Mover and conveying device

Abstract

The present application provides a mover and a conveying device, wherein the mover is used for magnetic coupling with a stator, and the mover includes a mover body and a leakage magnetic reduction device; the mover body includes a mover base and a mover magnet arranged on the mover base, and the mover base has two leakage magnetic ends arranged opposite to each other in the direction of movement of the mover body; the leakage magnetic reduction device is arranged at at least one leakage magnetic end, and the leakage magnetic reduction device is used to generate a magnetic field to reduce the magnetic field range at the leakage magnetic end where the mover magnet is located. Through the above-mentioned structural arrangement, the leakage magnetic reduction device and the mover magnet at the leakage magnetic end are coupled to each other, thereby converging the magnetic flux of the mover magnet at the leakage magnetic end to achieve the effect of reducing the magnetic field range at the leakage magnetic end, significantly improving the leakage magnetic phenomenon at the end of the mover base, further reducing the adverse effects such as inaccurate positioning and reduced transmission speed caused by leakage magnetic, and helping to improve the stability and reliability of the conveying device.

Description

Technical Field

[0001] The present application relates to the technical field of magnetic drive transmission systems, and in particular to a mover and a conveying device. Background Art

[0002] In related technologies, magnetically driven conveying devices include a mover and a stator. Multiple stators are spliced ​​together to form a stator transmission line. The mover is placed on the stator transmission line and used to carry objects. The stator has stator windings, and the mover has mover magnets. The mover magnets can magnetically couple with the stator windings to drive the mover on the stator, thereby transporting objects. However, the mover magnets at the ends of the mover have magnetic leakage, which can lead to inaccurate positioning and reduced transmission speeds. Summary of the Invention

[0003] The embodiments of the present application provide a mover and a conveying device, which aim to improve the problem of magnetic leakage in the mover.

[0004] In a first aspect, an embodiment of the present application provides a mover for magnetically coupling with a stator, the mover comprising:

[0005] A mover body, comprising a mover base and a mover magnet arranged on the mover base, wherein the mover base has two leakage magnetic ends arranged opposite to each other in the moving direction of the mover body; and

[0006] A leakage flux reduction device is provided at at least one of the leakage flux ends, and is used to generate a magnetic field to reduce the magnetic field range at the leakage flux end where the mover magnet is located.

[0007] In some embodiments, the mover base includes a first surface, a second surface and a third surface, the first surface and the third surface are arranged on opposite sides of the mover base, the second surface is adjacent to the first surface and the third surface, the mover magnet is arranged on the third surface, and the leakage magnetic field reduction device is arranged on the first surface and / or the second surface.

[0008] In some embodiments, the mover body also includes a guide and a sensor, the mover base includes a first base and a second base arranged perpendicular to each other, the guide is arranged on the third surface of the first base or the second base, the sensor is arranged on the second surface or the third surface of the first base, and the mover magnet is arranged on the third surface of the second base.

[0009] In some embodiments, the mover body also includes a guide and a sensor, the mover base includes a first base, a second base and a third base connected in sequence, the first base and the third base are arranged on the same side of the second base, the guide is arranged on the first surface of the third base, the sensor is arranged on the second surface of the third base, and the mover magnet is arranged on the third surface of the first base and the third surface of the third base.

[0010] In some embodiments, the magnetic flux leakage reduction device includes a first sub-device and a second sub-device, the first sub-device is arranged at the first magnetic flux leakage end, and the second sub-device is arranged at the second magnetic flux leakage end; the movable magnet includes:

[0011] A first permanent magnet array is arranged on the mover base, including a plurality of first permanent magnets arranged along the direction of movement, the first permanent magnet close to the first leakage magnetic end has a first polarity, and the first permanent magnet close to the second leakage magnetic end has a second polarity, wherein the first polarity is opposite to the second polarity, the polarity of the first sub-device is opposite to the first polarity, and the polarity of the second sub-device is opposite to the second polarity.

[0012] In some embodiments, the mover magnet further includes a second permanent magnet array, which is disposed on the mover base and opposite to and spaced from the first permanent magnet array. The second permanent magnet array includes a plurality of second permanent magnets arranged along the direction of movement, the second permanent magnets close to the first leakage end have a third polarity, and the second permanent magnets close to the second leakage end have a fourth polarity, and the third polarity is opposite to the fourth polarity.

[0013] The leakage flux reduction device further includes a third sub-device arranged at the first leakage flux end and a fourth sub-device arranged at the second leakage flux end, wherein the polarity of the third sub-device is opposite to the third polarity, and the polarity of the fourth sub-device is opposite to the fourth polarity.

[0014] In some embodiments, there is a first distance between the first permanent magnet array and the second permanent magnet array, and there is a second distance between the leakage flux reduction device and the first permanent magnet array, and the second distance is not greater than the first distance; and / or there is a third distance between the leakage flux reduction device and the second permanent magnet array, and the third distance is not greater than the first distance.

[0015] In some embodiments, the first permanent magnetic array and the second permanent magnetic array have a first magnetic field strength, the magnetic flux leakage reduction device has a second magnetic field strength, and the first magnetic field strength is not greater than the second magnetic field strength.

[0016] In some embodiments, the magnetic flux leakage reduction device includes at least one of a permanent magnet or an electromagnetic coil.

[0017] In some embodiments, the leakage magnetic flux reduction device includes the permanent magnet, and the mover also includes a fixing device arranged on the mover base, and multiple permanent magnets are fixedly arranged in the fixing device, or each permanent magnet is movably arranged in the fixing device.

[0018] In some embodiments, the magnetic flux leakage reduction device includes an electromagnetic coil; and the mover further includes:

[0019] A power supply device is provided on the mover base, and the power supply device includes a power transmission member, and the power transmission member is electrically connected to the electromagnetic coil to drive the electromagnetic coil to generate a magnetic field

[0020] In some embodiments, the power supply device further includes:

[0021] The power storage component is arranged on the mover base and is electrically connected to the electromagnetic coil and the power transmission component to supply power to the electromagnetic coil.

[0022] In a second aspect, an embodiment of the present application further provides a conveying device, comprising:

[0023] The above-mentioned mover, and

[0024] The stator transmission line includes a plurality of stators spliced ​​together, wherein the stator includes a stator body and a stator winding arranged on the stator body, and the stator winding is magnetically coupled with the mover magnet to drive the mover to move on the stator, wherein the stator winding is arranged parallel to the horizontal plane, or the stator winding is arranged parallel to the vertical plane.

[0025] Based on the above structural setting, a leakage magnetic field reduction device is provided at the leakage magnetic end of the mover base, so that the leakage magnetic field reduction device and the mover magnet at the leakage magnetic end are coupled, thereby converging the magnetic flux lines of the mover magnet at the leakage magnetic end, so as to achieve the effect of reducing the magnetic field range at the leakage magnetic end, significantly improving the leakage magnetic field phenomenon at the end of the mover base, further reducing the adverse effects such as inaccurate positioning and reduced transmission speed caused by leakage magnetic field, and helping to improve the stability and reliability of the conveying device. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0027] Figure 1 Schematic diagram of a permanent magnet array of a mover in the related art;

[0028] Figure 2 This is a partial structural diagram of a conveying device in one embodiment of the present application;

[0029] Figure 3 Schematic diagram of the structure of the mover in one embodiment of the present application;

[0030] Figure 4 This is an exploded schematic diagram of a mover in one embodiment of the present application;

[0031] Figure 5 Schematic diagram of the arrangement of the first permanent magnet array in one embodiment of the present application (arcs are used to represent magnetic flux lines);

[0032] Figure 6 A schematic diagram of the coupling effect between the first permanent magnet array and the magnetic flux leakage reduction device in one embodiment of the present application (arcs are used to represent magnetic flux lines);

[0033] Figure 7 Schematic diagram of the arrangement of the first permanent magnet array and the second permanent magnet array in one embodiment of the present application (arcs are used to represent magnetic flux lines);

[0034] Figure 8 A schematic diagram of a first permanent magnet array and a magnetic flux leakage reduction device generating a coupling effect, and a second permanent magnet array and a magnetic flux leakage reduction device generating a coupling effect in one embodiment of the present application (arcs are used to represent magnetic flux lines);

[0035] Figure 9 is a cross-sectional schematic diagram of a conveying device in one embodiment of the present application;

[0036] Figure 10 Schematic diagram of the structure of the stator in one embodiment of the present application;

[0037] Figure 11 This is a schematic diagram of a partial structure of a stator in an embodiment of the present application.

