Magnetic drive conveying system

Abstract

The invention provides a magnetic drive conveying system. The magnetic drive conveying system comprises a mounting base frame, a conveying line body, a rotor module, a guide rail mechanism and a lifting mechanism. The conveying line body comprises a rotor module and a plurality of stator modules, the stator modules are arranged on the mounting base frame, and the rotor module is magnetically coupled with the stator modules; the guide rail mechanism extends in the conveying direction and can guide and support the rotor module so that the rotor module can move in the conveying direction, and the guide rail mechanism comprises a movable guide rail; the lifting mechanism is located between the mounting base frame and the conveying line body and comprises a lifting component, the lifting component is fixedly arranged on the mounting base frame, and one end of the lifting component is connected with the movable guide rail; when the mover module moves to the movable guide rail, the lifting component can drive the movable guide rail and the mover module to move in the vertical direction or the horizontal direction. According to the technical scheme, the weight of the rotor module can be reduced, the cost of the rotor module can be reduced, and the structure of the magnetic drive conveying system is simplified.

Description

Technical Field

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

[0002] In related technologies, AMHS (Automatic Material Handling System) plays a key role in improving production efficiency and shortening product production cycles for wafer fabs that produce chips. An OHT (Overhead Hoist Transport) overhead crane is usually used to transport workpieces. During the workpiece transportation process, due to process requirements, the workpiece needs to be transferred to different locations. For example, an OHT overhead crane can independently complete the lifting or horizontal transportation of the workpiece. However, the OHT overhead crane integrates a large number of transfer mechanisms, which makes the OHT overhead crane heavier and more expensive. Summary of the Invention

[0003] The main purpose of the present invention is to provide a magnetic drive conveying system to solve the problem of heavy OHT overhead crane in the related art.

[0004] In order to achieve the above-mentioned objectives, the present invention provides a magnetically driven conveying system, comprising: a mounting base; a conveying line body, comprising a mover module and a plurality of stator modules arranged in sequence along the conveying direction; the mover module, magnetically coupled to the stator module, and further away from the mounting base than the stator module, the mover module comprising a mover body and a bearing member fixedly arranged on the mover body, the bearing member being further away from the stator module than the mover body; a guide rail mechanism, the guide rail mechanism extending along the conveying direction and capable of guiding and supporting the mover module so that the mover module can move along the conveying direction; a lifting mechanism, located between the mounting base and the stator module, the lifting mechanism comprising a limiting component and a lifting component, the lifting component being fixedly arranged on the mounting base, and one end of the lifting component being connected to the movable guide rail; wherein, when the mover module moves onto the movable guide rail, the lifting component can drive the movable guide rail and the mover module to move in the up and down direction or the horizontal direction.

[0005] Furthermore, the lifting component includes a first power component and a pulley group, the first power component includes a first drive component and a drive shaft transmission-connected to the first drive component; the pulley group includes a first pulley assembly and a second pulley assembly spaced apart, the first pulley assembly includes a first pulley and a first belt wound around the first pulley, the second pulley assembly includes a second pulley and a second belt wound around the second pulley, the first pulley and the second pulley are both sleeved on the drive shaft and can rotate synchronously with the drive shaft, wherein the connecting ends of the first belt and the second belt are both connected to the movable guide rail, and are respectively connected to both sides of the movable guide rail perpendicular to the conveying direction.

[0006] Furthermore, there are multiple first pulley assemblies, and the multiple first pulley assemblies are symmetrically arranged relative to the center plane of the movable guide rail perpendicular to the conveying direction; and / or, there are multiple second pulley assemblies, and the multiple second pulley assemblies are symmetrically arranged relative to the center plane of the movable guide rail perpendicular to the conveying direction.

[0007] Furthermore, there is one driving shaft, which is parallel to and spaced apart from the output shaft of the first driving component. The extension direction of the driving shaft and the output shaft of the first driving component is parallel to the conveying direction, and the positive projection of the driving shaft on the movable guide rail is located in the middle of the movable guide rail.

[0008] Furthermore, the lifting component also includes a first flattening mechanism and a second flattening mechanism, and the first flattening mechanism and the second flattening mechanism are respectively arranged on both sides of the mounting base perpendicular to the conveying direction. The first flattening mechanism is used to roll in contact with the first belt to support and guide the first belt so that the width direction of the first belt is parallel to the conveying direction. The second flattening mechanism is used to roll in contact with the second belt to support and guide the second belt so that the width direction of the second belt is parallel to the conveying direction.

[0009] Furthermore, the first flattening mechanism includes a flattening base, a limiting pulley and a guide pulley. The flattening base is fixedly arranged on the mounting base, and the limiting pulley and the guide pulley are both fixedly arranged on the flattening base, wherein the limiting pulley and the guide pulley are in rolling cooperation with the first belt, the axis of the limiting pulley is parallel to the conveying direction, and the axis of the guide pulley is perpendicular to the conveying direction.

[0010] Furthermore, the limiting pulley includes a limiting groove, the bottom wall of the limiting groove is used for rolling cooperation with the surface of the first belt, and the side walls of the limiting groove are used for sliding cooperation with the end of the first belt in the width direction.

[0011] Furthermore, the guide pulleys are two and are located below the limiting pulley and are arranged on both sides of the limiting pulley. The guide pulleys include a guide groove, and the bottom wall of the guide groove is used for rolling cooperation with the end of the first belt in the width direction.

[0012] Furthermore, the guide rail mechanism also includes a first fixed guide rail and a second fixed guide rail fixedly arranged on the mounting base, the first fixed guide rail and the second fixed guide rail are arranged at intervals, and the movable guide rail is located between the first fixed guide rail and the second fixed guide rail; wherein, when the movable module moves to the first fixed guide rail, the lifting component can drive the movable guide rail to connect with the first fixed guide rail, so that the movable module moves from the first fixed guide rail to the movable guide rail.

[0013] Furthermore, the multiple stator modules include a fixed stator corresponding to the first fixed guide rail and the second fixed guide rail, and a lifting stator corresponding to the movable guide rail. The lifting stator is fixedly connected to the movable guide rail. When the lifting component drives the movable guide rail and the movable module to move in the up and down directions, the lifting stator moves synchronously with the movable guide rail.

[0014] Furthermore, there is a first seam between the lifting stator and the fixed stator, and a second seam between the movable guide rail and the first and second fixed guide rails. The first and second seams are staggered in the conveying direction and the second seam is located outside the first seam.

[0015] Furthermore, the connection ends of the first belt and the second belt are both connected to the lifting stator.

[0016] Furthermore, the movable guide rail includes a rail body and a leveling mechanism arranged on the rail body, the leveling mechanism includes a fixed frame and a winding member, the fixed frame is arranged on the rail body, the winding member is rotatably arranged on the fixed frame, and the connecting section of the first belt is wound on the winding member to adjust the length of the first belt between the first pulley and the winding member.

[0017] Furthermore, the lifting mechanism also includes a limiting component, which is arranged between the mounting base and the movable guide rail, and is used to lock or unlock the movable guide rail; or, the limiting component is arranged between the first fixed guide rail and the movable guide rail, and is used to lock or unlock the movable guide rail.

[0018] Furthermore, the limiting component includes a first locking member arranged on the mounting base or on the first fixed guide rail and a second locking member arranged on the movable guide rail, one of the first locking member and the second locking member includes a locking slot, and the other of the first locking member and the second locking member includes a locking plug, and the locking slot is used to cooperate with the locking plug.

[0019] Furthermore, the first locking member and the second locking member are located on the side of the conveyor line body away from the guide rail mechanism, and the first locking member is movably arranged along the conveying direction or along the width direction of the conveyor line body to be plugged into or separated from the second locking member.

