Magnetic drive conveying system

Abstract

The invention provides a magnetic drive conveying system. The magnetic drive conveying system comprises a reversing conveying module and a rotor module. The reversing conveying module comprises a first stator base and a first coil winding, and the first coil winding is arranged in a first containing cavity of the first stator base. The first coil winding forms at least a first transport path and a second transport path. The rotor module comprises a rotor body and a permanent magnet array, the rotor body comprises a first body, a second body and a guide structure connecting the two bodies, the permanent magnet array is located in the first containing cavity, and at least part of the guide structure is in sliding or rolling fit with the side wall of a cavity opening of the first containing cavity. According to the invention, the reversing efficiency and the conveying efficiency are effectively improved.

Description

Technical Field

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

[0002] The magnetic drive conveying system uses the alternating magnetic field generated by the stator track coil winding to interact with the permanent magnet of the mover, so that the mover moves along the set path. In the existing magnetic drive conveying system, the stator conveying module usually includes a guide rail, and the mover moves along the extension direction of the guide rail under the limiting effect of the guide rail. When the mover and the guide rail are used in a coordinated manner, some obstacles will be encountered when switching the direction of movement at the fork. In one embodiment, the guide rail is fixedly arranged on the base, and the mover can only move in a fixed direction at the fork, which makes it difficult to achieve lane separation and merging. In another embodiment, the guide rail is movable relative to the base, and the mover needs to wait for the guide rail to move into place before the lane separation and merging. The process of moving the guide rail will consume additional waiting time, thereby reducing the conveying efficiency. In another embodiment, a rotating docking module that can be driven to rotate as a whole to achieve steering is provided to change the conveying direction of the mover. However, the steering process of the rotating docking module will also consume additional waiting time, and the mover needs to stop and wait during the steering process of the rotating docking module, thereby reducing the conveying efficiency. Summary of the invention

[0003] In view of the problems in the prior art, the purpose of the present application is to provide a magnetic drive conveying system to improve the switching efficiency and conveying efficiency.

[0004] The present application embodiment provides a magnetic drive conveying system, comprising:

[0005] A reversing conveying module comprises a first stator base and a first coil winding, wherein the first stator base is provided with a first accommodating cavity, wherein the first accommodating cavity comprises a first cavity opening and a second cavity opening, wherein the first cavity opening is connected to a first end and a second end of the reversing conveying module, and the second cavity opening is connected to a first end and a third end of the reversing conveying module; the first coil winding is provided on a cavity wall of the first accommodating cavity, wherein the first coil winding forms at least a first conveying path and a second conveying path, wherein the first conveying path is connected to the first end and the second end of the reversing conveying module, and the second conveying path is connected to the first end and the third end of the reversing conveying module;

[0006] The movable element module comprises a movable element body and a permanent magnet array. The movable element body comprises a first body, a second body and a guide structure connecting the first body and the second body. The permanent magnet array is fixedly arranged on the first body. The first body and the second body are respectively located inside and outside the first accommodating cavity. The permanent magnet array is arranged opposite to the first coil winding. The guide structure at least partially slides or rolls with the side wall of the first cavity opening or the second cavity opening.

[0007] In some embodiments, the first coil winding includes a first armature winding and a second armature winding, the first armature winding is arranged in phase sequence along the first conveying path, and the second armature winding is arranged in phase sequence along the second conveying path.

[0008] In some embodiments, the first armature winding and the second armature winding are arranged in the same layer; the first conveying path and the second conveying path include overlapping intersection paths, at which the first armature winding and the second armature winding are integrally formed, or the first armature winding and the second armature winding are spaced from each other and alternately arranged along the extension direction of the intersection path.

[0009] In some embodiments, the first armature winding is arranged in one or more layers, the second armature winding is arranged in one or more layers, and the first armature winding and the second armature winding are arranged at intervals in the height direction.

[0010] In some embodiments, the cavity wall of the first accommodating cavity includes a top wall, a bottom wall and a side wall, the top wall is provided with a first cavity opening and a second cavity opening, the bottom wall and the top wall are arranged opposite to each other in the height direction, the side wall is arranged between the top wall and the bottom wall, and the first coil winding is arranged on at least one of the top wall, bottom wall and side wall of the first accommodating cavity.

[0011] In some embodiments, the first coil winding includes a first armature winding arranged in phase sequence along a first conveying path and a second armature winding arranged in phase sequence along a second conveying path, the first armature winding is arranged on two first side walls of the first accommodating cavity, and the orthographic projections of the two first side walls on the top wall are located on both sides of the first cavity opening; the second armature winding is arranged on two second side walls of the first accommodating cavity, and the orthographic projections of the two second side walls on the top wall are located on both sides of the second cavity opening.

[0012] In some embodiments, the permanent magnet arrays are fixedly disposed on two sides of the first body, and the permanent magnet arrays on both sides are respectively disposed opposite to the first armature windings on the two first side walls or the second armature windings on the two second side walls.

[0013] In some embodiments, the first coil winding is disposed on the bottom wall of the first accommodating cavity, and the first coil winding includes a first armature winding arranged in phase sequence along a first direction and a second armature winding arranged in phase sequence along a second direction. The first armature winding and the second armature winding are arranged at intervals along the height direction, and the first direction is perpendicular to the second direction.

[0014] In some embodiments, the reversing conveying module also includes a reversing component, which includes a shifting member configured to be driven to switch between a first position and a second position. When the shifting member is in the first position, the shifting member blocks the movable module from moving along the second conveying path. When the shifting member is in the second position, the shifting member blocks the movable module from moving along the first conveying path.

[0015] In some embodiments, the reversing assembly also includes a reversing drive, a drive shaft and a connecting member. The output portion of the reversing drive is connected to the drive shaft, and the drive shaft is connected to one end of the shift member through the connecting member. The reversing drive is configured to drive the drive shaft to telescopically move so that the drive shaft drives the shift member to switch between a first position and a second position.

[0016] In some embodiments, the first cavity opening and the second cavity opening are connected at a position corresponding to the first end, and the first cavity opening is provided with a first limit groove and a second limit groove on the cavity walls on both sides corresponding to the first end, respectively. When the shifting member is in the first position, the shifting member cooperates with the groove wall of the first limit groove, and when the shifting member is in the second position, the shifting member cooperates with the groove wall of the second limit groove.

[0017] In some embodiments, the shifting member includes a first abutment surface and a second abutment surface. When the shifting member is in the first position, the first abutment surface blocks the movable module from moving along the second conveying path. When the shifting member is in the second position, the second abutment surface blocks the movable module from moving along the first conveying path. The second cavity opening is an arc-shaped cavity opening, and the second abutment surface is an arc surface adapted to the arc-shaped cavity opening.

[0018] In some embodiments, grooves are respectively provided on opposite sides of the second body in a direction perpendicular to the conveying direction, and the mover module further includes a rolling element arranged in the groove, and the rolling element is rollingly connected to the stator base.

[0019] In some embodiments, the guide structure includes a guide member extending along the conveying direction, and the guide member is provided with guide surfaces on two opposite sides perpendicular to the conveying direction. The distance between the two guide surfaces becomes smaller from the end to the middle of the guide surface along the conveying direction.

[0020] In some embodiments, the guide structure further includes two rolling fittings, which are arranged on both sides of the guide member along the conveying direction, and the two rolling fittings are rollingly fitted with the cavity wall of the first cavity opening or the second cavity opening.

[0021] In some embodiments, the rolling fit includes:

[0022] An axle body, two ends of which are respectively connected to the first body and the second body;

[0023] At least one bearing is sleeved on the shaft body.

[0024] In some embodiments, when the guide structure cooperates with the first cavity or the second cavity, the orthographic projection of the cavity cooperating with the guide structure on the plane where the first coil winding is located falls within the orthographic projection range of the first body on the plane where the first coil winding is located, and the orthographic projection of the cavity cooperating with the guide structure on the plane where the first coil winding is located falls within the orthographic projection range of the second body on the plane where the first coil winding is located;

[0025] In a conveying direction perpendicular to the moving submodule, a ratio of the width of the first cavity and the second cavity to the width of the second body is 15% to 25%.

[0026] In some embodiments, the system further comprises a linear conveyor module, the linear conveyor module comprising:

[0027] A second stator base is provided with a second accommodating cavity, and the second accommodating cavity includes a linear cavity opening;

[0028] A second coil winding is arranged on the cavity wall of the second accommodating cavity;

[0029] Among them, at least one linear conveying module is spliced ​​with one end of the reversing conveying module, and the linear cavity of the linear conveying module is connected with at least one of the first cavity and the second cavity.

[0030] In some embodiments, the first stator base of the reversing conveying module and the second stator base of the linear conveying module both adopt the following structure:

[0031] The first stator base and the second stator base both include a bottom base plate, a side base plate and a top base plate which are jointly arranged to form a receiving cavity, the top base plate has a cavity opening, the bottom base plate and the top base plate are arranged opposite to each other in a height direction, and the side base plate is arranged between the top base plate and the bottom base plate;

[0032] The coil winding is fixedly connected to the bottom substrate and surrounds a placement cavity, or a placement cavity is formed in the bottom substrate, and a driving component is electrically connected to the coil winding and is arranged in the placement cavity.

[0033] In some embodiments, the placement cavity of the first stator base is connected to the first end, the second end, and the third end of the first stator base.

[0034] In some embodiments, the first accommodating cavities of multiple reversing conveying modules and the second accommodating cavities of multiple linear conveying modules are connected in sequence, the placement cavities of multiple reversing conveying modules and the placement cavities of multiple linear conveying modules are connected in sequence, and power sockets and optical fiber sockets are provided on both sides of the driving component along the conveying direction.

[0035] In some embodiments, the system includes a multi-layer reflow conveying mechanism, each layer of the reflow conveying mechanism includes at least one horizontal linear conveying module and at least one inclined linear conveying module, the conveying directions of the inclined linear conveying modules of two adjacent layers of the reflow conveying mechanisms are crossed or parallel, and the conveying direction of the inclined linear conveying module is set at an angle to the conveying direction of the horizontal linear conveying module.

[0036] In some embodiments, the angle between the conveying direction of the inclined linear conveying module and the conveying direction of the horizontal linear conveying module is 5 to 15 degrees.

[0037] In some embodiments, the horizontal linear conveying module includes a linear conveying stator and an arc-shaped conveying stator, the arc-shaped conveying stator is connected between the linear conveying stators of two adjacent layers of reflux conveying mechanisms, or the arc-shaped conveying stator is connected between the inclined linear conveying modules of two adjacent layers of reflux conveying mechanisms.

[0038] In some embodiments, the multi-layer reflow conveying mechanism includes a first docking conveying module, the magnetic drive conveying system also includes a docking mechanism, the docking mechanism includes a second docking conveying module, a driving member, a bracket and a transmission belt, the driving member is connected to the transmission belt, the transmission belt is connected to the second docking conveying module, the second docking conveying module is movably arranged on the bracket, and the driving member is configured to drive the transmission belt to reciprocate to drive the second docking conveying module to move between a third position and a fourth position along a height or horizontal direction;

[0039] When the second docking and conveying module is in the third position, the second docking and conveying module is connected to the first docking and conveying module; when the second docking and conveying module is in the fourth position, the second docking and conveying module is separated from the first docking and conveying module.

[0040] In some embodiments, the system includes a loading mechanism and a process mechanism, the process mechanism includes a first reversing conveying module, a second reversing conveying module and a process conveying assembly, the loading mechanism is connected to the first end of the first reversing conveying module, the first cavity of the first reversing conveying module is connected to the first cavity of the second reversing conveying module, the second cavity of the first reversing conveying module and the second cavity of the second reversing conveying module are respectively connected to the cavity of the process conveying assembly.

[0041] In some embodiments, the system includes a plurality of process mechanisms, and two adjacent process mechanisms are connected via at least one linear conveying module or an arc conveying module, or the reversing conveying modules of two adjacent process mechanisms are connected.

[0042] In some embodiments, the cavity wall of the second accommodating cavity includes a top wall, a bottom wall and a side wall, the top wall is provided with a linear cavity opening, the bottom wall and the top wall are arranged opposite to each other in the height direction, the side wall is arranged between the top wall and the bottom wall, and the second coil winding is arranged on at least one of the top wall, the bottom wall and the side wall.

[0043] The magnetic drive conveying system provided in this application has the following advantages:

[0044] The present application provides a reversing conveying module, which forms a first conveying path and a second conveying path through a first coil winding, connects the first end, the second end and the third end of the first stator base to each other through a magnetic conveying path, conveys the mover module through the first conveying path or the second conveying path and switches the conveying direction of the mover module. There is no need to wait for the guide rail to move or the rotating docking module to rotate, and the mover module does not need to stop and wait, which effectively improves the reversing efficiency and thus effectively improves the overall conveying efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings.