[0038] Description of reference numerals:

[0039] 1. Conveying device; 10. Mover; 11. Mover body; 111. Mover base; 111a. Leakage magnetic end; 111a1. First leakage magnetic end; 111a2. Second leakage magnetic end; 111b. First surface; 111c. Second surface; 111c1. First sub-surface; 111c2. Second sub-surface; 111d. Third surface; 1111. First base; 1112. Second base; 1113. Third base; 112. Mover magnet; 1121. First permanent magnet array; 1121a. First permanent magnet; 1122. Second sub-surface Two permanent magnet arrays; 1122a, second permanent magnet; 113, guide member; 114, sensor; 20, stator; 20a, stator transmission line; 21, stator body; 211, plug interface; 212, accommodating cavity; 213, heat dissipation channel; 214, air inlet; 215, circuit board; 22, stator winding; 221, step structure; 23, guide rail member; 24, sensor reader; 30, leakage magnetic field reduction device; 31, first sub-assembly; 32, second sub-assembly; 33, third sub-assembly; 34, fourth sub-assembly; 40, fixing device. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0041] In related technologies, a magnetic drive conveying device includes a mover and a stator. The mover includes a mover magnet, and the stator includes a stator winding. Multiple stators are sequentially spliced ​​along the conveying direction to form a stator transmission line. The mover is arranged on the stator transmission line. By periodically exciting the stator winding, the stator transmission line has a changing traveling wave magnetic field. The mover magnet is magnetically coupled with the traveling wave magnetic field to realize the movement of the mover on the stator transmission line. Figure 1As shown, there is usually an air gap between the mover magnet and the stator winding. The magnetic field generated by the mover magnet will diverge at the air gap, so that the magnetic field range of the mover magnet will cover the length of the mover magnet; that is, along the conveying direction, the magnetic field range of the mover magnet is greater than the length of the mover magnet. As a result, when the distance between two adjacent movers is small, the magnetic fields of the two adjacent movers interact with each other, so that there is a repulsive or attractive force between the two adjacent movers, which is not conducive to the precise control of the mover when the distance is short. In addition, in the related art, a magnetic suppression structure such as a magnetic steel may be provided at the mover magnet at the end of the mover to reduce the divergence of the magnetic field. However, due to the air gap between the mover magnet and the stator winding, the magnetic field generated by the mover magnet at the end of the mover still diverges through the air gap, still making the magnetic field range of the mover magnet greater than the length of the mover magnet. When the distance between two adjacent movers is small, the mover magnets at the mover ends of the two adjacent movers will still interact with each other, which is not conducive to the precise control of the mover when the distance is short. The phenomenon of magnetic flux lines at the mover ends diverging outward, resulting in a magnetic field greater than the length of the mover ends and generating attractive or repulsive forces between adjacent movers when the distance between them is close, is called "magnetic flux leakage at the mover ends." On the one hand, this magnetic flux leakage complicates control when the movers are close together, hindering the accuracy of mover positioning. On the other hand, the repulsive or attractive forces between adjacent movers impair the stability of the movers when stationary, reducing their positioning accuracy.

[0042] In order to improve the problem of magnetic leakage at the end of the mover 10, first, please refer to Figures 2 to 4 An embodiment of the present application provides a mover 10 , which includes a mover body 11 and a magnetic flux leakage reduction device 30 .

[0043] The mover body 11 includes a mover base 111 and a mover magnet 112. The mover base 111 serves as the main structure of the mover body 11 and plays the role of carrying objects. The mover magnet 112 is arranged on the mover base 111. The mover magnet 112 is magnetically coupled with the stator winding 22 to drive the mover body 11 to move on the stator transmission line 20a. Since the mover magnet 112 at the end of the mover base 111 has only a single-sided magnetic circuit coupling, the magnetic flux lines of the mover magnet 112 at the end diverge outward, resulting in leakage magnetic field at the end of the mover base 111, that is, the mover base 111 has two leakage magnetic ends 111a arranged opposite to each other in the direction of movement of the mover body 11.

[0044] The leakage flux reduction device 30 is disposed at the leakage flux end 111a of the mover base 111. Specifically, the leakage flux reduction device 30 can be disposed at both leakage flux ends 111a, or only at one of the leakage flux ends 111a. The leakage flux reduction device 30 is a magnetic structure that can generate a magnetic field to converge the magnetic flux lines of the mover magnet 112 at the leakage flux end 111a of the leakage flux reduction device 30, thereby reducing the range of the magnetic field emitted from the leakage flux end 111a. This not only improves the magnetic flux leakage phenomenon at the end of the mover base 111, but also reduces the range of the magnetic field emitted from the mover magnet 112 at the leakage flux end 111a. In this way, on the one hand, the adverse effects such as inaccurate positioning and reduced transmission speed caused by leakage magnetic flux can be reduced; on the other hand, it can also improve the phenomenon that when multiple movers 10 are arranged on the stator transmission line 20a and the distance between two adjacent movers 10 is too close, the leakage magnetic ends 111a of the two adjacent movers 10 interfere with each other, that is, the phenomenon that repulsion or attraction is generated between the two adjacent movers 10; at the same time, it can reduce the influence of the interaction between the two adjacent movers 10 on the drive and positioning of the mover 10, and further improve the stability and reliability of the conveying device 1.

[0045] Based on the above-described structural arrangement, a leakage flux reduction device 30 is provided at the leakage flux end 111a of the mover base 111. The leakage flux reduction device 30 couples with the mover magnet 112 at the leakage flux end 111a, thereby converging the magnetic flux lines of the mover magnet 112 at the leakage flux end 111a, thereby reducing the magnetic field range at that leakage flux end 111a. In other words, this arrangement can converge the magnetic flux lines on at least one side of the mover base 111, reducing the magnetic field range of the mover magnet 112. This also reduces the repulsive or attractive force between adjacent movers 10. This also reduces the distance between adjacent movers 10, bringing them closer together. This allows for more movers 10 to be arranged on the stator transmission line 20a, helping to improve transmission efficiency. Furthermore, it can reduce positioning inaccuracies caused by leakage flux, helping to improve positioning and control accuracy, thereby enhancing the stability and reliability of the conveying device 1.

[0046] Please refer to Figures 2 to 4 The present application provides a conveying device 1 , which includes a stator transmission line 20 a and a mover 10 .

[0047] The stator transmission line 20a is a main component of the conveying device 1 and is used to carry the mover 10. The stator transmission line 20a includes at least one stator 20. When there are multiple stators 20, the multiple stators 20 are spliced ​​together. The stator 20 includes a stator body 21 and a stator winding 22. The stator winding 22 is arranged on the stator body 21. The stator winding 22 includes a winding shell and a core located in the winding shell. The core is printed on the winding shell. When the core is energized, it will generate a traveling wave magnetic field. The stator winding 22 is provided with step structures 221 on opposite sides of the transmission direction of the stator transmission line 20a. The two adjacent stator windings 22 are spliced ​​correspondingly through the two step structures 221 to splice the two adjacent stator windings 22. In this way, the splicing position of the stator winding 22 can be accurately positioned, which helps to arrange the multiple stator windings 22 neatly.

[0048] The mover 10 is mounted on the stator transmission line 20a and carries objects. The mover 10 includes a mover body 11, which has stator 20 magnets. The mover magnets 112 are magnetically coupled to the stator windings 22. Specifically, the mover magnets 112 couple with the traveling magnetic field generated by the stator windings 22, thereby driving the mover 10 along the stator transmission line 20a and transporting objects.

[0049] In some embodiments, as Figure 10 and Figure 11 As shown, the stator body 21 is provided with an insertion port 211, and the stator winding 22 is partially inserted into the insertion port 211 and fixedly connected to the stator body 21, such as by screwing or clamping, so that the stator winding 22 is fixed to the stator body 21. It is understandable that the present application is not rigid in the location of the stator winding 22 and the connection method with the stator body 21. For example, the stator winding 22 can also be provided on the outer surface of the stator body 21 and fixedly connected to the stator body 21 by bonding.

[0050] In the embodiments of this application, Figure 11 As shown, the stator 20 also includes a circuit board. The stator body 21 has a housing 212 within it. The circuit board is disposed within this housing 212 and is electrically connected to the stator windings 22. This circuit board is used to energize the cores of the stator windings 22 and control the current flowing through the cores. The housing 212 communicates with the plug port 211, and a portion of the stator windings 22 is located within this housing 212, facilitating electrical connection between the stator windings 22 and the circuit board.