[0020] Furthermore, the limiting component also includes a second driving assembly installed on the mounting base and located above the movable guide rail and the stator module. The second driving assembly is drivingly connected to the first locking member to drive the first locking member to move along the conveying direction.

[0021] Furthermore, the limiting component also includes a guide member arranged on the mounting base, the axis of the guide member coincides with the projection of the axis of the driving shaft on the upper surface of the conveyor line body, and the first locking member is slidably arranged on the guide member.

[0022] Furthermore, the first drive assembly and the second drive assembly are respectively located on both sides of the drive shaft.

[0023] Furthermore, an electric slip ring is sleeved on the driving shaft, and the first belt and / or the second belt have a conductive layer inside, and the conductive layer is electrically connected to the electric slip ring.

[0024] Furthermore, the magnetic drive conveying system also includes a buffer member arranged between the mounting base and the movable guide rail, and the buffer member can buffer the movement of the movable guide rail toward the conveying line body.

[0025] Furthermore, the buffer member includes a buffer cylinder arranged on the mounting base, an elastic member arranged in the buffer cylinder, and a buffer shaft arranged on the movable guide rail. When the movable guide rail moves toward the conveyor line body, the buffer shaft can be inserted into the buffer cylinder and press against the elastic member.

[0026] Furthermore, multiple stator modules are fixed relative to the mounting base, and the magnetic drive conveying system also includes an in-place detection component arranged between the stator module and the movable guide rail. The in-place detection component includes a reader and a light shielding plate. The reader is arranged on one of the stator module and the movable guide rail, and the light shielding plate is arranged on the other of the stator module and the movable guide rail.

[0027] Furthermore, the magnetic drive conveying system also includes at least three distance measuring sensors arranged on the installation base, and the at least three distance measuring sensors are not arranged in a collinear manner. The distance measuring sensors can emit detection waves to the movable guide rail.

[0028] Furthermore, multiple stator modules include lifting stators corresponding to movable guide rails. The movable guide rails are frame structures. The upper part of the frame structure is provided with an avoidance opening for avoiding the lifting stators. When the movable module moves onto the movable guide rails, the movable module is located inside the frame structure.

[0029] Furthermore, the mover module includes a mover body, a permanent magnet array, a bogie, a guide wheel and a support wheel. The permanent magnet array is fixedly arranged on the mover body and is used for magnetic coupling with the stator module. The bogie is rotatably arranged on the mover body. The guide wheel and the support wheel are both arranged on both sides of the length direction of the bogie; the guide rail mechanism is arranged below the support wheel, and the first fixed guide rail and the movable guide rail are arranged at intervals along the conveying direction. The side of the first fixed guide rail and the movable guide rail close to the stator module is used for rolling connection with the support wheel, and the surfaces of the first fixed guide rail close to each other and the surfaces of the movable guide rail close to each other are used for rolling connection with the guide wheel.

[0030] Furthermore, the magnetic drive conveying system also includes a transfer mechanism arranged below the movable guide rail, and the transfer mechanism includes a transfer platform movably arranged in a horizontal direction.

[0031] Furthermore, the carrier has a carrier cavity and a docking port located below the carrier cavity and connected to the carrier cavity. The carrier cavity and the docking port penetrate the carrier in a horizontal direction. The width of the carrier cavity is greater than the width of the docking port, and the width of the docking port is greater than the width of the transfer platform.

[0032] Furthermore, when the lifting mechanism drives the movable module to move downward, the movable module has a docking position. When the movable module is located at the docking position, the bottom wall of the bearing cavity is lower than the top wall of the transfer platform.

[0033] Furthermore, a docking member is provided on the transfer platform, wherein the docking member includes a plurality of docking columns; and / or the docking member includes an in-place detection member that triggers and cooperates with the workpiece carried by the carrier.

[0034] The embodiment of the present application sets a lifting component that changes the height of the workpiece on the mounting base. Compared with the OHT overhead crane in the related art, the movable module in the embodiment of the present application only plays the function of carrying and transporting the workpiece. The movable module does not need to be additionally provided with a transfer mechanism, thereby reducing the weight and cost of the movable module. The embodiment of the present application also sets a movable guide rail. The movable guide rail not only supports and guides the movable module, but when the movable module is on the movable guide rail, the lifting component changes the height position of the movable guide rail, thereby changing the height position of the workpiece. That is, on the basis of the movable module being limited and guided by the movable guide rail, the movable module can maintain a fixed position during the up and down movement of the movable guide rail, thereby ensuring the accuracy of the workpiece during transfer. The embodiment of the present application sets a stator module to change the horizontal position of the workpiece and sets a lifting component to change the height position of the workpiece, thereby completing the change of the spatial position of the workpiece so that the workpiece adapts to the process requirements and is stably transferred to the next process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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:

[0036] Figure 1 A schematic diagram of the three-dimensional structure of a magnetic drive conveying system in some embodiments of the present application is shown;

[0037] Figure 2 A schematic front view of a magnetic drive conveying system in some embodiments of the present application is shown;

[0038] Figure 3 A partial schematic diagram of a magnetic drive conveying system in some embodiments of the present application is shown;

[0039] Figure 4 A schematic diagram showing a three-dimensional structure of a partial structure of a magnetic drive conveying system in some embodiments of the present application;

[0040] Figure 5 Shown Figure 4 An enlarged schematic diagram of the magnetic drive conveying system at point A;

[0041] Figure 6 Shown Figure 4 An enlarged schematic diagram of point B of the magnetic drive conveying system;

[0042] Figure 7 A schematic top view of a partial structure of a magnetic drive conveying system in some embodiments of the present application is shown;

[0043] Figure 8 A schematic side cross-sectional view of a portion of the structure of a magnetic drive conveying system in some embodiments of the present application is shown;

[0044] Figure 9 Shown Figure 8 An enlarged schematic diagram of the magnetic drive conveying system at C;

[0045] Figure 10 A schematic diagram showing a three-dimensional structure of a partial structure of a magnetic drive conveying system in some embodiments of the present application;

[0046] Figure 11 Shown Figure 10 An enlarged schematic diagram of the magnetic drive conveying system at D;

[0047] Figure 12 Shown Figure 10 An enlarged schematic diagram of the magnetic drive conveying system at E;

[0048] Figure 13 A schematic side view of a partial structure of a magnetic drive conveying system in some embodiments of the present application is shown;

[0049] Figure 14 A schematic diagram of the three-dimensional structure of a transfer mechanism of a magnetic drive conveying system in some embodiments of the present application is shown;

[0050] Figure 15 Shown Figure 14 An enlarged schematic diagram of the transfer mechanism at F;

[0051] Figure 16 A schematic diagram of the three-dimensional structure of a movable module carrying a workpiece in some embodiments of the present application is shown;

[0052] Figures 17a-17b A schematic diagram showing a process flow of conveying a workpiece by a magnetic drive conveying system in some embodiments of the present application is shown;

[0053] Figures 18a-18b A schematic diagram showing a process flow of conveying a workpiece by a magnetic drive conveying system in some other embodiments of the present application is shown;

[0054] Figures 19a-19b A schematic diagram showing a process flow of conveying a workpiece by a magnetic drive conveying system in some other embodiments of the present application is shown;

[0055] Figure 20 A schematic diagram showing the three-dimensional structure of a mover module of an embodiment of a magnetic drive conveying system according to the present invention is shown;

[0056] Figure 21 A schematic diagram showing the three-dimensional structure of a mover module of an embodiment of a magnetic drive conveying system according to the present invention is shown;

[0057] Figure 22 A schematic diagram of the three-dimensional structure of a straight section of a stator module of an embodiment of a magnetic drive conveying system according to the present invention is shown;

[0058] Figure 23 A simplified structural diagram of a stator module of an embodiment of a magnetic drive conveying system according to the present invention is shown;

[0059] Figure 24 A simplified structural diagram of a stator module of an embodiment of a magnetic drive conveying system according to the present invention is shown;

[0060] Figure 25 A simplified structural diagram of a stator module of an embodiment of a magnetic drive conveying system according to the present invention is shown;

[0061] Figure 26 A simplified structural diagram of a stator module of an embodiment of a magnetic drive conveying system according to the present invention is shown.