[0046] Figure 1 This is a schematic diagram of the structure of the reversing conveying module of some embodiments of the present application when the first conveying path is turned on;

[0047] Figure 2 is a top view of a reversing conveying module of some embodiments of the present application;

[0048] Figure 3 is a side view of a reversing conveying module of some embodiments of the present application;

[0049] Figure 4 is a schematic structural diagram of a second conveying path of a reversing conveying module in some embodiments of the present application when the second conveying path is turned on;

[0050] Figure 5 is a top view of a reversing conveying module of some embodiments of the present application;

[0051] Figure 6 is a schematic diagram of a reversing conveying module of some embodiments of the present application with part of the top substrate omitted;

[0052] Figure 7 is a side view of a reversing conveying module of some embodiments of the present application;

[0053] Figure 8 It is a schematic diagram of the cooperation between the reversing conveying module and the moving module in some embodiments of the present application;

[0054] Fig. 9 It is a side view of the cooperation between the reversing conveying module and the moving module in some embodiments of the present application;

[0055] Fig.10 is a schematic structural diagram of a mover module in some embodiments of the present application;

[0056] Fig.11 is a side view of a mover module of some embodiments of the present application;

[0057] Fig.12 yes Fig.11 Sectional view in the AA direction;

[0058] Figures 13-15 is a schematic diagram of several optional configurations of the first coil winding of the present application;

[0059] Fig.16 It is a side view of the cooperation between the linear conveying module and the moving module in some embodiments of the present application;

[0060] Fig.17 It is a schematic diagram of the cooperation between the linear conveying module and the moving module in some embodiments of the present application;

[0061] Fig.18 is a schematic diagram of a linear conveying module of some embodiments of the present application after omitting the bottom substrate;

[0062] Fig.19 is a schematic diagram of the structure of a magnetic drive conveying system of some embodiments of the present application;

[0063] Fig. 20 is a top view of a magnetic drive conveying system according to some embodiments of the present application;

[0064] Fig.21 yes Fig. 20 A partial enlarged view of the middle L area;

[0065] Fig. 22 It is a schematic diagram of the structure of the cooperation between the linear conveying module and the reversing conveying module in some embodiments of the present application;

[0066] Fig.23 It is a schematic diagram of the cooperation between the docking mechanism and the reflux conveying mechanism in some embodiments of the present application;

[0067] Fig.24 It is a schematic diagram of the structure of the docking mechanism of some embodiments of the present application;

[0068] Fig.25 is a schematic diagram of the structure of the reflux conveying mechanism of some embodiments of the present application;

[0069] Fig.26 is a top view of a reversing conveying module of other embodiments of the present application;

[0070] Fig. 27 It is a schematic diagram of the cooperation between the reversing conveying module and the moving module in other embodiments of the present application;

[0071] Fig.28 It is a schematic diagram of the cooperation between the reversing conveying module and the moving module in some other embodiments of the present application;

[0072] Fig.29 This is a top view of an optional reversing conveying module of the present application;

[0073] Fig.30 and Fig.31 This is a schematic diagram of the cooperation between a reversing conveying module and a guide structure which can be selected in the present application;

[0074] Fig.32 and Fig.33 It is a top view of two optional reversing conveying modules of the present application.

[0075] Reference numerals:

[0076] 1-reversing conveying module; 11-first stator base; 111-top base plate; 112-side base plate;

[0077] 113 - bottom substrate; 114 - first limiting groove; 115 - second limiting groove;

[0078] 12-first coil winding; 121-first armature winding; 122-second armature winding;

[0079] 13-first accommodating cavity; 131-first cavity opening; 132-second cavity opening; 134-fourth cavity opening; 135-fifth cavity opening;

[0080] 141 - first end; 142 - second end; 143 - third end; 144 - fourth end;

[0081] 15- reversing assembly; 151- driving shaft; 152- reversing driving member; 153- connecting member;

[0082] 154-blocking member; 1541-rotation end; 1542-abutting end; 1543-pivot connection portion;

[0083] 1545 - first abutting surface; 1546 - second abutting surface; 154a - first blocking member; 154b - second blocking member; 154c - third blocking member; 16 - placement cavity;

[0084] 171-first drive assembly; 172-power socket; 173-optical fiber socket;

[0085] 2-Linear conveying module;

[0086] 21-second stator base; 211-top substrate; 212-side substrate; 213-bottom substrate;

[0087] 22 - second coil winding; 23 - second accommodating cavity; 231 - linear cavity opening; 26 - placement cavity;

[0088] 271 - second drive assembly; 272 - power socket; 273 - optical fiber socket;

[0089] 3-moving module; 31-first body; 32-second body; 321-groove;

[0090] 33-guide member; 331-guide surface;

[0091] 34- rolling fitting; 341- shaft body; 342- first bearing; 343- second bearing;

[0092] 35 permanent magnet array; 36 rolling element; 37 telescopic driving rod; 38 telescopic driving element;

[0093] 50 base; 60- feeding mechanism;

[0094] 70-process mechanism; 701-process area; 702-unloading area;

[0095] 80- docking mechanism; 801- driving member; 802- second docking and conveying module; 803- carrying substrate;

[0096] 804-drag chain; 805-bracket;

[0097] 90- reflux conveying mechanism; 900- horizontal linear conveying module; 901- linear conveying stator; 902- arc-shaped conveying stator; 9021- arc-shaped cavity; 903- inclined linear conveying module; 904- first connecting conveying module;

[0098] 101-first reversing conveying module; 102-second reversing conveying module; 103-process conveying assembly;

[0099] 104-previous conveying module; 105-post-conveying module. DETAILED DESCRIPTION

[0100] The example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as being limited to the embodiments set forth herein; on the contrary, these embodiments are provided so that the present application will be comprehensive and complete, and the concept of the example embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their repeated descriptions will be omitted. "Or" and "or" in the specification may both mean "and" or "or". Although the terms "upper", "lower", "between", etc. may be used in this specification to describe different exemplary features and elements of the present application, these terms are used herein only for convenience, such as according to the directions of the examples described in the accompanying drawings. Nothing in this specification should be construed as requiring a specific three-dimensional direction of the structure to fall within the scope of the present application. Although "first" or "second" etc. are used in this specification to represent certain features, they are only used to represent the function, and are not used as a limitation on the number and importance of specific features.

[0101] In order to solve the problem that the existing magnetic drive conveying system needs to wait for the guide rail to move or the rotating docking module to rotate when the mover is reversed, which affects the conveying efficiency, the present application provides a magnetic drive conveying system, which includes a reversing conveying module and a mover module. Through the cooperation between the reversing conveying module and the mover module, the reversing efficiency and the conveying efficiency are effectively improved.

[0102] like Figures 1 to 7As shown, in some embodiments of the present application, the magnetic drive conveying system includes a reversing conveying module 1 and a mover module 3. The reversing conveying module 1 includes a first stator base 11 and a first coil winding 12. The first stator base 11 is provided with a first accommodating cavity 13, and the first accommodating cavity 13 includes a first cavity opening 131 and a second cavity opening 132. The first cavity opening 131 is connected to the first end 141 and the second end 142 of the reversing conveying module 1, and the second cavity opening 132 is connected to the first end 141 and the third end 143 of the reversing conveying module 1. Figures 1 to 3 As shown, the first coil winding 12 is disposed on the cavity wall of the first accommodating cavity 13, and the first coil winding 12 at least forms a first conveying path and a second conveying path. Figures 8 to 12 As shown, the mover module 3 of the magnetic drive conveying system includes a mover body and a permanent magnet array 35, and the mover body includes a first body 31, a second body 32, and a guide structure connecting the first body 31 and the second body 32. The permanent magnet array 35 is fixedly arranged on the first body 31, and the first body 31 and the second body 32 are respectively located inside and outside the first accommodating cavity 13. The permanent magnet array 35 is arranged opposite to the first coil winding 12, and the guide structure at least partially slides or rolls with the side wall of the first cavity opening 131 or the second cavity opening 132.

[0103] In these embodiments, a first conveying path and a second conveying path are formed by the first coil winding 12 of the reversing conveying module 1, and the first end 141, the second end 142 and the third end 143 of the first stator base 11 are connected to each other through the magnetic conveying path; wherein the first conveying path connects the first end 141 and the second end 142 of the reversing conveying module 1, and the mover module 3 can be conveyed from the first end 141 to the second end 142, or from the second end 142 to the first end 141, through the first conveying path, and the second conveying path The conveying path connects the first end 141 and the third end 143 of the reversing conveying module 1, and the movable module 3 can be conveyed from the first end 141 to the third end 143, or from the third end 143 to the first end 141 through the second conveying path; the movable module 3 is conveyed through the first conveying path or the second conveying path and the conveying direction of the movable module 3 is switched, without waiting for the guide rail to move or the rotating docking module to rotate, and the movable module 3 does not need to stop and wait when reversing, which effectively improves the reversing efficiency and thus effectively improves the overall conveying efficiency.

[0104] In some embodiments, the reversing conveying module 1 includes at least three ends, and each end of the reversing conveying module 1 refers to the overall cross-sectional area of ​​the reversing conveying module 1 as a whole at one end, which is a set including the end of the first stator base 11, the end of the first coil winding 12 and the end of the first accommodating cavity 13. For example, in Figure 1From the perspective, the first end 141 of the reversing conveying module 1 is a collection of the first stator base 11 end, the first coil winding 12 end and the first accommodating cavity 13 end at the left end of the reversing conveying module 1, the second end 142 is a collection of the first stator base 11 end, the first coil winding 12 end and the first accommodating cavity 13 end at the right end of the reversing conveying module 1, and the third end 143 is a collection of the first stator base 11 end, the first coil winding 12 end and the first accommodating cavity 13 end at the lower end of the reversing conveying module 1. Here, "left", "right", "upper" and "lower" are only used for convenience of explanation. Figure 1 The description is made by taking the viewing angle as an example. When the reversing conveying module 1 is presented in other postures, its orientation will also change accordingly.

[0105] In some embodiments, the direction of the first conveying path is substantially consistent with the direction of the first cavity 131, and the direction of the second conveying path is substantially consistent with the direction of the second cavity 132. When the mover module 3 moves along the first conveying path, the guide structure slides or rolls with the side wall of the first cavity 131, so that the mover module 3 moves along the extension direction of the first cavity 131, from the first end 141 of the reversing conveying module 1 to the second end 142, or from the second end 142 to the first end 141. When the mover module 3 moves along the second conveying path, the guide structure slides or rolls with the side wall of the second cavity 132, so that the mover module 3 moves along the extension direction of the second cavity 132, from the first end 141 of the reversing conveying module 1 to the third end 143, or from the third end 143 to the first end 141. That is, the first cavity 131 and the second cavity 132 limit the conveying direction of the mover module 3, so that the mover module 3 can only move along the extension direction of the first cavity 131 or the second cavity 132. The mover module 3 entering the reversing conveying module 1 from the first end 141 can be diverted to the second end 142 and the third end 143 respectively by switching the first conveying path and the second conveying path, such as by exciting a certain conveying path alone to change the conveying direction of the mover module; and the mover module 3 entering the reversing conveying module 1 from the second end 142 and the third end 143 can be merged at the first end 141.

[0106] In the existing magnetic drive conveying system, the coil winding of the stator and the permanent magnetic array of the mover are exposed to the outside. When in a dusty conveying environment, they are easily disturbed by particles in the air, which affects the control accuracy and conveying accuracy of the mover. On the one hand, the magnetic field generated when the coil winding is excited will adsorb particles in the air to the surface of the coil winding. As the phase sequence of the coil winding is energized, the magnetic field changes accordingly. The particles attached to the surface of the coil winding change their positions with the change of the traveling magnetic field. In the process of changing the position of the particles, the surface of the coil winding may be scratched and irreversible damage may be caused, thereby reducing the life of the coil winding and the stability of the magnetic field, thereby affecting the control accuracy and conveying accuracy of the mover. On the other hand, the permanent magnetic array will also adsorb particles in the air, especially metal particles. When metal particles are attached to the permanent magnetic array, it will affect the magnetic field generated by the permanent magnetic array, which will also affect the control accuracy and conveying accuracy of the mover. In some embodiments of the present application, by arranging both the permanent magnet array 35 and the first coil winding 12 in the first accommodating cavity 13 of the first stator base 11, it is beneficial to provide protection for the permanent magnet array 35 and the first coil winding 12 through the first stator base 11, and reduce the probability of foreign matter entering the first accommodating cavity 13 by shielding the surface of the first stator base 11, thereby preventing the first coil winding 12 and the permanent magnet array 35 from adsorbing particulate matter, thereby improving the magnetic field stability and improving the control accuracy and transportation accuracy of the mover module 3.

[0107] like Figure 2 As shown, in some embodiments, the first cavity 131 and the second cavity 132 are interconnected at the first end 141, so that when the movable module 3 enters the reversing conveying module 1 from the first end 141, no matter it needs to move along the first conveying path or the second conveying path, it can enter from the same opening position of the first end 141, and when leaving the reversing conveying module 1 from the first end 141, no matter it is conveyed to the first end 141 from the first conveying path or the second conveying path, it can leave from the same opening position, that is, the cavity of the conveying module connected to the first end 141 of the reversing conveying module 1 can directly dock with the first cavity 131 at the opening of the first end 141, and when the movable module 3 is reversed, there is no need to adjust the position of the movable module 3 at the first end 141, thereby further improving the reversing efficiency of the movable module 3.