[0051] like Figure 11As shown, the stator body 21 also has a heat dissipation channel 213 and an air inlet 214. The heat dissipation channel 213 is connected to the accommodating chamber 212. That is, the plug interface 211 and the heat dissipation channel 213 are connected through the accommodating chamber 212. The air inlet 214 is provided on the opposite side of the plug interface 211 and is connected to the heat dissipation channel 213 for allowing outside air to enter. It can be understood that the plug interface 211, the accommodating chamber 212, the heat dissipation channel 213, and the air inlet 214 are connected. The outside air passes through the air inlet 214, the heat dissipation channel 213, the accommodating chamber 212, and the plug interface 211 in sequence, thereby dissipating heat for the circuit board and the stator winding 22, ensuring that the temperature of the circuit board and the stator winding 22 is within a reasonable range. Among them, the present application does not impose specific restrictions on the number of air inlets 214. One air inlet 214 can be set, or multiple air inlets 214 can be set. When the number of air inlets 214 is multiple, the multiple air inlets 214 are set at intervals to facilitate external air to enter the heat dissipation channel 213 from different positions, which helps to improve the heat dissipation effect.

[0052] In the examples of this application, please refer to Figure 9 The stator 20 further includes a sensor head 24, which is a device that uses magnetic field induction to achieve displacement measurement. The mover 10 further includes a sensor 114, which cooperates with the sensor head 24 to detect the position of the mover 10 and locate the mover 10. The present application does not impose any specific restrictions on the location of the sensor head 24 and the sensor 114. Those skilled in the art can flexibly adjust the location of the sensor head 24 and the sensor 114 according to actual product conditions, as long as the mover 10 can be positioned.

[0053] In the examples of this application, please refer to Figure 9 The stator 20 further includes a guide rail 23, which is provided on the stator body 21 and arranged along the transmission direction of the stator transmission line 20a. The mover 10 further includes a guide 113, which is used to cooperate with the guide rail 23 to guide the mover 10 on the stator transmission line 20a to make the movement of the mover 10 on the stator transmission line 20a more stable and smooth. Figure 1 As shown, the guide rail member 23 is a sliding guide rail, and the guide member 113 is a pulley. The pulleys are provided on both sides of the guide member 113 and form a rolling fit with the sliding guide rail. It is understandable that the present application does not impose any specific restrictions on the specific types of the guide rail member 23 and the guide member 113. For example, the guide rail member 23 can also be a sliding guide rail, and the guide member 113 can also be a slider. The slider is provided on the guide member 113 and forms a sliding fit with the sliding guide rail.

[0054] It should be noted that the present application does not impose any specific restrictions on the arrangement direction of the stator winding 22. For example, in some embodiments, see Figure 1, the stator winding 22 is arranged parallel to the horizontal plane, that is, the stator winding 22 is arranged in the horizontal direction. It is understandable that in these embodiments, the transmission direction of the stator transmission line 20a is the horizontal direction, and the mover 10 moves in the horizontal direction along the stator transmission line 20a, that is, the object transportation in the horizontal direction is achieved. Alternatively, in other embodiments, the stator winding 22 is arranged parallel to the vertical plane, that is, the stator winding 22 is arranged in the vertical direction. It is understandable that in these embodiments, the transmission direction of the stator transmission line 20a is the vertical direction, and the mover 10 moves in the vertical direction along the stator transmission line 20a, that is, the object transportation in the vertical direction is achieved.

[0055] In the embodiments of this application, Figures 2 to 4 As shown, the mover base 111 includes a first surface 111b, a second surface 111c, and a third surface 111d. The first surface 111b and the third surface 111d are disposed on opposite sides of the mover base 111, respectively, while the second surface 111c is adjacent to both the first and third surfaces 111b and 111d. The mover magnet 112 is disposed on the third surface 111d, and the magnetic flux leakage reduction device 30 can be disposed on either the first or second surface 111c, or both.

[0056] In a specific embodiment, the mover base 111 has a plate-like structure, wherein the two plate surfaces of the mover base 111 are respectively a first surface 111b and a third surface 111d, and the surface adjacent to the first surface 111b and the third surface 111d serves as the second surface 111c. The mover magnet 112 is disposed on the third surface 111d, which provides a base for the installation of the mover magnet 112. In this case, a portion of the first surface 111b serves as the load-bearing surface of the mover base 111, and the second surface 111c serves as the side surface of the mover base 111. In order to reduce the magnetic field range at the leakage end 111a of the mover base 111, a leakage reduction device 30 is provided at the end of the mover base 111, and the specific setting position of the leakage reduction device 30 can be the first surface 111b, or the second surface 111c, or the leakage reduction device 30 can be provided on both the first surface 111b and the second surface 111c. The present application does not impose any specific restrictions on the specific setting position of the leakage reduction device 30. It is understandable that in these embodiments, the stator winding 22 in the stator 20 is provided on the outer surface of the stator body 21 so as to cooperate with the mover magnet 112 to form a magnetic coupling. Among them, the stator transmission line 20a can be a horizontally arranged transmission line or a vertically arranged transmission line, and the present application does not impose any specific restrictions on this.

[0057] Among them, when the leakage magnetic flux reduction device 30 is set on the first surface 111b, the distance between the leakage magnetic flux reduction device 30 and the movable magnet 112 is relatively close, and the main action object of the leakage magnetic flux reduction device 30 is the movable magnet 112, so that the leakage magnetic flux reduction device 30 can better couple with the movable magnet 112, thereby maximally suppressing the leakage magnetic flux at the leakage magnetic end 111a.

[0058] In addition, the second surface 111c includes a first sub-surface 111c1 and a second sub-surface 111c2, and the first sub-surface 111c1 is located on the side of the movable base 111 along the Y direction, that is, the first sub-surface 111c1 is the side of the movable base 111; the second sub-surface 111c2 is located at the end of the movable base 111 along the X direction, that is, the second sub-surface 111c2 is the end face of the movable base 111 along the movement direction. When the leakage magnetic flux reduction device 30 is arranged on the first sub-surface 111c1, the leakage magnetic flux reduction device 30 is arranged close to the adjacent mover 10, and the leakage magnetic flux reduction device 30 mainly acts on the leakage magnetic flux reduction device 30 on the adjacent mover 10, that is, the leakage magnetic flux reduction device 30 mainly interacts with the leakage magnetic flux reduction device 30 on the adjacent mover 10; in this way, when an attractive force is generated between two adjacent movers 10, there is a repulsive force between the two leakage magnetic flux reduction devices 30, and when a repulsive force is generated between the two adjacent movers 10, there is an attractive force between the two leakage magnetic flux reduction devices 30, so that the two leakage magnetic flux reduction devices 30 can offset part of the interaction force between the two movers 10, and can reduce the influence of the interaction between the two adjacent movers 10 on the drive and positioning of the mover 10, and further improve the stability and reliability of the conveying device 1. When the leakage magnetic flux reduction device 30 is arranged on the second sub-surface 111c2, the distance between the leakage magnetic flux reduction device 30 and the movable magnet 112 is relatively close, and the main action object of the leakage magnetic flux reduction device 30 is the movable magnet 112, so that the leakage magnetic flux reduction device 30 can better couple with the movable magnet 112, thereby maximally suppressing the leakage magnetic flux at the leakage magnetic end 111a.

[0059] See also Figure 3 and Figure 4In some embodiments, the mover base 111 includes a first base 1111 and a second base 1112. The first base 1111 and the second base 1112 are connected and arranged vertically, and the mover magnet 112 is arranged on the third surface 111d of the second base 1112. In this embodiment, the guide member 113 can be arranged on the first base 1111 (can be any surface of the first base 1111) or on the third surface 111d of the second base 1112. The guide member 113 is used to guide and cooperate with the guide rail member 23 of the stator 20 to make the movement of the mover 10 on the stator transmission line 20a more stable and smooth. The sensor 114 can be arranged on the second surface 111c of the first base 1111 or on the third surface 111d of the first base 1111. Among them, the sensor 114 is used to cooperate with the sensor reader 24 on the stator 20 to detect the position of the mover 10 and position the mover 10, which is beneficial to improve the positioning accuracy; it can also enable the positioning sensor module to develop towards miniaturization, thereby promoting the miniaturization of the mover 10.

