Conveying system

Abstract

The invention provides a conveying system. The conveying system comprises a rotor module and a rotor module, a first conveying module; the second conveying module and the first conveying module are arranged at an interval; the first conveying module and the second conveying module are communicated through the connection module, so that the mover module can move between the first conveying module and the second conveying module; wherein the connection module comprises a first motor, a second motor, a first connection stator and a second connection stator, the first connection stator and the second motor are arranged on the first motor, the second connection stator is arranged on the second motor, and the first motor drives the second motor and the first connection stator to move linearly; the second motor drives the second connection stator to rotate or linearly move, the first connection stator is provided with a first coupling surface, the second connection stator is provided with a second coupling surface, and the first coupling surface and the second coupling surface are arranged in the transverse direction or the vertical direction. The problem that the conveying efficiency of a connection device in the related technology is low is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of conveying systems, and in particular to a conveying system. Background Art

[0002] The conveying system includes multiple conveying paths arranged in parallel, and the movable modules can move on different conveying paths to convey workpieces. The conveying system includes a first conveying module and a second conveying module spaced apart from the first conveying module. The first conveying module and the second conveying module are both provided with conveying paths.

[0003] In related technologies, when a mover module on a first conveying module needs to be transferred to a second conveying module, a docking device is typically required to transport the mover module. The first conveying module is provided with a first docking notch, and the second conveying module is provided with a second docking notch. When the docking mover on the docking device docks with the first docking notch, the docking mover can be transported to the first conveying module. However, the presence of the second docking notch at this time disconnects the conveying path of the second conveying module, reducing conveying efficiency.

[0004] Thus, the transport efficiency of the docking device in the related art is low. Summary of the Invention

[0005] The main purpose of the present invention is to provide a conveying system to solve the problem of low conveying efficiency of the connecting device in the related art.

[0006] In order to achieve the above-mentioned objectives, the present invention provides a conveying system, including: a mover module; a first conveying module; a second conveying module, which is spaced apart from the first conveying module; a docking module, wherein the first conveying module and the second conveying module are connected through the docking module so that the mover module can move between the first conveying module and the second conveying module; wherein the docking module includes a first motor, a second motor, a first docking stator and a second docking stator, the first docking stator and the second motor are arranged on the first motor, and the second docking stator is arranged on the second motor, the first motor drives the second motor and the first docking stator to move linearly, and the second motor drives the second docking stator to rotate or move linearly, the first docking stator has a first coupling surface, the second docking stator has a second coupling surface, and the first coupling surface and the second coupling surface are both arranged in the horizontal direction or the vertical direction.

[0007] Furthermore, when the second motor drives the second connecting stator to move linearly, the driving direction of the second motor is the same as that of the first motor, and the position control accuracy of the second motor is higher than that of the first motor.

[0008] Furthermore, when the second motor drives the second docking stator to move linearly, a preset angle is formed between the driving direction of the second motor and the driving direction of the first motor.

[0009] Furthermore, when the second motor drives the second docking stator to rotate, the second motor has a first rotation axis, the second motor drives the second docking stator to rotate around the first rotation axis, the second docking stator has a first central axis perpendicular to the second coupling surface, and the first central axis is staggered with the first rotation axis.

[0010] Furthermore, the docking module also includes a base, the second docking stator is arranged on the base, the second motor is fixedly connected to the base to drive the base and the second docking stator to rotate, the rotation axis of the base forms a first rotation axis, the first rotation axis passes through the base and is arranged parallel to the second coupling surface, and the first rotation axis is arranged perpendicular to the first center axis.

[0011] Furthermore, the base has a first docking surface, a second docking surface and a connecting surface, the first docking surface and the second docking surface are arranged back to back, the connecting surface is adjacent to the first docking surface and the second docking surface, at least one second docking stator is arranged on the first docking surface, and at least one second docking stator is arranged on the second docking surface, the first rotation axis extends horizontally, and the first rotation axis passes through the connecting surface.

[0012] Furthermore, the second coupling surface of the second docking stator on the first docking surface and the second coupling surface of the second docking stator on the second docking surface are arranged in parallel, the second coupling surface of the second docking stator on the first docking surface has a first projection range on the orthographic projection of the first docking surface, and the second coupling surface of the second docking stator on the second docking surface has a second projection range on the orthographic projection of the first docking surface, and the first projection range and the second projection range are staggered.

[0013] Furthermore, the second docking stator includes a linear docking stator and an arc-shaped docking stator. The linear docking stator is arranged on the first docking surface, and the arc-shaped docking stator is arranged on the second docking surface. The second coupling surface of the linear docking stator is arranged parallel to the second coupling surface of the arc-shaped docking stator.

[0014] Furthermore, the base has a rotating portion and a mounting portion arranged on one side of the rotating portion, the second connecting stator is mounted on the mounting portion, and the first rotating axis passes through the rotating portion and is spaced apart from the mounting portion.

[0015] Furthermore, when the first coupling surface is arranged along the transverse direction, the second connection stator also includes a first stator body, a first armature winding and a first detection element, the first armature winding and the first detection element are both arranged on the first stator body, and the first detection element and the first armature winding are arranged at intervals; the mover module includes a first mover body, a first permanent magnet and a first sensor element, the first permanent magnet and the first sensor element are both arranged on the first mover body, the first permanent magnet and the first armature winding are arranged correspondingly, and the first sensor element and the first detection element are arranged correspondingly.

[0016] Furthermore, the conveying system also includes a first guide structure arranged between the stator and the mover module, the first guide structure includes a first guide rail and a first slider that guide and cooperate with each other, the first slider is arranged on the first mover body, and the first guide rail is arranged on the first stator body.

