first", "second", etc. in the specification and claims of this application and the above - mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non - exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0035] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article indicates that the associated objects before and after are in an "or" relationship. The "multiple" mentioned in the embodiments of this application refers to two or more.

[0036] The "at least one (piece)" or its similar expression in the embodiments of the present application refers to any combination of these items, including any combination of a single item (piece) or plural items (pieces), which means one or more, and multiple means two or more. For example, at least one (piece) of a, b, or c can represent the following seven cases: a, b, c, a and b, a and c, b and c, a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

[0037] The "connection" that appears in the embodiments of the present application refers to various connection methods such as direct connection or indirect connection to achieve communication between devices, and the embodiments of the present application do not make any limitations on this.

[0038] Referring to "embodiments" in this context means that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appearing in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0039] The relevant content, concepts, meanings, technical problems, technical solutions, beneficial effects, etc. involved in the embodiments of the present application are described below.

[0040] Currently, maglev platform systems are often applied in the field of material transportation in scenarios such as experiments and manufacturing. Generally, the processes to be executed are configured in advance, and then the central control system controls the magnetic force of the maglev stator to make the maglev mover suspended on the maglev platform execute the corresponding processes. However, the current maglev system generally requires external intervention to place the object to be transported on the maglev mover, and after the maglev mover moves to the designated position, external intervention is required again to take away the object, resulting in low space utilization and flexibility.

[0041] To solve the above problems, the present application provides a maglev experiment system and a transfer method, which can grasp the material to be transported and can meet the high-flexibility conveying tasks, greatly improving the experimental space utilization and experimental efficiency.

[0042] First, the software and hardware architecture in the embodiments of the present application will be described.

[0043] Please refer to Figure 1 and Figure 2, this application provides a magnetic levitation experiment system 200, and the magnetic levitation experiment system 200 includes: a working platform 220, a bypass device 400, a magnetic levitation stator 210, and at least one transfer device 100. The magnetic levitation stator 210 is disposed on the working platform 220, and the magnetic levitation stator 210 is configured to drive the transfer device 100 to move on the magnetic levitation stator 210; the bypass device 400 is disposed on the working platform 220 and on one or more sides of the magnetic levitation stator 210, and the transfer device 100 is configured to transfer materials and is capable of performing material interaction with the bypass device 400.

[0044] Understandably, the transfer device 100 is disposed above the magnetic levitation stator 210. The transfer device 100 includes a magnetic levitation rotor 110, and the magnetic levitation rotor 110 cooperates with the magnetic levitation stator 210 to enable the transfer device 100 to move or levitate above the magnetic levitation stator 210.

[0045] Understandably, the magnetic levitation rotor 110 cooperates with the magnetic levitation stator 210 to enable the transfer device 100 to move or levitate above the magnetic levitation stator 210, which may be that the magnetic levitation rotor 110 is configured to be driven by the magnetic levitation stator 210, and the magnetic levitation stator 210 can drive the transfer device 100 to move or make the transfer device 100 levitate above the magnetic levitation stator 210 by driving the magnetic levitation rotor 110 to move.

[0046] In the maglev experimental system 200 provided in this embodiment, through the mutual cooperation of the maglev mover 110 and the maglev stator 210, the transfer device 100 is suspended above the maglev stator 210, which is beneficial for the transfer device 100 to acquire or store the material 300 to be transferred. In addition, by changing the magnitude and / or direction of the current inside the maglev stator 210, the transfer device 100 can be moved horizontally to transfer the material 300 to be transferred. During this process, there is no friction, wear, or need for lubrication between the maglev stator 210 and the transfer device 100, which is beneficial for reducing the energy consumption of the maglev experimental system 200 and improving the efficiency of the transfer device 100 in transferring the material 300 to be transferred. Furthermore, the transfer device 100 can flexibly transfer the material 300 to be transferred to a specific height. When the transfer device 100 is applied to the maglev experimental system 200, the transfer device 100 can not only move horizontally as a whole, but also, through the mutual cooperation of the guiding mechanism 120 and the carrying assembly 130, realize the movement of the material 300 to be transferred in the height direction, improving the flexibility of the transfer device 100 in transferring the material 300 to be transferred, meeting the conveying tasks with high flexibility requirements, and being beneficial for improving the efficiency of transferring the material 300 to be transferred.

[0047] Optionally, the maglev stator 210 includes an electromagnet (not shown in the figure); the transfer device 100 includes a permanent magnet (not shown in the figure). The electromagnet cooperates with the permanent magnet. By controlling the magnitude and direction of the current flowing through the electromagnet, the moving speed and direction of the permanent magnet can be controlled to move or suspend the transfer device 100 above the maglev stator 210.

[0048] It can be understood that the electromagnet is disposed inside the maglev stator 210, and the permanent magnet is disposed inside the transfer device 100.

[0049] In this embodiment, the electromagnet cooperates with the permanent magnet to move the transfer device 100. Specifically, in the maglev experimental system 200, when the electromagnet is energized and generates a magnetic field, the magnitude and direction of the current flowing through the electromagnet can be changed to change the magnetic field of the electromagnet, thereby attracting or repelling the permanent magnet and driving the permanent magnet to move horizontally, thus driving the transfer device 100 to move horizontally. The electromagnet cooperates with the permanent magnet to suspend the transfer device 100 above the maglev stator 210. Specifically, in the maglev experimental system 200, when the electromagnet is energized and generates a magnetic field, the principle of "like poles repel, opposite poles attract" can be used to repel or attract the permanent magnet. By adjusting the magnitude and direction of the current flowing through the electromagnet, the force between the electromagnet and the permanent magnet can be adjusted. When the magnitude of the force between the electromagnet and the permanent magnet is equal to the magnitude of the gravity of the transfer device 100 and the directions are opposite, the transfer device 100 is suspended above the maglev stator 210. In the maglev experimental system 200 provided in this embodiment, through the mutual cooperation of the electromagnet and the permanent magnet, the transfer device 100 is suspended above the maglev stator 210, which is beneficial for the transfer device 100 to acquire or store the material to be transferred 300. In addition, by changing the magnitude and / or direction of the current of the electromagnet, the transfer device 100 can be moved horizontally to transfer the material to be transferred 300. Among them, the moving mode of the transfer device 100 in the horizontal direction is not limited. It can move along a straight track, or rotate in place or move along a track of a certain shape (such as circular, elliptical, L-shaped, etc.).

[0050] It can be understood that the maglev experimental system 200 further includes a central control system (not shown in the figure). The central control system can be composed of a control module and a communication module. The control module can output control information to the communication module, and the communication module receives the control information and controls the movement of the transfer device 100 and the transfer process of the material to be transferred 300.

[0051] In this embodiment, the maglev experimental system 200 further includes a central control system. Through the mutual cooperation of the control module and the communication module, the communication module sends instructions to the control module to enable the control module to control the maglev stator 210, and then the maglev stator 210 controls the maglev mover 110 to realize the maglev stator 210 driving and controlling the movement of the transfer device 100, which is convenient for realizing the automatic control of the transfer device 100 and improving the transfer efficiency of the transfer device 100 for transferring the material to be transferred 300.

[0052] Optionally, the bypass device 400 may include, but is not limited to, at least one of a storage rack, a manipulator, a pipettor, a mixing device, a filtering device, a lid-switching device, a detection device, an incubator, a cleaning device, etc. The bypass device 400 may be disposed on the four peripheral edges of the working platform 220 and disposed around the magnetic levitation stator 210. The bypass device 400 may be a functional module for performing experimental operations, such as a functional module for performing chemical experiments or a functional module for performing biological experiments; the bypass device 400 may also be a storage module with storage functions, etc. Among them, the mixing device may include, but is not limited to, at least one of an oscillation device, a temperature-controlled magnetic stirring device, a mechanical stirring device, etc. The detection device may include, but is not limited to, at least one of an MS instrument, an LCMS instrument, an ELISA reader, etc.

[0053] Optionally, the bypass device 400 may include a storage rack, a multi-channel pipettor, a plate washer, an ELISA reader, and an incubator, and the storage rack, the multi-channel pipettor, the plate washer, the ELISA reader, and the incubator are disposed around the magnetic levitation stator 210. Among them, the positions of the respective devices may be arranged based on the size of the devices and / or the order of the experimental operation process. For example, since the storage rack has a large size, the storage rack may be separately disposed on one side of the working platform 220. Another example is that if liquid is dispensed after washing, the multi-channel pipettor and the plate washer may be disposed adjacent to each other.