[0060] Specifically, if Figure 3 and Figure 4As shown, in some embodiments, the movable base 111 includes a first base 1111 and a second base 1112. The first base 1111 and the second base 1112 are connected and arranged vertically, so that the movable base 111 as a whole has an "L" shape. In the first base 1111, the first surface 111b and the third surface 111d are respectively arranged on opposite sides of the first base 1111, and the second surface 111c is adjacent to the first surface 111b and the third surface 111d. In the second base 1112, the first surface 111b and the third surface 111d are respectively arranged on opposite sides of the second base 1112, and the second surface 111c is adjacent to the first surface 111b and the third surface 111d. In addition, a second surface 111c of the second base 1112 is connected to a second surface 111c of the first base 1111. The mover magnet 112 is disposed on the third surface 111d of the second base 1112. This third surface 111d provides a base for the mover magnet 112. In this case, the first surface 111b of the second base 1112 serves as the loading surface of the mover base 111. The guide member 113 can be disposed on either the first base 1111 or the second base 1112. When disposed on the first base 1111, the guide member 113 can be disposed on either the first surface 111b or the second surface 111c of the first base 1111. When disposed on the second base 1112, the guide member 113 can be disposed on the third surface 111d of the second base 1112. The sensor 114 can be disposed on either the second surface 111c or the third surface 111d of the first base 1111. To reduce the magnetic field range at the leakage end 111a of the mover base 111, a leakage flux reduction device 30 is provided at the end of the mover base 111. The leakage flux reduction device 30 can be provided on the first base 1111, the second base 1112, or both the first base 1111 and the second base 1112. When the leakage flux reduction device 30 is provided on the first base 1111, it can be provided on the first surface 111b of the first base 1111 or on the second surface 111c of the first base 1111 (either the first sub-surface 111c1 or the second sub-surface 111c2). When the leakage flux reduction device 30 is provided on the second base 1112, it can be provided on the first surface 111b of the second base 1112 or on the second surface 111c of the second base 1112 (either the first sub-surface 111c1 or the second sub-surface 111c2). It is understandable that in these embodiments, the stator winding 22 in the stator 20 is disposed on the outer surface of the stator body 21 so as to cooperate with the mover magnet 112 to form a magnetic coupling.The stator transmission line 20a may be a horizontally arranged transmission line or a vertically arranged transmission line, and this application does not impose any specific restrictions on this.

[0061] Specifically, when the leakage flux reduction device 30 is disposed on the first surface 111b (which can be either the first surface 111b of the first substrate 1111 or the first surface 111b of the second substrate 1112), the distance between the leakage flux reduction device 30 and the mover magnet 112 is relatively close, enabling the leakage flux reduction device 30 to better couple with the mover magnet 112, thereby minimizing magnetic flux leakage at the leakage flux end 111a. When the leakage flux reduction device 30 is disposed on the first sub-surface 111c1 of the first substrate 1111 (which can be either the first sub-surface 111c1 of the first substrate 1111 or the first sub-surface 111c1 of the second substrate 1112), the distance between the leakage flux reduction device 30 and the leakage flux reduction device 30 of the adjacent mover 10 is relatively close, enabling the two leakage flux reduction devices 30 to partially offset the interaction force between the two movers 10, thereby reducing the impact of the interaction between the two adjacent movers 10 on the drive and positioning of the movers 10, and further improving the stability and reliability of the conveying device 1. When the leakage flux reduction device 30 is arranged on the second sub-surface 111c2 of the first substrate 1111 (which can be the second sub-surface 111c2 of the first substrate 1111 or the second sub-surface 111c2 of the second substrate 1112), the distance between the leakage flux reduction device 30 and the mover magnet 112 is relatively close, so that the leakage flux reduction device 30 can better couple with the mover magnet 112, thereby maximally suppressing the leakage flux at the leakage flux end 111a.

[0062] It is understandable that when the setting position of the guide member 113 changes, those skilled in the art can adjust the setting position of the guide member 23 of the stator 20 accordingly so that the guide member 113 can correspond to the guide member 23. For example, when the guide member 113 is set on the third surface 111d of the second base 1112, the guide member 23 of the stator 20 can be set on the outer surface of the stator body 21 close to the third surface 111d of the second base 1112. For another example, when the guide member 113 is set on the second surface 111c of the first base 1111, the guide member 23 of the stator 20 can be set on the outer surface of the stator body 21 close to the first base 1111. Specifically, when the guide member 113 is set on the second surface 111c, the mover 10 can have a variety of different forms, and the form of the mover 10 can be flexibly changed according to the actual product situation, so that the mover 10 is suitable for different products, thereby improving the versatility of the mover 10. When the guide member 113 is disposed on the third surface 111 d , the space utilization of the mover 10 is improved, which helps to achieve miniaturization of the mover 10 .

[0063] In addition, when the location of the sensor 114 changes, those skilled in the art can adjust the location of the sensor head 24 of the stator 20 accordingly so that the sensor 114 can be matched with the sensor head 24. For example, when the sensor 114 is disposed on the second surface 111c of the first substrate 1111, the sensor head 24 of the stator 20 can be disposed on the outer surface of the stator body 21 near the first substrate 1111. For another example, when the sensor 114 is disposed on the third surface 111d of the first substrate 1111, the sensor head 24 of the stator 20 can be disposed on the outer surface of the stator body 21 away from the first substrate 1111. Specifically, when the sensor 114 is disposed on the second surface 111c of the first substrate 1111, the mover 10 can have a variety of different shapes, thereby flexibly changing the shape of the mover 10 according to actual product conditions, making the mover 10 suitable for different products and improving the versatility of the mover 10. When the sensor 114 is disposed on the third surface 111 d , the space utilization of the mover 10 is improved, which helps to achieve miniaturization of the mover 10 .

[0064] See Figure 3 、 Figure 4 and Figure 6 In some embodiments, the leakage magnetic flux reduction device 30 includes a first sub-device 31 and a second sub-device 32. The first sub-device 31 is disposed at the first leakage magnetic end 111a1, and the second sub-device 32 is disposed at the second leakage magnetic end 111a2. The first leakage magnetic end 111a1 refers to the leakage magnetic end 111a located at the front side of the mover base 111 along the direction of movement of the mover body 11, and the second leakage magnetic end 111a2 refers to the leakage magnetic end 111a located at the rear side of the mover base 111 along the direction of movement of the mover body 11. This arrangement can converge the magnetic flux lines of the mover magnet 112 at the two leakage magnetic ends 111a of the mover base 111, thereby reducing the magnetic field range at the leakage magnetic ends 111a at both ends, further improving the leakage magnetic phenomenon at the ends of the mover base 111. In this way, not only can the adverse effects such as inaccurate positioning and reduced transmission speed caused by leakage magnetic flux be reduced, but also the phenomenon of interference between the leakage magnetic ends 111a of two adjacent movers 10 when multiple movers 10 are arranged on the stator transmission line 20a and the distance between two adjacent movers 10 is too close can be improved, thereby reducing the impact of the interaction between the two adjacent movers 10 on the drive and positioning of the mover 10, and further improving the stability and reliability of the conveying device 1.

[0065] In some embodiments, the first subassembly 31 and the second subassembly 32 are respectively positioned at the same location on the first magnetic leakage end 111a1 and the second magnetic leakage end 111a2. That is, when the first subassembly 31 is positioned on the first surface 111b, the second subassembly 32 is also positioned on the first surface 111b; alternatively, when the first subassembly 31 is positioned on the first sub-surface 111c1, the second subassembly 32 is also positioned on the first sub-surface 111c1; alternatively, when the first subassembly 31 is positioned on the second sub-surface 111c2, the second subassembly 32 is also positioned on the second sub-surface 111c2. This arrangement ensures that, after the first subassembly 31 and the second subassembly 32 are positioned, the forces acting on the first magnetic leakage end 111a1 and the second magnetic leakage end 111a2 are consistent.

[0066] See Figures 3 to 5 In some embodiments, the mover magnet 112 includes a first permanent magnet array 1121 disposed on the mover base 111. Specifically, the first permanent magnet array 1121 is disposed on the third surface 111d of the first base 1111. In this example, the first permanent magnet array 1121 is magnetically coupled with the stator winding 22, thereby driving the mover 10 to move on the stator transmission line 20a. The first permanent magnet array 1121 includes a plurality of first permanent magnets 1121a arranged along the movement direction of the mover body 11. When the first permanent magnet array 1121 is magnetically coupled with the stator winding 22, the first permanent magnet array 1121 has a first side and a second side relative to the stator winding 22, and the first side is disposed closer to the stator winding 22, that is, each first permanent magnet 1121a has a first side disposed closer to the stator winding 22.