[0062] The above drawings include the following reference numerals:

[0063] 10. Install the base frame;

[0064] 20. Conveyor line; 21. Stator module; 211. Fixed stator; 212. Lifting stator; 213. Stator body; 214. Coil; 2141. Coil body; 215. Read head; 2151. First read head segment; 2152. Second read head segment; 2153. Third read head segment; 2154. Fourth read head segment; 2155. Fifth read head segment; 2156. Sixth read head segment; 2157. Seventh read head segment; 216. Straight line segment; 217. Arc line segment; 22. Mover module; 221. Mover body; 2211. Concave cavity; 222. Carrying part ; 2221, bearing cavity; 2222, docking port; 223, permanent magnet array; 224, bogie; 225, guide wheel; 226, support wheel; 227, readable medium; 2271, first medium; 2272, second medium; 2230, turret; 2231, connecting portion; 2232, placement portion; 2240, supporting structure; 2241, support wheel; 2250, guide structure; 2251, first guide member; 2252, second guide member; 2260, reset structure; 2261, first elastic member; 2262, second elastic member;

[0065] 40. Guide rail mechanism; 41. First fixed guide rail; 42. Second fixed guide rail; 43. Movable guide rail; 431. Leveling mechanism; 4311. Fixing frame; 4312. Winding member; 432. Track body; 4321. Main frame; 4322. First track; 4323. Second track; 44. Connecting frame; 451. First guide rail; 452. Second guide rail;

[0066] 50. Limiting member; 51. First locking member; 511. Locking plug; 512. Slider; 513. Transmission seat; 52. Second locking member; 521. Locking slot; 53. Second drive assembly; 531. Motor; 532. Transmission member; 533. Transmission shaft; 54. Guide member;

[0067] 60. Lifting component; 61. First power assembly; 611. First drive assembly; 6111. Motor; 6112. Drive belt assembly; 612. Drive shaft; 6121. Electric slip ring; 62. Pulley assembly; 621. First pulley assembly; 6211. First pulley; 6212. First belt; 622. Second pulley assembly; 6221. Second pulley; 6222. Second belt; 63. First flattening mechanism; 631. Flattening base; 632. Limiting pulley; 633. Guide pulley; 6331. Guide groove; 64. Second flattening mechanism;

[0068] 70. Buffer member; 71. Buffer cylinder; 72. Elastic member; 73. Buffer shaft;

[0069] 80. In-position detection component; 81. Reading head; 82. Shading sheet;

[0070] 90. Distance measuring sensor;

[0071] 100. Transfer mechanism; 101. Transfer platform; 1011. Docking column; 1012. In-place detection component;

[0072] 1. Workpiece;

[0073] a) Conveying direction; b) Up and down direction; c) Horizontal direction; d) Width of the bearing cavity; e) Width of the docking port; f) Width of the transfer platform; z) Width of the stator module;

[0074] g1, first seam; g2, second seam. DETAILED DESCRIPTION

[0075] 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.

[0076] 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.

[0077] 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.

[0078] like Figures 1 to 4 、 Figure 10 、 Figure 16 as well as Figures 17a to 19b As shown, the present application provides a magnetic drive conveying system, including a mounting base 10, a conveying line body 20, a guide rail mechanism 40 and a lifting mechanism, wherein the conveying line body 20 includes a stator module 21 and a mover module 22. In the magnetic drive conveying system in the embodiment of the present application, the lifting mechanism is arranged between the mounting base 10 and the conveying line body 20, and is fixedly connected to the guide rail mechanism 40 through the lifting mechanism. When the mover module 22 is located in the guide rail mechanism 40, the position of the workpiece 1 is changed by changing the position of the guide rail mechanism 40; compared with the related art, the embodiment of the present application avoids arranging the lifting mechanism in the mover module 22, so that the mover module 22 only plays the function of carrying the workpiece and conveying, which greatly reduces the weight of the mover module 22 and reduces the setting cost of the mover module 22. Specifically, in the embodiment of the present application:

[0079] The mounting base 10 serves as a basic component in the magnetic drive conveying system, providing a foundation for the conveying line 20 and the guide rail mechanism 40 .

[0080] The conveyor line 20 serves as a conveying component in the magnetic drive conveying system to carry and convey the workpiece 1. The conveyor line 20 includes a mover module 22 and a stator module 21. Multiple stator modules 21 are arranged in sequence along the conveying direction a to form one or more conveying paths. The mover module 22 is arranged on the conveying path and runs along the conveying direction a. The mover module 22 is used to carry the workpiece 1 and moves under the drive of the stator module 21 to convey the workpiece 1 to a specified position. The mover module 22 and the stator module 21 achieve relative motion through magnetic coupling. In some embodiments, the mover module 22 includes a permanent magnet array 223, and the stator module 21 includes a coil winding. By energizing the coil winding in the stator module 21 in phase sequence, the stator module 21 generates a changing traveling wave magnetic field. The permanent magnet array 223 couples with the traveling wave magnetic field, and the mover module 22 moves along the conveying direction a under the drive of the traveling wave magnetic field. Furthermore, the stator module 21 is fixedly mounted on the mounting base 10 to stably drive the mover module 22. The mover module 22 is further away from the mounting base 10 than the stator module 21. The mover module 22 includes a mover body 221 and a support 222 fixedly mounted on the mover body 221. The support 222 is further away from the stator module 21 than the mover body 221. The support 222 is used to support the workpiece 1, ensuring that the workpiece 1 is stably mounted within the support 222. The support 222 is further away from the stator module 21 than the mover body 221, facilitating the transport of the workpiece 1 and miniaturizing the conveyor line 20. By applying the technical solution of the embodiment of the present application, the conveying line 20 is sequentially provided with a plurality of stator modules 21 along the conveying direction a. The stator module 21 is magnetically coupled with the mover module 22. Under the action of electromagnetic force, the mover module 22 drives the workpiece 1 in the carrier 222 to move along the conveying direction a. The transfer of the workpiece 1 is realized by the magnetic coupling between the stator module 21 and the mover module 22, which not only responds quickly but also runs smoothly, thereby improving the conveying efficiency and accuracy of the workpiece 1.

[0081] The guide rail mechanism 40 serves as a guide member in the magnetic drive conveying system, extending along the conveying direction a and used to guide and support the mover module 22, thereby enabling the mover module 22 to move along the conveying direction a. The guide rail mechanism 40 includes a movable guide rail 43, which can guide and support the mover module 22 during its movement along the conveying direction a.

[0082] The lifting mechanism, serving as the lifting component in the magnetic drive system, is used to change the position of the movable guide rail 43. Located between the mounting base 10 and the conveyor line 20, the lifting mechanism includes a lifting component 60, which is fixed to the mounting base 10 and connected to the movable guide rail 43 at one end. The lifting component 60 can both move the movable guide rail 43 horizontally (c) and lift it vertically (b).