[0054] Taking the enzyme-linked immunosorbent assay (ELISA) as an example, the ELISA experimental process may include manually or mechanically placing the sample reagents, consumables (such as pipette tips), and enzyme-linked immunosorbent assay plates required for the experiment on the storage rack. The transfer device 100 transports the consumables, sample reagents, and enzyme-linked immunosorbent assay plates to a multi-channel pipette (such as a 4-channel pipette) in sequence to complete the preparation of the solution in the enzyme-linked immunosorbent assay plate. The transfer device 100 transfers the enzyme-linked immunosorbent assay plate after solution preparation to an incubator for incubation (such as transferring it to a constant temperature incubator for constant temperature incubation), and then transfers the incubated enzyme-linked immunosorbent assay plate to a plate washer for cleaning. The transfer device 100 transfers the cleaned enzyme-linked immunosorbent assay plate to a multi-channel pipette for solution preparation, and after the solution preparation is completed, it is transferred to an enzyme-linked immunosorbent assay instrument for detection. It can be understood that according to the experimental needs, the operations of solution preparation, incubation, and plate washing can be carried out crosswise multiple times during the whole experimental process. For example, the ELISA experimental process may include steps such as sample gradient dilution, first incubation, first washing, adding enzyme, second incubation, second washing, adding chromogenic agent, third incubation, adding termination solution, and determination by an enzyme-linked immunosorbent assay instrument. The experimental platform required by the traditional experimental process occupies a large space and has low flexibility. Considering the coherence of the ELISA experimental process, the bypass device 400 arranged around the magnetic levitation stator 210 may include a bypass plate washer, a bypass enzyme-linked immunosorbent assay instrument, and an incubator to perform steps such as incubation, plate washing, and enzyme labeling. The bypass device 400 arranged around the magnetic levitation stator 210 may include a multi-channel pipette, a storage rack, and a well plate stack; among them, the multi-channel pipette can be used to perform the pipetting function, and the pipetting function involves various medium consumables, such as pipette tips; sample test tubes, pipette tips, etc. can be arranged on the storage rack to perform functions such as sample storage and consumable storage. The transfer device 100 plays a role in transferring the experimental materials on different bypass devices to connect the whole ELISA experiment in series. It can be understood that the bypass device 400 may further include a cover plate picking and placing mechanism, which is used to transfer the enzyme-linked immunosorbent assay plate to the cover plate picking and placing mechanism for lid removal operation before the transfer device 100 transports the enzyme-linked immunosorbent assay plate to the multi-channel pipette, and then cover the lid back after the solution preparation is completed.

[0055] For example, the bypass device 400 may include an enzyme-linked immunosorbent assay plate storage rack, a constant temperature incubator, an enzyme-linked immunosorbent assay plate cover plate picking and placing mechanism, an enzyme-linked immunosorbent assay instrument, a plate washer, a 4-channel pipette, a consumable and reagent storage rack, a waste liquid tank, etc. It can be understood that the transfer starting point of the material to be transferred can be the position of any of the above bypass devices, the transfer end point of the material to be transferred can be the position of any of the above bypass devices, and the above bypass devices are only for exemplary illustration, and other bypass devices can be freely added or reduced according to different experiments, which will not be elaborated here.

[0056] Optionally, the magnetic levitation experiment system 200 may further include a limiting mechanism (not shown in the figure). The limiting mechanism may be disposed on the magnetic levitation stator 210 or the working platform 220, and is used to limit the transfer device 100 when the transfer device 100 replaces the battery. In this way, the transfer device 100 can be limited and fixed when the transfer device 100 replaces the battery, preventing the transfer device 100 from tipping over due to instability.

[0057] Please refer to Figures 2 to 6 , this application provides a transfer device 100. The transfer device 100 is applied to a magnetic levitation experiment system 200. The magnetic levitation experiment system 200 includes a magnetic levitation stator 210. The transfer device 100 includes: a magnetic levitation rotor 110, a support base 180, a guiding mechanism 120, a carrying assembly 130, and a first driving mechanism 150. The magnetic levitation rotor 110 is configured to be driven by the magnetic levitation stator 210; the support base 180 is disposed on one side of the magnetic levitation rotor 110; the guiding mechanism 120 is disposed on the support base 180, and the guiding mechanism extends along a first direction (such as Figure 3 shown as X in Figure 5 or shown as X in

[0058] It can be understood that the guiding mechanism 120 is disposed on the support base 180, which may mean that the support base 180 bears the guiding mechanism 120.

[0059] In Figure 3 and Figure 4In the embodiment, when the first direction is the height direction, it can be understood that the guiding mechanism 120 is disposed on the supporting base 180, and the carrying assembly 130 is slidably connected to the guiding mechanism 120 along the first direction. Then, when the carrying assembly 130 clamps or supports the material 300 to be transported, the carrying assembly 130 can drive the material 300 to be transported to move along the first direction, so as to transport the material 300 to the position to be placed. Wherein, the carrying assembly 130 can move in a direction close to or away from the magnetic levitation mover 110. Then, along the first direction, the height of the carrying assembly 130 is adjustable, so as to flexibly transfer the material 300 to be transported to a specific height. In the transfer device 100 provided in this embodiment, the transfer device 100 includes a magnetic levitation mover 110, and the magnetic levitation mover 110 is configured to be driven by the magnetic levitation stator 210. The magnetic levitation mover 110 drives the transfer device 100 to move in the horizontal direction under the drive of the magnetic levitation stator 210. So that the transfer device 100 can not only move integrally in the horizontal direction, but also, through the mutual cooperation of the guiding mechanism 120 and the carrying assembly 130, can also realize the grasping of the material 300 to be transported and the movement in the height direction, improving the flexibility of the transfer device 100 in transporting the material 300 to be transported, meeting the conveying tasks with high flexibility requirements, and being beneficial to improving the efficiency of transporting the material 300 to be transported. Further, when the transfer device 100 is applied to experimental operations, the transfer device 100 can not only move in the horizontal direction, but also the carrying assembly 130 can drive the material 300 to be transported to move in the height direction to meet the requirements of the experiment, improve the space utilization rate of the experimental process, and can realize the picking and placing of experimental materials at different heights. The transfer device 100 in this embodiment further includes a first driving mechanism 150, and the first driving mechanism 150 provides power for the carrying assembly 130 to drive the carrying assembly 130 to slide along the first direction on the guiding mechanism 120, so as to drive the material 300 to be transported to move in a direction close to or away from the magnetic levitation mover 110, realizing the flexible transfer of the material 300 to be transported to a specific height, which is beneficial to realizing the automatic design of the transfer device 100.

[0060] Further, in Figure 5In the embodiment, when the first direction is the horizontal direction, the transfer device 100 can not only carry the material 300 to be transferred in the horizontal direction, but also grab the material 300 to be transferred, so as to improve the flexibility of the transfer device 100. In addition, when the magnetic levitation mover 110 moves to the edge area and is blocked by an obstacle, the bearing assembly 130 can slide along the first direction on the guiding mechanism 120, so as to improve the practicability of the transfer device 100. Moreover, the transfer device 100 can place the material 300 to be transferred on the magnetic levitation mover 110 without external intervention, and when the transfer device 100 moves to the target position, the material 300 to be transferred can be transferred without external intervention again, improving the flexibility of the transfer device 100.

[0061] Optionally, in some embodiments, the first direction is perpendicular to the surface of the magnetic levitation mover 110 facing away from the magnetic levitation stator 210. The first direction is as shown by the X direction in Figure 3 The first direction is the height direction. The bearing assembly 130 can move along the height direction towards or away from the magnetic levitation mover 110. Then, along the first direction, the height of the bearing assembly 130 is adjustable, so as to flexibly transfer the material 300 to be transferred to a specific height.

[0062] Optionally, in some other embodiments, the first direction is parallel to the surface of the magnetic levitation mover 110 facing away from the magnetic levitation stator 210. The first direction is as shown by the X direction in Figure 5 The first direction is the horizontal direction. The bearing assembly 130 can move along the horizontal direction towards or away from the magnetic levitation mover 110. The transfer device 100 can not only carry the material 300 to be transferred in the horizontal direction, but also grab the material 300 to be transferred, so as to improve the flexibility of the transfer device 100. In addition, when the magnetic levitation mover 110 moves to the edge area and is blocked by an obstacle, the bearing assembly 130 can slide along the first direction on the guiding mechanism 120, so as to improve the practicability of the transfer device 100.

[0063] Optionally, in some embodiments, the first driving mechanism 150 is arranged in the installation groove of the magnetic levitation mover 110, so as to improve the structural stability of the magnetic levitation mover 110.

[0064] Optionally, in some other embodiments, the first driving mechanism 150 is disposed at one end of the support base 180 close to the maglev mover 110, facilitating the first driving mechanism 150 to drive the carrier assembly 130 to slide in the first direction. Specifically, when the first direction is perpendicular to the surface of the maglev mover 110 facing away from the maglev stator 210, the first driving mechanism 150 is disposed below the gravity of the support base 180; when the first direction is parallel to the surface of the maglev mover 110 facing away from the maglev stator 210, the first driving mechanism 150 is disposed on one side of the support base 180 close to the maglev mover 110.

[0065] Optionally, the guiding mechanism 120 is a slide rail (not shown in the figure) extending in the first direction. One side of the carrier assembly 130 is slidably connected to the slide rail, and the side of the carrier assembly 130 facing away from the slide rail is used to carry the material 300 to be transported.

[0066] In this embodiment, the opposite sides of the carrier assembly 130 are respectively used for slidably connecting to the slide rail and carrying the material 300 to be transported. So that when the carrier assembly 130 carries the material 300 to be transported, the carrier assembly 130 can drive the material 300 to be transported to slide relative to the slide rail, so as to flexibly transfer the material 300 to be transported to a specific position, improving the flexibility of the transfer device 100 in transporting the material 300 to be transported.

[0067] Please refer to Figure 6 , in some embodiments, the carrier assembly 130 includes a second driving mechanism 160, a first jaw 131 and a second jaw 132 arranged at intervals. The distance between the first jaw 131 and the second jaw 132 is adjustable. The first jaw 131 and the second jaw 132 cooperate with each other to clamp the material 300 to be transported; the second driving mechanism 160 is slidably connected to the guiding mechanism 120. The first jaw 131 and / or the second jaw 132 is connected to the second driving mechanism 160. The second driving mechanism 160 is used to drive the first jaw 131 and the second jaw 132 to move towards or away from each other to adjust the distance between the first jaw 131 and the second jaw 132.