[0017] Furthermore, when the second coupling surface is arranged along the vertical direction, the second connection stator includes a second stator body, a second armature winding and a second detection element, the second detection element and the second armature winding are both arranged on the second stator body, and the second detection element and the second armature winding are arranged at intervals; the mover module includes a second mover body, a second permanent magnet and a second sensor element, the second permanent magnet and the second sensor element are both arranged on the second mover body, the second permanent magnet and the second armature winding are arranged correspondingly, and the second sensor element and the second detection element are arranged correspondingly.

[0018] Furthermore, the conveying system also includes a second guide structure arranged between the second connecting stator and the mover module, the second guide structure includes a second guide rail and a second slider that guide and cooperate with each other, the second slider is arranged on the second mover body, and the second guide rail is arranged on the second stator body.

[0019] Furthermore, when the second motor drives the second docking stator to rotate, the second motor has a second rotation axis, and the second motor drives the second docking stator to rotate around the second rotation axis. The second docking stator has a second central axis perpendicular to the second coupling surface, and the second central axis is collinearly arranged with the second rotation axis.

[0020] Furthermore, a plurality of second docking stators are provided on the second motor; or, the docking module also includes a third docking stator connected to the second motor, and when the second motor drives the second docking stator to move in one of rotation and linear movement, the second motor drives the third docking stator to move in the other of rotation and linear movement.

[0021] Furthermore, the docking module also includes a fourth docking stator arranged on the first motor, wherein the second docking stator has a first length and the fourth docking stator has a second length different from the first length; and / or the fourth docking stator has a third coupling surface, when the second coupling surface is arranged along one of the transverse direction and the vertical direction, the third coupling surface is arranged along the other of the transverse direction and the vertical direction.

[0022] Furthermore, the docking module also includes a fifth docking stator spaced apart from the second docking stator, the second motor is driven and cooperated with the second docking stator, the first docking stator is located between the second docking stator and the fifth docking stator, the first conveying module includes a first line body and a second line body, the second conveying module includes a third line body and a fourth line body, the first line body and the second line body are spaced apart, and the second docking stator is arranged between the first line body and the second line body; the second motor can drive the second docking stator to rotate between the first position and the second position, and the second docking stator is in the first position When the second docking stator is in the second position, the second docking stator is docked with the first end of the first docking stator; the second motor can drive the fifth docking stator to rotate between the third position and the fourth position; when the fifth docking stator is in the third position, the fifth docking stator is docked with the third and fourth wire bodies; when the fifth docking stator is in the fourth position, the fifth docking stator is docked with the second end of the first docking stator; the first motor drives the second motor, the second docking stator and the fifth docking stator to move linearly.

[0023] Applying the technical solution of the present invention, the conveying system includes: a mover module, a first conveying module, a second conveying module and a docking module. The second conveying module is spaced apart from the first conveying module. The first conveying module and the second conveying module are connected through the docking module so that the mover module can move between the first conveying module and the second conveying module. Wherein, the docking module includes a first motor, a second motor, a first docking stator and a second docking stator, the first docking stator and the second motor are arranged on the first motor, the second docking stator is arranged on the second motor, the first motor drives the second motor and the first docking stator to move linearly, the second motor drives the second docking stator to rotate or move linearly, the first docking stator has a first coupling surface, the second docking stator has a second coupling surface, and the first coupling surface and the second coupling surface are both arranged in the horizontal direction or the vertical direction. In this way, the first motor can drive the first docking stator, the second motor and the second docking stator to move synchronously. When the first docking stator is docked with the first conveying module, the second docking stator can dock with the second conveying module, allowing both the first and second conveying modules to perform normal conveying, thereby improving conveying efficiency. Furthermore, the second motor can drive the second docking stator to rotate or move linearly, thereby increasing the docking options between the second docking stator and the second conveying module, improving docking accuracy, and enhancing the flexibility and efficiency of the conveying system. Therefore, the technical solution of this application effectively solves the problem of low conveying efficiency of docking devices in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 shows a schematic structural diagram of a delivery system in some embodiments of the present application;

[0026] Figure 2 A schematic diagram of a top view of a conveying system in some embodiments of the present application is shown;

[0027] Figure 3 Schematic diagrams of top views of the conveying systems in other embodiments of the present application are shown;

[0028] Figure 4 Schematic diagrams of the top view of the conveying system in some other embodiments of the present application are shown;

[0029] Figure 5 Schematic diagrams of the top view of the conveying system in some further embodiments of the present application are shown;

[0030] Figure 6 A side structural schematic diagram of a conveying system in some embodiments of the present application is shown;

[0031] Figure 7 shows a side structural schematic diagram of a conveying system in some other embodiments of the present application;

[0032] Figure 8 A schematic structural diagram showing another perspective of the delivery system in some embodiments of the present application is shown;

[0033] Figure 9 A schematic diagram of a partial structure of a conveying system in some embodiments of the present application is shown;

[0034] Figure 10 A schematic diagram of a top view of a conveying system in some embodiments of the present application is shown;

[0035] Figure 11 A schematic top view of the structure of the conveying system in some other embodiments of the present application is shown.