[0083] When the mover module 22 moves onto the movable guide rail 43, the lifting component 60 drives the movable guide rail 43 and the mover module 22 to move in the vertical direction b or the horizontal direction c. Taking the lifting component 60 driving the movable guide rail 43 to move in the vertical direction b as an example, when the mover module 22 carrying the workpiece 1 moves onto the movable guide rail 43, the lifting component 60 drives the movable guide rail 43 and the mover module 22 to descend in the vertical direction b, thereby allowing the workpiece 1 carried on the mover module 22 to change its spatial position in the vertical direction b. By changing the lifting height of the movable guide rail 43 by the lifting component 60, the spatial height of the workpiece 1 is changed, so that the workpiece 1 adapts to the current process requirements. In some embodiments, the lifting mechanism only drives the movable guide rail 43 or the movable module 22 to move up and down, that is, when the movable module 22 runs to the movable guide rail 43, the stator module 21 drives the movable module 22 to reach a preset position on the movable guide rail 43. In the process of the lifting component 60 driving the movable guide rail 43 to descend, the movable module 22 and the stator module 21 are magnetically decoupled, and the movable module 22 is stationary on the movable guide rail 43 until the lifting component 60 lowers the workpiece 1 to a specified height, and then the external component takes the workpiece 1 out of the carrier 222; after the workpiece 1 is taken out, the lifting component 60 drives the movable guide rail 43 to rise and reset to its original height, so that the movable module 22 and the stator module 21 are magnetically coupled, and then the movable module 22 drives out of the movable guide rail 43 under the drive of the stator module 21. That is, in the embodiment of the present application, the mover module 22 only serves the functions of conveying and carrying. Compared with the OHT (Overhead Hoist Transport, bridge transport crane) overhead crane in the related technology, the mover module 22 does not need to be equipped with any transfer mechanism, thereby reducing the weight and cost of the mover module 22. The embodiment of the present application fixes the lifting mechanism (that is, the transfer mechanism in the related technology) on the mounting base 10. On the basis of reducing the weight and cost of the mover module 22, it can also realize the change of the spatial position of the workpiece 1 in the up and down direction b. By lowering the workpiece 1 to a specified height to meet the process requirements, the transfer of the workpiece 1 is smoothly realized. In other embodiments, the lifting component 60 can drive the movable guide rail 43, the stator module 21 and the mover module 22 to move up and down together, that is, after the mover module 22 moves to the movable guide rail 43, during the process of the lifting component 60 driving the movable guide rail 43 to descend, the stator module 21 can drive the mover module 22 to the preset position, that is, the embodiment of the present application fully utilizes the time required for the movable guide rail 43 to descend, and drives the mover module 22 to the preset position during the process of the movable guide rail 43 descending, so as to improve time utilization and transportation efficiency.In some other embodiments, the lifting component 60 can drive the movable guide rail 43, the stator module 21, and the movable module 22 to move up and down together. That is, when the movable module 22 reaches the preset position on the movable guide rail 43 and the lifting component 60 drives the movable guide rail 43 to descend to a specified height, if there is a deviation between the current position of the workpiece 1 and the actual position due to factors such as the placement error of the workpiece 1, the stator module 21 can drive the movable module 22 to move to achieve precise control of the position of the workpiece 1, so as to reduce or eliminate the deviation between the workpiece 1 and the actual position, improve the accuracy of the transfer of the workpiece 1, and thus improve the transportation accuracy of the magnetic drive conveying system. Similarly, the above embodiment is also applicable to the case where the lifting component 60 drives the movable guide rail 43 and the movable module 22 to move along the horizontal direction c.

[0084] One end of the lifting component 60 is connected to the movable guide rail 43. When the workpiece 1 needs to be transferred to other conveying line bodies 20, the lifting component 60 can drive the movable guide rail 43 and the movable module 22 moved onto the movable guide rail 43 to move along the up and down direction b or the horizontal direction c, thereby realizing the movement of the workpiece 1 from the current conveying line body 20 to other conveying line bodies 20. By arranging a movable movable guide rail 43 and a lifting component 60 that can drive the movable guide rail 43 to move on the guide rail mechanism 40, the lifting component 60 is located between the mounting base 10 and the conveying line body 20. Compared with the related technology of arranging an independent transfer mechanism on the OHT overhead crane to realize the workpiece transfer solution, the lifting component 60 in this embodiment is located between the mounting base 10 and the stator module 21, occupies less space, has a simpler structure, and can reduce the weight of the movable module 22.

[0085] In summary, the embodiment of the present application sets a lifting component 60 that changes the height of the workpiece 1 on the mounting base 10. Compared with the OHT overhead crane in the related art, the movable module 22 in the embodiment of the present application only plays the function of carrying and transporting the workpiece 1. The movable module 22 does not need to be additionally provided with a transfer mechanism, thereby reducing the weight and cost of the movable module 22; the embodiment of the present application also sets a movable guide rail 43. The movable guide rail 43 not only supports and guides the movable module 22, but also changes the height position of the workpiece 1 when the movable module 22 is on the movable guide rail 43. That is, on the basis of the movable module 22 being limited and guided by the movable guide rail 43, the movable module 22 can maintain a fixed position during the up and down movement of the movable guide rail 43, thereby ensuring the accuracy of the workpiece 1 during transportation. In the embodiment of the present application, the stator module 21 is provided to change the horizontal position of the workpiece 1, and the lifting component 60 is provided to change the height position of the workpiece 1, thereby jointly completing the change of the spatial position of the workpiece 1, so that the workpiece 1 adapts to the process requirements and is stably transported to the next process.

[0086] Furthermore, it should be noted that the magnetic coupling between the stator module 21 and the mover module 22 in the present application refers to the magnetic coupling method in which the mover module 22 includes a permanent magnet array 223 and the stator module 21 includes a coil winding; that is, the mover module 22 is a passive device, which can realize the movement of the mover module 22 without external power supply, wireless communication, etc. The relevant magnetic coupling principle has been described above and will not be repeated here. In addition, the mover module 22 in the present application is provided with a sensor, for example, the sensor can be a passive magnetic sensor, and the stator module 21 is provided with a reader, which is used to read the real-time position of the sensor, and then obtain the real-time position of the mover module 22. That is, the mover module 22 in the embodiment of the present application can realize the movement and position acquisition of the mover module 22 without external power supply, wireless communication, etc. Compared with the OHT overhead crane in the related art, the present application can realize the movement and position detection of the mover without setting a power supply device on the mover module 22. On the basis of reducing the weight of the mover module 22, it is also convenient to realize the control of the movement of the mover module 22 and obtain the real-time position.

[0087] It should be noted that the embodiment of the present application does not limit the length of the movable guide rail 43 and the number of the movable sub-modules 22 located on the movable guide rail 43. In some embodiments, the number of the movable sub-modules 22 located on the movable guide rail 43 can be multiple. When multiple movable sub-modules 22 are located on the movable guide rail 43 at the same time, the lifting component 60 drives the movable guide rail 43 to rise and fall, so as to achieve the simultaneous lifting and falling of multiple movable sub-modules 22. Compared with the related art in which each OHT overhead crane is independently provided with a transfer mechanism, when multiple workpieces 1 are lifted and lowered at the same time, the transfer mechanism of each OHT overhead crane needs to be lifted and lowered synchronously, the embodiment of the present application only provides a single lifting component 60, which can achieve the synchronous lifting and falling of multiple workpieces 1, thereby improving the conveying efficiency and reducing the setting cost of the magnetic drive conveying system.