[0068] It can be understood that the adjustable distance between the first jaw 131 and the second jaw 132 means that the first jaw 131 and the second jaw 132 can move towards or away from each other to reduce or increase the distance between the first jaw 131 and the second jaw 132.

[0069] Understandably, the second driving mechanism 160 is slidably connected to the guiding mechanism 120 and is connected to the first clamping jaw 131 and the second clamping jaw 132. Specifically, the second driving mechanism 160 drives the first clamping jaw 131 and the second clamping jaw 132 to be slidably connected to the guiding mechanism 120.

[0070] Understandably, in this embodiment, the guiding mechanism 120 has a slide rail extending along the first direction. The second driving mechanism 160 is slidably connected to the slide rail and drives the first clamping jaw 131 and the second clamping jaw 132 to slide along the first direction. In addition, the second driving mechanism 160 is further connected to the first driving mechanism 150, and the first driving mechanism 150 drives the second driving mechanism 160 to move along the slide rail. The first driving mechanism 150 can be a lead screw motor.

[0071] In this embodiment, the carrying assembly 130 includes a first jaw 131 and a second jaw 132 that are spaced apart. When the carrying assembly 130 is used to grip the material 300 to be transported, the first jaw 131 and the second jaw 132 can be disposed on both sides of the material 300 to be transported. The first jaw 131 and the second jaw 132 move towards each other and reduce the distance between the first jaw 131 and the second jaw 132 to grip and fix the material 300 to be transported. Thereafter, the first jaw 131 and the second jaw 132 can be slidably connected to the guiding mechanism 120, so that the first jaw 131 and the second jaw 132 can drive the material 300 to be transported to move along a first direction to transport the material 300 to a specific position. By moving the first jaw 131 and the second jaw 132 away from each other, the distance between the first jaw 131 and the second jaw 132 is increased to release and place the material 300 to be transported at a designated position, thus realizing the transportation process of the material 300 to be transported. In the transportation device 100 provided in this embodiment, the transportation device 100 can not only move integrally in the horizontal direction, but also, through the mutual cooperation of the guiding mechanism 120 with the first jaw 131 and the second jaw 132, stably grasp the material 300 to be transported and realize the movement of the material 300 to be transported in the height direction or the movement extension in the horizontal direction, improving the flexibility of the transportation device 100 in transporting the material 300 to be transported, meeting the transportation tasks with high flexibility requirements, and being conducive to improving the efficiency of transporting the material 300 to be transported. In this embodiment, the second driving mechanism 160 is used to drive the first jaw 131 and the second jaw 132 to move towards each other to reduce the distance between the first jaw 131 and the second jaw 132, so as to grip and fix the material 300 to be transported. The second driving mechanism 160 can also be used to drive the first jaw 131 and the second jaw 132 to move away from each other to increase the distance between the first jaw 131 and the second jaw 132, so as to release the material 300 to be transported when the transportation device 100 transfers the material 300 to be transported to a specific position. The relative movement of the first jaw 131 and the second jaw 132 driven by the second driving mechanism 160 realizes the stable grasping of the material 300 to be transported.

[0072] In some embodiments, the first jaw 131 and the second jaw 132 are located on the same side of the support base 180, and both the first jaw 131 and the second jaw 132 and the second driving mechanism 160 are disposed on opposite sides of the support base 180.

[0073] It can be understood that the first clamping jaw 131 and the second clamping jaw 132 are disposed on one side of the support base 180 , and the second driving mechanism 160 is disposed on a side of the support base 180 away from the first clamping jaw 131 and the second clamping jaw 132 .

[0074] In this embodiment, the second driving mechanism 160 and the first and second clamps 131, 132 are spaced apart on opposite sides of the support seat 180, so that when the second driving mechanism 160, the first and second clamps 131, 132 are all carried on the support seat 180, the weight of the second driving mechanism 160 and the weight of the first and second clamps 131, 132 can be dispersed to opposite sides of the support seat 180, which helps to balance the weight and avoid tipping over due to excessive weight carried by one side of the magnetic levitation mover 110, which is beneficial to improving the structural stability of the transfer device 100.

[0075] See also Figures 7 to 9 In some embodiments, the supporting assembly 130 includes a support member 133, and the support member 133 can be slidably connected to the guide mechanism 120 along the first direction, and the support member 133 is used to support the material 300 to be transferred.

[0076] In this embodiment, the material to be transferred 300 is arranged on the support member 133, and the support member 133 can be slidably connected to the guide mechanism 120 along the first direction, then the material to be transferred 300 and the support member 133 can both move in the direction close to the magnetic suspension mover 110 and away from the magnetic suspension mover 110. When the first direction is the height direction, the height of the material to be transferred 300 and the support member 133 can be adjusted to achieve flexible transfer of the material to be transferred 300 to a specific height. In the transfer device 100 provided in this embodiment, the transfer device 100 can not only move as a whole along the horizontal direction, but also realize the movement of the material to be transferred 300 in the height direction through the mutual cooperation of the guide mechanism 120 and the support member 133, thereby improving the flexibility of the transfer device 100 in the transfer of the material to be transferred 300, meeting the transportation tasks with high flexibility requirements, and being conducive to improving the efficiency of transferring the material to be transferred 300. When the first direction is horizontal, when the magnetic levitation mover 110 moves to the edge area and is blocked by an obstacle, the support member 133 can slide along the first direction on the guide mechanism 120 to transfer the material 300 to be transferred to a specific position, so as to improve the practicality of the transfer device 100.

[0077] See also Figure 10, in some embodiments, the carrier assembly 130 further includes a third driving mechanism 190. The support member 133 includes a support body 1331, a first limiting member 1332, and a second limiting member 1333. The first limiting member 1332 is fixed on the support body 1331. The first limiting member 1332 and the second limiting member 1333 are spaced apart on the same side of the support body 1331 facing away from the maglev mover 110. The second limiting member 1333 can move relative to the support body 1331 along a second direction (such as Figure 9 shown as Y in

[0078] ), so as to adjust the distance between the first limiting member 1332 and the second limiting member 1333. The support body 1331 is used to support the material 300 to be transported. The first limiting member 1332 and the second limiting member 1333 cooperate to clamp and limit the material 300 to be transported. The third driving mechanism 190 is slidably connected to the guiding mechanism 120. The second limiting member 1333 and / or the support body 1331 are connected to the third driving mechanism 190. The third driving mechanism 190 is used to drive the second limiting member 1333 to move towards or away from the first limiting member 1332, and / or drive the support body 1331 to move towards or away from the second limiting member 1333. Wherein, the second direction is parallel to the direction from the first limiting member 1332 to the second limiting member 1333, and the first direction intersects or is parallel to the second direction.

[0079] Optionally, the first limiting member 1332 can be, but is not limited to, a square block, a claw, a pin, etc. The second limiting member 1333 can be, but is not limited to, a square block, a claw, a pin, etc.

[0080] Optionally, in some embodiments, the first direction is perpendicular to the second direction.

[0081] Understandably, the third driving mechanism 190 is used to drive the second limiting member 1333 to move, and / or drive the support body 1331 to move. In some embodiments, the third driving mechanism 190 is used to drive the second limiting member 1333 to move; in other embodiments, the third driving mechanism 190 is used to drive the support body 1331 to move; in still other embodiments, the third driving mechanism 190 is used to drive the second limiting member 1333 and the support body 1331 to move.

[0082] In this embodiment, the first limiting member 1332 and the second limiting member 1333 are arranged at intervals on the same side of the support body 1331 facing away from the maglev mover 110. When the material 300 to be transported is carried on the support member 133, the material 300 to be transported is carried on the surface of the support body 1331 facing away from the maglev mover 110, and the material 300 to be transported is arranged between the first limiting member 1332 and the second limiting member 1333. By adjusting the distance between the first limiting member 1332 and the second limiting member 1333, the distance between the first limiting member 1332 and the second limiting member 1333 is gradually reduced until the first limiting member 1332 and the second limiting member 1333 abut against the opposite ends of the material 300 to be transported along the second direction, so as to fix the material 300 to be transported, and prevent the material 300 to be transported from falling due to shaking during the process of the transfer device 100 transporting the material 300 to be transported, thereby improving the stability of the transfer device 100 during the transfer process. Thereafter, the support member 133 is slidably connected to the guiding mechanism 120 in the first direction to transfer the material 300 to be transported to a specific position. When the material 300 to be transported is transported to the designated position, the distance between the first limiting member 1332 and the second limiting member 1333 can be increased to release the material 300 to be transported, so that the material 300 to be transported and the material 300 to be transported can be placed at the designated position. In the transfer device 100 provided in this embodiment, the transfer device 100 can not only move integrally along the horizontal direction, but also, through the mutual cooperation of the guiding mechanism 120 and the support member 133, realize the movement of the material 300 to be transported carried on the material 300 to be transported in the height direction or the movement extension in the horizontal direction, improving the flexibility of the transfer device 100 in transporting the material 300 to be transported, meeting the conveying tasks with high flexibility requirements, and being beneficial to improving the efficiency of transporting the material 300 to be transported. The third driving mechanism 190 in the embodiment of the present application provides power to at least one of the second limiting member 1333 and the support body 1331 to drive the second limiting member 1333 and the support body 1331 to move towards each other, and the first limiting member 1332 and the second limiting member 1333 cooperate to clamp the material 300 to be transported, so as to fix the material 300 to be transported.