[0108] In other embodiments, the first cavity opening 131 and the second cavity opening 132 are staggered at the first end 141. When the movable module 3 moves to the first end 141, the guide structure of the movable module 3 can abut against different cavity openings in an active mode or a passive mode to achieve a change in the conveying direction. When the guide structure is in the active mode, the guide structure can be raised and lowered relative to the first body 31 to selectively abut the first cavity 131 or the second cavity 132. For example, the guide structure includes a first telescopic structure and a second telescopic structure, and the first telescopic structure and the second telescopic structure are arranged perpendicular to the conveying direction. The first telescopic structure has an extended state extending from the bottom of the second body 32 and a retracted state retracted into the second body 32. When the movable module 3 needs to move along the first conveying path, the first telescopic structure is in an extended state and enters the first cavity 131, and the second telescopic structure is in a retracted state without cooperating with the second cavity 132. Under the guidance of the first telescopic structure and the first cavity 131, the movable module 3 is limited to move along the first conveying path. When the movable module 3 needs to move along the second conveying path, the second telescopic structure is in an extended state and enters the second cavity 132. The first telescopic structure is in a retracted state without cooperating with the first cavity 131. Under the guidance of the second telescopic structure and the second cavity 132, the movable module 3 The module 3 is limited to move along the second conveying path; when the guide structure is in the passive mode, a reversing component 15 can be set at the openings of the first cavity 131 and the second cavity 132 at the first end 141, and the reversing component 15 abuts against the guide structure to prevent the reversing component 15 on one side from being in the cavity on one side. For example, the reversing component 15 includes a telescopic driving rod and a telescopic driving member, the first end of the telescopic driving rod is connected to the telescopic driving member, the linear cavity of the linear conveying module is connected to the first cavity 131, and the moving submodule When the telescopic driving member drives the telescopic driving rod to extend outward and enter the extended state, the second end of the telescopic driving rod acts on the movable submodule 3 to push the movable submodule 3 toward the opening of the second cavity 132, so that the movable submodule 3 can enter the second cavity 132 and move along the second conveying path.

[0109] It can be understood that the reversing conveying module 1 in the embodiment of the present application includes a first end 141, a second end 142 and a third end 143, the first conveying path connects the first end 141 and the second end 142, and the second conveying path connects the first end 141 and the third end 143. In other embodiments, the reversing conveying module may also include a third conveying path, the third conveying path connects the second end 142 and the third end 143, the top wall of the first stator base 11 is provided with a third cavity connecting the second end 142 and the third end 143, which is used to limit the movement of the mover module 3 along the third conveying path, and the first coil winding includes a first armature winding for providing the first conveying path, a second armature winding for providing the second conveying path, and a third armature winding for providing the third conveying path, so that after the mover module 3 enters any end, the coil winding on a conveying path corresponding to this end is excited, so that the mover module directly realizes the change of conveying direction, thereby improving the reversing efficiency. In some other embodiments, such as Fig.32 The reversing conveying module further includes a fourth end 144 and a fourth conveying path, and the fourth conveying path connects the first end 141 and the fourth end 144, so that the reversing conveying module has more diverse conveying paths to improve the conveying diversity of the reversing conveying module. Fig.33 In some other embodiments, the reversing conveying module further includes a fourth end 144 and a fifth conveying path, one end of the fifth conveying path is connected to the fourth end 144, and the other end of the fifth conveying path is connected to the second end 142 or the third end 143, that is, in a single reversing conveying module, there are at least two ends so that the mover module 3 has more than one optional conveying path, thereby making the mover module 3 have more diverse conveying methods, thereby improving the conveying diversity of the magnetic drive conveying system. The above third conveying path, fourth conveying path, and fifth conveying path can be selected according to application needs to be set in the reversing conveying module 1, or multiple of them can be selected to be set in the reversing conveying module 1 at the same time.

[0110] Furthermore, in the embodiment of the present application, the permanent magnet array 35 and the first coil winding 12 are disposed in the first accommodating cavity 13, and the first accommodating cavity 13 is connected to the outside via the first cavity opening 131 and the second cavity opening 132. During the operation of the mover module 3, the mover module 3 is continuously transported along the extension direction of the first cavity opening 131 or the second cavity opening 132, and the moving module 3 cooperates with the cavity wall at the cavity opening to achieve the limitation of the transport direction. Furthermore, during the transport of the mover module 3 along the first cavity opening 131 and the second cavity opening 132, external particles may enter the first accommodating cavity 13 via the first cavity opening 131 or the second cavity opening 132. For example, when the mover module 3 stays at a certain station to cooperate with the external actuator to process the workpiece carried by the mover module 3, the debris generated by the processing may fall on the surface of the first body 31 away from the first coil winding 12 through the cavity (the first cavity 131 or the second cavity 132) currently cooperating with the mover module 3; or, when the mover module 3 is running, external particles fall on the surface of the first coil winding 12 through the first cavity 131 and the second cavity 132. The external debris generated by the processing and the external particles in the air are collectively referred to as external debris. It can be seen that the opening size of the first cavity 131 and the second cavity 132 will affect the amount of debris in the first accommodating cavity 13, and then affect the control accuracy and conveying accuracy of the mover module 3. In some embodiments, the plane where the first coil winding 12 is located is orthographically projected, and the orthographic projection of the cavity that cooperates with the mover module 3 falls within the orthographic projection of the second body 32, that is, the second body 32 covers the cavity that cooperates with the mover module 3, and because the second body 32 and the first stator base 11 have a relatively close setting distance, the probability of external debris entering the first accommodating cavity 13 through the cavity is further reduced; and the orthographic projection of the cavity that cooperates with the mover module 3 falls within the orthographic projection of the first body 31, that is, the first body 31 covers the cavity that cooperates with the mover module 3, even if external debris enters the first accommodating cavity 13, the external debris will fall on the surface of the first body 31 away from the first coil winding 12, and because the surface of the first body 31 away from the first coil winding 12 and the surface of the first body 31 on which the permanent magnet array 35 is installed are opposite to each other, the probability of external debris falling on the permanent magnet array 35 or the first coil winding 12 is further reduced under the shielding effect of the first body 31, thereby improving the conveying stability and creating a cleaner conveying environment for the conveying of the mover module 3. By designing the position and size relationship between the first body 31 and the second body 32 and the cavity opening, it is possible to effectively prevent external debris from entering the first accommodating cavity 13 through the cavity opening matched therewith during the movement of the mover module 3.It can be understood that for the cavity opening that is not matched with the movable module 3, external debris may fall onto the first coil winding 12 through the cavity opening. In order to reduce the entry of external debris, the embodiment of the present application sets parameters for the width of the cavity opening and the width of the second body 32 in the direction perpendicular to the conveying direction. In addition to ensuring that the cavity opening achieves a better guiding effect on the movable module 3, the opening size of the cavity opening can also be reduced to reduce the probability of external debris entering the first accommodating cavity 13, thereby reducing the entry of external debris even when the cavity opening is not covered by the movable module 3. Preferably, along the direction perpendicular to the conveying direction, the ratio of the cavity opening width (the width of the first cavity opening 131 and the width of the second cavity opening 132) to the width of the second body 32 is 15% to 25%; in some embodiments, the ratio of the width of the cavity opening to the width of the second body 32 is 1:5, for example, the width of the cavity opening is 13 mm and the width of the second body is 65 mm; in other embodiments, the width of the cavity opening to the width of the second body 32 is, for example, 1:4, 1:6, etc.

[0111] In the present application, the switching of the moving submodule 3 conveying along the first conveying path and conveying along the second conveying path can be achieved by controlling the on and off of different positions of the first coil winding 12, or by a physically abutting reversing component 15, or by combining the two methods of changing the direction of the magnetic coupling driving force and providing the reversing component 15. The structure of the reversing conveying module 1 is specifically described below by taking the method of realizing the switching of the first conveying path and the second conveying path by the reversing component 15 as an example.

[0112] like Figures 1 to 3 As shown, the first stator base 11 includes a bottom substrate 113, a side substrate 112 and a top substrate 111 which are jointly surrounded to form a first accommodating cavity 13. The top substrate 111 is provided with a first cavity opening 131 and a second cavity opening 132, the bottom substrate 113 and the top substrate 111 are arranged opposite to each other in the height direction, and the side substrate 112 is arranged between the top substrate 111 and the bottom substrate 113. The cavity wall of the first accommodating cavity 13 includes a top wall, a bottom wall and a side wall. The top wall is the inner surface of the top substrate 111, that is, the surface of the top substrate 111 close to the first coil winding 12; and the top wall is provided with a first cavity opening 131 and a second cavity opening 132. The bottom wall is the inner surface of the bottom substrate 113, that is, the surface of the bottom substrate 113 close to the top substrate 111; and the bottom wall and the top wall are arranged opposite to each other in the height direction. The side wall is the inner surface of the side substrate 112, and the side wall is arranged between the top wall and the bottom wall. The first coil winding can be arranged on at least one of the top wall, the bottom wall and the side wall.

[0113] It can be understood that when the first coil winding 12 is disposed at different positions of the cavity wall, the excitation mode of the first coil winding 12 on the permanent magnet array 35 will change, and the above-mentioned change will bring different types of beneficial effects. In some embodiments, the first coil winding 12 is arranged on the bottom wall of the first accommodating cavity 13, and the first coil winding 12 is supported by the bottom substrate 113, and the permanent magnet array 35 is arranged on the side of the first body 31 opposite to the bottom substrate 113, that is, the side of the first body 31 away from the cavity opening; further, compared with setting the first coil winding 12 on the top wall, the first coil winding 12 can be arranged on the bottom wall at the relative position of the bottom substrate 113 and the first cavity opening 131 and the second cavity opening 132 along the height direction, thereby increasing the area where the first coil winding 12 can be set, and further increasing the coupling area between the first coil winding 12 and the permanent magnet array 35; and, setting the first coil winding 12 on the bottom wall of the first accommodating cavity and setting the permanent magnet array 35 on the bottom wall of the first body 31 is conducive to reducing the width of the first accommodating cavity while achieving the same coupling area, and further conducive to realizing the miniaturization design of the reversing conveying module in the width direction. In other embodiments, the first coil winding 12 is arranged on the side wall of the first accommodating cavity 13, the first coil winding 12 is supported by the side substrate 112, and the permanent magnet array 35 is arranged on the surface of the first body 31 facing the side substrate 112. For example, the first coil winding 12 is arranged on both sides of the first body 31 along the conveying direction; or, the first coil winding 12 is arranged on one side of the first body 31 along the conveying direction. By arranging the first coil winding 12 on the side wall of the first accommodating cavity 13 and the permanent magnet array 35 on the side wall of the first body 31, the space occupied by the first coil winding 12 and the permanent magnet array 35 in the height direction is reduced, which is beneficial to reducing the height of the first accommodating cavity, and then conducive to realizing the miniaturized design of the reversing conveying module in the height direction. In some other embodiments, the first coil winding 12 is arranged on the top wall of the first accommodating cavity 13, the first coil winding 12 is supported by the top substrate 111, and the permanent magnet array is arranged on the surface of the first body 31 facing the top substrate 111. For example, the permanent magnet array 35 can be arranged only on the side of the first body 31 away from the guide structure; or, the permanent magnet array 35 can be arranged on both sides of the first body 31 away from the guide structure. In the above two embodiments, when the mover module 3 needs to be reversed, only the first coil winding 12 on one side can be energized so that the first coil winding 12 on one side is coupled with the permanent magnet array 35, that is, by individually controlling the first coil winding 12 corresponding to a certain conveying path to be energized, the mover module 3 is guided to run along the first conveying path or the second conveying path, so as to flexibly change the conveying direction of the mover; or, the first coil winding 12 corresponding to the first conveying path and the second conveying path can be continuously energized to couple with the permanent magnet array 35, and the conveying direction of the mover module 3 can be changed by cooperating with the mover module 3 at the bifurcation through the reversing component, thereby improving the flexibility of reversing.

[0114] The following description will take the case where the first coil winding 12 is disposed on the bottom wall of the first accommodating cavity 13 as an example.

[0115] like Figures 1 to 7 As shown, the reversing assembly 15 includes a shifting member 154, which is configured to be driven to be in a first position ( Figures 1 to 3 shows the position) and the second position ( Figures 4 to 7 When the shifting member 154 is in the first position, the shifting member 154 blocks the moving submodule 3 from moving along the second conveying path. In this state, the moving submodule 3 can move along the first conveying path. When the shifting member 154 is in the second position, the shifting member 154 blocks the moving submodule 3 from moving along the first conveying path. In this state, the moving submodule 3 can move along the second conveying path. By setting the reversing assembly 15, the moving submodule 3 can be effectively guided to move along the predetermined conveying path, thereby improving the reversing stability and flexibility.