[0088] Furthermore, please combine Figures 1 to 4In some embodiments, the guide rail mechanism 40 further includes a first fixed guide rail 41 and a second fixed guide rail 42 fixedly disposed on the mounting base 10. The first fixed guide rail 41 and the second fixed guide rail 42 are spaced apart, and a movable guide rail 43 is located between the first fixed guide rail 41 and the second fixed guide rail 42. The first fixed guide rail 41 and the second fixed guide rail 42 refer to guide rails that are fixedly disposed on the mounting base 10 and cannot be repositioned. The movable module 22 moves along the conveying direction a and the conveying path under the support and guidance of the first fixed guide rail 41 and the second fixed guide rail 42. It is understood that at the locations where the first fixed guide rail 41 and the second fixed guide rail 42 are disposed, the workpiece 1 does not need to undergo a lifting and transfer process. The first fixed guide rail 41 and the second fixed guide rail 42 can achieve connectivity between multiple movable guide rails 43, allowing the movable module 22 to be lifted and lowered at the movable guide rails 43 at different locations, thereby achieving transfer of the workpiece 1. The location where the movable guide rail 43 is disposed is the location where the workpiece 1 needs to undergo a lifting and transfer process.

[0089] Among them, when the lifting component 60 drives the movable guide rail 43 to move to a position that is not connected with the first fixed guide rail 41 and the second fixed guide rail 42, and a new movable module 22 moves to the first fixed guide rail 41 or the second fixed guide rail 42, the new movable module 22 can be controlled to wait at the current position. After the movable module 22 located on the movable guide rail 43 completes the current action, the controller controls the lifting component 60 to drive the movable guide rail 43 to connect with the first fixed guide rail 41 and the second fixed guide rail 42, and controls the movable module 22 on the movable guide rail 43 to move out of the movable guide rail 43, and then controls the new movable module 22 to enter the movable guide rail 43 to transfer the workpiece 1 on the new movable module 22 or drive the movable module 22 to continue moving along the conveying direction a.

[0090] When the movable guide rail 43 is at the same level as the first and second fixed guide rails 41 and 42, the mover module 22 can move along the first and second fixed guide rails 41 and 42, respectively, to transport the workpiece 1. Alternatively, after moving to the movable guide rail 43, the mover module 22 can descend along with the movable guide rail 43 to transfer the workpiece 1. When the movable guide rail 43 is not at the same level as the first and second fixed guide rails 41 and 42, a gap exists between the first and second fixed guide rails 41 and 42. When the mover module 22 moves to the first fixed guide rail 41, the lifting component 60 can drive the movable guide rail 43 to connect with the first fixed guide rail 41, thereby moving the mover module 22 from the first fixed guide rail 41 to the movable guide rail 43. It can be understood that, in some embodiments, the first fixed guide rail 41 and the second fixed guide rail 42 are at the same horizontal height, and the movable guide rail 43 drives the preceding mover module 22 to descend to a specified height. When the following mover module 22 runs to the first fixed guide rail 41 close to the movable guide rail 43, the following mover module 22 stops and waits for the movable guide rail 43 to rise to a position flush with the first fixed guide rail 41; when the movable guide rail 43 rises to a position flush with the first fixed guide rail 41, the movable guide rail 43, the first fixed guide rail 41, and the second fixed guide rail 42 are connected, and the preceding mover module 22 is output from the movable guide rail 43 to the second fixed guide rail 42 and transported along the second fixed guide rail 42, and the following mover module 22 runs from the first fixed guide rail 41 to the movable guide rail 43, and then descends to a specified height driven by the movable guide rail 43 to complete the transfer of the workpiece 1. In other embodiments, the first fixed guide rail 41 and the second fixed guide rail 42 are staggered in the up and down direction b. When the mover module 22 runs to the position where the first fixed guide rail 41 is close to the movable guide rail 43, the movable guide rail 43 rises to a position flush with the first fixed guide rail 41, so that the first fixed guide rail 41 is connected to the movable guide rail 43, and then the movable guide rail 43 can be lowered to a position flush with the second fixed guide rail 42, so that the mover module 22 carries the workpiece 1 and is transported along the second fixed guide rail 42; the movable guide rail 43 can also be lowered to a specified height to complete the transfer of the workpiece 1, and then the movable guide rail 43 rises to a position flush with the second fixed guide rail 42, so that the unloaded mover module 22 is transported along the second fixed guide rail 42.

[0091] Preferably, after the lifting component 60 drives the movable guide rail 43 to complete the transfer of the workpiece 1, it drives the movable guide rail 43 back to the position connecting the first fixed guide rail 41 and the second fixed guide rail 42 by default. Only when the workpiece 1 needs to be transferred to other conveying lines 20 or the workpiece 1 needs to be transferred, the movable guide rail 43 will move under the drive of the lifting component 60.

[0092] Specifically, if Figure 1As shown, the “conveying direction a” refers to the direction parallel to the length of the conveying line body 20; the “up and down direction b” refers to the direction perpendicular to the upper surface of the conveying line body 20, and also refers to the up and down height direction.

[0093] The lifting mechanism in the embodiment of the present application can realize the transfer of the workpiece 1 along the vertical direction b. Specifically, in some embodiments, the magnetic drive conveying system can include multiple layers of conveying lines 20 spaced apart in the vertical direction b. Each layer of conveying lines 20 can independently convey the workpiece 1. A certain distance is maintained between two adjacent layers of conveying lines 20 to enable smooth conveyance of the workpiece 1 and reduce the risk of collision between the workpiece 1 and the conveying line 20. In the two adjacent layers of conveying lines 20, the movable guide rails 43 can realize the transfer of the workpiece 1 between the two adjacent layers of conveying lines 20.

[0094] In the embodiment of the present application, a first fixed guide rail 41 and a second fixed guide rail 42 are provided so that the movable module 22 can transport the workpiece 1 along the conveying direction a. The fixed guide rails are provided on the mounting base 10 to ensure the stability of the conveying of the movable module 22. By arranging the first fixed guide rail 41 and the second fixed guide rail 42 at intervals, that is, the transfer point of the workpiece 1 is arranged corresponding to the interval of the fixed guide rails, the magnetic drive conveying system is divided into a conveying part and a lifting part. The conveying part is the setting position of the first fixed guide rail 41 and the second fixed guide rail 42, and the lifting part is the position of the movable guide rail 43. By arranging the conveying part and the lifting part independently, when the mover module 22 is in the conveying part, there is no need to consider the transfer of the workpiece, so the mover module 22 does not need to be provided with a transfer mechanism, thereby reducing the weight of the mover module 22 and reducing the cost of the mover module 22; when the mover module 22 is in the lifting part, by arranging the lifting component 60 on the mounting base 10 to realize the transfer of the workpiece 1, there is no need to set a transfer mechanism on the mover module 22, thereby reducing the weight of the mover module 22 and reducing the cost of the mover module 22, and realizing the structural simplification of the magnetic drive conveying system.

[0095] In addition, in an embodiment not shown in the figures, the lifting component can also drive the movable guide rail and the movable module moved onto the movable guide rail to move in the horizontal direction, thereby realizing the transfer of the workpiece between the laterally spaced conveyor lines.