[0083] In some embodiments, the first limiting member 1332 and the second limiting member 1333 are located on the same side of the support base 180, and the first limiting member 1332 and the second limiting member 1333 are respectively arranged on opposite sides of the third driving mechanism 190 on the support base 180, which helps with weight balancing.

[0084] Optionally, in some embodiments, the third driving mechanism 190 is carried by the maglev mover 110, and the carrying assembly 130 and the third driving mechanism 190 are disposed on opposite sides of the support base 180.

[0085] In this embodiment, the third driving mechanism 190, the first limiting member 1332, and the second limiting member 1333 are spaced apart and disposed on opposite sides of the support base 180. When the third driving mechanism 190, the first limiting member 1332, and the second limiting member 1333 are all carried by the support base 180, the weight of the third driving mechanism 190, the weight of the first limiting member 1332, and the weight of the second limiting member 1333 can be dispersed to opposite sides of the support base 180, which helps with weight balancing and avoids tipping over due to excessive weight on one side of the support base 180, and is beneficial to improving the structural stability of the transfer device 100.

[0086] It can be understood that the guiding mechanism 120 has a slide rail extending along the first direction. The third driving mechanism 190 is slidably connected to the slide rail and connected to the support member 133. While the third driving mechanism 190 is slidably connected to the slide rail along the first direction, it can drive the support member 133 to move along the first direction, and drive the second limiting member 1333 to move relative to the support body 1331 along the second direction, so as to adjust the distance between the first limiting member 1332 and the second limiting member 1333 while adjusting the position of the support member 133 along the first direction, and finally improve the flexibility of the transfer device 100 for transferring objects. In addition, the third driving mechanism 190 is also connected to the first driving mechanism 150, and the first driving mechanism 150 drives the third driving mechanism 190 to move along the slide rail.

[0087] Please refer to Figure 11 and Figure 12 , in some embodiments, the support member 133 includes a support body 1331 and a first positioning member 1334. The first positioning member 1334 is disposed on a side of the support body 1331 facing away from the maglev mover 110. The support body 1331 is used to support the material 300 to be transferred, and the first positioning member 1334 is used to cooperate with the material 300 to be transferred to fix the material 300 to be transferred.

[0088] Specifically, the material to be transferred 300 includes a body to be transferred 310 and a second positioning member 320, and the second positioning member 320 is arranged on the side of the body to be transferred 310 facing the supporting body 1331, and the first positioning member 1334 and the second positioning member 320 cooperate with each other to fix the material to be transferred 300. The material to be transferred 300 can be a tray loaded with materials, such as a test tube tray with test tubes, a pipette tip tray with pipette tips, etc. Here, the tray can be regarded as the body to be transferred 310, and the second positioning member 320 is arranged at the bottom of the tray.

[0089] In this embodiment, the first positioning member 1334 is arranged on the side of the support body 1331 away from the magnetic suspension mover 110. When the support body 1331 is used to carry the material 300 to be transferred, the first positioning member 1334 on the support body 1331 cooperates with the second positioning member 320 of the material 300 to be transferred to achieve the fixation of the relative position of the support body 1331 and the material 300 to be transferred, so as to prevent the transfer device 100 from shaking during the process of transporting the material 300 to be transferred, resulting in the material 300 to be transferred falling, thereby improving the stability of the transfer device 100 during the transfer process. Thereafter, the support member 133 is slidably connected to the guide mechanism 120 along the first direction to transfer the material 300 to a specific position. When the material 300 to be transferred is transported to the designated position, the first positioning member 1334 on the support body 1331 is disengaged from the second positioning member 320 to place the material 300 to be transferred to the designated position. In the transfer device 100 provided in this embodiment, the transfer device 100 can not only move as a whole along the horizontal direction, but also through the mutual cooperation between the guide mechanism 120 and the support member 133, it can also realize the movement of the material to be transferred 300 carried by the material to be transferred 300 in the height direction or the movement and extension in the horizontal direction, thereby improving the flexibility of the transfer device 100 in transferring the material to be transferred 300, meeting the transportation tasks with high flexibility requirements, and being conducive to improving the efficiency of transferring the material to be transferred 300.

[0090] Optionally, in some embodiments, the first positioning member 1334 is a positioning pin or a positioning protrusion, and correspondingly, the second positioning member 320 is a positioning hole or a groove, and the first positioning member 1334 is inserted into the second positioning member 320 to fix the material 300 to be transferred on the support body 1331. In other embodiments, the first positioning member 1334 is a positioning hole or a groove, and correspondingly, the second positioning member 320 is a positioning pin or a positioning protrusion, and the second positioning member 320 is inserted into the first positioning member 1334 to fix the material 300 to be transferred on the support body 1331.

[0091] The number of the first positioning members 1334 is at least one, and the number of the first positioning members 1334 is equal to the number of the second positioning members 320.

[0092] In the terms of this application, "at least one" means greater than or equal to one, and can be one, two, three, four, etc.

[0093] In some embodiments, the transfer device 100 further includes a power supply module 170, and the power supply module 170 is electrically connected to the first driving mechanism 150 for supplying power to the first driving mechanism 150.

[0094] In this embodiment, the power supply module 170 supplies power to the first driving mechanism 150 to provide stable electric energy for the first driving mechanism 150, so that the first driving mechanism 150 can drive the carrying component 130 to move relative to the guiding mechanism 120 in a direction close to or away from the magnetic levitation mover 110.

[0095] Optionally, in some embodiments, the power supply module 170 is detachably mounted on the magnetic levitation mover 110.

[0096] In this embodiment, since the power supply module 170 is detachably mounted on the magnetic levitation mover 110, it is easy to mount the power supply module 170 on the magnetic levitation mover 110 or disassemble it from the magnetic levitation mover 110. When the electric energy in the power supply module 170 is insufficient or used up, it is convenient for the staff to replace and reassemble the power supply module 170 to avoid affecting the working efficiency of the transfer device 100.

[0097] Optionally, in some embodiments, the power supply module 170 is carried on the magnetic levitation mover 110, and the power supply module 170 and the module in the carrying component 130 for clamping or supporting the material 300 to be transferred are located on opposite sides of the support base 180. Among them, the module in the carrying component 130 for clamping or supporting the material 300 to be transferred can be the first clamping jaw 131, the second clamping jaw 132 or the support member 133 as described above, so that the material 300 to be transferred carried by the carrying component 130 through this module and the power supply module 170 are located on opposite sides of the support base 180.

[0098] In this embodiment, the modules in the power supply module 170 and the carrier assembly 130 for clamping or supporting the material 300 to be transported are arranged at intervals on opposite sides of the support base 180, so that when the power supply module 170, the support base 180, and the carrier assembly 130 are all carried on the maglev mover 110, the weight of the power supply module 170 and the weight of the carrier assembly 130 can be dispersed to the opposite sides or both ends of the support base 180, which helps with weight balancing and avoids tipping over due to excessive weight on one side of the maglev mover 110, and is beneficial to improving the structural stability of the transfer device 100.

[0099] Optionally, the power supply module 170 includes a quick-change battery, and the quick-change battery is electrically connected to the first driving mechanism 150 in one of a contact electrical connection, an inductive electrical connection, and a plug-in electrical connection.

[0100] It can be understood that "contact electrical connection" means charging through two sets of metal contacts.

[0101] In this embodiment, there are various electrical connection methods between the power supply module 170 and the first driving mechanism 150 to realize the transmission of the electrical energy of the power supply module 170 to the first driving mechanism 150 and provide sufficient power to the first driving mechanism 150, so that the first driving mechanism 150 can drive the carrier assembly 130 to move relative to the guiding mechanism 120 in a direction close to or away from the maglev mover 110. Preferably, when the electrical connection method between the power supply module 170 and the first driving mechanism 150 is a contact electrical connection or an inductive electrical connection, the efficiency of electrically connecting the power supply module 170 and the first driving mechanism 150 is increased, so that when the electrical energy in the power supply module 170 is insufficient or used up, it is convenient to quickly replace the power supply module 170 and quickly re-establish the electrical connection between the power supply module 170 and the first driving mechanism 150.

[0102] Optionally, in some embodiments, the power supply module 170 is electrically connected to the second driving mechanism 160 for supplying power to the second driving mechanism 160.

[0103] In this embodiment, the power supply module 170 supplies power to the second driving mechanism 160 to provide stable electrical energy to the second driving mechanism 160, so that the second driving mechanism 160 can drive the first jaw 131 and the second jaw 132 to move towards or away from each other to adjust the distance between the first jaw 131 and the second jaw 132. Optionally, the electrical connection method between the power supply module 170 and the second driving mechanism 160 can refer to the electrical connection method between the power supply module 170 and the first driving mechanism 150 above, which will not be elaborated here.

[0104] Optionally, in some embodiments, the transfer device 100 can be connected by directly plugging in an external power source to power at least one of the power supply module 170, the first driving mechanism 150 or the second driving mechanism 160.