[0036] The above drawings include the following reference numerals:

[0037] 10. Mover module; 11. First mover body; 12. First slider; 13. First permanent magnet;

[0038] 20. First conveying module; 21. First line body; 22. Second line body;

[0039] 30. Second conveying module; 31. Third line body; 32. Fourth line body;

[0040] 40. Docking module; 41. First docking stator; 42. Second docking stator; 421. First stator body; 422. First guide rail; 423. First armature winding; 424. First central axis; 426. Second central axis; 43. Third docking stator; 44. Fifth docking stator;

[0041] 50. Base; 51. First docking surface; 52. Second docking surface; 53. Connecting surface; 54. Rotating portion; 55. Mounting portion;

[0042] 60. First rotation axis; 61. Second rotation axis;

[0043] 71. First motor; 72. Second motor;

[0044] 80. The third conveying module. DETAILED DESCRIPTION

[0045] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0046] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0047] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0048] In some embodiments, as Figure 1 and Figure 2 As shown, the conveying system includes: a moving submodule 10, a first conveying module 20, a second conveying module 30, and a connecting module 40. The second conveying module 30 is spaced apart from the first conveying module 20. The first conveying module 20 and the second conveying module 30 both have notches. The connecting module 40 is disposed at the notches of the first conveying module 20 and the second conveying module 30. The first conveying module 20 and the second conveying module 30 are connected through the connecting module 40, so that the moving submodule 10 can move between the first conveying module 20 and the second conveying module 30.

[0049] The docking module 40 includes a first motor 71, a second motor 72, a first docking stator 41 and a second docking stator 42. The first docking stator 41 and the second motor 72 are arranged on the first motor 71, and the second docking stator 42 is arranged on the second motor 72. The first motor 71 drives the second motor 72 and the first docking stator 41 to move linearly, and the second motor 72 drives the second docking stator 42 to rotate or move linearly. The first docking stator 41 has a first coupling surface, and the second docking stator 42 has a second coupling surface. The first coupling surface and the second coupling surface are both arranged in the horizontal direction or the vertical direction. In this way, the first motor 71 can drive the first docking stator 41, the second motor 72, and the second docking stator 42 to move synchronously, so that the first docking stator 41 can move horizontally to move the movable submodule 10 between the first conveying module 20 and the second conveying module 30, or the second docking stator 42 can move horizontally to move the movable submodule 10 between the first conveying module 20 and the second conveying module 30. It can be understood that when the first docking stator 41 is docked with the first conveying module 20, the second docking stator 42 can be docked with the second conveying module 30, so that both the first conveying module 20 and the second conveying module 30 can perform normal conveying, thereby improving conveying efficiency.

[0050] The second motor 72 can drive the second docking stator 42 to rotate or move linearly, thereby increasing the docking options between the second docking stator 42 and the second conveyor module 30, improving docking accuracy, and enhancing the flexibility and efficiency of the conveyor system. When the second motor 72 drives the second docking stator 42 to rotate and move, it can increase the diversity of the second conveyor module 30's placement positions. It is understood that because the second motor 72 drives the second docking stator 42 to rotate, it can diversify the conveying direction of the second docking stator 42, allowing the second conveyor module 30 to be arranged non-parallel to the first conveyor module 20. When the second docking stator 42 is connected to the first conveyor module 20, the second motor 72 has a first rotation angle. Subsequently, the first motor 71 drives the second motor 72 to move the second docking stator 42 to connect to the second conveyor module 30. Since the first conveyor module 20 and the second conveyor module 30 extend in different directions, when the second docking stator 42 is connected to the second conveyor module 30, the second motor 72 has a second rotation angle. The embodiment of the present application drives the second docking stator 42 to rotate by setting a second motor 72, and by setting the second motor 72 to have different rotation angles when connected to different conveying modules, so as to diversify the setting position of the second conveying module 30, thereby improving the flexibility of the conveying system setting. In other embodiments, when the second motor 72 drives the second docking stator 42 to move linearly, the moving direction of the second motor 72 can be the same as the moving direction of the first motor 71, so that the second docking stator 42 has a longer moving stroke to increase the spacing between the first conveying module 20 and the second conveying module 30; when the moving direction of the second motor 72 is set at an angle to the moving direction of the first motor 71, the gap positions of the first conveying module 20 and the second conveying module 30 are staggered. The embodiment of the present application provides a docking module to facilitate the transport of the mover module 10 between the first conveying module 20 and the second conveying module 30. Specifically, when the mover module 10 moves from the first conveying module 20 to the second docking stator 42, the first docking stator 41 ensures connectivity with the first conveying module 20. Furthermore, the second docking stator 42 rotates or moves linearly to accommodate the second conveying module 30 at different locations, thereby transporting the mover module 10 to the second conveying module 30. The technical solution of this embodiment not only effectively addresses the low transport efficiency of docking devices in related technologies, but also improves the configuration diversity and flexibility of the conveying system.

[0051] Furthermore, the first coupling surface and the second coupling surface are both arranged along the transverse direction or the vertical direction to increase the diversity of the structural arrangement of the conveying module, thereby enabling the movable module 10 to have a diversified arrangement structure to adapt to different working conditions. The transverse direction or vertical direction described in this embodiment can be generally understood as the transverse direction refers to any direction in the horizontal plane, and the vertical direction refers to any direction perpendicular to the horizontal plane. That is, when the first coupling surface and the second coupling surface are both arranged along the transverse direction, the first coupling surface and the second coupling surface are both parallel to the horizontal plane, and the coil structure of the first docking stator 41 and the coil structure of the second docking stator 42 (also referred to as the armature winding structure) are both arranged parallel to the horizontal plane, that is, the coil structure of the first docking stator 41 and the coil structure of the second docking stator 42 are both arranged horizontally. When the first coupling surface and the second coupling surface are both arranged in the vertical direction, the first coupling surface and the second coupling surface are both perpendicular to the horizontal plane, and the coil structure of the first docking stator 41 and the coil structure of the second docking stator 42 are both arranged perpendicular to the horizontal plane, that is, the coil structure of the first docking stator 41 and the coil structure of the second docking stator 42 are both arranged vertically. It should be noted that the coupling surface refers to the surface in the electromagnetic drive system where energy and force are transferred between different electromagnetic components through the electromagnetic field. The first coupling surface refers to the finite surface formed by the coupling surface on the surface of the first docking stator 41 when the first docking stator 41 is coupled with the mover module 10, which can be generally referred to as the surface of the coil structure of the first docking stator 41. The second coupling surface refers to the finite surface formed by the coupling surface on the surface of the second docking stator 42 when the second docking stator 42 is coupled with the mover module 10, which can be generally referred to as the surface of the coil structure of the second docking stator 42.