[0116] Combine the following Figures 2 to 6 The structure of the reversing assembly 15 of this embodiment is described in detail. Figure 2 As shown, the first cavity opening 131 is provided with a first limiting groove 114 and a second limiting groove 115 on both side walls corresponding to the first end 141, respectively, to limit the position of the shifting member 154. The shifting member 154 includes a first abutting surface 1545 and a second abutting surface 1546. When the shifting member 154 is in the first position, the first abutting surface 1545 is used to abut against the guide structure and hinder the communication of the second conveying path to guide the moving submodule 3 to move along the first conveying path; when the shifting member 154 is in the second position, the second abutting surface 1546 is used to abut against the guide structure and hinder the communication of the first conveying path to guide the moving submodule 3 to move along the second conveying path. Furthermore, the side wall of the first limiting groove 114 is used to abut against the second abutment surface 1546 to limit the rotational stroke of the shifting member 154. Preferably, in some embodiments, when the second abutment surface 1546 abuts against the side wall of the first limiting groove 114, the shifting member 154 is in the first position; the side wall of the second limiting groove 115 is used to abut against the first abutment surface 1545 to limit the rotational stroke of the shifting member 154. Preferably, in some embodiments, when the first abutment surface 1545 abuts against the side wall of the second limiting groove 115, the shifting member 154 is in the second position.

[0117] like Figure 6As shown, in some embodiments, the shifting member 154 includes an abutting end 1542, a rotating end 1541 and a pivot connection portion 1543, and the pivot connection portion 1543 of the shifting member 154 is rotatably mounted on the top base plate 111 of the first stator base 11 through a rotating shaft. The reversing assembly 15 also includes a reversing driving member 152, a driving shaft 151 and a connecting member 153, the output portion of the reversing driving member 152 is connected to the driving shaft 151, and the driving shaft 151 is connected to the rotating end 1541 of the shifting member 154 through the connecting member 153. The reversing drive member 152 is, for example, a linear motor or a hydraulic drive device, which can drive the drive shaft 151 to move in a telescopic manner when it is started. When the drive shaft 151 moves in a telescopic manner, the rotating end 1541 of the shifting member 154 is driven to move through the connecting member 153. The shifting member 154 rotates around the pivot connection portion 1543 to change the position of the abutting end 1542, so that the shifting member 154 switches between the first position and the second position. Figure 6 From the perspective of , when the reversing drive member 152 causes the driving shaft 151 to extend outward, the driving shaft 151 drives the connecting member 153 to move downward, and the connecting member 153 drives the rotating end 1541 to move downward, so that the abutting end 1542 rotates counterclockwise around the pivot connection portion 1543, and the shifting member 154 can be switched from the first position to the second position; when the reversing drive member 152 causes the driving shaft 151 to retract inward, the driving shaft 151 drives the connecting member 153 to move upward, and the connecting member 153 drives the rotating end 1541 to move upward, so that the abutting end 1542 rotates clockwise around the pivot connection portion 1543, and the shifting member 154 can be switched from the second position to the first position.

[0118] like Figure 2 and Figure 3 As shown, when the toggle member 154 is in the first position, the abutting end 1542 of the toggle member 154 cooperates with the groove wall of the first limiting groove 114, the first cavity 131 remains connected as a whole, and the movable submodule 3 can move along the first cavity 131 along the first conveying path; the toggle member 154 is at least partially located on the connecting path of the second cavity 132 to prevent the toggle member 154 from moving along the second conveying path. The first cavity 131 is a linear cavity, and the first abutting surface 1545 of the toggle member 154 is a plane adapted to the shape of the first cavity 131, and the movable submodule can be conveyed linearly through the first conveying path. Figure 5 and Figure 7As shown, when the toggle member 154 is in the second position, the abutting end 1542 of the toggle member 154 cooperates with the groove wall of the second limiting groove 115, the second cavity 132 remains connected as a whole, and the movable module 3 can realize movement along the second conveying path along the second cavity 132. The toggle member 154 is at least partially located on the communication path of the first cavity 131 to prevent the toggle member 154 from moving along the first conveying path. The second cavity 132 is an arc-shaped cavity, and the second abutting surface 1546 of the toggle member 154 is an arc surface adapted to the arc-shaped cavity. Turning and reversing of the movable module can be achieved through the second conveying path. The shape design of the toggle member 154 here is only an adaptive exemplary design, and is not intended to limit the scope of protection of this application. For example, the first cavity opening 131 may be an arc-shaped cavity opening, an oblique cavity opening or other shapes, and the second cavity opening 132 may be a straight cavity opening, an oblique cavity opening or other shapes. Then, the first abutting surface 1545 and the second abutting surface 1546 of the shifting member 154 may be adaptively designed according to the cavity wall shapes of different cavity openings, and all fall within the protection scope of the present invention.

[0119] like Figure 6 and Figure 7As shown, the first coil winding 12 is fixedly connected to the bottom substrate 113 and surrounded to form a placement cavity 16, in which a first drive component 171 is arranged, which is electrically connected to the first coil winding 12 and is used to drive the first coil winding 12 to generate a magnetic field. It can be understood that the placement cavity 16 is located on the side of the first coil winding 12 away from the mover module 3, and the first drive component 171 is arranged in the placement cavity 16 to reduce the probability of damage to the first drive component 171, so as to better protect the structural integrity of the first drive component 171, thereby improving the stability of the excitation of the first coil winding 12. The first drive component 171 is provided with a power socket 172 and a fiber optic socket 173. The power socket 172 is used to connect a power cord to supply power to the first drive component 171 and the first coil winding 12. The fiber optic socket 173 is used to connect an optical fiber. The first drive component 171 is connected to the drive components in the adjacent conveying module through a power cord and an optical fiber. The controller controls the operation of the first drive component 171 through the optical fiber, and further controls the periodic excitation of the first coil winding 12. For example, the first coil winding of the first conveying path can be energized by the controller to move the mover module along the first conveying path. The placement cavity 16 at least connects the first end 141, the second end 142 and the third end 143 of the reversing conveying module 1, so that the first drive component 171 can be docked with the drive components of the conveying modules adjacent to the first end 141, the second end 142 and the third end 143 of the reversing conveying module 1, respectively, thereby improving the convenience of cable plugging, and the power cord and the optical fiber are both arranged in the placement cavity 16, and the placement cavity 16 has a bundling effect on the cables to avoid the entanglement of the mover module and the cables during the operation of the mover module, thereby improving the conveying stability of the mover module; and the cables are arranged in the placement cavity 16 to reasonably utilize the accommodating space of the placement cavity 16, thereby improving the space utilization rate of the magnetic drive conveying system, which is conducive to realizing the miniaturization of the stator module. In other embodiments, a placement cavity can also be directly formed in the bottom substrate 113, and the first drive component 171 is arranged in the placement cavity.

[0120] like Figures 8 to 12 As shown, the permanent magnet array 35 of the mover module 3 is embedded in the bottom of the first body 31 to be arranged opposite to the first coil winding 12 in the height direction and form magnetic coupling, and the second body 32 of the mover module 3 is formed as a cover. Figure 8The S direction represents one of the conveying directions of the mover module 3. In a direction perpendicular to the conveying direction, grooves 321 are respectively provided on the opposite sides of the second body 32, and the mover module 3 also includes a rolling member 36 arranged in the groove 321, and the rolling member 36 is rollingly connected to the first stator base 11. On each side of the second body 32, a rolling member 36 is provided or a plurality of rolling members 36 arranged in sequence along the conveying direction are provided. The rolling member 36 is, for example, a roller. By providing the rolling member 36, guidance and support are provided for the movement process of the mover module 3, the rolling member is rollingly connected to the first stator base 11 and the movement of the mover module 3 along the reversing conveying module 1 is made smoother by reducing the friction.

[0121] In some embodiments, only the first body 31 of the mover module 3 is arranged in the first accommodating cavity 13, thereby reducing the setting volume of the first accommodating cavity 13, which is beneficial to reducing the volume of the first stator base 11, and further reducing the occupied space of the reversing conveying module 1, which is beneficial to the miniaturization and lightweight of the overall magnetic drive conveying system; the rolling element 36 is arranged outside the first accommodating cavity 13, and the position relationship of each structure is reasonably arranged in the spatial height dimension, which is beneficial to reducing the height and width of the mover body; by arranging the rolling element 36 on the opposite sides of the second body 32, there is no need to use the height space between the bottom of the second body 32 and the top substrate 111 of the first stator base 11, and the height space of the second body 32 itself can be fully utilized, which is beneficial to reducing the overall height of the mover body. By providing grooves 321 for accommodating the rolling element 36 on opposite sides of the second body 32, it is beneficial to reduce the width of the movable body in a direction perpendicular to the conveying direction while maintaining a certain structural strength; and, since the rolling element 36 does not occupy the space on the top surface of the second body 32, a larger workpiece bearing surface can be provided on the top surface of the second body 32 to provide more stable support for the conveyed workpiece; therefore, by adopting the matching structure of the movable body, the rolling element 36 and the reversing conveying module 1, it is beneficial to achieve the overall miniaturization of the movable module 3 and the reversing conveying module 1, improve the space utilization rate of each module structure in the magnetic drive conveying system, and effectively improve the stability of the movement of the movable module 3.

[0122] In some embodiments, the guide structure includes a guide member, which has guide surfaces on both sides perpendicular to the conveying direction, and the guide surfaces form a sliding fit with the first cavity 131 or the second cavity 132; in other embodiments, the guide structure includes at least one rolling member, such as a roller, a bearing, a ball, etc., and the rotation axis of the rolling member extends along the height direction, and the rolling member forms a rolling fit with the first cavity 131 or the second cavity 132; in some other embodiments, the guide structure includes a combination of a guide member and a rolling member, and the guide member and the rolling member are arranged along the conveying direction, and the guide member forms a sliding fit with the first cavity 131 or the second cavity 132, while the rolling member forms a rolling fit with the first cavity 131 or the second cavity 132.

[0123] like Fig.10 and Fig.12 As shown, in some embodiments, the guide structure includes a guide member 33 and two rolling fittings 34. The guide member 33 is arranged to extend along the conveying direction. The guide member 33 slides with the cavity wall of the first cavity opening 131 or the second cavity opening 132, and the two rolling fittings 34 are arranged on both sides of the guide member 33 along the conveying direction, and the two rolling fittings 34 roll with the cavity wall of the first cavity opening 131 or the second cavity opening 132. By accommodating the guide structure at the first cavity opening 131 or the second cavity opening 132, the guide member 33 can abut against the side wall of the first cavity opening 131 or the second cavity opening 132, so that the guide member 33 limits the movement of the movable submodule 3 along the conveying path under the limiting effect of the cavity opening, and the rolling fitting 34 can form a rolling fit with the side wall of the cavity opening, which makes the movement of the movable submodule 3 along the cavity opening smoother on the one hand, and on the other hand, the guide structure has more matching area with the side wall of the cavity opening in the conveying direction, thereby improving the limiting effect of the cavity opening on the movable submodule 3 and avoiding the deflection of the movable submodule 3 during movement.

[0124] In some embodiments, the rolling fitting 34 includes a shaft 341 and at least one bearing sleeved on the shaft 341, and both ends of the shaft 341 are connected to the first body 31 and the second body 32 respectively. Fig.10As shown, the rolling fitting 34 includes a first bearing 342 and a second bearing 343, and the first bearing 342 is arranged closer to the second body 32 relative to the second bearing 343. When the mover module 3 changes direction at the bifurcation (such as entering from the first end 141 and conveying along the second conveying path), the first bearing 342 and the second bearing 343 roll in contact with the cavity wall of the cavity opening (such as the second cavity opening 132) or the cavity opening abutment surface (such as the interface between the second cavity opening 132 and the first cavity opening 131 at the bifurcation), buffering the impact force received by the mover module 3 when colliding with the cavity wall or the abutment surface, so as to reduce the probability of damage to the mover module 3. At the same time, the rolling contact between the first bearing 342 and the second bearing 343 and the cavity wall or the abutment surface is also conducive to the mover module 3 to complete the change of conveying direction more smoothly. In some other embodiments, the guide structure may also include only one of the guide member 33 and the rolling fitting member 34. For example, the guide structure only includes the guide member 33, or the guide structure includes one or more rolling fitting members 34. When the guide structure includes multiple rolling fitting members 34, the multiple rolling fitting members 34 are arranged along the conveying direction, or every two rolling fitting members 34 form a group, and the two rolling fitting members 34 in each group are arranged along the width direction and respectively roll with the two side walls of the cavity opening; in some further embodiments, when the guide structure includes rolling fitting members 34, the number of rolling fitting members 34 can be adjusted as needed, for example, the rolling fitting member 34 is only provided on one side of the guide member 33 along the conveying direction; in some embodiments, each rolling fitting member 34 may include one or more than two bearings. When the rolling fitting member 34 includes multiple bearings, the multiple bearings are arranged along the height direction; the above various modified embodiments all fall within the protection scope of the present application.