[0105] In this embodiment, another method of supplying power to the first drive mechanism 150 and the second drive mechanism 160 of the transfer device 100 can be provided through an external direct plug-in power connection, which is conducive to improving the convenience of charging the first drive mechanism 150 and the second drive mechanism 160 and improving the performance of the transfer device 100. In addition, the power supply module 170 can also be charged through an external direct plug-in power connection, so that the power supply module 170 can provide sufficient power for the first drive mechanism 150 and the second drive mechanism 160.

[0106] Optionally, in some embodiments, the power supply module 170 is electrically connected to the third drive mechanism 190 to supply power to the third drive mechanism 190. The electrical connection between the power supply module 170 and the third drive mechanism 190 can refer to the electrical connection between the power supply module 170 and the first drive mechanism 150, which will not be described in detail here.

[0107] like Figure 13 As shown, in some embodiments, the transfer device 100 also includes a retractable mechanism 140, which is disposed on the magnetic levitation mover 110 or the support seat 180, and the retractable mechanism 140 can at least partially extend toward the side of the magnetic levitation mover 110 away from the guide mechanism 120 to support the magnetic levitation mover 110.

[0108] In this embodiment, the retractable mechanism 140 is disposed on the magnetic suspension mover 110 or the support seat 180. In other words, the magnetic suspension mover 110 or the support seat 180 has a mounting groove, and the retractable mechanism 140 is disposed in the mounting groove. When the transfer device 100 moves as a whole along the horizontal direction, the retractable mechanism 140 contracts in the mounting groove to avoid affecting the horizontal movement of the transfer device 100. When the transfer device 100 moves to a designated position, the retractable mechanism 140 at least partially extends toward the side of the magnetic suspension mover 110 away from the guide mechanism 120 to support the magnetic suspension mover 110. Compared with the transfer device 100 suspended above the magnetic suspension stator 210, the retractable mechanism 140 can stably support the transfer device 100 on the magnetic suspension stator 210, which is conducive to improving the position stability of the transfer device 100. When the bearing assembly 130 is used to clamp or carry the material 300 to be transferred, the accuracy of the bearing assembly 130 in clamping or carrying the material 300 to be transferred can be improved, so as to avoid the failure of the material 300 to be transferred due to the shaking of the magnetic suspension mover 110, and it is also beneficial to improve the efficiency of the material 300 to be transferred. When the power supply module 170 of the transfer device 100 is disassembled and assembled, the retractable mechanism 140 provides stable support for the magnetic suspension mover 110, which is convenient for the operator to operate the transfer device 100, so as to improve the efficiency of the disassembly and assembly of the power supply module 170. When the first drive mechanism 150 and the second drive mechanism 160 of the transfer device 100 are charged, the retractable mechanism 140 provides stable support for the magnetic suspension mover 110, avoids the safety problems caused by shaking during the charging process, and improves the safety performance of the transfer device 100. When the transfer device 100 is applied to a specific experimental process, such as when the first clamp 131 and the second clamp 132 of the supporting assembly 130 are used to clamp a pipette, when the pipette is inserted into a pipette tip or liquid is added into a test tube, the retractable mechanism 140 provides a stable support for the magnetic levitation mover 110, which is beneficial to improve the accuracy of the pipette in inserting a pipette tip or adding liquid into a test tube, thereby improving the accuracy of the transfer device 100 when used for experimental operations, and helping to improve the accuracy of the experiment.

[0109] Optionally, the telescopic mechanism 140 is at least one of a support leg, a universal wheel, etc. The support leg and the universal wheel are telescopically arranged on the maglev mover 110. When the support leg or the universal wheel partially extends toward the side of the maglev mover 110 away from the guiding mechanism 120, the opposite ends of the support leg or the universal wheel respectively abut against the maglev stator 210 and the maglev mover 110, so that the transfer device 100 is stably supported on the maglev stator 210.

[0110] Optionally, the number of the telescopic mechanisms 140 is multiple. The multiple telescopic mechanisms 140 are spaced and evenly carried on the maglev mover 110. At least a part of the multiple telescopic mechanisms 140 can extend toward the side of the maglev mover 110 away from the guiding mechanism 120 to support the maglev mover 110.

[0111] It can be understood that the maglev experiment system 200 can include one or more transfer devices as shown in Figures 2 to 6 , or can include one or more transfer devices as shown in Figures 7 to 10 , or can also include one or more transfer devices as shown in Figures 11 to 13 . It can also include at least two of the above three transfer devices, which is not limited in this application.

[0112] After understanding the system architecture in the embodiments of the present application, a transfer method in the embodiments of the present application will be described below in conjunction with Figure 14 . Figure 14 FIG. is a schematic flowchart of a transfer method provided in an embodiment of the present application, which is applied to a central control system in a maglev experiment system. The maglev experiment system further includes a maglev stator and a transfer device;

[0113] Wherein, the transfer device includes: a maglev mover configured to be driven by the maglev stator; a support seat arranged on one side of the maglev mover; a guiding mechanism arranged on the support seat, and the guiding mechanism extends along a first direction; a carrying component slidably connected to the guiding mechanism, and the carrying component is used for clamping or supporting the material to be transferred; and a first driving mechanism arranged at one end of the support seat close to the maglev mover, and the first driving mechanism is connected to the carrying component and is used for driving the carrying component to slide along the first direction on the guiding mechanism so that the carrying component approaches or moves away from the maglev mover; specifically including the following steps:

[0114] Step 501, determine the material to be transferred and the transfer route.

[0115] Among them, the transfer route may include a transfer starting point and a transfer ending point. The material to be transferred and the transfer route can be determined according to the processes to be executed in the current experiment, which will not be elaborated here.

[0116] Step 502, control the transfer device to complete the first operation.

[0117] Among them, the first operation is to pick up the material to be transferred from the transfer starting point.

[0118] Step 503, control the transfer device to complete the second operation.

[0119] Among them, the second operation is to place the material to be transferred along the transfer route to the transfer ending point.

[0120] For ease of understanding, the transfer method in the embodiments of the present application will be specifically described below with reference to specific examples.

[0121] Embodiment 1

[0122] Among them, the carrying component in the transfer device includes a second driving mechanism, a first jaw and a second jaw arranged at intervals. The distance between the first jaw and the second jaw is adjustable. The first jaw and the second jaw cooperate with each other to clamp the material to be transferred; the second driving mechanism is slidably connected to the guiding mechanism. The first jaw and / or the second jaw is connected to the second driving mechanism. The second driving mechanism is used to drive the first jaw and the second jaw to move towards or away from each other to adjust the distance between the first jaw and the second jaw; controlling the transfer device to complete the first operation includes:

[0123] Drive the magnetic levitation mover through the magnetic levitation stator to move the transfer device to the first area corresponding to the transfer starting point;

[0124] Control the carrying component to slide along the guiding mechanism to the position corresponding to the transfer starting point through the first driving mechanism;

[0125] Control the first jaw and / or the second jaw to clamp the material to be transferred from the transfer starting point through the second driving mechanism.

[0126] Specifically, the central control system can adjust the magnetic force direction and / or magnetic force magnitude of the magnetic levitation stator to drive the magnetic levitation mover, so that the transfer device moves to the first area corresponding to the transfer starting point. The distance from any position horizontal to the transfer starting point in the first area to the transfer starting point is less than or equal to the maximum distance that the carrying component of the transfer device can extend.

[0127] Specifically, the central control system can control the lifting or horizontal movement of the carrying component through the first driving mechanism, so that the carrying component reaches the position corresponding to the transfer starting point.

[0128] Specifically, the central control system can control the first jaw and / or the second jaw to approach each other through the second driving mechanism to clamp the material to be transferred, ensuring that the material to be transferred will not fall off.

[0129] Further, the controlling the transfer device to complete the second operation includes:

[0130] Driving the magnetic levitation mover through the magnetic levitation stator so that the transfer device moves to the second area corresponding to the transfer end point;

[0131] Controlling the carrying component to slide along the guiding mechanism to the position corresponding to the transfer end point through the first driving mechanism;

[0132] Controlling the first jaw and / or the second jaw to place the material to be transferred at the transfer end point through the second driving mechanism.

[0133] Specifically, the distance from any position horizontal to the transfer end point in the second area to the transfer starting point is less than or equal to the maximum distance that the carrying component of the transfer device can extend. The central control system can control the first jaw and / or the second jaw to move away from each other through the second driving mechanism to release the material to be transferred and complete the placement operation of the material to be transferred.

[0134] It should be noted that the first jaw and the second jaw are located on the same side of the support seat, and the first jaw and the second jaw are respectively arranged on opposite sides of the support seat with the second driving mechanism.

[0135] It can be seen that the central control system can not only control the overall horizontal movement of the transfer device, but also, through the mutual cooperation of the guiding mechanism, the first jaw and the second jaw, stably grasp the material to be transferred and realize the movement of the material to be transferred in the height direction or the horizontal movement extension, which can meet the conveying tasks with high flexibility requirements, is beneficial to improving the efficiency of transferring the material to be transferred, and greatly improves the utilization rate of the experimental space and the experimental efficiency.