[0096] like Figure 4 、 Figure 7 、 Figure 10 and Figure 12As shown, in some embodiments, the lifting component 60 includes a first power component 61 and a pulley group 62, the first power component 61 includes a first drive component 611 and a drive shaft 612 transmission-connected to the first drive component 611; the pulley group 62 includes a first pulley component 621 and a second pulley component 622 arranged at intervals, the first pulley component 621 includes a first pulley 6211 and a first belt 6212 wound around the first pulley 6211, the second pulley component 622 includes a second pulley 6221 and a second belt 6222 wound around the second pulley 6221, the first pulley 6211 and the second pulley 6221 are both sleeved on the drive shaft 612 and can rotate synchronously with the drive shaft 612, wherein the connection ends of the first belt 6212 and the second belt 6222 are both connected to the movable guide rail 43, and are respectively connected to both sides of the movable guide rail 43 perpendicular to the conveying direction a. The embodiment of the present application provides a first drive assembly 611 to drive the first pulley 6211 and the second pulley 6221 to rotate synchronously, thereby achieving the recovery or release of the first belt 6212 and the second belt 6222, thereby enabling the lifting component 60 to lift or lower the movable guide rail 43 and the movable submodule 22, thereby having the advantages of simple structure and easy control. In addition, the connection ends of the first belt 6212 and the second belt 6222 are respectively connected to the two sides of the movable guide rail 43 perpendicular to the conveying direction a, so that the two sides of the movable guide rail 43 are respectively subjected to the lifting force of the first belt 6212 and the second belt 6222, so that the force on both sides of the movable guide rail 43 is evenly distributed, thereby ensuring the stability of the movable guide rail 43 during the lifting process.

[0097] like Figure 4 、 Figure 7 and Figure 10 As shown, in some embodiments, there are multiple first pulley assemblies 621, and the multiple first pulley assemblies 621 are symmetrically arranged relative to the center plane of the movable guide rail 43 perpendicular to the conveying direction a, and / or there are multiple second pulley assemblies 622, and the multiple second pulley assemblies 622 are symmetrically arranged relative to the center plane of the movable guide rail 43 perpendicular to the conveying direction a. Through the above-mentioned arrangement, the lifting forces on the parts of the movable guide rail 43 located on both sides of the center plane perpendicular to the conveying direction a are the same or similar, which is conducive to the lifting component 60 to more stably and efficiently drive the movable guide rail 43 and the movable submodule 22 to move along the up-down direction b, ensuring that the movable guide rail 43 and the movable submodule 22 always maintain balance during the movement along the up-down direction b, reducing the risk of shaking or overturning of the movable guide rail 43 and the movable submodule 22 during the movement along the up-down direction b, and improving the stability of the movable guide rail 43 during the lifting process.

[0098] like Figure 4 、 Figure 7 and Figure 10As shown, there is one drive shaft 612, which is parallel to and spaced from the output shaft of the first drive assembly 611. The extension direction of the drive shaft 612 and the output shaft of the first drive assembly 611 is parallel to the conveying direction a, and the orthographic projection of the drive shaft 612 on the movable guide rail 43 is located in the middle of the movable guide rail 43. By providing a single drive shaft 612 to drive the first and second pulley assemblies 621 and 622, synchronous rotation of the first and second pulley assemblies 621 and 622 is achieved, preventing tilting of the lifting component 60 during movement of the movable module 22 and the workpiece 1 in the vertical direction b. Furthermore, providing a single drive shaft 612 simplifies the structure of the lifting component 60. The orthographic projection of the drive shaft 612 on the movable guide rail 43, located in the middle of the movable guide rail 43, ensures balanced power transmission and improves stability during workpiece 1 transport, reducing the risk of tilting or shaking of the movable guide rail 43, the movable module 22, and the workpiece 1 during movement in the vertical direction b. In addition, both sides of the driving shaft 612 can have enough space for arranging other structures. For example, the first driving component 611 and the second driving component 53 can be arranged on both sides of the driving shaft 612 to improve the space utilization of the magnetic drive conveying system.

[0099] Specifically, if Figure 7 As shown, the first drive assembly 611 includes a motor 6111 and a transmission belt assembly 6112. The transmission belt assembly 6112 includes two pulleys and a belt connecting the two pulleys, wherein one pulley in the transmission belt assembly 6112 is sleeved on the output shaft of the motor 6111, and the other pulley in the transmission belt assembly 6112 is sleeved on the driving shaft 612. When it is necessary to drive the movable guide rail 43 to rise or fall, the output shaft of the motor 6111 rotates, and the transmission belt assembly 6112 drives the driving shaft 612 to rotate. The driving shaft 612 drives the first pulley 6211 and the second pulley 6221 sleeved on the driving shaft 612 to rotate synchronously, thereby realizing the recovery or release of the first belt 6212 and the second belt 6222, thereby realizing the lifting function of the lifting component 60 on the movable guide rail 43 and the movable submodule 22.

[0100] like Figure 4 、 Figure 7 and Figure 10As shown, the lifting component 60 also includes a first flattening mechanism 63 and a second flattening mechanism 64, which are respectively arranged on either side of the mounting base 10 perpendicular to the conveying direction a. The first flattening mechanism 63 is configured to roll in contact with the first belt 6212 to support and guide the first belt 6212 so that the width direction of the first belt 6212 is parallel to the conveying direction a. The second flattening mechanism 64 is configured to roll in contact with the second belt 6222 to support and guide the second belt 6222 so that the width direction of the second belt 6222 is parallel to the conveying direction a. The provision of the first flattening mechanism 63 and the second flattening mechanism 64 can reduce the possibility of the first belt 6212 or the second belt 6222 flipping due to uneven force during the raising and lowering of the movable guide rail 43, thereby ensuring that the movable guide rail 43 and the movable submodule 22 remain balanced during movement in the up-down direction b.

[0101] Specifically, multiple first flattening mechanisms 63 and multiple second flattening mechanisms 64 can be provided, and the multiple first flattening mechanisms 63 and multiple second flattening mechanisms 64 are respectively provided on both sides of the mounting base 10 perpendicular to the conveying direction a. The number of first flattening mechanisms 63 and second flattening mechanisms 64 needs to be the same as the number of first pulley assemblies 621 and second pulley assemblies 622. By providing multiple flattening mechanisms on both sides of the mounting base 10, the embodiment of the present application further reduces the possibility of the first belt 6212 or the second belt 6222 flipping due to uneven force, thereby further improving the stability of the movable guide rail during the raising and lowering process.

[0102] like Figure 5 and Figure 7 As shown, the first flattening mechanism 63 includes a flattening base 631, a limiting pulley 632, and a guide pulley 633. The flattening base 631 is fixedly mounted on the mounting base 10, and the limiting pulley 632 and the guide pulley 633 are both fixedly mounted on the flattening base 631. The limiting pulley 632 and the guide pulley 633 are in rolling engagement with the first belt 6212. The axis of the limiting pulley 632 is parallel to the conveying direction a, and the axis of the guide pulley 633 is perpendicular to the conveying direction a. The limiting pulley 632 can support the first belt 6212, and the guide pulley 633 can flatten the first belt 6212, ensuring that the width direction of the first belt 6212 is always parallel to the conveying direction a. This ensures that the movable guide rail 43 and the movable submodule 22 remain balanced during movement in the vertical direction b, thereby reducing the risk of shaking or overturning of the movable guide rail 43 and the movable submodule 22 during movement in the vertical direction b.

[0103] like Figure 5As shown, the limiting pulley 632 includes a limiting groove, the bottom wall of the limiting groove is configured to roll with the surface of the first belt 6212, and the side walls of the limiting groove are configured to slide with the widthwise end of the first belt 6212. The limiting pulley 632 has a simple structure and can support the first belt 6212. The bottom wall of the limiting groove rolls with the surface of the first belt 6212, effectively reducing wear on the first belt 6212 by the limiting pulley 632.