[0067] And, as Figure 5 and Figure 6 As shown, Figure 5: shown is a schematic diagram of the arrangement of the first polarity of the first permanent magnet 1121a; specifically, the first permanent magnet 1121a near the first leakage magnetic end 111a1 has the first polarity. Since the first leakage magnetic end 111a1 has leakage magnetic flux generated by the air gap between the mover magnet 112 located at this end and the stator winding 22, that is, the first leakage magnetic end 111a1 has leakage magnetic flux generated by the air gap between the first permanent magnet array 1121 located at this end and the stator winding 22; then the first polarity is the polarity of the first side of the first permanent magnet 1121a located at this end. The first permanent magnet 1121a near the second leakage end 111a2 has a second polarity. Since the second leakage end 111a2 experiences magnetic flux leakage due to the air gap between the rotor magnet 112 and the stator winding 22 at that end, that is, the second leakage end 111a2 experiences magnetic flux leakage due to the air gap between the first permanent magnet array 1121 and the stator winding 22 at that end, the second polarity is the polarity of the first side of the first permanent magnet 1121a at that end. Furthermore, the first polarity is opposite to the second polarity. This arrangement enables the first permanent magnet 1121a at the first leakage end 111a1 to couple with the first permanent magnet 1121a at the second leakage end 111a2, minimizing magnetic flux leakage at both leakage ends 111a. For example, the first polarity is the N pole (i.e., the North pole), and the second polarity is the S pole (i.e., the South pole).

[0068] Furthermore, the polarity of the first sub-device 31 is opposite to the first polarity. Thus, the first sub-device 31 can couple with the first permanent magnet 1121a at the first magnetic leakage end 111a1, converging the magnetic flux lines of the first permanent magnet 1121a at the first magnetic leakage end 111a1, thereby reducing the magnetic field range at the first magnetic leakage end 111a1 and thereby reducing the degree of magnetic leakage at the first magnetic leakage end 111a1. For example, if the first polarity is an N pole, the polarity of the first sub-device 31 is an S pole. Furthermore, the polarity of the second sub-device 32 is opposite to the second polarity. Thus, the second sub-device 32 can couple with the first permanent magnet 1121a at the second magnetic leakage end 111a2, converging the magnetic flux lines of the first permanent magnet 1121a at the second magnetic leakage end 111a2 and thereby reducing the magnetic field range at the second magnetic leakage end 111a2 and thereby reducing the degree of magnetic leakage at the second magnetic leakage end 111a2. For example, the second polarity is the S polarity, and the polarity of the second sub-device 32 is the N polarity.

[0069] In some embodiments, see Figure 5 Along the movement direction of the mover body 11 , the polarity arrangement mode of the first side of the first permanent magnet 1121 a in the first permanent magnet array 1121 (ie, the first polarity of the first permanent magnet 1121 a ) is NS.

[0070] In other embodiments, the first permanent magnet array 1121 further includes a Halbach magnet (hereinafter referred to as "H"), wherein the Halbach magnet can enhance the magnetic field strength on the first side of the first permanent magnet array 1121 while weakening the magnetic field strength on the second side of the first permanent magnet array 1121. This arrangement can both enhance the working magnetic field in the first permanent magnet array 1121 and shield the stray magnetic field behind the first permanent magnet array 1121. It should be noted that the polarity arrangement of the first permanent magnets 1121a in the first permanent magnet array 1121 is not fixed in this application. For example, along the direction of movement of the mover body 11, the polarity arrangement of the first permanent magnets 1121a on the first side of the first permanent magnet array 1121 can also be NHS. For another example, along the direction of movement of the mover body 11, the polarity arrangement of the first permanent magnets 1121a on the first side of the first permanent magnet array 1121 can also be NHSH.

[0071] In other embodiments, the mover base 111 includes a first base 1111, a second base 1112, and a third base 1113 connected in sequence. The first base 1111 and the third base 1113 are connected to the same side of the second base 1112 and are arranged in parallel with each other at a relative interval. The mover magnet 112 is arranged on the third surface 111d of the first base 1111 and the third surface 111d of the third base 1113. In this embodiment, the guide member 113 is arranged on the first surface 111b of the third base 1113. The sensor 114 is arranged on the second surface 111c of the third base 1113. The sensor 114 is used to cooperate with the sensor reader 24 of the stator 20 to detect the position of the mover 10 and position the mover 10.

[0072] Specifically, if Figure 3 and Figure 4As shown, the movable body 111 includes a first body 1111, a second body 1112, and a third body 1113, which are connected in sequence. The first body 1111 and the third body 1113 are connected to the same side of the second body 1112 and are arranged in parallel with each other at a relative interval, so that the movable body 111 has an overall "U"-shaped structure. In the first body 1111, the first surface 111b and the third surface 111d are respectively arranged on opposite sides of the first body 1111, and the second surface 111c is adjacent to the first surface 111b and the third surface 111d. In the second body 1112, the first surface 111b and the third surface 111d are respectively arranged on opposite sides of the second body 1112, and the second surface 111c is adjacent to the first surface 111b and the third surface 111d. In the third base 1113, the first surface 111b and the third surface 111d are respectively arranged on opposite sides of the second base 1112, and the second surface 111c is adjacent to the first surface 111b and the third surface 111d. Furthermore, a second surface 111c of the first base 1111 is connected to the second surface 111c of the second base 1112, and a second surface 111c of the third base 1113 is connected to the second surface 111c of the second base 1112. The movable magnet 112 is arranged on the third surface 111d of the first base 1111 and the third surface 111d of the third base 1113. The third surface 111d of the first base 1111 and the third surface 111d of the third base 1113 provide a base for the movable magnet 112. In this case, the first surface 111b of the first base 1111 serves as the loading surface of the movable base 111. The guide member 113 is disposed on the first surface 111b of the third substrate 1113. The sensor 114 can be disposed on the second surface 111c of the third substrate 1113. To reduce the magnetic field range at the leakage magnetic end 111a of the mover substrate 111, a leakage magnetic field reduction device 30 is disposed at the end of the mover substrate 111. The leakage magnetic field reduction device 30 can be disposed on any one of the first substrate 1111, the second substrate 1112, and the third substrate 1113, or on any two of the first substrate 1111, the second substrate 1112, and the third substrate 1113. Alternatively, the leakage magnetic field reduction device 30 can be disposed on each of the first substrate 1111, the second substrate 1112, and the third substrate 1113. When the leakage magnetic flux reduction device 30 is set on the first substrate 1111, it can be set on the first surface 111b of the first substrate 1111, or on the second surface 111c of the first substrate 1111; when the leakage magnetic flux reduction device 30 is set on the second substrate 1112, it can be set on the first surface 111b of the second substrate 1112, or on the second surface 111c of the second substrate 1112; when the leakage magnetic flux reduction device 30 is set on the third substrate 1113, it can be set on the first surface 111b of the third substrate 1113, or on the second surface 111c of the third substrate 1113.It is understood that in these embodiments, the stator winding 22 in the stator 20 is disposed on the outer surface of the stator body 21 to facilitate magnetic coupling with the mover magnet 112. The stator transmission line 20a can be a horizontally arranged transmission line or a vertically arranged transmission line, which is not specifically limited in this application.

[0073] It should be noted that when the mover magnet 112 includes only the first permanent magnet array 1121, the first permanent magnet array 1121 can be applied to the above-mentioned "L"-shaped mover 10 (i.e., the mover 10 when the mover base 111 includes the first base 1111 and the second base 1112), and can also be applied to the "U"-shaped mover 10 (i.e., the mover base 111 includes the first base 1111, the second base 1112, and the third base 1113). This arrangement can improve the versatility of the mover magnet 112, making it applicable to a variety of different types of movers 10.