[0136] Embodiment 2

[0137] Among them, the carrying component in the transfer device includes a support member and a third driving mechanism. The support member is slidably connected to the guiding mechanism. The support member includes a support body, a first limiting member, and a second limiting member. The first limiting member is fixed on the support body. The first limiting member and the second limiting member are spaced apart on the same side of the support body facing away from the magnetic levitation rotor. The second limiting member can move relative to the support body in a second direction to adjust the distance between the first limiting member and the second limiting member. The support body is used to support the material to be transferred. The first limiting member and the second limiting member cooperate to clamp and limit the material to be transferred. The third driving mechanism is slidably connected to the guiding mechanism. The second limiting member and / or the support body is connected to the third driving mechanism. The third driving mechanism is used to drive the second limiting member to move towards or away from the first limiting member, and / or drive the support body to move towards or away from the second limiting member. Among them, the second direction is parallel to the direction from the first limiting member to the second limiting member, and the first direction intersects or is parallel to the second direction. Controlling the transfer device to complete the first operation includes:

[0138] Driving the magnetic levitation rotor by the magnetic levitation stator so that the transfer device moves to the first area corresponding to the transfer starting point;

[0139] Controlling the carrying component to slide along the guiding mechanism to the position corresponding to the transfer starting point through the first driving mechanism;

[0140] Controlling the movement of the second limiting member and / or the movement of the support body through the third driving mechanism so that the support body supports the material to be transferred from the transfer starting point.

[0141] Specifically, the central control system can adjust the magnetic force direction and / or magnetic force magnitude of the magnetic levitation stator to drive the magnetic levitation rotor, so that the transfer device moves to the first area corresponding to the transfer starting point. The distance from any position horizontal to the transfer starting point in the first area to the transfer starting point is less than or equal to the maximum distance that the carrying component of the transfer device can extend.

[0142] Specifically, the central control system can control the up and down movement or horizontal movement of the carrying component through the first driving mechanism to make the carrying component reach the position corresponding to the transfer starting point.

[0143] Specifically, the central control system can control the movement of the second limiting member and / or the mutual approach of the support bodies through the third driving mechanism to fix the material to be transferred and ensure that the material to be transferred will not fall off.

[0144] Further, controlling the transfer device to complete the second operation includes:

[0145] The magnetic suspension stator drives the magnetic suspension mover to move the transfer device to a second area corresponding to the transfer destination;

[0146] Controlling the bearing assembly to slide along the guide mechanism to a position corresponding to the transfer destination by the first driving mechanism;

[0147] The movement of the second limit member and / or the movement of the support body is controlled by the third driving mechanism, so that the support body places the material to be transferred to the transfer destination.

[0148] Specifically, the distance from any position horizontally located between the second area and the transfer end point to the transfer starting point is less than or equal to the maximum distance that the load-bearing assembly of the transfer device can extend. The central control system can control the movement of the second limit member and / or the support body through the third drive mechanism to release the material to be transferred and complete the placement operation of the material to be transferred.

[0149] It should be noted that the first position-limiting member and the second position-limiting member are located on the same side of the support base, and the first position-limiting member and the second position-limiting member are respectively arranged on two opposite sides of the support base with the third driving mechanism.

[0150] It can be seen that this can improve the stability of the materials to be transferred during the transfer process, can meet the transportation tasks with high flexibility requirements, is conducive to improving the efficiency of transferring the materials to be transferred, and greatly improves the utilization rate of the experimental space and the experimental efficiency.

[0151] Embodiment 3

[0152] Wherein, the bearing assembly of the transfer device includes a support member, which is slidably connected to the guide mechanism; the support member includes a support body and a first positioning member, the first positioning member is arranged on the side of the support body away from the magnetic suspension mover, and the support body is used to support the material to be transferred; the material to be transferred includes a body to be transferred and a second positioning member, the second positioning member is arranged on the side of the body to be transferred facing the support body, and the first positioning member and the second positioning member cooperate with each other to fix the material to be transferred; the control of the transfer device to complete the first operation includes:

[0153] The magnetic suspension stator drives the magnetic suspension mover to move the transfer device to a first area corresponding to the transfer starting point;

[0154] Controlling the bearing assembly to slide along the guide mechanism to a position corresponding to the transfer starting point by the first driving mechanism;

[0155] The first positioning member and the second positioning member cooperate to support the material to be transferred from the transfer starting point.

[0156] Specifically, the central control system can adjust the magnetic direction and / or magnetic force size of the magnetic levitation stator to drive the magnetic levitation mover, so that the transfer device moves to the first area corresponding to the transfer starting point, and the distance from any position horizontal to the first area and the transfer starting point to the transfer starting point is less than or equal to the maximum distance that the load-bearing assembly of the transfer device can extend.

[0157] Specifically, the central control system can control the load-bearing assembly to move up and down or horizontally through the first driving mechanism, so that the load-bearing assembly reaches a position corresponding to the transfer starting point.

[0158] Specifically, the central control system can combine the first positioning member and the second positioning member with each other to fix the material to be transferred, thereby ensuring that the material to be transferred does not fall.

[0159] Further, controlling the transfer device to complete the second operation includes:

[0160] The magnetic suspension stator drives the magnetic suspension mover to move the transfer device to a second area corresponding to the transfer destination;

[0161] Controlling the bearing assembly to slide along the guide mechanism to a position corresponding to the transfer destination by the first driving mechanism;

[0162] The first positioning member is controlled to be disengaged from the second positioning member so as to place the material to be transferred to the transfer end point.

[0163] Specifically, the distance from any position at the level of the second area and the transfer end point to the transfer start point is less than or equal to the maximum distance that the carrying component of the transfer device can extend.

[0164] In this way, through the mutual cooperation between the first positioning member and the second positioning member, the stability of the material to be transferred during the transfer process can be improved, which can meet the transportation tasks with high flexibility requirements, is conducive to improving the efficiency of transferring the material to be transferred, and greatly improves the utilization rate of the experimental space and the experimental efficiency.

[0165] It can be seen that the above-mentioned transfer method can meet the transportation tasks with high flexibility requirements, which is beneficial to improving the efficiency of transferring materials to be transferred and greatly improving the utilization rate of experimental space and experimental efficiency.

[0166] In a possible embodiment, the transfer device further includes a retractable mechanism, which is disposed on the magnetic levitation mover or the support seat, and at least a portion of the retractable mechanism can extend toward a side of the magnetic levitation mover away from the guide mechanism to support the magnetic levitation mover; the method further includes:

[0167] When the transfer device moves to the first area corresponding to the transfer starting point and when the transfer device moves to the second area corresponding to the transfer ending point, control the telescopic mechanism to extend to support the magnetic levitation mover.

[0168] In a possible embodiment, during the period when the carrying component clamps or supports the material to be transferred and the magnetic levitation mover is in a stationary state, if the weight of the material to be transferred exceeds a preset weight threshold, control the telescopic mechanism to extend to support the magnetic levitation mover. The weight of the material to be transferred can be determined by a weighing sensor provided on the carrying component or a weighing sensor provided on the magnetic levitation stator, which is not limited herein.

[0169] It should be noted that the telescopic mechanism may include at least one of a telescopic support foot and a universal wheel.

[0170] In this way, the stability of the material to be transferred during the picking and placing process can be improved.

[0171] In a possible embodiment, the transfer device further includes a power supply module, and the power supply module is electrically connected to the first driving mechanism for supplying power to the first driving mechanism; the method further includes:

[0172] If the power of the power supply module is lower than or equal to a preset power threshold, drive the magnetic levitation mover through the magnetic levitation stator to move the transfer device to the battery replacement area to replace the battery of the power supply module of the transfer device.

[0173] In a possible embodiment, the magnetic levitation experiment system further includes a charging device, and the charging device is used to supplement the power of the power supply module; the method further includes:

[0174] If the power of the power supply module is lower than or equal to a preset power threshold, drive the magnetic levitation mover through the magnetic levitation stator to move the transfer device to the position corresponding to the charging device to supplement the power of the power supply module through the charging device.

[0175] In a possible embodiment, the power consumption for transfer can be determined according to the transfer route and the weight of the material to be transferred; if the power of the power supply module is lower than the transfer power consumption, drive the magnetic levitation mover through the magnetic levitation stator to move the transfer device to the position corresponding to the charging device to supplement the power of the power supply module through the charging device.

[0176] In this way, during the transfer process of the material to be transferred, it can be ensured that the power of the transfer device can meet the transfer requirements, improving the experimental efficiency.

[0177] The above mainly introduces the solution of the embodiment of the present application from the perspective of the execution process on the method side. It can be understood that in order to implement the above functions, the central control system includes the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments provided in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0178] The embodiments of the present application can divide the functional units of the central control system according to the above method examples. For example, each functional unit can be divided corresponding to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. It should be noted that the division of units in the embodiments of the present application is illustrative, only a logical functional division, and there may be other division methods in actual implementation.

[0179] In the case of using units divided according to functions, the following combines Figure 15 A central control system 600 in an embodiment of the present application is described in detail. The central control system 600 belongs to a maglev experiment system, and the maglev experiment system further includes a maglev stator and a transfer device;

[0180] The transfer device includes: a maglev mover configured to be driven by the maglev stator; a support seat disposed on one side of the maglev mover; a guiding mechanism disposed on the support seat, the guiding mechanism extending along a first direction; a carrying component slidably connected to the guiding mechanism, the carrying component being used for clamping or supporting the material to be transferred; and a first driving mechanism disposed at one end of the support seat close to the maglev mover, the first driving mechanism being connected to the carrying component and used for driving the carrying component to slide along the first direction on the guiding mechanism so that the carrying component approaches or moves away from the maglev mover;

[0181] The central control system 600 includes:

[0182] A determination unit 610, configured to determine the material to be transferred and a transfer route, the transfer route including a transfer starting point and a transfer ending point;

[0183] The first control unit 620 is configured to control the transfer device to complete a first operation, where the first operation is to pick up the material to be transferred from the transfer starting point;

[0184] The second control unit 630 is configured to control the transfer device to complete a second operation, where the second operation is to place the material to be transferred along the transfer route to the transfer end point.