[0104] like Figure 5 As shown, the guide pulley 633 is located below the limiting pulley 632 and is provided on both sides of the limiting pulley 632. The guide pulley 633 includes a guide groove 6331. The bottom wall of the guide groove 6331 is used to roll with the end of the first belt 6212 in the width direction. The guide pulley 633 has a simple structure. The two guide pulleys 633 respectively cooperate with the two ends of the first belt 6212 in the width direction, which can flatten the first belt 6212, reduce the risk of the first belt 6212 flipping or shifting left and right, ensure that the movable guide rail 43 and the movable submodule 22 always maintain balance during movement in the up-down direction b, and reduce the risk of the movable guide rail 43 and the movable submodule 22 shaking or overturning during movement in the up-down direction b. The end wall of the first belt 6212 rolls with the bottom wall of the guide groove 6331, which can reduce wear of the first belt 6212 and increase the life of the first belt 6212.

[0105] like Figure 7 As shown, the specific structure of the second flattening mechanism 64 can be the same as the specific structure of the first flattening mechanism 63, and the cooperation method between the second flattening mechanism 64 and the second belt 6222 is the same as the cooperation method between the first flattening mechanism 63 and the first belt 6212, which will not be repeated here.

[0106] In some embodiments, as Figure 4 and Figure 5As shown, the movable guide rail 43 includes a rail body 432 and a leveling mechanism 431 disposed on the rail body 432. The leveling mechanism 431 includes a fixing frame 4311 and a winding member 4312. The fixing frame 4311 is disposed on the rail body 432. The winding member 4312 is rotatably disposed on the fixing frame 4311. The connecting section of the first belt 6212 is wound around the winding member 4312 to adjust the length of the first belt 6212 between the first pulley 6211 and the winding member 4312. Before the magnetic drive conveying system conveys the workpiece 1, if the movable guide rail 43 is skewed (i.e., the angle between the upper surface of the movable guide rail 43 and the horizontal plane exceeds a preset range), the winding member 4312 can be rotated to adjust the length of the first belt 6212 between the first pulley 6211 and the winding member 4312 to level the movable guide rail 43. In addition, when the movable guide rail 43 tilts after the magnetic drive conveying system has been running for a period of time, the system can be stopped and the posture of the movable guide rail 43 can be adjusted through the leveling mechanism 431.

[0107] like Figure 4 and Figure 5 As shown, the leveling mechanism 431 also includes a clamping piece arranged on the fixed frame 4311 and located above the winding member 4312. After the length of the first belt 6212 wound on the winding member 4312 is adjusted, the first belt 6212 can be fixed to the movable guide rail 43 by clamping the part of the first belt 6212 located above the winding member 4312 between the fixed frame 4311 and the clamping piece.

[0108] Specifically, there are multiple leveling mechanisms 431 , and the lower end of each first belt 6212 and the lower end of each second belt 6222 are connected to the movable guide rail 43 through the leveling mechanism 431 , so as to achieve more flexible adjustment of the posture of the movable guide rail 43 .

[0109] In some embodiments, as Figure 10 As shown, the lifting mechanism also includes a limiting component 50, which is arranged between the mounting base 10 and the movable guide rail 43, and the limiting component 50 is used to lock or unlock the movable guide rail 43. When the workpiece 1 needs to be transferred to other conveying lines 20, the limiting component 50 unlocks the movable guide rail 43, so that the movable guide rail 43 and the movable module 22 move along the up and down direction b under the drive of the lifting component 60; when the workpiece 1 does not need to be transferred to other conveying lines 20 (that is, when the workpiece 1 only passes through the movable guide rail 43 and continues to move along the current conveying line 20), the limiting component 50 locks the movable guide rail 43 so that the movable guide rail 43 is aligned with the first fixed guide rail 41 and the second fixed guide rail 42, so as to avoid jamming or shaking of the movable module 22 when entering and exiting the movable guide rail 43, and ensure that the movable module 22 can smoothly pass through the movable guide rail 43 and drive the workpiece 1 to continue to move along the conveying direction a.

[0110] In other feasible embodiments, the limiting component is also arranged between the first fixed guide rail and the movable guide rail, and the limiting component is used to lock or unlock the movable guide rail. That is, the limiting component is fixedly arranged on the guide rail mechanism to more directly realize the locking and unlocking of the movable guide rail.

[0111] like Figure 4 、 Figure 10 and Figure 11 As shown, the limiting component 50 includes a first locking member 51 provided on the mounting base 10 or on the first fixed guide rail 41, and a second locking member 52 provided on the movable guide rail 43. One of the first locking member 51 and the second locking member 52 includes a locking slot 521, and the other of the first locking member 51 and the second locking member 52 includes a locking insert 511. The locking slot 521 is configured to engage with the locking insert 511. The engagement of the locking insert 511 and the locking slot 521 locks the movable guide rail 43 in a position aligned with the first and second fixed guide rails 41 and 42, thereby having the advantages of a simple structure and easy control.

[0112] Specifically, in this embodiment, the locking insert 511 is provided on the first locking member 51, and the locking slot 521 is provided on the second locking member 52. In other feasible embodiments, the positions of the locking insert and the locking slot can be interchanged, that is, the locking insert can be provided on the second locking member, and correspondingly, the locking slot can be provided on the first locking member.

[0113] like Figure 10 and Figure 11 As shown, the first locking member 51 and the second locking member 52 are located on the side of the conveyor line 20 away from the guide rail mechanism 40. The first locking member 51 is movably arranged along the conveying direction a or along the width direction of the conveyor line 20 to be plugged into or separated from the second locking member 52. By driving the first locking member 51 to move to achieve the plugging and separation of the first locking member 51 and the second locking member 52, it has the advantages of simple structure and easy control.

[0114] Specifically, in this embodiment, the first locking member 51 is movably provided along the conveying direction a. In other feasible embodiments, the first locking member may also be movably provided along the width direction of the conveying line; or, the first locking member may be provided as a fixed member and the second locking member may be provided as a movable member to achieve plug-in or separation of the two.

[0115] like Figure 7 、 Figure 10 and Figure 11As shown, the limiting component 50 further includes a second drive assembly 53 mounted on the mounting base 10 and located above the movable guide rail 43 and the stator module 21. The second drive assembly 53 is drivingly connected to the first locking member 51 to drive the first locking member 51 to move along the conveying direction a. The second drive assembly 53 is disposed above the movable guide rail 43 and the stator module 21, making full use of the space between the mounting base 10 and the conveyor line 20.

[0116] Specifically, the second drive assembly 53 includes a motor 531, a transmission member 532, and a transmission shaft 533. The first locking member 51 includes a locking insert 511, a slider 512, and a transmission seat 513. The locking insert 511 is fixedly mounted on the slider 512, and the slider 512 is fixedly mounted on the transmission seat 513, which is sleeved on the transmission shaft 533. The transmission shaft 533 extends along the conveying direction a. The output shaft of the motor 531 is perpendicular to the transmission shaft 533. The transmission member 532 includes a bevel gear structure, which enables the motor 531 to drive the transmission shaft 533 to rotate. The transmission seat 513 is sleeved on the transmission shaft 533. When the transmission shaft 533 rotates, it drives the transmission seat 513 to move along the transmission shaft 533, thereby driving the locking insert 511 to move along the conveying direction a. When the workpiece 1 needs to be transferred to other conveying lines 20 through the movable guide rail 43, the second driving component 53 can drive the locking plug 511 to move along the conveying direction a in the direction away from the locking slot 521, thereby unlocking the movable guide rail 43, so that the movable guide rail 43 can be separated from the first fixed guide rail 41 and the second fixed guide rail 42 and drive the movable module 22 and the workpiece 1 on the movable module 22 to be transferred to other conveying lines 20; when the transfer of the workpiece 1 is completed and the lifting component 60 drives the movable guide rail 43 to be reset to the position connecting the first fixed guide rail 41 and the second fixed guide rail 42, the second driving component 53 can drive the locking plug 511 to move along the conveying direction a toward the locking slot 521, thereby locking the movable guide rail 43 and ensuring the smooth movement of the movable module 22 along the current conveying line 20.