[0125] like Fig.11 and Fig.12 As shown, in some embodiments, the guide member 33 is provided with guide surfaces 331 on two opposite sides perpendicular to the conveying direction, and each guide surface 331 extends along the conveying direction. From the end to the middle of the guide surface 331 along the conveying direction, the distance between the two guide surfaces 331 becomes smaller and smaller. Fig.12In the cross section shown, the guide member 33 is generally narrow in the middle and wide at both ends, and the guide surfaces 331 on both sides are formed as arc surfaces. When the mover module 3 is transported along a linear cavity (such as along the first cavity or the linear cavity of the linear conveying module), the front and rear sides of the guide surface 331 along the conveying direction can contact the linear cavity or the cavity abutment surface (such as the end face of the cavity) to improve the matching stability. When the mover module 3 changes direction at the fork (such as entering from the first end 141 and transporting along the second conveying path), the arc-shaped guide surface 331 can contact the arc-shaped cavity (such as the second cavity 132) or the arc-shaped cavity abutment surface (such as the interface between the second cavity 132 and the first cavity 131 at the fork) Abutment increases the contact area between the guide surface 331 and the arc-shaped cavity opening / arc-shaped cavity opening abutment surface, thereby improving the stability of the cavity opening limiting the guide member 33, and improving the stability of the moving module 3 in the reversing conveying module 1; and, compared with the use of a straight guide surface 331, the contact position of the two arc-shaped guide surfaces 331 and the arc-shaped cavity opening / arc-shaped cavity opening abutment surface is closer to the center position of the moving module 3, which is beneficial to reducing the turning radius of the moving module 3 when turning, and thereby is beneficial to achieving the miniaturization of the reversing conveying module 1, thereby helping to reduce the volume of the overall magnetic drive conveying system.

[0126] In some embodiments, the first coil winding 12 includes a first armature winding 121 and a second armature winding 122 , and the first conveying path and the second conveying path are provided by the first armature winding 121 and the second armature winding 122 . Figures 13-15 1 and 2 show several optional configurations of the first armature winding 121 and the second armature winding 122. In some embodiments, Fig.13 As shown, the first armature winding 121 and the second armature winding 122 are arranged in the same layer. Here, being arranged in the same layer means being arranged at the same height. The first armature winding 121 is arranged in phase sequence along the first conveying path, and the second armature winding 122 is arranged in phase sequence along the second conveying path. The first armature winding 121 and the second armature winding 122 form a structure that is similar to the contours of the first conveying path and the second conveying path. By arranging the first armature winding 121 and the second armature winding 122 in the same layer, it is beneficial to reduce the overall thickness of the first coil winding 12, which is beneficial to reducing the height of the first accommodating cavity 13 and reducing the volume of the first stator base 11, thereby realizing the miniaturization of the commutation conveying module. As shown Fig.13As shown, the first armature winding 121 and the second armature winding 122 are arranged on the same layer. The first conveying path and the second conveying path include overlapping intersection paths, and at the intersection path, the first armature winding 121 and the second armature winding 122 are integrally formed. When the mover module passes through the reversing conveying module, under the drive of the first drive component, the first armature winding 121 always applies a force along the direction of the first conveying path to the mover module, and the second armature winding 122 always applies a force along the direction of the second conveying path to the mover module. The switching between the first conveying path and the second conveying path is achieved by the shifting member of the reversing component, and the first coil winding itself does not provide the function of switching different conveying paths. Therefore, the structure of the two armature windings integrally formed at the intersection path is conducive to reducing the difficulty of the first drive component to control the armature winding, reducing the complexity of the control logic of the magnetic drive conveying system and the complexity of the system programming control.

[0127] In other embodiments, the first armature winding 121 and the second armature winding 122 are arranged in the same layer, but at the intersection path, the first armature winding 121 and the second armature winding 122 are spaced from each other and alternately arranged along the extension direction of the intersection path. In these embodiments, the first armature winding 121 and the second armature winding 122 can be independently controlled so that they are powered on at different times to guide the mover module to move along the first conveying path or along the second conveying path. When the mover module is required to move along the first conveying path, the first drive component drives the first armature winding 121 to be powered on while the second armature winding 122 does not work. When the mover module is required to move along the second conveying path, the first drive component drives the second armature winding 122 to be powered on while the first armature winding 121 does not work. By selecting the first armature winding 121 and the second armature winding 122, the movement direction of the mover module at the bifurcation is changed. These embodiments can realize the switching of the conveying path without relying on the reversing component, that is, there is no need to set the reversing component on the first stator base 11, and the effect of quickly changing the conveying direction and accurately controlling can be achieved by selecting the first armature winding 121 and the second armature winding 122. Alternatively, these embodiments can also be used in combination with the reversing component to ensure the accuracy and timeliness of the switching of the conveying path.

[0128] In some further embodiments, Fig.14As shown, the first armature winding 121 and the second armature winding 122 are arranged at different layers, the first armature winding 121 is arranged in phase sequence along the first conveying path, and the second armature winding 122 is arranged in phase sequence along the second conveying path. The first armature winding 121 is arranged in one or more layers, the second armature winding 122 is arranged in one or more layers, and the first armature winding 121 and the second armature winding 122 are arranged at intervals in the height direction. Therefore, although there is an intersection area in the orthographic projection of the first armature winding 121 and the second armature winding 122 on the top substrate of the first stator base 11, since the first armature winding 121 and the second armature winding 122 are arranged at different height layers, no substantial intersection will occur at the intersection area. Since the first armature winding 121 and the second armature winding 122 are arranged at different height layers, the two are more conducive to independent drive control, and the installation is more convenient. When one of the armature windings needs to be replaced, it will not have any effect on the other armature winding. When the mover module is required to move along the first conveying path, the first drive component drives the first armature winding 121 to be energized while the second armature winding 122 does not work, so that the mover module can be driven to move along the first conveying path; when the mover module is required to move along the second conveying path, the first drive component drives the second armature winding 122 to be energized while the first armature winding 121 does not work, so that the mover module can be driven to move along the second conveying path. By selecting the first armature winding 121 and the second armature winding 122, the movement direction of the mover module at the bifurcation is changed. These embodiments can achieve the switching of the conveying path without relying on the reversing component, that is, there is no need to set the reversing component on the first stator base 11, and the effect of quickly changing the conveying direction and accurately controlling can be achieved by selecting the first armature winding 121 and the second armature winding 122; or, these embodiments can also be used in combination with the reversing component to ensure the accuracy and timeliness of the switching of the conveying path. The number of layers of the first armature winding 121 and the second armature winding 122 can be the same or different. The number of layers of each armature winding can be designed according to the actual required size of the magnetic coupling driving force; for example, in some embodiments, the first armature winding 121 is set as one layer, and the second armature winding 122 is set as another layer; in other embodiments, the first armature winding 121 is set as multiple layers, the second armature winding 122 is set as multiple layers, and the multiple layers of the first armature winding 121 are uniformly separated from the multiple layers of the second armature winding 122 in height; in some other embodiments, the first armature winding 121 is set as multiple layers, the second armature winding 122 is set as multiple layers, and the multiple layers of the first armature winding 121 and the multiple layers of the second armature winding 122 are arranged to cross each other in height.

[0129] In some other embodiments, Fig.15As shown, the first armature winding 121 and the second armature winding 122 are arranged in different layers, the first coil winding 12 includes the first armature winding 121 arranged in phase sequence along the first direction and the second armature winding 122 arranged in phase sequence along the second direction, the first armature winding 121 and the second armature winding 122 are arranged at intervals along the height direction, and the first direction is perpendicular to the second direction. In these embodiments, the first coil winding 12 does not form a structure that is intuitively similar to the contours of the first conveying path and the second conveying path. The arrangement directions of the first armature winding 121 and the second armature winding 122 are perpendicular to each other, and can provide two vertical directions of magnetic coupling driving force respectively. By controlling the current of the two armature windings respectively, the magnitude of the magnetic coupling driving force of the two armature windings can be adjusted, and then the direction of the resultant force of the magnetic coupling driving force of the two armature windings can be adjusted. When conveying the mover module, the first armature winding 121 and the second armature winding 122 are energized simultaneously through the first driving component to form a vector force with a variable direction in the horizontal plane. The vector force with a variable direction is applied to the mover module to guide the mover module to move along the first conveying path or the second conveying path, thereby changing the conveying direction of the mover module. These embodiments do not need to rely on the reversing component to switch the conveying path, and have better versatility. For the first stator bases of different structures, when the positions of the respective ends have different designs, the number, position, shape, length, etc. of the corresponding conveying paths can be adaptively adjusted, and the layout structure of the first armature winding 121 and the second armature winding 122 does not need to be changed again. By adjusting the magnitude of the magnetic drive conveying force of the two armature windings, it is possible to provide vector forces in various directions to the mover module. When the reversing conveying module needs to be applied to various complex conveying environments, it is only necessary to change or replace the mechanical structure of the first stator base, and there is no need to change the arrangement structure of the first coil winding, thereby improving the universality of the reversing conveying module in various complex conveying environments, achieving cost reduction and reducing installation difficulty. This embodiment can also be used in combination with a reversing component to ensure the accuracy and timeliness of conveying path switching.

[0130] like Figures 16 to 18As shown, the magnetic drive conveying system also includes a linear conveying module 2, which includes a second stator base 21 and a second coil winding 22. The second stator base 21 is provided with a second accommodating cavity 23, and the second accommodating cavity 23 includes a linear cavity opening 231. The second coil winding 22 provides a linear conveying path, and the direction of the linear conveying path is basically consistent with the direction of the linear cavity opening 231. The second coil winding 22 is arranged on the cavity wall of the second accommodating cavity 23, and the mover module 3 can move along the linear cavity opening 231 to realize the conveying along the linear conveying path. At least one linear conveying module 2 is spliced ​​with one end of the reversing conveying module, and the linear cavity opening 231 of the linear conveying module 2 is connected to the first cavity opening or the second cavity opening. For example, in some embodiments, when the first cavity and the second cavity are connected at the first end, and a linear conveying module 2 is spliced ​​with the first end of the reversing conveying module, its linear cavity 231 is connected with both the first cavity and the second cavity, when a linear conveying module 2 is spliced ​​with the second end of the reversing conveying module, its linear cavity 231 is connected with the first cavity, and when a linear conveying module 2 is spliced ​​with the third end of the reversing conveying module, its linear cavity 231 is connected with the second cavity; in other embodiments, when the first cavity and the second cavity are spaced apart at the first end, and a linear conveying module 2 is spliced ​​with the first end of the reversing conveying module, its linear cavity 231 is connected with the first cavity or the second cavity, when the guide structure is in an active mode, the active switching of the guide structure can enable the mover module 3 to enter the first cavity or the second cavity from the linear cavity 231, and when the guide structure is in a passive mode, the reversing component 15 can enable the mover module 3 to enter the first cavity or the second cavity from the linear cavity 231.

[0131] In some embodiments, the second stator base 21 includes a bottom substrate 213, a side substrate 212, and a top substrate 211 that are jointly surrounded to form a second accommodating cavity 23, the top substrate 211 has a linear cavity 231, the bottom substrate 213 and the top substrate 211 are arranged opposite to each other in the height direction, and the side substrate 212 is arranged between the top substrate 211 and the bottom substrate 213. The second accommodating cavity 23 includes a top wall, a bottom wall, and a side wall. The top wall is the inner wall of the top substrate 211, the bottom wall is the inner wall of the bottom substrate 213, and the side wall is the inner wall of the side substrate 212, which is arranged between the top wall and the bottom wall. The second coil winding 22 is arranged on the cavity wall of the second accommodating cavity 23 and is arranged opposite to the permanent magnet array 35 of the mover module 3. The setting position of the second coil winding 22 corresponds to the setting position of the permanent magnet array 35. For example, when the permanent magnet array 35 is arranged at the bottom of the first body 31, the second coil winding 22 is arranged at the bottom wall of the second accommodating cavity 23 and is arranged opposite to the permanent magnet array 35 in the height direction; when the permanent magnet array 35 is arranged on the side of the first body 31, the second coil winding 22 is correspondingly arranged on the side wall of the second accommodating cavity 23; when the permanent magnet array 35 is arranged at the top of the first body 31, the second coil winding 22 is correspondingly arranged on the top wall of the second accommodating cavity 23.

[0132] In some embodiments, a placement cavity 26 is formed in the bottom substrate 213, and the second drive component 271 is electrically connected to the second coil winding 22 and is disposed in the placement cavity 26. The second drive component 271 is connected to the drive component in the adjacent conveying module through a power cord and an optical fiber line. In other embodiments, the placement cavity 26 can also be formed by the bottom substrate 213 and the second coil winding 22. The second drive component 271 is provided with a power socket 272 and an optical fiber socket 273. The power socket 272 is used to connect the power cord, and the second drive component 271 and the second coil winding 22 are powered by the power cord. The optical fiber socket 273 is used to connect the optical fiber line. The controller controls the operation of the second drive component 271 through the optical fiber line, and then controls the periodic excitation of the second coil winding 22, so that the mover module moves along the linear conveying path. The placement cavity 26 has a bundling effect on the cables to avoid entanglement between the mover module and the cables during the operation of the mover module, thereby improving the transportation stability of the mover module; and the cables are arranged in the placement cavity 26 to rationally utilize the accommodating space of the placement cavity 26, thereby improving the space utilization rate of the magnetic drive transportation system, which is conducive to the miniaturization of the stator module.