[0185] In a possible embodiment, the bearing assembly includes a second driving mechanism, a first jaw and a second jaw arranged at intervals, the distance between the first jaw and the second jaw is adjustable, and the first jaw and the second jaw cooperate with each other to clamp the material to be transferred; the second driving mechanism is slidably connected to the guiding mechanism, the first jaw and / or the second jaw are connected to the second driving mechanism, and the second driving mechanism is configured to drive the first jaw and the second jaw to move towards or away from each other to adjust the distance between the first jaw and the second jaw; for the control of the transfer device to complete the first operation, the first control unit 620 is specifically configured to:

[0186] Drive the magnetic levitation mover through the magnetic levitation stator to move the transfer device to a first area corresponding to the transfer starting point;

[0187] Control the bearing assembly to slide along the guiding mechanism to a position corresponding to the transfer starting point through the first driving mechanism;

[0188] Control the first jaw and / or the second jaw to clamp the material to be transferred from the transfer starting point through the second driving mechanism.

[0189] Further, for the control of the transfer device to complete the second operation, the second control unit 630 is specifically configured to:

[0190] Drive the magnetic levitation mover through the magnetic levitation stator to move the transfer device to a second area corresponding to the transfer end point;

[0191] Control the bearing assembly to slide along the guiding mechanism to a position corresponding to the transfer end point through the first driving mechanism;

[0192] Control the first jaw and / or the second jaw to place the material to be transferred at the transfer end point through the second driving mechanism.

[0193] Wherein, the first jaw and the second jaw are located on the same side of the support seat, and both the first jaw and the second jaw are respectively arranged on opposite sides of the support seat from the second driving mechanism.

[0194] In a possible embodiment, the carrying component includes a support member and a third driving mechanism. The support member is slidably connected to the guiding mechanism. The support member includes a support body, a first limiting member, and a second limiting member. The first limiting member is fixed on the support body. The first limiting member and the second limiting member are spaced apart on the same side of the support body facing away from the maglev mover. The second limiting member is movable relative to the support body in a second direction to adjust the distance between the first limiting member and the second limiting member. The support body is used to support the material to be transported. The first limiting member and the second limiting member cooperate to clamp and limit the material to be transported. The third driving mechanism is slidably connected to the guiding mechanism. The second limiting member and / or the support body is connected to the third driving mechanism. The third driving mechanism is used to drive the second limiting member to move towards or away from the first limiting member, and / or drive the support body to move towards or away from the second limiting member. Wherein, the second direction is parallel to the direction from the first limiting member to the second limiting member, and the first direction intersects or is parallel to the second direction. To control the transfer device to complete the first operation, the first control unit 620 is specifically configured to:

[0195] Drive the maglev mover through the maglev stator so that the transfer device moves to the first area corresponding to the transfer starting point;

[0196] Control the carrying component to slide along the guiding mechanism to the position corresponding to the transfer starting point through the first driving mechanism;

[0197] Control the movement of the second limiting member and / or the movement of the support body through the third driving mechanism so that the support body supports the material to be transported from the transfer starting point.

[0198] Further, to control the transfer device to complete the second operation, the second control unit 630 is specifically configured to:

[0199] Drive the maglev mover through the maglev stator so that the transfer device moves to the second area corresponding to the transfer end point;

[0200] Control the carrying component to slide along the guiding mechanism to the position corresponding to the transfer end point through the first driving mechanism;

[0201] Control the movement of the second limiting member and / or the movement of the support body through the third driving mechanism so that the support body places the material to be transported at the transfer end point.

[0202] The first position-limiting member and the second position-limiting member are located on the same side of the support base, and the first position-limiting member and the second position-limiting member are respectively arranged on two opposite sides of the support base with the third driving mechanism.

[0203] In a possible embodiment, the bearing assembly includes a support member, the support member includes a support body and a first positioning member, the first positioning member is arranged on the side of the support body away from the magnetic suspension mover, and the support body is used to support the material to be transferred; the material to be transferred includes a body to be transferred and a second positioning member, the second positioning member is arranged on the side of the body to be transferred facing the support body, and the first positioning member and the second positioning member cooperate with each other to fix the material to be transferred; the control of the transfer device to complete the first operation, the first control unit 620 is specifically used to:

[0204] The magnetic suspension stator drives the magnetic suspension mover to move the transfer device to a first area corresponding to the transfer starting point;

[0205] Controlling the bearing assembly to slide along the guide mechanism to a position corresponding to the transfer starting point by the first driving mechanism;

[0206] The first positioning member and the second positioning member cooperate to support the material to be transferred from the transfer starting point.

[0207] Further, the control unit controls the transfer device to complete the second operation, and the second control unit is specifically used to:

[0208] The magnetic suspension stator drives the magnetic suspension mover to move the transfer device to a second area corresponding to the transfer destination;

[0209] Controlling the bearing assembly to slide along the guide mechanism to a position corresponding to the transfer destination by the first driving mechanism;

[0210] The first positioning member is controlled to be disengaged from the second positioning member so as to place the material to be transferred to the transfer end point.

[0211] In a possible embodiment, the transfer device further includes a retractable mechanism, which is disposed on the magnetic suspension mover or the support seat, and at least a portion of the retractable mechanism can extend toward a side of the magnetic suspension mover away from the guide mechanism to support the magnetic suspension mover; the central control system 600 further includes:

[0212] A third control unit 640, configured to control the telescopic mechanism to extend to support the maglev mover when the transfer device moves to a first area corresponding to the transfer starting point and when the transfer device moves to a second area corresponding to the transfer ending point.

[0213] In a possible embodiment, the third control unit 640 is configured to:

[0214] During the period when the carrying assembly clamps or supports the material to be transferred and the maglev mover is in a stationary state, if the weight of the material to be transferred exceeds a preset weight threshold, control the telescopic mechanism to extend to support the maglev mover.

[0215] Wherein, the telescopic mechanism includes at least one of a telescopic support foot and a universal wheel.

[0216] In a possible embodiment, the transfer device further includes a power supply module, which is electrically connected to the first driving mechanism and is configured to supply power to the first driving mechanism; the maglev experiment system further includes a limiting mechanism, which is arranged on the maglev stator or the working platform, and the limiting mechanism is configured to limit the transfer device when the transfer device replaces the battery; the central control system 600 further includes:

[0217] A fourth control unit 650, configured to, if the power of the power supply module is lower than or equal to a preset power threshold, drive the maglev mover through the maglev stator to move the transfer device to a position corresponding to the limiting mechanism, so as to limit the transfer device through the limiting mechanism when the transfer device replaces the battery.

[0218] In a possible embodiment, the fourth control unit 650 is configured to:

[0219] Determine the power consumption for transfer according to the transfer route and the weight of the material to be transferred;

[0220] If the power of the power supply module is lower than the power consumption for transfer, drive the maglev mover through the maglev stator to move the transfer device to a position corresponding to the limiting mechanism, so as to limit the transfer device through the limiting mechanism when the transfer device replaces the battery.

[0221] Wherein, the first direction is parallel to the surface of the maglev mover facing away from the maglev stator, or the first direction is perpendicular to the surface of the maglev mover facing away from the maglev stator.

[0222] Through the above central control system, the transfer device can be controlled to grab the material to be transferred and can meet the conveying tasks with high flexibility requirements, greatly improving the utilization rate of the experimental space and the experimental efficiency.

[0223] In the case of adopting an integrated unit, the following will be combined with Figure 16 A central control system 700 in an embodiment of the present application will be described in detail. The central control system 700 belongs to the above-mentioned maglev experiment system.

[0224] The central control system 700 includes one or more processors 710, a memory 720, a communication module 730, and one or more programs 721. The processor 710 is communicatively connected to the memory 720 and the communication module 730 through an internal communication bus.

[0225] Among them, the one or more programs 721 are stored in the above-mentioned memory 720 and are configured to be executed by the above-mentioned processor 710. The one or more programs 721 include instructions for executing any step in the above method embodiment.

[0226] Among them, the processor 710 can be, for example, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, units, and circuits described in connection with the disclosure of the present application. The processor 710 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on. The communication unit can be the communication module 730, a transceiver, a transceiver circuit, etc., and the storage unit can be the memory 720.

[0227] The memory 720 can be a volatile memory, a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0228] It can be understood that the central control system 700 may include more or fewer structural elements than those shown in the above block diagram. For example, it may include a power module, physical buttons, a Wi-Fi module, a speaker, a Bluetooth module, sensors, a display module, etc., which are not limited herein.

[0229] The processor 710 executes the programs stored in the memory 720 and calls other devices, and can be used to implement some or all of the steps of any one of the transfer methods provided in the above embodiments of the present application.

[0230] The embodiments of the present application also provide a computer storage medium. The computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute some or all of the steps of any one of the methods described in the above method embodiments. The above computer includes a central control system.