[0074] See Figure 3 、 Figure 4 and Figure 7 In some embodiments, the mover magnet 112 further includes a second permanent magnet array 1122 disposed on the mover base 111, and the second permanent magnet array 1122 is opposite to the first permanent magnet array 1121 and is spaced apart (eg Figure 4 (The first permanent magnet array 1121 and the second permanent magnet array 1122 shown in the figure are arranged opposite each other in the Z direction and spaced apart.) It can be understood that the first permanent magnet array 1121 and the second permanent magnet array 1122 are respectively arranged on the third surface 111d of the first substrate 1111 and the third surface 111d of the third substrate 1113. In this example, both the first permanent magnet array 1121 and the second permanent magnet array 1122 are magnetically coupled to the stator winding 22, thereby driving the mover 10 to move on the stator transmission line 20a. The second permanent magnet array 1122 includes a plurality of second permanent magnets 1122a arranged along the direction of movement of the mover body 11. In which, when the first permanent magnet array 1121 and the second permanent magnet array 1122 are both magnetically coupled with the stator winding 22, that is, the stator winding 22 is inserted between the first permanent magnet array 1121 and the second permanent magnet array 1122, the second permanent magnet array 1122 has a third side and a fourth side relative to the stator winding 22, and the third side is arranged closer to the stator winding 22, that is, each second permanent magnet 1122a has a third side close to the stator winding 22.

[0075] And, as Figure 7 As shown, Figure 7: Shown is a schematic diagram of the arrangement of the third polarity of the second permanent magnet 1122a; specifically, the second permanent magnet 1122a near the first leakage magnetic end 111a1 has a third polarity. Since the first leakage magnetic end 111a1 also has leakage magnetic flux generated by the air gap between the mover magnet 112 located at this end and the stator winding 22, that is, the first leakage magnetic end 111a1 also has leakage magnetic flux generated by the air gap between the second permanent magnet array 1122 located at this end and the stator winding 22; then the third polarity is the polarity of the third side of the second permanent magnet 1122a located at this end. The second permanent magnet 1122a near the second leakage end 111a2 has a fourth polarity. Since the second leakage end 111a2 also experiences magnetic flux leakage due to the air gap between the rotor magnet 112 and the stator winding 22 at that end, that is, the second leakage end 111a2 also experiences magnetic flux leakage due to the air gap between the second permanent magnet array 1122 and the stator winding 22 at that end, the fourth polarity is the polarity of the third side of the first permanent magnet 1121a at that end. Furthermore, the third polarity is opposite to the fourth polarity. This arrangement enables the second permanent magnet 1122a at the first leakage end 111a1 to couple with the second permanent magnet 1122a at the second leakage end 111a2, minimizing magnetic flux leakage at both leakage ends 111a. For example, the third polarity is the S pole, and the fourth polarity is the N pole.

[0076] like Figure 7 and Figure 8 As shown, in some embodiments, the magnetic flux leakage reduction device 30 further includes a third sub-device 33 disposed at the first magnetic flux leakage end 111a1 and a fourth sub-device 34 disposed at the second magnetic flux leakage end 111a2. The polarity of the third sub-device 33 is opposite to the third polarity. This allows the third sub-device 33 to couple with the second permanent magnet 1122a at the first magnetic flux leakage end 111a1, thereby converging the magnetic flux lines of the second permanent magnet 1122a at the first magnetic flux leakage end 111a1. This reduces the magnetic field range at the first magnetic flux leakage end 111a1, thereby reducing the degree of magnetic flux leakage at the first magnetic flux leakage end 111a1. For example, the third polarity is an S pole, while the polarity of the third sub-device 33 is an N pole. Furthermore, the polarity of the fourth sub-device 34 is opposite to the fourth polarity. This allows the fourth sub-device 34 to couple with the second permanent magnet 1122a at the second magnetic leakage end 111a2, thereby converging the magnetic flux lines of the second permanent magnet 1122a at the second magnetic leakage end 111a2. This reduces the magnetic field range at the second magnetic leakage end 111a2, thereby reducing the degree of magnetic leakage at the second magnetic leakage end 111a2. For example, if the fourth polarity is an N pole, the polarity of the fourth sub-device 34 is an S pole.

[0077] It is understood that at the same leakage magnetic end 111a, the first sub-assembly 31 and the third sub-assembly 33 can be arranged on the same surface of the mover base 111, for example, both the first sub-assembly 31 and the third sub-assembly 33 can be arranged on the first surface 111b, the first sub-surface 111c1, or the second sub-surface 111c2. This arrangement enables the two leakage magnetic reduction devices 30 at the same leakage magnetic end 111a to function identically. For example, at the first leakage magnetic end 111a1, when both the first sub-assembly 31 and the third sub-assembly 33 are arranged on the first surface 111b, the first sub-assembly 31 and the third sub-assembly 33 function identically, namely, both the first sub-assembly 31 and the third sub-assembly 33 couple with the mover magnet 112, for example, the first sub-assembly 31 couples with the first permanent magnet array 1121, and the third sub-assembly 33 couples with the second permanent magnet array 1122. This configuration further reduces the magnetic field range at the first magnetic leakage end 111a1, thereby more effectively suppressing magnetic leakage at the first magnetic leakage end 111a1. Similarly, at the second magnetic leakage end 111a2, the second sub-device 32 and the fourth sub-device 34 may also have the same function. It should be noted that, in this example, this setting method is applicable to the above-mentioned "L"-shaped mover 10 (that is, the mover 10 when the mover base 111 includes the first base 1111 and the second base 1112), and can also be applied to the "U"-shaped mover 10 (that is, the mover base 111 includes the first base 1111, the second base 1112 and the third base 1113); that is, in the "L"-shaped mover 10, the first surface 111b can be the first surface 111b of the first base 1111 or the second base 1112, the first sub-surface 111c1 can be the first sub-surface 111c1 of the first base 1111 or the second base 1112, and the second sub-surface 111c2 can be the second sub-surface 111c2 of the first base 1111 or the second base 1112.

[0078] Furthermore, at the same leakage end 111a, the first sub-assembly 31 and the third sub-assembly 33 can be arranged on different surfaces of the mover base 111, for example, the first sub-assembly 31 can be arranged on the first surface 111b and the third sub-assembly 33 can be arranged on the first sub-surface 111c1. This arrangement allows the two leakage flux reduction devices 30 at the same leakage end 111a to function differently, that is, each of the two leakage flux reduction devices 30 has a specific function. For example, at the first leakage end 111a1, when the first sub-assembly 31 is arranged on the first surface 111b and the third sub-assembly 33 is arranged on the first sub-surface 111c1, the first sub-assembly 31 and the third sub-assembly 33 have different functions: the first sub-assembly 31 and the third sub-assembly 33 couple with the mover magnet 112, while the third sub-assembly 33 interacts with the adjacent mover 10 (that is, the third sub-assembly 33 interacts with the leakage flux reduction device 30 at the leakage end 111a of the adjacent mover 10). With this arrangement, the first sub-device 31 is used to reduce the magnetic field range at the first magnetic leakage end 111a1, thereby suppressing magnetic leakage at the first magnetic leakage end 111a1. The third sub-device 33 is used to interact with the magnetic leakage reduction device 30 on the adjacent mover 10 to partially offset the interaction force between the two movers 10, thereby reducing the impact of the interaction between the two adjacent movers 10 on the drive and positioning of the movers 10. Similarly, at the second magnetic leakage end 111a2, the second sub-device 32 and the fourth sub-device 34 can also have different functions. It should be noted that, in this example, this arrangement is applicable to both the above-mentioned "L"-shaped mover 10 (i.e., the mover 10 when the mover base 111 includes the first base 1111 and the second base 1112), and the "U"-shaped mover 10 (i.e., the mover 10 when the mover base 111 includes the first base 1111, the second base 1112, and the third base 1113); that is, in the "L"-shaped mover 10, the first surface 111b may be the first surface 111b of the first base 1111, the second base 1112, or the third base 1113, the first sub-surface 111c1 may be the first sub-surface 111c1 of the first base 1111, the second base 1112, or the third base 1113, and the second sub-surface 111c2 may be the second sub-surface 111c2 of the first base 1111, the second base 1112, or the third base 1113.

[0079] In some embodiments, see Figure 7At the first magnetic leakage end 111a1, the first polarity of the first permanent magnet 1121a is opposite to the third polarity of the second permanent magnet 1122a. Along the direction of motion of the mover body 11, the polarity arrangement of the third side of the second permanent magnet 1122a (i.e., the third polarity of the second permanent magnet 1122a) in the second permanent magnet array 1122 is SN. This arrangement ensures that the polarity of the first permanent magnet 1121a and the second permanent magnet 1122a, which are arranged opposite each other in the first permanent magnet array 1121 and the second permanent magnet array 1122, is opposite. This ensures that the first permanent magnet 1121a and the second permanent magnet 1122a form the shortest closed magnetic circuit, further improving the magnetic leakage problem of the mover 10.