[0052] In some embodiments, the number of the first docking stators 41 is one, two, three, or more than three. The number of the second docking stators 42 is one, two, three, or more than three.

[0053] In some embodiments, please refer to Figure 1 and Figure 3When the second motor 72 drives the second docking stator 42 to move linearly, the driving direction of the second motor 72 is the same as that of the first motor 71, and the position control accuracy of the second motor 72 is higher than that of the first motor 71. In this way, the first motor 71 can drive the second docking stator 42 to be roughly in place, and the second motor 72 with higher position control accuracy can drive the second docking stator 42 to be precisely aligned with the first conveying module 20 or the second conveying module 30, thereby improving the docking accuracy of the second docking stator 42. In addition, using the second motor 72 with higher position control accuracy to linearly drive the second docking stator 42 can reduce the collision between the second docking stator 42 and the edge of the first conveying module 20 or the second conveying module 30 during alignment, thereby increasing the service life of the conveying system. Under the premise of improving docking accuracy, the provision of the first motor 71 and the second motor 72 can reduce costs.

[0054] Furthermore, if Figure 1 and Figure 4 As shown, when the second motor 72 drives the second docking stator 42 to move linearly, there is a preset angle between the driving direction of the second motor 72 and the driving direction of the first motor 71. In this way, the second docking stator 42 can move in two directions, which increases the movement range of the second docking stator 42, thereby improving the flexibility of the docking. In addition, when the docking point of the first conveying module 20 or the second conveying module 30 is tilted, by driving the second docking stator 42 to move in a direction that is at a preset angle to the driving direction of the first motor 71, the second docking stator 42 can better dock with the tilted docking point, thereby improving the docking accuracy and also improving the flexibility of the conveying system and the production diversity.

[0055] like Figure 1 and Figure 5 As shown, in some other embodiments, when the second motor 72 drives the second docking stator 42 to move linearly, the driving direction of the second motor 72 is perpendicular to the driving direction of the first motor 71. It is understood that the conveying system may further include a third conveying module 80, which is spaced apart from the first conveying module 20 and the second conveying module 30, and the third conveying module 80 and the second conveying module 30 are arranged in a collinear manner. The third conveying module 80 and the second conveying module 30 belong to different process sections. When the movable module 10 is transferred from the first conveying module 20 to the second docking stator 42, the first motor 71 moves upward and the second motor 72 moves leftward, so that the movable module 10 is transferred to the second conveying module 30 for the next stage of process operation; alternatively, the first motor 71 moves upward and the second motor 72 moves rightward, so that the movable module 10 is transferred to the third conveying module 80 for the next stage of process operation.

[0056] like Figure 1 and Figure 6 As shown, when the second motor 72 drives the second docking stator 42 to rotate, the second motor 72 has a first rotation axis 60, and the second motor 72 drives the second docking stator 42 to rotate around the first rotation axis 60. The second docking stator 42 has a first central axis 424 perpendicular to the second coupling surface, and the first central axis 424 is offset from the first rotation axis 60. In this way, due to the offset of the first central axis 424 from the first rotation axis 60, the second docking stator 42 can have a larger coverage area when rotating, that is, the second conveying module 30 can have a longer notch position, so that the distance between the docking points using the second docking stator 42 can be larger, thereby achieving docking over a longer distance. It is understandable that when the second conveying module 30 has a longer notch position, the installation cost of the second conveying module 30 can be reduced. On the other hand, since the second docking stator has a larger coverage area, the length requirement of the second docking stator 42 can be reduced, reducing production costs. It should be noted that the first central axis 424 and the first rotation axis 60 are staggered, which means that the first central axis 424 and the first rotation axis 60 are not collinear.

[0057] It should be noted that the first central axis 424 is located at the center point of the second coupling surface and is perpendicular to the second coupling surface. That is, the coil structure included in the second docking stator 42 is centrosymmetric about the first central axis. It is understood that the staggered arrangement of the first central axis 424 and the first rotation axis 60 includes any of the following: the first central axis 424 intersects the first rotation axis 60, the first central axis 424 and the first rotation axis 60 are coplanar, the first central axis 424 and the first rotation axis 60 are not in the same plane, or the first central axis 424 and the first rotation axis 60 are parallel.

[0058] In some embodiments, as Figure 1 and Figure 6 As shown, the docking module 40 also includes a base 50, a second docking stator 42 is disposed on the base 50, and a second motor 72 is fixedly connected to the base 50 to drive the base 50 and the second docking stator 42 to rotate. The rotation axis of the base 50 forms a first rotation axis 60, which passes through the base 50 and is arranged parallel to the second coupling surface. The first rotation axis 60 is perpendicular to the first central axis 424. In the embodiment of the present application, the stability of the second docking stator 42 is improved by disposing the second docking stator 42 on the base; and by disposing the rotation axis of the base 50 to form the first rotation axis 60, which passes through the base 50 and is arranged parallel to the second coupling surface, the force applied to the second docking stator 42 during rotation is more uniform, thereby improving the stability of the second docking stator 42 during rotation, thereby improving the reliability of the conveying system.