[0133] Fig.19 The schematic diagram of the magnetic drive conveying system of this embodiment is shown. The magnetic drive conveying system includes a conveying line formed by splicing multiple conveying modules, and the conveying line includes a base 50 that supports multiple conveying modules. The multiple conveying modules include multiple reversing conveying modules and multiple linear conveying modules. The bottom substrate of each reversing conveying module is closer to the base 50 than the side substrate and the top substrate. The bottom substrate of each linear conveying module is closer to the base 50 than the side substrate and the top substrate. The multiple conveying modules are arranged in sequence along the conveying path of the conveying line. Fig.19 and Fig. 22 As shown, according to the arrangement order of the conveying modules, the first accommodating chambers 13 of the multiple reversing conveying modules 1 and the second accommodating chambers 23 of the multiple linear conveying modules 2 are connected in sequence, the placement chambers 16 of the multiple reversing conveying modules 1 and the placement chambers of the multiple linear conveying modules 2 are connected in sequence, the driving components are provided with power sockets and optical fiber sockets on both sides along the conveying direction, and the driving components of each conveying module are connected to the driving components of the adjacent conveying components through power lines and optical fiber lines at the connected end positions. The coil windings of each conveying module are connected to the coil windings of the adjacent conveying components at the connected end positions, thereby providing continuous driving force for the mover module 3 during conveying.

[0134] like Figures 19 to 22As shown, in some embodiments, the conveyor line includes a feeding mechanism 60 and a process mechanism 70. The feeding mechanism 60 includes a pulsator mechanism and at least one conveying module (including a linear conveying module 2 and / or an arc conveying module), the pulsator mechanism is used to place the workpiece on the mover module 3, the conveying module of the feeding mechanism 60 conveys the mover module 3 to the entrance of the process mechanism 70, the mover module 3 enters the process mechanism 70, and then goes through the processing steps (process) in sequence, and then the workpiece is removed from the mover module 3 by the manipulator (unloading process), and then the unloaded mover module 3 drives out from the exit of the process mechanism 70 and continues to be conveyed along the subsequent conveying module. The process mechanism 70 includes a first reversing conveying module 101, a second reversing conveying module 102 and a process conveying assembly 103. The loading mechanism 60 is connected to the first end 141 of the first reversing conveying module 101. The first cavity 131 of the first reversing conveying module 101 is connected to the first cavity 131 of the second reversing conveying module 102. The first cavity 131 of the first reversing conveying module 101 and the first cavity 131 of the second reversing conveying module 102 can be directly connected, or connected through at least one linear cavity 231 of the linear conveying module 2; the second cavity 132 of the first reversing conveying module 101 and the second cavity 132 of the second reversing conveying module 102 are respectively connected to the cavity of the process conveying assembly 103, and the first reversing conveying module 101 and the second reversing conveying module 102 serve as the inlet module and the outlet module of the process conveying assembly 103, respectively. The first end 141 of the first reversing conveying module 101 is connected to the preceding conveying module 104, and the first end 141 of the second reversing conveying module 102 is connected to the succeeding conveying module 105. Here, "previous" and "post-sequence" refer to the before and after of the conveying sequence in the conveying process of the conveying line. It is understandable that when the process sequence changes, the conveying sequence may also change accordingly, and the previous "previous" conveying module may also become the "post-sequence" conveying module. The process conveying component 103 includes two symmetrically arranged linear conveying modules 2 and two arc-shaped conveying modules. Each conveying module is spliced ​​in turn to form a loop conveying path. The process conveying component 103 is provided with a process area 701 and a material unloading area 702 on both sides.

[0135] The conveyor line may be provided with one or more process mechanisms 70; when the conveyor line includes multiple process mechanisms 70, two adjacent process mechanisms 70 are connected by at least one linear conveying module 2, or the reversing conveying modules 1 of two adjacent process mechanisms 70 are directly connected, or the reversing conveying modules 1 of two adjacent process mechanisms 70 may also be connected by an arc conveying path, so that the extension directions of the process conveying components 103 of the two process mechanisms 70 form a certain angle. For example, the process conveying component 103 of a process mechanism 70 is arranged at Fig. 20 Below the conveyor line in the viewing angle, the process conveyor assembly 103 of another process mechanism 70 is arranged at Fig. 20On the left side of the conveyor line in the viewing angle, the two can be connected by an arc-shaped conveying module. By setting up multiple process mechanisms 70, the controller can control the process mechanism 70 into which the mover module 3 carrying the workpiece enters according to the crowded state of each process mechanism 70, and prevent the mover module 3 from entering the crowded process mechanism 70 by switching the path of the reversing conveying module 1, and select a smoother process mechanism 70 to allow the mover module 3 to enter and perform process processing and unloading, so as to achieve process processing load balancing of the overall magnetic drive conveying system, effectively balance the workload of multiple process mechanisms 70, reduce the time for the mover module 3 to wait for process processing, and thus improve process efficiency.

[0136] After the movable module 3 carrying the workpiece is conveyed by the loading mechanism 60, when passing through the process mechanism 70, if it is not necessary to enter the process conveying assembly 103, the movable module 3 can continue to be linearly conveyed through the first conveying path of the first reversing conveying module 101 and the first conveying path of the second reversing conveying module 102; if it is necessary to enter the process conveying assembly 103, the movable module 3 can enter the process conveying assembly 103 through the second conveying path of the first reversing conveying module 101, and after process processing and unloading in the process conveying assembly 103, leave the process conveying assembly 103 through the second conveying path of the second reversing conveying module 102 to continue the subsequent conveying process.

[0137] like Fig.19 , Figures 23 to 25As shown, in some embodiments, the conveyor line further includes a multi-layer reflux conveying mechanism 90 and a docking mechanism 80. After the aforementioned unloaded mover module 3 is driven out of the process mechanism 70, it moves to the docking mechanism 80. The docking mechanism 80 transports the unloaded mover module 3 to the multi-layer reflux conveying mechanism 90. After being transported by the multi-layer reflux conveying mechanism 90, the unloaded mover module 3 re-enters the loading mechanism 60, thereby completing a process cycle. Each layer of the reflux conveying mechanism 90 includes at least one horizontal linear conveying module 900 and at least one inclined linear conveying module 903. The conveying directions of the inclined linear conveying modules 903 of the two adjacent layers of the reflux conveying mechanism 90 intersect, and the conveying direction of the inclined linear conveying module 903 is set at an angle to the conveying direction of the horizontal linear conveying module 900. The horizontal linear conveying module 900 includes a linear conveying stator 901 and an arc-shaped conveying stator 902 having an arc-shaped cavity 9021. The arc-shaped conveying stator 902 is connected between the linear conveying stators 901 of two adjacent layers of the return conveying mechanism 90, or the arc-shaped conveying stator 902 is connected between the inclined linear conveying modules 903 of two adjacent layers of the return conveying mechanism 90. By making the conveying directions of the inclined linear conveying modules 903 of two adjacent layers of the return conveying mechanism 90 cross, the multi-layer return conveying mechanism 90 stacked in height can be fully utilized, and the return conveying mechanism 90 will not occupy too much plane space, which is conducive to providing a multi-layer return mechanism for the mover module 3 in a smaller plane space, and is more conducive to alleviating the congestion problem of the mover module 3 in the return.

[0138] In other embodiments, the conveying directions of the inclined linear conveying modules 903 of two adjacent layers of the reflow conveying mechanism 90 are parallel to each other, and the conveying direction of the inclined linear conveying module 903 is set at an angle to the conveying direction of the horizontal linear conveying module 900 .

[0139] In some embodiments, the multi-layer reflow conveying mechanism 90 includes a first docking conveying module 904. The docking mechanism 80 includes a second docking conveying module 802, a carrier substrate 803, a driving member 801, a bracket 805 and a drag chain 804. The driving member 801 is, for example, a driving motor. The driving member 801 is connected to the drag chain 804. The drag chain 804 is connected to the second docking conveying module 802. The second docking conveying module 802 is movably arranged on the bracket 805 through the carrier substrate 803. The driving member 801 is configured to drive the carrier substrate 803 and the second docking conveying module 802 to move between a third position and a fourth position in a height or horizontal direction. When the second docking conveying module 802 is in the third position, the second docking conveying module 802 is connected to the first docking conveying module 904; when the second docking conveying module 802 is in the fourth position, the second docking conveying module 802 is separated from the first docking conveying module 904 and connected to the linear conveying module 2.

[0140] By setting up a multi-layer reflux conveying mechanism 90 and a connecting mechanism 80, the unloaded mover module 3 has a longer buffer conveying path after moving to the reflux conveying mechanism 90, which can slow down the reflux speed of the unloaded mover module 3 returning to the loading mechanism 60, avoid congestion after too many mover modules 3 reflux to the loading mechanism 60, and accurately control the process cycle speed of the magnetic drive conveying system.

[0141] like Fig.23 and Fig.24 As shown, in this embodiment, the layers in the multi-layer reflux conveying mechanism 90 are distributed along the height direction, and the first docking conveying module 904 is arranged at the bottom layer. The reflux conveying mechanism 90 is a subsequent mechanism of the docking mechanism 80, that is, the moving submodule 3 is transported from the docking mechanism 80 to the reflux conveying mechanism 90. The movement direction of the second docking conveying module 802 of the docking mechanism 80 is the height direction. The second docking conveying module 802 and the carrier substrate 803 can move between a high position (fourth position) and a low position (third position). Fig.24 The state when the second docking and conveying module 802 and the carrier substrate 803 are located at the fourth position is exemplarily shown, and the state when the second docking and conveying module 802' and the carrier substrate 803' are located at the third position is exemplarily shown with dotted lines. It can be understood that, Fig.24 The second docking conveying module 802 and the second docking conveying module 802' shown in the figure refer to the positions of the same conveying module in different states, rather than two separate conveying modules. When the second docking conveying module 802 moves to the fourth position, the preceding linear conveying module 2 of the docking mechanism 80 is connected to the input end of the second docking conveying module 802, and the second docking conveying module 802 is separated from the first docking conveying module 904, and the movable module 3 can be moved from the preceding linear conveying module 2 to the second docking conveying module 802; when the driving member 801 drives the second docking conveying module 802 to move to the third position, the second docking conveying module 802 is separated from the preceding linear conveying module 2 and connected to the first docking conveying module 904, and the movable module 3 can enter the bottom layer of the reflux conveying mechanism 90 through the first docking conveying module 904, and be transported upward layer by layer, and after being transported to the top layer of the reflux conveying mechanism 90, enter the subsequent linear conveying module 2 of the reflux conveying mechanism 90.

[0142] In the reflux conveying mechanism 90, the angle a between the conveying direction of the inclined linear conveying module 903 and the conveying direction of the horizontal linear conveying module 900 is 5 to 15°, for example, 5°, 8°, 10°, 12°, 15°, etc. When the conveying direction of the inclined linear conveying module 903 extends downwardly in an inclined manner compared to the connected horizontal linear conveying module 900, the top surface of the inclined linear conveying module 903 and the top surface of the horizontal linear conveying module 900 have a certain interval at the joint position. By designing that the angle a between the conveying direction of the inclined linear conveying module 903 and the conveying direction of the horizontal linear conveying module 900 is not greater than 15°, it is beneficial to ensure that when the moving submodule 3 moves to the joint position between the horizontal linear conveying module 900 and the inclined linear conveying module 903, the rolling elements 36 on both sides of the second body 32 are still kept in contact with the top of the stator base of the conveying module, thereby ensuring the stability of the movement of the moving submodule 3. Taking the example that the length of the moving module 3 along the conveying direction is 65mm, the spacing between two adjacent rolling elements 36 arranged on the same side is 21.5mm, the distance between the coil winding surface of the stator base and the bottom of the stator base is 50mm, and the distance between the top surface of the stator base top and the rolling element 36 and the stator base is 84mm, when the angle a is 15°, the spacing between the coil winding surface of the horizontal linear conveying module 900 and the coil winding surface of the inclined linear conveying module 903 is approximately 20% of the moving module length, that is, the moving module is running to the coil winding of the horizontal linear conveying module 900 and the coil winding of the inclined linear conveying module 903. At the joint, about 20% of the permanent magnet array cannot be relatively coupled with the coil winding, but about 80% of the permanent magnet array can still achieve a relatively good coupling relationship with the coil winding, so that the mover module 3 can still be driven and controlled more accurately. The distance between the top surface of the horizontal linear conveying module and the top surface of the inclined linear conveying module 903 is the same as the distance between the two adjacent rolling elements 36, so that at the joint, one of the two adjacent rolling elements 36 on the same side of the mover module 3 rolls with the top surface of the horizontal linear conveying module, and the other rolls with the top surface of the inclined linear conveying module 903, ensuring the stability of the movement of the mover module 3. By designing the angle a between the conveying direction of the inclined linear conveying module 903 and the conveying direction of the horizontal linear conveying module to be not less than 5°, the height of the mover module 3 can be reduced during short-distance transportation while improving the reflux efficiency.Taking the rolling element 36 with a diameter of 16 mm as an example, when the angle a is about 5° and the distance between the horizontal linear conveying modules 900 on both sides of the inclined linear conveying module 903 along the conveying direction of the horizontal linear conveying module 900 is 1000 mm, the height difference between the horizontal linear conveying modules on both sides of the inclined linear conveying module 903 is about 90 mm, and when the distance between the coil winding surface of the stator base and the bottom of the stator base is 50 mm, 90 mm is 1.8 times of 50 mm, that is, a single reflux conveying mechanism satisfies the requirement of short-distance conveying, and the height of the movable module 3 decreases during the conveying process and improves the reflux efficiency; and because more reflux conveying mechanisms are additionally provided during the descent process, that is, the moving distance of the movable module is increased, thereby solving the congestion problem of the movable module 3 in the reflux conveying mechanism. The setting of the angle range here is only an example. In other embodiments, the angle a can also be set to a value outside the above range, which is also within the protection scope of the present application.