[0080] In other embodiments, the second permanent magnet array 1122 further includes a Halbach magnet, wherein the Halbach magnet can enhance the magnetic field strength on the third side of the second permanent magnet array 1122, while weakening the magnetic field strength on the fourth side of the second permanent magnet array 1122. This arrangement can not only enhance the working magnetic field in the second permanent magnet array 1122, but also shield the stray magnetic field on the back of the second permanent magnet array 1122. It should be noted that the polarity arrangement of the second permanent magnet 1122a in the second permanent magnet array 1122 of the present application is not fixed, and those skilled in the art can flexibly adjust the polarity arrangement of the second permanent magnet 1122a in the second permanent magnet array 1122 according to the polarity arrangement of the first permanent magnet 1121a in the first permanent magnet array 1121. For example, along the direction of movement of the mover body 11, when the polarity arrangement of the same end of the first permanent magnets 1121a in the first permanent magnet array 1121 is NHS, the polarity arrangement of the same end of the second permanent magnets 1122a in the second permanent magnet array 1122 is SHN. For another example, along the direction of movement of the mover body 11, when the polarity arrangement of the same end of the first permanent magnets 1121a in the first permanent magnet array 1121 is NHSH, the polarity arrangement of the same end of the second permanent magnets 1122a in the second permanent magnet array 1122 is SHNH.

[0081] In some embodiments, a first spacing is defined between the first permanent magnet array 1121 and the second permanent magnet array 1122. The first spacing is the linear distance between the first permanent magnet array 1121 and the second permanent magnet array 1122, specifically, the linear distance between the first permanent magnet 1121a and the second permanent magnet 1122a, which are positioned opposite each other. A second spacing is defined between the leakage flux reduction device 30 and the first permanent magnet array 1121. The second spacing is defined as the linear distance between the leakage flux reduction device 30 located at the same leakage flux end 111a and the side of the first permanent magnet array 1121 closest to the leakage flux reduction device 30, specifically, the linear distance between the first sub-device 31 located at the first leakage flux end 111a1 and the side of the first permanent magnet 1121a closest to the first sub-device 31, or the linear distance between the second sub-device 32 located at the second leakage flux end 111a2 and the side of the first permanent magnet 1121a closest to the second sub-device 32. The second spacing is no greater than the first spacing. In this arrangement, since the distance between the leakage magnetic flux reduction device 30 and the movable magnet 112 is smaller than the distance between the two movable magnets 112, that is, the distance between the leakage magnetic flux reduction device 30 and the first permanent magnetic array 1121 is smaller than the distance between the first permanent magnetic array 1121 and the second permanent magnetic array 1122, the influence of the leakage magnetic flux reduction device 30 on the magnetic field range of the first permanent magnetic array 1121 is greater than the influence of the second permanent magnetic array 1122 on the magnetic field range of the first permanent magnetic array 1121. Furthermore, since the leakage flux reduction device 30 has a stronger influence on the magnetic field of the first permanent magnet array 1121, that is, the leakage flux reduction device 30 has a more effective influence on the magnetic field of the first permanent magnet array 1121, the magnetic field range of the first permanent magnet array 1121 can be adjusted by changing factors such as the magnetic field range and magnetic field size of the leakage flux reduction device 30, thereby facilitating the change of the magnetic field range at the leakage flux end 111a of the mover 10, thereby achieving precise adjustment of the magnetic field range of the mover magnet 112, which is conducive to further reducing the magnetic field range of the leakage flux of the mover magnet 112, so as to improve the positioning accuracy, and thereby enhance the stability and reliability of the conveying device 1.

[0082] In addition, a third spacing exists between the leakage flux reduction device 30 and the second permanent magnet array 1122. The third spacing is the linear distance between the leakage flux reduction device 30 located at the same leakage flux end 111a and the side of the second permanent magnet array 1122 closest to the leakage flux reduction device 30. Specifically, it is the linear distance between the third sub-device 33 located at the first leakage flux end 111a1 and the side of the second permanent magnet 1122a closest to the third sub-device 33, or the linear distance between the fourth sub-device 34 located at the second leakage flux end 111a2 and the side of the second permanent magnet 1122a closest to the fourth sub-device 34. The third spacing is no greater than the first spacing. This arrangement brings the leakage flux reduction device 30 closer to the second permanent magnet array 1122, enabling more stable coupling between the leakage flux reduction device 30 and the second permanent magnet array 1122, thereby helping to reduce the magnetic field range of the second permanent magnet array 1122 at the leakage flux end 111a.

[0083] In some embodiments, the first permanent magnet array 1121 and the second permanent magnet array 1122 have a first magnetic field strength. It is understandable that the magnetic field strength of the first permanent magnet array 1121 is the same as the magnetic field strength of the second permanent magnet array 1122. This design can make the magnetic field distribution between the first permanent magnet array 1121 and the second permanent magnet array 1122 more uniform, thereby improving the stability of the movement of the mover 10. The leakage flux reduction device 30 has a second magnetic field strength, and the first magnetic field strength is not greater than the second magnetic field strength. In this arrangement, since the second magnetic field strength of the leakage flux reduction device 30 is greater than the first magnetic field strength of the first permanent magnet array 1121, that is, the influence of the leakage flux reduction device 30 on the magnetic field range of the first permanent magnet array 1121 is greater than the influence of the second permanent magnet array 1122 on the magnetic field range of the first permanent magnet array 1121. Furthermore, since the leakage flux reduction device 30 has a stronger influence on the magnetic field of the first permanent magnet array 1121, that is, the leakage flux reduction device 30 has a more effective influence on the magnetic field of the first permanent magnet array 1121, the magnetic field range of the first permanent magnet array 1121 can be adjusted by changing factors such as the magnetic field range and magnetic field size of the leakage flux reduction device 30, thereby facilitating the change of the magnetic field range at the leakage flux end 111a of the mover 10, thereby achieving precise adjustment of the magnetic field range of the mover magnet 112, which is conducive to further reducing the magnetic field range of the mover magnet 112 to improve positioning accuracy, thereby improving the stability and reliability of the conveying device 1.

[0084] It should be noted that the present application does not impose any specific restrictions on the type of the magnetic flux leakage reduction device 30. The magnetic flux leakage reduction device 30 can be a permanent magnet or an electromagnetic coil, and those skilled in the art can flexibly adjust it according to actual product conditions.

[0085] Specifically, in some embodiments, see Figure 4 The leakage flux reduction device 30 includes a permanent magnet, and the mover 10 further includes a fixing device 40 fixedly mounted on the mover base 111. The permanent magnet is fixedly mounted within the fixing device 40 and is mounted on the mover base 111 via the fixing device 40. Specifically, the fixing device 40 can be a shell-like or box-like structure to provide a mounting base for the permanent magnet and protect the permanent magnet from collisions, corrosion, and other issues.

[0086] In some embodiments, the permanent magnet is movably disposed within the fixture 40. This application does not impose any specific restrictions on the manner in which the permanent magnet is moved within the fixture 40. The permanent magnet may be slidably disposed within the fixture 40, or the permanent magnet may be rotatably disposed within the fixture 40. Through the above arrangement, on the one hand, the spacing between the permanent magnet and the mover magnet 112 (i.e., the second spacing or the third spacing) is changed, so that the permanent magnet is closer to or further away from the leakage end 111a, thereby adjusting the degree of leakage reduction. On the other hand, by changing the position of the permanent magnet, the magnetic field strength of the permanent magnet at the leakage end 111a can be adjusted, thereby adjusting the magnetic field strength of the permanent magnet and accurately reducing the magnetic field range of the leakage end 111a. This arrangement enables the same permanent magnet to be applied to different movers 10, thereby improving the applicability of the leakage reduction device 30.

[0087] Specifically, if Figure 4 As shown, when the first sub-assembly 31 moves along the X-direction toward the first magnetic leakage end 111a1, that is, the first sub-assembly 31 gradually approaches the first magnetic leakage end 111a1, the second distance between the first sub-assembly 31 and the first permanent magnet 1121a at the first magnetic leakage end 111a1 gradually decreases as the first sub-assembly 31 moves, and the magnetic field strength of the first sub-assembly 31 at the first magnetic leakage end 111a1 gradually increases. This can enhance the degree to which the first sub-assembly 31 reduces the magnetic field range at the first magnetic leakage end 111a1, thereby enhancing the magnetic flux leakage reduction effect. Furthermore, when the first subassembly 31 moves in the X-direction away from the first magnetic leakage end 111a1, that is, the first subassembly 31 gradually moves away from the first magnetic leakage end 111a1, the second spacing between the first subassembly 31 and the first permanent magnet 1121a at the first magnetic leakage end 111a1 gradually increases as the first subassembly 31 moves, and the magnetic field intensity of the first subassembly 31 at the first magnetic leakage end 111a1 gradually decreases. This weakens the extent to which the first subassembly 31 reduces the magnetic field range at the first magnetic leakage end 111a1, thereby reducing the magnetic leakage reduction effect. It can be understood that the effect produced by the magnetic leakage reduction device 30 when moving in the Y-direction or Z-direction is consistent with the effect produced when moving in the X-direction. Furthermore, the effects of the other subassemblies in the magnetic leakage reduction device 30 (such as the second subassembly 32, the third subassembly 33, and the fourth subassembly 34) when moving are consistent with the effect of the first subassembly 31 when moving.