[0059] In some embodiments, as Figure 6 and Figure 7 As shown, the base 50 has a first docking surface 51, a second docking surface 52 and a connecting surface 53. The first docking surface 51 and the second docking surface 52 are arranged opposite to each other, and the connecting surface 53 is adjacent to the first docking surface 51 and the second docking surface 52. At least one second docking stator 42 is arranged on the first docking surface 51, and at least one second docking stator 42 is arranged on the second docking surface 52. The first rotation axis 60 extends in the transverse direction, and the first rotation axis 60 passes through the connecting surface 53. In the embodiment of the present application, the second docking stator 42 is arranged on the first docking surface and the second docking surface, that is, a plurality of docking stators are arranged on both sides of the first rotation axis 60, and the second motor 72 is rotated to drive the second docking stator to rotate around the first rotation axis, so as to selectively realize the connection between the second docking stator 42 and the first conveying module 20 or the second conveying module 30. For example, as Figure 4 and Figure 5 As shown, in some embodiments, the first conveying module 20 and the second conveying module 30 have different setting heights. When the docking module is connected to the first conveying module 20, the second docking stator 42 set on the first docking surface is connected to the first conveying module 20; then the first motor 71 drives the second motor 72 to move toward the second conveying module 30. After the first motor 71 moves into position, the second motor 72 rotates to drive the second docking stator 42 located on the first docking surface to rotate around the first rotation axis 60, thereby changing the height position of the second docking stator 42. After the second motor 72 rotates into position, the second docking stator 42 located on the first docking surface is connected to the second conveying module 30, and the movable module 10 can move to the second conveying module 30. Furthermore, the embodiment of the present application drives the second docking stator 42 on the first docking surface 51 and the second docking stator 42 on the second docking surface 52 through the base 50, providing more options for docking, improving the flexibility of the conveying system when docking, reducing the setting of the drive source, and reducing costs. Furthermore, the second docking stator 42 can be docked with the first conveying module 20 or the second conveying module 30 by rotating the base 50 at a relatively small angle, thereby further improving the docking efficiency and thus improving the production efficiency.

[0060] Furthermore, if Figure 7As shown, the second coupling surface of the second docking stator 42 on the first docking surface 51 and the second coupling surface of the second docking stator 42 on the second docking surface 52 are arranged in parallel. The second coupling surface of the second docking stator 42 on the first docking surface 51 has a first projection range on the orthographic projection of the first docking surface, and the second coupling surface of the second docking stator 42 on the second docking surface 52 has a second projection range on the orthographic projection of the first docking surface. The first projection range and the second projection range are offset. In this way, the second docking stator 42 on the first docking surface 51 and the second docking stator 42 on the second docking surface 52 are offset. For example, the second docking stator 42 on the first docking surface and the second docking stator 42 on the second docking surface are symmetrically arranged about the first rotation axis. This prevents the second docking stator 42 from being damaged during operation due to negative effects such as eccentricity and weight imbalance when the rotating base 50 rotates. Furthermore, since the second docking stator 42 on the first docking surface 51 and the second docking stator 42 on the second docking surface 52 are staggered, the second docking stator 42 has a larger movement range, thereby increasing the docking range of the second docking stator 42 and improving the flexibility of the conveying system setting.

[0061] In other embodiments, the second docking stator 42 includes a linear docking stator and an arcuate docking stator. The linear docking stator is disposed on the first docking surface 51, and the arcuate docking stator is disposed on the second docking surface 52. The second coupling surface of the linear docking stator is disposed parallel to the second coupling surface of the arcuate docking stator. The embodiments of the present application provide a plurality of second docking stators 42 with different structures to increase the structural diversity of the docking module, thereby increasing the transport diversity of the transport system.

[0062] In other embodiments, Figure 6 As shown, the base 50 has a rotating portion 54 and a mounting portion 55 disposed on one side of the rotating portion 54. The second docking stator 42 is mounted on the mounting portion 55. The first rotation axis 60 passes through the rotating portion 54 and is spaced apart from the mounting portion 55. In this way, a relatively small rotation angle of the base 50 can be exchanged for a relatively large movement of the second docking stator 42, thereby increasing the docking efficiency of the second docking stator 42 and thus improving the conveying efficiency of the conveying system. Furthermore, the second docking stator 42 can have a larger coverage area during rotation, allowing the distance between docking points using the second docking stator 42 to be increased, thereby achieving docking over a longer distance, thereby reducing the length requirement for the second docking stator 42 and lowering production costs.

[0063] In some embodiments, as Figure 1 and Figure 8As shown, when the first coupling surface is arranged in the transverse direction, the second docking stator 42 further includes a first stator body 421, a first armature winding 423, and a first detection element. The first armature winding 423 and the first detection element are both arranged in the first stator body 421, and the first detection element is spaced apart from the first armature winding 423. Specifically, the first detection element is spaced apart in the transverse direction on one side of the first armature winding, or the first detection element is arranged in the first stator body, opposite to and spaced apart from the first armature winding. The mover module 10 includes a first mover body 11, a first permanent magnet 13, and a first sensor element. The first permanent magnet 13 and the first sensor element are both arranged on the first mover body 11, the first permanent magnet 13 corresponding to the first armature winding 423, and the first sensor element corresponding to the first detection element. The first armature winding is coupled to the first permanent magnet to drive the mover module 10. The first detection element cooperates with the first sensor element to detect the position of the mover module 10. It should be noted that the first permanent magnet 13 and the first sensing element can be an integrated structure, that is, the first detection element directly detects the first permanent magnet. For example, the conveying system obtains the position of the mover module in real time to drive the mover module 10 to move after the docking module 40 completes docking. When the docking module 40 is in the docking process, the conveying system sends a command to energize the docking stator so that the mover module 10 is stably set on the docking stator to avoid negative effects such as derailment caused by the movement of the mover module 10 during the docking process.