[0143] Fig.26 It is a top view of the reversing conveying module 1 according to another embodiment of the present application. Fig. 27 It is a schematic diagram of the cooperation between the reversing conveying module 1 and the moving module 3 according to another embodiment of the present application. Figures 26-27 The embodiment of the embodiment is different from the above-mentioned embodiment in that a reversing assembly is not provided, and the switching between the first conveying path and the second conveying path is realized only by the control process of the first drive assembly on the first armature winding 121 and the second armature winding 122. The first coil winding 12 includes a first armature winding 121 arranged in phase sequence along the first conveying path and a second armature winding 122 arranged in phase sequence along the second conveying path. The first armature winding 121 is arranged on the two first side walls of the first accommodating cavity 13, and the orthographic projections of the two first side walls on the top wall of the first stator base 11 are located on both sides of the first cavity opening 131 perpendicular to the conveying direction. The second armature winding 122 is arranged on the two second side walls of the first accommodating cavity 13, and the orthographic projections of the two second side walls on the top wall of the first stator base 11 are located on both sides of the second cavity opening 132 perpendicular to the conveying direction. The permanent magnet arrays 35 are fixedly arranged on both sides of the first body 31, and the permanent magnet arrays 35 on both sides are respectively arranged opposite to the first armature windings 121 on the two first side walls or the second armature windings 122 on the two second side walls. In this embodiment, the second coil windings of the linear conveying module are arranged on the two side walls of the second accommodating cavity, and the orthographic projections of the second coil windings on the top wall of the second stator base are located on both sides of the linear cavity opening.

[0144] This embodiment can drive the mover module 3 to move forward by controlling the phase sequence of the armature windings on both sides of the mover module 3. At the reversing point, the conveying direction of the mover module 3 is changed by energizing only the armature winding on one side; for example, when the mover module 3 moves along the first conveying path, the first armature windings 121 of the two first side walls are continuously energized, while the second armature windings 122 do not work, so that the mover module 3 keeps moving along the first conveying path; when the mover module 3 needs to turn to the second conveying path at the first end 141, while the second armature windings 122 of the two second side walls are energized, the first armature winding 121 of a first side wall away from the third end 143 can be energized, while the first armature winding 121 of a first side wall close to the third end 143 does not work, and the energized first armature winding 121 applies a magnetic coupling driving force to the mover module 3 to make it move toward the third end 143, thereby driving the mover module 3 to complete the turning and reversing more quickly.

[0145] Fig. 27 The arrangement structure of the first coil winding shown in the embodiment can also be used in combination with the commutation assembly shown in the above embodiment, for example Figures 1 to 7 The first coil winding structure shown in FIG. 1 is replaced by Fig. 27 When the first coil winding is arranged on the side wall of the first accommodating cavity 13 and the reversing component 15 is arranged, the magnetic field of the first coil winding 12 on both sides can be switched by the first driving component 171, and the switching of the conveying path can be realized by combining the reversing component 15 at the same time. Alternatively, the switching of the conveying path can be realized only by relying on the reversing component 15 without switching the magnetic field of the first coil winding 12. Fig.14 , Fig.15 When using the first coil winding structure shown or other feasible first coil winding structures, the switching of the conveying path can also be achieved by controlling the magnetic field changes of the first armature winding 121 and the second armature winding 122 only by the first drive component, that is, the structure of the commutation component can also be eliminated.

[0146] Fig.28It is a schematic diagram of the cooperation between the reversing conveying module 1 and the mover module 3 of another embodiment of the present application. In this embodiment, the first coil winding 12 is arranged on the top wall of the first accommodating cavity 13, and the projection of the first coil winding 12 on the top wall of the first accommodating cavity 13 is located on both sides of the guide structure perpendicular to the conveying direction. The first coil winding 12 includes a first armature winding arranged on both sides of the first cavity and a second armature winding arranged on both sides of the second cavity. The permanent magnet array 35 is arranged on the top of the first body 31 and is arranged opposite to the first coil winding 12 in the height direction. The projection of the permanent magnet array 35 on the top wall of the first accommodating cavity 13 is located on both sides of the guide structure perpendicular to the conveying direction. The second coil winding of the linear conveying module is arranged on the top wall of the second accommodating cavity to form a magnetic coupling with the permanent magnet array 35 arranged on the top of the first body 31. The first coil winding 12 includes a first armature winding and a second armature winding. The first armature winding and the second armature winding can be adopted. Fig.13 , 14 The structure shown or other feasible arrangement structures. This embodiment can realize driving the mover module 3 to move forward by controlling the phase sequence of the armature windings on both sides of the guide structure. At the reversing point, the conveying direction of the mover module 3 is changed by only energizing the armature windings on one side; for example, when the mover module 3 moves along the first conveying path, the first armature windings on both sides of the first cavity are continuously energized, while the second armature windings do not work, so that the mover module 3 keeps moving along the first conveying path; when the mover module 3 needs to turn to the second conveying path at the first end 141, while the second armature winding is energized, a first armature winding away from the third end 143 can be energized, while a first armature winding close to the third end 143 does not work, and the energized first armature winding applies a magnetic coupling driving force to the mover module 3 to make it move toward the third end 143, driving the mover module 3 to complete the turning reversing more quickly.

[0147] In other alternative embodiments, the arrangement of the coil windings and the permanent magnet array 35 in the above-mentioned embodiments may also be combined. For example, the first coil winding 12 is arranged on two or three of the top wall, bottom wall and side wall of the first accommodating cavity 13, the permanent magnet array 35 is correspondingly arranged on two or three of the top, bottom and side of the second body 32, and the second coil winding 22 is arranged on two or three of the top wall, bottom wall and side wall of the second accommodating cavity 23.

[0148] Fig.29 1 is a top view of the reversing conveying module of some other embodiments of the present application. Fig.29In the structure shown, the first cavity 131 and the second cavity 132 are spaced apart at the first end 141 of the reversing conveying module and are not connected to each other. When the mover module 3 is conveyed from the adjacent conveying module to the first end 141 of the reversing conveying module, if the first conveying path is required, the mover module 3 is driven to enter from the first cavity 131. If the second conveying path is required, the mover module 3 can be driven to move perpendicular to the conveying direction to the entrance of the second cavity 132 and enter from the second cavity 132. The first coil winding 12 in this embodiment includes a first armature winding and a second armature winding. The first armature winding and the second armature winding can be Figures 13-15 , Fig. 27 , Fig.28 The following description is made by taking the first armature windings arranged in phase sequence along the first conveying path and the second armature windings arranged in phase sequence along the second conveying path as an example.

[0149] Please combine Figure 1 , Fig. 9 and Fig.29 , Fig.30 and Fig.31 It is a schematic diagram of an optional reversing conveying module and a guide structure in the present application. In some embodiments, the guide structure realizes the opening switching of the first cavity 131 and the second cavity 132 in a passive mode, and a reversing component 15 is arranged at the opening of the first cavity 131 and the second cavity 132 at the first end 141. The reversing component 15 includes a shifting member 154, a telescopic driving rod 37 and a telescopic driving member 38. The first end of the telescopic driving rod 37 is connected to the telescopic driving member 38. The telescopic driving member 38 is, for example, a driving motor, and the second end of the telescopic driving rod 37 is connected to the shifting member 154. When the linear cavity of the linear conveying module is connected to the first cavity 131, the mover module 3 moves from the linear conveying module to the first end 141, as shown in FIG. Fig.31 As shown, at this time, the telescopic driving rod 37 is in an extended state, and the shifting member 154 is outside the first cavity 131 so that the movable module 3 moves along the first conveying path; when the linear cavity of the linear conveying module is connected to the second cavity 132, the movable module 3 moves from the linear conveying module to the first end 141, as shown in FIG. Fig.30 As shown, at this time, the telescopic driving rod 37 is in a retracted state, and the shifting member 154 is outside the second cavity 132 so that the movable module 3 moves along the second conveying path.

[0150] Fig.32 This is a top view of a reversing conveying module that can be selected in this application. Fig.32As shown, the top wall of the first stator base 11 is further provided with a fourth cavity 134, and the first coil winding 12 also includes a fourth armature winding for providing a fourth conveying path. The fourth armature winding is, for example, arranged in phase sequence along the fourth conveying path. The fourth cavity 134 connects the first end 141 and the fourth end 144 of the reversing conveying module. The direction of the fourth conveying path is substantially the same as the direction of the fourth cavity 134, that is, the fourth cavity 134 is used to limit the movement of the mover module 3 along the fourth conveying path. The first cavity 131, the second cavity 132 and the fourth cavity 134 are connected at the first end 141. When the mover module 3 enters the reversing conveying module 1 from the first end 141, it can realize diversion in three different directions, and the mover module 3 entering the reversing conveying module 1 from the second end 142, the third end 143 and the fourth end 144 can realize confluence to the first end 141. The reversing assembly includes a first shifting member 154a and a second shifting member 154b. The first shifting member 154a can be driven to switch between a third position and a fourth position. The third position refers to a position where the abutting end of the first shifting member 154a blocks the movement of the movable submodule 3 along the second cavity 132. The fourth position refers to a position where the abutting end of the first shifting member 154a blocks the movement of the movable submodule 3 along the first cavity 131. That is, the first shifting member 154 is used to switch the first conveying path and the second conveying path. The second shifting member 154b can be driven to switch between a fifth position and a sixth position. The fifth position refers to the position where the abutting end of the first shifting member 154a blocks the movement of the movable submodule 3 along the first cavity 131. The abutting end of the second shifter 154b blocks the position of the movable submodule 3 moving along the fourth cavity 134, and the sixth position refers to the position where the abutting end of the second shifter 154b blocks the movable submodule 3 from moving along the first cavity 131, that is, the second shifter 154b is used to switch the first conveying path and the third conveying path. By switching the positions of the abutting ends of the first shifter 154a and the second shifter 154b respectively, the movement of the movable submodule 3 along different conveying paths can be realized. By controlling the reversing component and the power-on control of the armature winding, the conveying path of the movable submodule 3 can be flexibly switched to flexibly adapt to various conveying scene requirements. In other alternative embodiments, the first cavity 131, the second cavity 132 and the third cavity may not be connected at the first end 141, or only two of them are connected.

[0151] Fig.33 This is a top view of another optional reversing conveying module of the present application. Fig.33As shown, the top wall of the first stator base 11 is further provided with a fifth cavity 135, and the first coil winding 12 also includes a fifth armature winding for providing a fifth conveying path. The fifth armature winding is, for example, arranged in phase sequence along the fifth conveying path. The fifth cavity 135 connects the second end 142 and the fourth end 144 of the reversing conveying module. The direction of the fifth conveying path is basically the same as the direction of the fifth cavity 135, that is, the fifth cavity 135 is used to limit the movement of the mover module 3 along the fifth conveying path. The reversing assembly includes a first shifting member 154a and a third shifting member 154c. The first shifting member 154a can be driven to switch between a third position and a fourth position. The third position refers to a position where the abutting end of the first shifting member 154a blocks the movement of the moving submodule 3 along the second cavity 132. The fourth position refers to a position where the abutting end of the first shifting member 154a blocks the movement of the moving submodule 3 along the first cavity 131. That is, the first shifting member 154 is used to switch the first conveying path and the second conveying path. The third shifting member 154c can be driven to switch between the third position and the fourth position. When switching between the seventh position and the eighth position, the seventh position refers to the position where the abutting end of the third shifting member 154c blocks the movement of the moving submodule 3 along the fifth cavity 135, and the eighth position refers to the position where the abutting end of the third shifting member 154c blocks the movement of the moving submodule 3 along the first cavity 131, that is, the third shifting member 154c is used to switch the first conveying path and the fifth conveying path. By switching the positions of the abutting ends of the first shifting member 154a and the third shifting member 154c respectively, the movement of the moving submodule 3 along different conveying paths can be realized. Fig.33The reversing conveying module can realize the conveyance of the mover module 3 between the first end 141 and the second end 142 through the first conveying path, realize the conveyance of the mover module 3 between the first end 141 and the third end 143 through the second conveying path, realize the conveyance of the mover module 3 between the second end 142 and the fourth end 144 through the fifth conveying path, and realize the conveyance of the mover module 3 between the third end 143 and the fourth end 144 by switching different conveying paths. For example, first, the first shifting member 154a is placed in the fourth position, the second armature winding is energized and the other armature windings are not working, and the mover module 3 is conveyed from the third end 1 43 enters the second cavity 132 and moves along the second conveying path to the first end 141, then switches the first shifter 154a to the third position, and makes the third shifter 154c in the seventh position, energizes the first armature winding and makes the other armature windings inoperative, the mover module 3 enters the first cavity 131 from the first end 141 and moves along the first conveying path to the second end 142, then switches the third shifter 154c to the eighth position, energizes the fifth armature winding and makes the other armature windings inoperative, the mover module 3 enters the fifth cavity 135 from the second end 142 and moves along the fifth conveying path to the fourth end 144. By controlling the reversing assembly and controlling the power supply of the armature winding, the conveying path of the mover module 3 can be flexibly switched to flexibly adapt to various conveying scene requirements.