[0231] An embodiment of the present application also provides a computer program product. The computer program product includes a non-transitory computer-readable storage medium storing a computer program. The computer program is operable to cause a computer to execute some or all of the steps of any one of the methods described in the foregoing method embodiments. The computer program product may be a software installation package, and the computer includes an electronic device.

[0232] It should be noted that, for the foregoing embodiments, for the sake of simple description, they are all expressed as a series of action combinations. Those skilled in the art should know that the present application is not limited by the described action sequence, because some steps in the embodiments of the present application can be performed in other sequences or simultaneously. In addition, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions, steps, modules or units involved are not necessarily essential to the embodiments of the present application.

[0233] In the above embodiments, each embodiment of the present application is described with emphasis. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0234] The steps of the method or algorithm described in the embodiments of the present application can be implemented in a hardware manner or by a processor executing software instructions. The software instructions may be composed of corresponding software modules. The software modules may be stored in a RAM, flash memory, ROM, EPROM, electrically erasable programmable read-only memory (EEPROM), register, hard disk, removable hard disk, CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium may also be a component of the processor. The processor and the storage medium may be located in an ASIC. In addition, the ASIC may be located in a terminal device or a management device. Of course, the processor and the storage medium may also exist as discrete components in the terminal device or the management device.

[0235] Those skilled in the art should be able to realize that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a digital video disc (DVD)), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0236] Each device and product described in the above embodiments includes various modules / units, which can be software modules / units, hardware modules / units, or some can be software modules / units and some can be hardware modules / units. For example, for each device and product applied to or integrated into a chip, each of the included modules / units can be implemented in a hardware manner such as circuits. Or, at least some of the modules / units can be implemented in the form of a software program that runs on a processor integrated inside the chip, and the remaining (if any) part of the modules / units can be implemented in a hardware manner such as circuits. For each device and product applied to or integrated into a chip module, each of the included modules / units can be implemented in a hardware manner such as circuits. Different modules / units can be located in the same component (such as a chip, a circuit module, etc.) or different components of the chip module. Or, at least some of the modules / units can be implemented in the form of a software program that runs on a processor integrated inside the chip module, and the remaining (if any) part of the modules / units can be implemented in a hardware manner such as circuits. For each device and product applied to or integrated into a terminal device, each of the included modules / units can be implemented in a hardware manner such as circuits. Different modules / units can be located in the same component (such as a chip, a circuit module, etc.) or different components within the terminal device. Or, at least some of the modules / units can be implemented in the form of a software program that runs on a processor integrated inside the terminal device, and the remaining (if any) part of the modules / units can be implemented in a hardware manner such as circuits.

[0237] The specific embodiments described above further elaborate on the objectives, technical solutions, and beneficial effects of the embodiments of the present application. It should be understood that the above description is only the specific embodiments of the embodiments of the present application and is not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application shall be included in the protection scope of the embodiments of the present application.

Claims

1. A magnetic levitation experiment system, characterized in that, it includes a working platform, a bypass device, a magnetic levitation stator, and at least one transfer device. The magnetic levitation stator is arranged on the working platform and is used to drive the transfer device to move on the magnetic levitation stator; the bypass device is arranged on the working platform and on one side of the magnetic levitation stator, and the transfer device is used to transfer materials and can interact with the bypass device for material interaction; the transfer device includes: a magnetic levitation rotor configured to be driven by the magnetic levitation stator; a support seat arranged on one side of the magnetic levitation rotor; a guiding mechanism arranged on the support seat and extending along a first direction; a carrying component slidably connected to the guiding mechanism and used to clamp or support the material to be transferred; and a first driving mechanism arranged at one end of the support seat close to the magnetic levitation rotor, the first driving mechanism is connected to the carrying component and is used to drive the carrying component to slide along the first direction on the guiding mechanism so that the carrying component approaches or moves away from the magnetic levitation rotor.

2. The system according to claim 1, characterized in that, the carrying component includes a second driving mechanism, a first clamping jaw and a second clamping jaw arranged at intervals, the distance between the first clamping jaw and the second clamping jaw is adjustable, and the first clamping jaw and the second clamping jaw cooperate with each other to clamp the material to be transferred; the second driving mechanism is slidably connected to the guiding mechanism, the first clamping jaw and / or the second clamping jaw is connected to the second driving mechanism, and the second driving mechanism is used to drive the first clamping jaw and the second clamping jaw to move towards or away from each other to adjust the distance between the first clamping jaw and the second clamping jaw.

3. The system according to claim 2, characterized in that, the first clamping jaw and the second clamping jaw are on the same side of the support seat, and the first clamping jaw and the second clamping jaw are respectively arranged on opposite sides of the support seat from the second driving mechanism.

4. The system according to claim 1, characterized in that, The carrying component includes a support member and a third driving mechanism. The support member is slidably connected to the guiding mechanism. The support member includes a support body, a first limiting member, and a second limiting member. The first limiting member is fixed on the support body. The first limiting member and the second limiting member are spaced apart on the same side of the support body facing away from the maglev mover. The second limiting member can move relative to the support body in a second direction to adjust the distance between the first limiting member and the second limiting member. The support body is used to support the material to be transported. The first limiting member and the second limiting member cooperate to clamp and limit the material to be transported. The third driving mechanism is slidably connected to the guiding mechanism. The second limiting member and / or the support body are connected to the third driving mechanism. The third driving mechanism is used to drive the second limiting member to move towards or away from the first limiting member, and / or drive the support body to move towards or away from the second limiting member. Wherein, the second direction is parallel to the direction from the first limiting member to the second limiting member, and the first direction intersects or is parallel to the second direction.

5. The system according to claim 4, wherein, the first limiting member and the second limiting member are on the same side of the support seat, and the first limiting member and the second limiting member are respectively disposed on opposite sides of the support seat from the third driving mechanism.

6. The system according to claim 1, wherein, the carrying component includes a support member. The support member is slidably connected to the guiding mechanism. The support member includes a support body and a first positioning member. The first positioning member is disposed on the side of the support body facing away from the maglev mover. The support body is used to support the material to be transported. The material to be transported includes a material body to be transported and a second positioning member. The second positioning member is disposed on the side of the material body to be transported facing the support body. The first positioning member and the second positioning member cooperate with each other to fix the material to be transported.

7. The system according to claim 1, wherein, the transfer device further includes a telescopic mechanism. The telescopic mechanism is disposed on the maglev mover or the support seat. At least a part of the telescopic mechanism can extend towards the side of the maglev mover facing away from the guiding mechanism to support the maglev mover.

8. The system according to claim 7, wherein, the telescopic mechanism includes at least one of a telescopic support leg and a universal wheel.

9. The system according to claim 1, wherein, the transfer device further includes a power supply module. The power supply module is electrically connected to the first driving mechanism for supplying power to the first driving mechanism.

10. The system according to claim 9, wherein, the power supply module is carried on the maglev mover. The module in the carrying component for clamping or supporting the material to be transported and the power supply module are on opposite sides of the support seat.

11. The system according to claim 9, wherein, The power supply module includes a quick-change battery, and the quick-change battery is in one of the following types of electrical connection with the first driving mechanism: contact electrical connection, inductive electrical connection, and plug-in electrical connection.

12. The system according to claim 9, wherein, the magnetic levitation experimental system further includes a limiting mechanism, which is arranged on the magnetic levitation stator or the working platform, and the limiting mechanism is used to limit the transfer device when the transfer device replaces the battery.

13. The system according to claim 1, wherein, the first direction is parallel to the surface of the magnetic levitation rotor facing away from the magnetic levitation stator, or the first direction is perpendicular to the surface of the magnetic levitation rotor facing away from the magnetic levitation stator.

14. The system according to any one of claims 1-13, wherein, the bypass device includes at least one of a storage rack, a manipulator, a pipettor, a mixing device, a filtering device, a switch cover device, a detection device, an incubator, and a cleaning device, and the bypass device is arranged around the magnetic levitation stator.

15. The system according to any one of claims 1-13, wherein, the bypass device includes a storage rack, a multi-channel pipettor, a plate washer, an enzyme-labeled immunosorbent assay instrument, and an incubator, and the storage rack, the multi-channel pipettor, the plate washer, the enzyme-labeled immunosorbent assay instrument, and the incubator are arranged around the magnetic levitation stator.

16. A transfer method, wherein, it is applied to a central control system in a magnetic levitation experimental system, and the magnetic levitation experimental system further includes a magnetic levitation stator and at least one transfer device; the transfer device includes: a magnetic levitation rotor configured to be driven by the magnetic levitation stator; a support seat arranged on one side of the magnetic levitation rotor; a guiding mechanism arranged on the support seat, and the guiding mechanism extends along a first direction; a carrying component slidably connected to the guiding mechanism, and the carrying component is used for clamping or supporting an object to be transferred; and a first driving mechanism arranged at one end of the support seat close to the magnetic levitation rotor, and the first driving mechanism is connected to the carrying component and is used to drive the carrying component to slide along the first direction on the guiding mechanism so that the carrying component approaches or moves away from the magnetic levitation rotor; the method includes: determining the material to be transferred and a transfer route, and the transfer route includes a transfer starting point and a transfer ending point; controlling the transfer device to complete a first operation, and the first operation is to pick up the material to be transferred from the transfer starting point; controlling the transfer device to complete a second operation, and the second operation is to place the material to be transferred along the transfer route to the transfer ending point.

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