[0064] Furthermore, if Figure 11 As shown, the conveying system also includes a first guide structure disposed between the connecting stator and the mover module 10. The first guide structure includes a first guide rail 422 and a first slider 12 that guide and cooperate with each other. The first slider 12 is disposed on the first mover body 11, and the first guide rail 422 is disposed on the first stator body 421. The provision of the first slider 12 and the first guide rail 422 can guide the mover module 10, thereby ensuring smooth and reliable movement of the mover module 10 on the second connecting stator 42, improving the stability of the mover module 10 when carrying the workpiece, and enhancing the smoothness of transportation.

[0065] In some embodiments, there is one first guide rail 422, and the first guide rail 422 and the first detection element are disposed on opposite sides of the first armature winding 423. Alternatively, in other embodiments, there are two first guide rails 422, and the two first guide rails 422 are fixedly disposed on the first stator body, and the first armature winding 423 and the first detection element are disposed between the two first guide rails 422. In the embodiment of the present application, by providing the first slider and the first guide rail 422 for cooperation, the first guide rail 422 is capable of guiding the mover module 10, so that the movement of the mover module 10 on the second docking stator 42 is more stable and reliable, thereby improving the stability of the mover module 10 when carrying the workpiece and improving the smoothness of the transportation of the mover module 10.

[0066] In other embodiments, when the second coupling surface is arranged in the vertical direction, the second docking stator 42 includes a second stator body, a second armature winding, and a second detection element. The second detection element and the second armature winding are both arranged on the second stator body, and the second detection element and the second armature winding are spaced apart. The mover module 10 includes a second mover body, a second permanent magnet, and a second sensor element. The second permanent magnet and the second sensor element are both arranged on the second mover body, the second permanent magnet is arranged corresponding to the second armature winding, and the second sensor element is arranged corresponding to the second detection element. The second armature winding is coupled to the second permanent magnet to drive the mover module 10 to move. The second detection element cooperates with the second sensor element to detect the position of the mover module 10. It should be noted that the second permanent magnet and the second sensor element can be an integrated structure, that is, the second detection element directly detects the second permanent magnet.

[0067] Furthermore, the conveying system also includes a second guide structure provided between the second docking stator 42 and the mover module 10, the second guide structure includes a second guide rail and a second slider that guide and cooperate with each other, the second slider is provided on the second mover body, and the second guide rail is provided on the second stator body. In the embodiment of the present application, by providing the cooperation between the second slider and the second guide rail, the second guide rail can guide the mover module 10, so that the movement of the mover module 10 on the second docking stator 42 is more stable and reliable, thereby improving the stability of the mover module when carrying the workpiece and improving the stability of the transport of the mover module 10. In some embodiments, such as Figure 1 、 Figure 2 and Figure 9As shown, when the second motor 72 drives the second docking stator 42 to rotate, the second motor 72 has a second rotation axis 61. The second motor 72 drives the second docking stator 42 to rotate about the second rotation axis 61. The second docking stator 42 has a second central axis 426 perpendicular to the second coupling surface, and the second central axis 426 is arranged colinearly with the second rotation axis 61. This allows the second docking stator 42 to rotate about the second central axis 426 of the second coupling surface, improving the stability of the second docking stator 42 during rotation, thereby improving the stability of the mover module 10 and the smoothness of the conveying system. It is understood that the second central axis 426 is located at the center point of the second coupling surface and is perpendicular to the second coupling surface. That is, for the coil structure included in the second docking stator 42, the coil structure is centrosymmetric about the second central axis 426. Furthermore, when the second docking stator 42 includes the first armature winding 423, as described above, the first armature winding 423 is centrosymmetric about the second central axis 426. The embodiment of the present application arranges the second center axis 426 and the second rotation axis 61 collinearly, that is, arranges the rotation center point of the first armature winding 423 and the rotation center point of the second motor 72 collinearly, and the rotation angle of the second motor 72 is the same as the rotation angle of the first armature winding 423, or the rotation angle of the second motor 72 is arranged proportionally to the rotation angle of the first armature winding 423. This not only improves the rotation accuracy of the first armature winding 423 during rotation, so that the second docking stator 42 can be more accurately docked with the second conveying module 30, but also improves the stability of the second docking stator 42 during rotation.

[0068] In some other embodiments, the second motor 72 is provided with a plurality of second docking stators 42. The provision of the plurality of second docking stators 42 facilitates docking with the first conveying module 20 or the second conveying module 30, thereby increasing the diversity of docking and thus increasing the flexibility of the conveying system. Figure 10 As shown, the docking module also includes a third docking stator 43 connected to the second motor 72. When the second motor 72 drives the second docking stator 42 to move in one of rotational and linear motion, the second motor 72 drives the third docking stator 43 to move in the other of rotational and linear motion. In this way, the arrangement of the second docking stator 42 and the third docking stator 43 can simultaneously meet the motion requirements of linear motion and rotation, thereby meeting more diverse docking needs, increasing the diversity of docking, and thus improving the flexibility of the conveying system.

[0069] Furthermore, the third docking stator 43 is fixedly connected to the first gear, a second gear is fixedly provided on the motor shaft of the second motor 72, and the ends of the first rack are respectively engaged with the first gear and the second gear. In this way, when the motor shaft of the second motor 72 rotates, the first gear can drive the third docking stator 43 to rotate via the first rack and the second gear. Alternatively, the third gear is fixedly connected to the motor shaft of the second motor 72, and the third docking stator is fixedly connected to the second rack. In this way, when the motor shaft of the second motor 72 rotates, the third gear can drive the third docking stator 43 to move linearly via the second rack.