[0152] The above content is a further detailed description of the present application in combination with specific preferred implementation methods, and it cannot be determined that the specific implementation of the present application is limited to these descriptions. For ordinary technicians in the technical field to which the present application belongs, several simple deductions or substitutions can be made without departing from the concept of the present application, which should be deemed to fall within the scope of protection of the present application.

Claims

1. A magnetic drive conveying system, characterized in that: include: A reversing conveying module comprises a first stator base and a first coil winding, wherein the first stator base is provided with a first accommodating cavity, wherein the first accommodating cavity comprises a first cavity opening and a second cavity opening, wherein the first cavity opening is connected to the first end and the second end of the reversing conveying module, and the second cavity opening is connected to the first end and the third end of the reversing conveying module; the first coil winding is provided on the cavity wall of the first accommodating cavity, and the first coil winding at least forms a first conveying path and a second conveying path, wherein the first conveying path is connected to the first end and the second end of the reversing conveying module, and the second conveying path is connected to the first end and the third end of the reversing conveying module; The movable submodule comprises a movable subbody and a permanent magnet array, wherein the movable subbody comprises a first body, a second body and a guide structure connecting the first body and the second body, the permanent magnet array is fixedly arranged on the first body, the first body and the second body are respectively located inside and outside the first accommodating cavity, the permanent magnet array is arranged opposite to the first coil winding, and the guide structure is at least partially slidably or rollingly matched with the side wall of the first cavity opening or the second cavity opening.

2. The magnetic drive conveying system according to claim 1, characterized in that: The first coil winding includes a first armature winding and a second armature winding, the first armature winding is arranged in phase sequence along the first conveying path, and the second armature winding is arranged in phase sequence along the second conveying path.

3. The magnetic drive conveying system according to claim 2, characterized in that: The first armature winding and the second armature winding are arranged in the same layer; the first conveying path and the second conveying path include overlapping intersection paths, at which the first armature winding and the second armature winding are integrally formed, or the first armature winding and the second armature winding are spaced from each other and alternately arranged along the extension direction of the intersection path.

4. The magnetic drive conveying system according to claim 3, characterized in that: The first armature winding is arranged in one or more layers, the second armature winding is arranged in one or more layers, and the first armature winding and the second armature winding are arranged at intervals in a height direction.

5. The magnetic drive conveying system according to claim 1, characterized in that: The cavity wall of the first accommodating cavity includes a top wall, a bottom wall and a side wall, the top wall is provided with the first cavity opening and the second cavity opening, the bottom wall and the top wall are arranged opposite to each other in the height direction, the side wall is arranged between the top wall and the bottom wall, and the first coil winding is arranged on at least one of the top wall, the bottom wall and the side wall of the first accommodating cavity.

6. The magnetic drive conveying system according to claim 5, characterized in that: The first coil winding includes a first armature winding arranged in phase sequence along the first conveying path and a second armature winding arranged in phase sequence along the second conveying path, the first armature winding is arranged on two first side walls of the first accommodating cavity, and the orthographic projections of the two first side walls on the top wall are located on both sides of the first cavity opening; the second armature winding is arranged on two second side walls of the first accommodating cavity, and the orthographic projections of the two second side walls on the top wall are located on both sides of the second cavity opening.

7. The magnetic drive conveying system according to claim 6, characterized in that: The permanent magnet arrays are fixedly arranged on two sides of the first body, and the permanent magnet arrays on the two sides are respectively arranged opposite to the first armature windings on the two first side walls or the second armature windings on the two second side walls.

8. The magnetic drive conveying system according to claim 2, characterized in that: The first coil winding is arranged on the bottom wall of the first accommodating cavity, and the first coil winding includes a first armature winding arranged in phase sequence along a first direction and a second armature winding arranged in phase sequence along a second direction. The first armature winding and the second armature winding are arranged at intervals along the height direction, and the first direction is perpendicular to the second direction.

9. The magnetic drive conveying system according to claim 1, characterized in that: The reversing conveying module also includes a reversing component, which includes a shifting member, and the shifting member is configured to be driven to switch between a first position and a second position. When the shifting member is in the first position, the shifting member blocks the movable module from moving along the second conveying path. When the shifting member is in the second position, the shifting member blocks the movable module from moving along the first conveying path.

10. The magnetic drive conveying system according to claim 9, characterized in that: The reversing assembly also includes a reversing drive, a drive shaft and a connecting member, wherein the output portion of the reversing drive is connected to the drive shaft, and the drive shaft is connected to one end of the shifting member through the connecting member, and the reversing drive is configured to drive the drive shaft to telescopically move so that the drive shaft drives the shifting member to switch between a first position and a second position.

11. The magnetic drive conveying system according to claim 9, characterized in that: The first cavity opening and the second cavity opening are connected at a position corresponding to the first end portion, and the first cavity opening is provided with a first limit groove and a second limit groove on both side cavity walls corresponding to the first end portion, respectively. When the shifting member is in the first position, the shifting member cooperates with the groove wall of the first limit groove, and when the shifting member is in the second position, the shifting member cooperates with the groove wall of the second limit groove.

12. The magnetic drive conveying system according to claim 9, characterized in that: The shifting member includes a first abutting surface and a second abutting surface. When the shifting member is in the first position, the first abutting surface blocks the movable module from moving along the second conveying path. When the shifting member is in the second position, the second abutting surface blocks the movable module from moving along the first conveying path. The second cavity opening is an arc-shaped cavity opening, and the second abutting surface is an arc surface adapted to the arc-shaped cavity opening.

13. The magnetic drive conveying system according to claim 1, characterized in that: In a direction perpendicular to the conveying direction, grooves are respectively arranged on opposite sides of the second body, and the mover module further comprises a rolling element arranged in the groove, and the rolling element is rollingly connected to the stator base.

14. The magnetic drive conveying system according to claim 1, characterized in that: The guide structure comprises a guide member extending along the conveying direction, wherein the guide member is provided with guide surfaces on two opposite sides perpendicular to the conveying direction, and the distance between the two guide surfaces becomes smaller from the end to the middle of the guide surface along the conveying direction.

15. The magnetic drive conveying system according to claim 14, characterized in that: The guide structure further includes two rolling fittings, which are arranged on both sides of the guide along the conveying direction, and the two rolling fittings are rolling fitted with the cavity wall of the first cavity opening or the second cavity opening.

16. The magnetic drive conveying system according to claim 15, characterized in that: The rolling fitting comprises: An axis body, two ends of which are respectively connected to the first body and the second body; At least one bearing is sleeved on the shaft body.

17. The magnetic drive conveying system according to claim 1, characterized in that: When the guide structure cooperates with the first cavity or the second cavity, the orthographic projection of the cavity cooperating with the guide structure on the plane where the first coil winding is located falls within the orthographic projection range of the first body on the plane where the first coil winding is located, and the orthographic projection of the cavity cooperating with the guide structure on the plane where the first coil winding is located falls within the orthographic projection range of the second body on the plane where the first coil winding is located; In a conveying direction perpendicular to the mover module, a ratio of the width of the first cavity opening and the second cavity opening to the width of the second body is 15% to 25%.

18. The magnetic drive conveying system according to claim 1, characterized in that: The system further comprises a linear conveying module, wherein the linear conveying module comprises: A second stator base is provided with a second accommodating cavity, wherein the second accommodating cavity includes a linear cavity opening; A second coil winding is arranged on the cavity wall of the second accommodating cavity; Wherein, at least one of the linear conveying modules is spliced ​​with one end of the reversing conveying module, and the linear cavity of the linear conveying module is connected with at least one of the first cavity and the second cavity.

19. The magnetic drive conveying system according to claim 18, characterized in that: The first stator base of the reversing conveying module and the second stator base of the linear conveying module both adopt the following structure: The first stator base and the second stator base each include a bottom base plate, a side base plate and a top base plate which are jointly arranged to form a receiving cavity, the top base plate has a cavity opening, the bottom base plate and the top base plate are arranged opposite to each other in a height direction, and the side base plate is arranged between the top base plate and the bottom base plate; The coil winding is fixedly connected to the bottom substrate and surrounds a placement cavity, or a placement cavity is formed in the bottom substrate, and a driving component is electrically connected to the coil winding and is arranged in the placement cavity.

20. The magnetic drive conveying system according to claim 19, characterized in that: The placement cavity of the first stator base is connected to the first end, the second end and the third end of the first stator base.

21. The magnetic drive conveying system according to claim 20, characterized in that: The first accommodating cavities of the multiple reversing conveying modules and the second accommodating cavities of the multiple linear conveying modules are connected in sequence, the placement cavities of the multiple reversing conveying modules and the placement cavities of the multiple linear conveying modules are connected in sequence, and the driving component is provided with power sockets and optical fiber sockets on both sides along the conveying direction.

22. The magnetic drive conveying system according to claim 18, characterized in that: The system includes a multi-layer reflow conveying mechanism, each layer of the reflow conveying mechanism includes at least one horizontal linear conveying module and at least one inclined linear conveying module, the conveying directions of the inclined linear conveying modules of the reflow conveying mechanisms of two adjacent layers are crossed or parallel, and the conveying direction of the inclined linear conveying module is set at an angle to the conveying direction of the horizontal linear conveying module.

23. The magnetic drive conveying system according to claim 22, characterized in that: The angle between the conveying direction of the inclined linear conveying module and the conveying direction of the horizontal linear conveying module is 5 to 15 degrees.

24. The magnetic drive conveying system according to claim 22, characterized in that: The horizontal linear conveying module includes a linear conveying stator and an arc-shaped conveying stator. The arc-shaped conveying stator is connected between the linear conveying stators of the two adjacent layers of the reflux conveying mechanism, or the arc-shaped conveying stator is connected between the inclined linear conveying modules of the two adjacent layers of the reflux conveying mechanism.

25. The magnetic drive conveying system according to claim 22, characterized in that: The multi-layer reflux conveying mechanism includes a first docking conveying module, the magnetic drive conveying system also includes a docking mechanism, the docking mechanism includes a second docking conveying module, a driving member, a bracket and a transmission belt, the driving member is connected to the transmission belt, the transmission belt is connected to the second docking conveying module, the second docking conveying module is movably arranged on the bracket, and the driving member is configured to drive the transmission belt to reciprocate to drive the second docking conveying module to move between a third position and a fourth position along a height or horizontal direction; When the second docking and conveying module is in the third position, the second docking and conveying module is connected to the first docking and conveying module; when the second docking and conveying module is in the fourth position, the second docking and conveying module is separated from the first docking and conveying module.

26. The magnetic drive conveying system according to claim 18, characterized in that: The system includes a loading mechanism and a process mechanism, and the process mechanism includes a first reversing conveying module, a second reversing conveying module and a process conveying assembly. The loading mechanism is connected to the first end of the first reversing conveying module, the first cavity of the first reversing conveying module is connected to the first cavity of the second reversing conveying module, and the second cavity of the first reversing conveying module and the second cavity of the second reversing conveying module are respectively connected to the cavity of the process conveying assembly.

27. The magnetic drive conveying system according to claim 26, characterized in that: The system comprises a plurality of the process mechanisms, and two adjacent process mechanisms are connected via at least one linear conveying module or arc conveying module, or the reversing conveying modules of two adjacent process mechanisms are connected.

28. The magnetic drive conveying system according to claim 18, characterized in that: The cavity wall of the second accommodating cavity includes a top wall, a bottom wall and a side wall, the top wall is provided with the linear cavity opening, the bottom wall and the top wall are arranged opposite to each other in the height direction, the side wall is arranged between the top wall and the bottom wall, and the second coil winding is arranged on at least one of the top wall, the bottom wall and the side wall.

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