[0088] In other embodiments, the leakage magnetic flux reduction device 30 includes an electromagnetic coil, and the mover 10 also includes a power supply device (not shown in the figure), which is arranged in the mover base 111. Specifically, the power supply device includes a power supply component, which is electrically connected to the electromagnetic coil and is used to supply power to the electromagnetic coil and drive the electromagnetic coil to generate a magnetic field. Specifically, the power supply component includes a brush structure and a wire structure, and the brush structure and the wire structure are in sliding electrical contact. The brush structure can move synchronously with the movement of the mover 10 and maintain electrical contact with the wire structure, thereby realizing continuous power supply to the electromagnetic coil during the movement of the mover 10. When the voltage is stable, power can be directly supplied to the electromagnetic coil through the power supply component.

[0089] In some embodiments, the power supply device further includes a power storage element, which is disposed within the mover base 111 and electrically connected to the electromagnetic coil and the power transmission element. This element supplies power to the electromagnetic coil, thereby generating a magnetic field. When the voltage is unstable, power can be directly supplied to the electromagnetic coil via the power storage element. Examples of power storage elements include, but are not limited to, lithium-ion batteries and lead-acid batteries.

[0090] Second, please refer to Figure 2 , an embodiment of the present application provides a conveying device 1, which includes a stator transmission line 20a and a mover 10. The stator transmission line 20a is the main component of the conveying device 1 and is used to carry the mover 10. The stator transmission line 20a includes at least one stator 20. When there are multiple stators 20, the multiple stators 20 are spliced ​​together. The stator 20 includes a stator body 21 and a stator winding 22. The stator winding 22 is arranged on the stator body 21. The stator winding 22 includes a winding shell and a core located in the winding shell. The core is printed on the winding shell. When power is applied, the core generates a traveling wave magnetic field. The stator winding 22 is provided with step structures 221 on opposite sides of the stator winding 22 along the transmission direction of the stator transmission line 20a. The two adjacent stator windings 22 are correspondingly spliced ​​through the two step structures 221 to splice the two adjacent stator windings 22. In this way, the splicing position of the stator winding 22 can be accurately positioned, which helps to neatly arrange multiple stator windings 22. The stator winding 22 can be arranged parallel to the horizontal plane, or the stator winding 22 can be arranged parallel to the vertical plane. When responding to different working conditions, the setting position of the stator winding 22 can be adaptively changed to make the conveyor 1 suitable for different working conditions.

[0091] The mover 10 is mounted on the stator transmission line 20a and carries objects. The mover 10 includes a mover body 11, which has stator 20 magnets. The mover magnets 112 are magnetically coupled to the stator windings 22. Specifically, the mover magnets 112 couple with the traveling magnetic field generated by the stator windings 22, thereby driving the mover 10 along the stator transmission line 20a and transporting objects.

[0092] In the description of this application, it should be understood that if there are terms such as "up", "down", "left", "right", "front", and "back" indicating directions or positional relationships, they are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0093] In addition, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0094] In the description of this application, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise expressly limited. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0095] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0096] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A mover for magnetically coupling with a stator, characterized in that: include: The mover body comprises a mover base and a mover magnet arranged on the mover base, wherein the mover base has two leakage magnetic ends arranged in opposite directions in the moving direction of the mover body; as well as a magnetic flux leakage reduction device, provided at at least one of the magnetic flux leakage ends, for generating a magnetic field to reduce the magnetic field range at the magnetic flux leakage end where the mover magnet is located; The mover base includes a first surface, a second surface, and a third surface, wherein the first surface and the third surface are arranged on opposite sides of the mover base, the second surface is adjacent to the first surface and the third surface, the mover magnet is arranged on the third surface, and the leakage flux reduction device is arranged on the first surface and / or the second surface; The magnetic flux leakage reduction device includes a first sub-device and a second sub-device, wherein the first sub-device is arranged at the first magnetic flux leakage end and the second sub-device is arranged at the second magnetic flux leakage end; the movable magnet includes: A first permanent magnet array is arranged on the mover base, including a plurality of first permanent magnets arranged along the direction of movement, the first permanent magnet close to the first leakage magnetic end has a first polarity, and the first permanent magnet close to the second leakage magnetic end has a second polarity, wherein the first polarity is opposite to the second polarity, the polarity of the first sub-device is opposite to the first polarity, and the polarity of the second sub-device is opposite to the second polarity.

2. The mover according to claim 1, characterized in that: The mover body also includes a guide and a sensor. The mover base includes a first base and a second base arranged perpendicular to each other. The guide is arranged on the third surface of the first base or the second base. The sensor is arranged on the second surface or the third surface of the first base. The mover magnet is arranged on the third surface of the second base.

3. The mover according to claim 1, characterized in that: The mover body also includes a guide and a sensor. The mover base includes a first base, a second base and a third base connected in sequence. The first base and the third base are arranged on the same side of the second base. The guide is arranged on the first surface of the third base, the sensor is arranged on the second surface of the third base, and the mover magnet is arranged on the third surface of the first base and the third surface of the third base.

4. The mover according to claim 1, characterized in that: The mover magnet further includes a second permanent magnet array, which is arranged on the mover base and opposite to and spaced from the first permanent magnet array. The second permanent magnet array includes a plurality of second permanent magnets arranged along the direction of movement, the second permanent magnets close to the first leakage end have a third polarity, and the second permanent magnets close to the second leakage end have a fourth polarity, and the third polarity is opposite to the fourth polarity; The leakage flux reduction device further includes a third sub-device arranged at the first leakage flux end and a fourth sub-device arranged at the second leakage flux end, wherein the polarity of the third sub-device is opposite to the third polarity, and the polarity of the fourth sub-device is opposite to the fourth polarity.

5. The mover according to claim 4, characterized in that: There is a first distance between the first permanent magnet array and the second permanent magnet array, and there is a second distance between the leakage flux reduction device and the first permanent magnet array, and the second distance is not greater than the first distance; And / or, there is a third distance between the leakage magnetic flux reduction device and the second permanent magnet array, and the third distance is not greater than the first distance.

6. The mover according to claim 4, characterized in that: The first permanent magnet array and the second permanent magnet array have a first magnetic field strength, the magnetic flux leakage reduction device has a second magnetic field strength, and the first magnetic field strength is not greater than the second magnetic field strength.

7. The mover according to claim 1, characterized in that: The magnetic flux leakage reduction device includes at least one of a permanent magnet or an electromagnetic coil.

8. The mover according to claim 7, characterized in that: The leakage magnetic flux reduction device includes the permanent magnet, and the mover also includes a fixing device arranged on the mover base. A plurality of the permanent magnets are fixedly arranged in the fixing device, or each of the permanent magnets is movably arranged in the fixing device.

9. The mover according to claim 7, characterized in that: The magnetic flux leakage reduction device includes an electromagnetic coil; the mover also includes: A power supply device is provided on the mover base, and the power supply device includes a power transmission component, and the power transmission component is electrically connected to the electromagnetic coil to drive the electromagnetic coil to generate a magnetic field.

10. The mover according to claim 9, characterized in that: The power supply device further includes: The power storage component is arranged on the mover base and is electrically connected to the electromagnetic coil and the power transmission component to supply power to the electromagnetic coil.

11. A conveying device, characterized in that: include: The mover according to any one of claims 1 to 10; as well as The stator transmission line includes a plurality of stators spliced ​​together, wherein the stator includes a stator body and a stator winding arranged on the stator body, and the stator winding is magnetically coupled with the mover magnet to drive the mover to move on the stator, wherein the stator winding is arranged parallel to the horizontal plane, or the stator winding is arranged parallel to the vertical plane.

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