[0070] In some other embodiments, the docking module also includes a fourth docking stator arranged on the first motor 71, wherein the second docking stator 42 has a first length and the fourth docking stator has a second length different from the first length. The fourth docking stator has a third coupling surface, and when the second coupling surface is set along one of the transverse direction and the vertical direction, the third coupling surface is set along the other of the transverse direction and the vertical direction. In this way, the first conveying module 20 or the second conveying module 30 can select the second docking stator 42 or the fourth docking stator for docking according to the size of its docking gap, thereby reducing the gap during docking, improving the docking accuracy, and thus improving the conveying efficiency. The provision of the third coupling surface enables the first conveying module 20 or the second conveying module 30 to select the second docking stator 42 or the fourth docking stator for docking according to its need for the coupling surface, thereby improving the adaptability of the conveying system.

[0071] In some other embodiments, the docking module further includes a fourth docking stator disposed on the first motor 71, wherein the first docking stator 41 has a first length, and the fourth docking stator has a second length different from the first length. Alternatively, the fourth docking stator has a third coupling surface, and when the first coupling surface is disposed in one of the transverse and vertical directions, the third coupling surface is disposed in the other of the transverse and vertical directions.

[0072] like Figure 11As shown, the docking module also includes a fifth docking stator 44 spaced apart from the second docking stator 42, the second motor 72 is driven by the second docking stator 42, the first docking stator 41 is located between the second docking stator 42 and the fifth docking stator 44, the first conveying module 20 includes a first line body 21 and a second line body 22, the second conveying module 30 includes a third line body 31 and a fourth line body 32, the first line body 21 and the second line body 22 are spaced apart, and the second docking stator 42 is arranged between the first line body 21 and the second line body 22; the second motor 72 can drive the second docking stator 42 to rotate between the first position and the second position, and the second docking stator 42 is in the first position. When the fifth connecting stator 44 is in the third position, the fifth connecting stator 44 is docked with the third wire body 31 and the fourth wire body 32. When the fifth connecting stator 44 is in the fourth position, the fifth connecting stator 44 is docked with the second end of the first connecting stator 41. The first motor 71 drives the second motor 72, the second connecting stator 42 and the fifth connecting stator 44 to move linearly. In this way, the first motor 71 drives the second motor 72, the second docking stator 42, and the fifth docking stator 44 to move linearly synchronously, facilitating the docking of the fifth docking stator 44 with the first docking stator 41, the docking of the fifth docking stator 44 with the third and fourth wire bodies 31 and 32, the docking of the second docking stator 42 with the first docking stator 41, and the docking of the second docking stator 42 with the first and second wire bodies 21 and 22. By rotating the second docking stator 42 between the first and second positions, the mover module 10 on the first or second wire body 21, 22 can be transferred to the first docking stator 41. By rotating the fifth docking stator 44 between the third and fourth positions, the mover module 10 on the first docking stator 41 can be transferred to the third or fourth wire body 31, 32. In this way, the mover module 10 on the first conveying module 20 can be conveyed to the second conveying module 30 through the second docking stator 42, the first docking stator 41 and the fifth docking stator 44. The docking methods are increased, and the docking efficiency and flexibility are improved.

[0073] In some embodiments, the number of the first docking stator 41 is one or a plurality of connected stators.

[0074] In the description of the present invention, it is to be understood that "plurality" refers to a quantity of two or more than two. The directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside" and "outside" refer to the inside and outside relative to the outline of each component itself.

[0075] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0076] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0077] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A conveying system, characterized in that: include: Movable module (10); A first conveying module (20); a second conveying module (30) spaced apart from the first conveying module (20); a connecting module (40), wherein the first conveying module (20) and the second conveying module (30) are connected via the connecting module (40), so that the movable module (10) can move between the first conveying module (20) and the second conveying module (30); The docking module (40) comprises a first motor (71), a second motor (72), a first docking stator (41) and a second docking stator (42); the first docking stator (41) and the second motor (72) are arranged on the first motor (71); the second docking stator (42) is arranged on the second motor (72); the first motor (71) drives the second motor (72) and the first docking stator (41) to move linearly; the second motor (72) drives the second docking stator (42) to rotate or move linearly; the first docking stator (41) has a first coupling surface; the second docking stator (42) has a second coupling surface; and the first coupling surface and the second coupling surface are both arranged in a transverse direction or a vertical direction.

2. The conveying system according to claim 1, characterized in that When the second motor (72) drives the second docking stator (42) to move linearly, the driving direction of the second motor (72) is the same as that of the first motor (71), and the position control accuracy of the second motor (72) is higher than that of the first motor (71).

3. The conveying system according to claim 1, characterized in that When the second motor (72) drives the second docking stator (42) to move linearly, a preset angle exists between the driving direction of the second motor (72) and the driving direction of the first motor (71).

4. The conveying system according to claim 1, characterized in that When the second motor (72) drives the second docking stator (42) to rotate, the second motor (72) has a first rotation axis (60), and the second motor (72) drives the second docking stator (42) to rotate around the first rotation axis (60). The second docking stator (42) has a first central axis (424) perpendicular to the second coupling surface, and the first central axis (424) is staggered with the first rotation axis (60).

5. The conveying system according to claim 4, characterized in that The docking module (40) further includes a base (50), the second docking stator (42) is arranged on the base (50), the second motor (72) is fixedly connected to the base (50) to drive the base (50) and the second docking stator (42) to rotate, the rotation axis of the base (50) forms the first rotation axis (60), the first rotation axis (60) passes through the base (50) and is arranged parallel to the second coupling surface, and the first rotation axis (60) is arranged perpendicular to the first central axis (424).

6. The conveying system according to claim 5, characterized in that The base (50) has a first docking surface (51), a second docking surface (52) and a connecting surface (53), wherein the first docking surface (51) and the second docking surface (52) are arranged opposite to each other, and the connecting surface (53) is adjacent to the first docking surface (51) and the second docking surface (52), at least one second docking stator (42) is arranged on the first docking surface (51), and at least one second docking stator (42) is arranged on the second docking surface (52), and the first rotation axis (60) extends in a transverse direction, and the first rotation axis (60) passes through the connecting surface (53).

7. The conveying system according to claim 6, characterized in that The second coupling surface of the second docking stator (42) on the first docking surface (51) and the second coupling surface of the second docking stator (42) on the second docking surface (52) are arranged in parallel; the second coupling surface of the second docking stator (42) on the first docking surface (51) has a first projection range on the orthographic projection of the first docking surface; the second coupling surface of the second docking stator (42) on the second docking surface (52) has a second projection range on the orthographic projection of the first docking surface; and the first projection range and the second projection range are staggered.

8. The conveying system according to claim 7, characterized in that The second docking stator (42) includes a linear docking stator and an arc-shaped docking stator, the linear docking stator is arranged on the first docking surface (51), the arc-shaped docking stator is arranged on the second docking surface (52), and the second coupling surface of the linear docking stator is arranged in parallel with the second coupling surface of the arc-shaped docking stator.

9. The conveying system according to claim 5, characterized in that The base (50) has a rotating portion (54) and a mounting portion (55) arranged on one side of the rotating portion (54); the second docking stator (42) is mounted on the mounting portion (55); and the first rotating axis (60) passes through the rotating portion (54) and is spaced apart from the mounting portion (55).

10. The conveying system according to claim 1, characterized in that When the first coupling surface is arranged along the transverse direction, the second connection stator (42) further comprises a first stator body (421), a first armature winding (423), and a first detection element, the first armature winding (423) and the first detection element are both arranged on the first stator body (421), and the first detection element and the first armature winding (423) are spaced apart. The mover module (10) includes a first mover body (11), a first permanent magnet (13) and a first sensor element, wherein the first permanent magnet (13) and the first sensor element are both arranged on the first mover body (11), the first permanent magnet (13) and the first armature winding (423) are arranged correspondingly, and the first sensor element and the first detection element are arranged correspondingly.

11. The conveying system according to claim 10, characterized in that The conveying system further comprises a first guide structure arranged between the docking stator and the mover module (10), the first guide structure comprising a first guide rail (422) and a first slider (12) which guide and cooperate with each other, the first slider (12) being arranged on the first mover body (11), and the first guide rail (422) being arranged on the first stator body (421).

12. The conveying system according to claim 1, wherein: When the second coupling surface is arranged along the vertical direction, the second connection stator (42) includes a second stator body, a second armature winding and a second detection element, the second detection element and the second armature winding are both arranged on the second stator body, and the second detection element and the second armature winding are arranged at intervals; the mover module (10) includes a second mover body, a second permanent magnet and a second sensor element, the second permanent magnet and the second sensor element are both arranged on the second mover body, the second permanent magnet and the second armature winding are arranged correspondingly, and the second sensor element and the second detection element are arranged correspondingly.

13. The conveying system according to claim 12, characterized in that The conveying system also includes a second guide structure arranged between the second docking stator (42) and the mover module (10), the second guide structure including a second guide rail and a second slider that guide and cooperate with each other, the second slider is arranged on the second mover body, and the second guide rail is arranged on the second stator body.

14. The conveying system according to claim 1, wherein: When the second motor (72) drives the second docking stator (42) to rotate, the second motor (72) has a second rotation axis (61), and the second motor (72) drives the second docking stator (42) to rotate around the second rotation axis (61). The second docking stator (42) has a second central axis (426) perpendicular to the second coupling surface, and the second central axis (426) is collinear with the second rotation axis (61).

15. The conveying system according to claim 1, wherein The second motor (72) is provided with a plurality of the second connection stators (42); or, The docking module further includes a third docking stator connected to the second motor (72), and when the second motor (72) drives the second docking stator (42) to move in one of a rotational and linear movement mode, the second motor (72) drives the third docking stator to move in the other of a rotational and linear movement mode.

16. The conveying system according to claim 1 or 15, characterized in that The docking module further includes a fourth docking stator provided on the first motor (71), wherein: The second docking stator (42) has a first length, and the fourth docking stator has a second length different from the first length; and / or, The fourth docking stator has a third coupling surface. When the second coupling surface is arranged along one of the transverse direction and the vertical direction, the third coupling surface is arranged along the other of the transverse direction and the vertical direction.

17. The conveying system according to claim 1, wherein: The docking module further comprises a fifth docking stator (44) spaced apart from the second docking stator (42); the second motor (72) is driven and matched with the second docking stator (42); the first docking stator (41) is located between the second docking stator (42) and the fifth docking stator (44); the first conveying module (20) comprises a first wire body (21) and a second wire body (22); the second conveying module (30) comprises a third wire body (31) and a fourth wire body (32); the first wire body (21) and the second wire body (22) are spaced apart; the second docking stator (42) is arranged between the first wire body (21) and the second wire body (22); The second motor (72) is capable of driving the second docking stator (42) to rotate between a first position and a second position. When the second docking stator (42) is in the first position, the second docking stator (42) is docked with both the first wire body (21) and the second wire body (22). When the second docking stator (42) is in the second position, the second docking stator (42) is docked with the first end of the first docking stator (41). The second motor (72) is capable of driving the fifth docking stator (44) to rotate between a first position and a second position. The fifth docking stator (44) rotates between a third position and a fourth position. When the fifth docking stator (44) is in the third position, the fifth docking stator (44) docks with both the third wire body (31) and the fourth wire body (32). When the fifth docking stator (44) is in the fourth position, the fifth docking stator (44) docks with the second end of the first docking stator (41); the first motor (71) drives the second motor (72), the second docking stator (42) and the fifth docking stator (44) to move linearly.

Images