[0117] In this embodiment, the first locking member 51 and the second locking member 52 are two groups, and the two groups of first locking members 51 and second locking members 52 are respectively arranged on both sides of the movable guide rail 43 along the conveying direction a, that is, on both sides of the length direction of the movable guide rail 43. The number of the second drive component 53 is one, and the second drive component 53 is arranged above the movable guide rail 43 to synchronously drive the two first locking members 51 to move to achieve locking or unlocking with the corresponding second locking member 52.

[0118] like Figure 7 、 Figure 10 and Figure 11As shown, the limiting component 50 also includes a guide member 54 provided on the mounting base 10, the axis of the guide member 54 coincides with the projection of the axis of the drive shaft 612 on the upper surface of the conveyor line body 20, and the first locking member 51 is slidably provided on the guide member 54. By providing the guide member 54 to guide the movement of the first locking member 51, the movement of the first locking member 51 is made more stable. In addition, the drive shaft 612 is provided in the middle of the movable guide rail 43, so that the axis of the guide member 54 coincides with the projection of the axis of the drive shaft 612 on the upper surface of the conveyor line body 20, so that the two first locking members 51 respectively lock the middle of the width direction of the movable guide rail 43 to prevent the movable guide rail 43 from deflecting.

[0119] like Figure 10 and Figure 11 As shown, a contraction section is provided at one end of the locking plug 511 close to the locking slot 521, and an expansion section is provided at one end of the locking slot 521 close to the locking plug 511. The upper and lower surfaces of the contraction section and the expansion section form a guiding slope, which, on the one hand, makes the movement of the locking plug 511 inserted into the locking slot 521 smoother, and on the other hand, can reduce the alignment accuracy requirement of the locking plug 511 and the locking slot 521, thereby reducing the position accuracy requirement for the lifting component 60 to drive the movable guide rail 43 to move.

[0120] like Figure 4 、 Figure 7 and Figure 10 As shown, the first drive assembly 611 and the second drive assembly 53 are respectively located on either side of the drive shaft 612. It is understandable that the orthographic projection of the drive shaft 612 on the movable guide rail 43 is located in the middle of the movable guide rail 43. Through this arrangement, on the one hand, the first drive assembly 611 and the second drive assembly 53 can be prevented from interfering with each other during operation, and on the other hand, the space utilization rate of the magnetic drive conveying system is improved, which is also conducive to the installation and coordination of the various components of the first drive assembly 611 and the second drive assembly 53.

[0121] In some embodiments, as Figure 2 and Figure 7As shown, an electric slip ring 6121 is sleeved on the driving shaft 612, and the first belt 6212 and / or the second belt 6222 have a conductive layer inside, and the conductive layer is electrically connected to the electric slip ring 6121. The conductive layer can supply power to the electrical devices (such as sensors, etc.) on the movable guide rail 43, so that these electrical devices can operate normally. It can be understood that in some embodiments, when the lifting part drives the movable guide rail 43, the stator module 21, and the movable module 22 to rise and fall together, the first belt 6212 and the second belt 6222 can be fixedly connected to the stator module 21, and the first belt 6212 and the second belt 6222 drive the stator module 21 to rise and fall, thereby changing the height of the workpiece 1 on the movable module 22. Furthermore, because the first belt 6212 and the second belt 6222 are conductive, when the stator module 21 is raised or lowered, the first belt 6212 and the second belt 6222 can supply power to the stator module 21, allowing the stator module 21 to still drive the mover module 22 to move horizontally during the raising or lowering process, thereby adjusting the moving position of the mover module 22 to improve the accuracy of the workpiece 1 during transfer. In other embodiments, the mover module 22 is provided with an ID tag, and the movable guide rail 43 is provided with an RFID (Radio Frequency Identification) scanner. When the mover module 22 is located on the movable guide rail 43, the RFID scanner is used to scan the mover's ID tag to identify whether the workpiece 1 carried by the mover module 22 needs to be transferred. When it is determined that the workpiece 1 transfer process is required, the movable guide rail 43 is lowered; when it is determined that the workpiece 1 does not need to be transferred, the mover module 22 is transported along the conveying direction a and drives out of the movable guide rail 43. It is understandable that the RFID scanner is electrically connected to the first belt 6212 and the second belt 6222 so that the RFID scanner can obtain power and complete the scanning and identification of the ID tag.

[0122] In some embodiments, as Figure 4 、 Figure 8 、 Figure 10 and Figure 13As shown, the magnetic drive conveying system also includes a buffer 70 arranged between the mounting base 10 and the movable guide rail 43, and the buffer 70 can buffer the movement of the movable guide rail 43 toward the conveying line body 20. It can be understood that after the lifting component 60 completes the transfer of the workpiece 1, it will drive the movable guide rail 43 and the movable module 22 to move upward. When the movable guide rail 43 is spliced ​​with the first fixed guide rail 41 or the second fixed guide rail 42, on the one hand, the buffer 70 is used to reduce the upward impact of the movable guide rail 43, so that the movable guide rail 43 can maintain a stable position in a relatively short period of time, and avoid the movable guide rail 43 from vibrating for a long time due to the ductility of the belt after rising to the specified position, thereby causing the subsequent movable module 22 to enter the movable guide rail 43. The vibration of the movable guide rail 43 may cause damage to or fall of the workpiece 1 on the movable module 22. The buffer in the embodiment of the present application 70 enables the movable guide rail 43 to reduce the vibration time and suppress the vibration frequency of the movable guide rail 43 after it rises into position, so that the movable guide rail 43 can quickly reach a stable state, and the movable module 22 can still ensure the conveying stability of the workpiece 1 after entering the movable guide rail 43; on the other hand, the buffer 70 can provide a layer of protection between the movable guide rail 43 and the mounting base 10, avoiding direct contact and collision between the movable guide rail 43 and the mounting base 10, thereby improving the service life of the movable guide rail 43 and the mounting base 10. At the same time, the buffer 70 can absorb the impact and vibration of the movable guide rail 43 during its upward movement through its own deformation, thereby protecting various components of the magnetic drive conveying system.

[0123] like Figure 9 As shown, the buffer member 70 includes a buffer cylinder 71 arranged on the mounting base 10, an elastic member 72 arranged in the buffer cylinder 71, and a buffer shaft 73 arranged on the movable guide rail 43. When the movable guide rail 43 moves toward the conveying line body 20, the buffer shaft 73 can be inserted into the buffer cylinder 71 and press against the elastic member 72. Among them, the buffer cylinder 71 and the elastic member 72 are arranged on the lower side of the mounting base 10, the buffer cylinder 71 has a lower end opening, and the buffer shaft 73 is arranged on the upper side of the movable guide rail 43. When the movable guide rail 43 is located in a position connecting the first fixed guide rail 41 and the second fixed guide rail 42, the buffer shaft 73 is inserted into the buffer cylinder 71 and squeezes the elastic member 72; when the lifting component 60 drives the movable guide rail 43 to move downward, the buffer shaft 73 is gradually pulled out of the buffer cylinder 71 and finally separated from the buffer cylinder 71, and the elastic member 72 is reset to the maximum extension position; when the lifting component 60 drives the movable guide rail 43 to move upward, the buffer shaft 73 is inserted into the buffer cylinder 71 through the lower end opening of the buffer cylinder 71 and squeezes the elastic member 72, thereby playing a buffering role.

[0124] Specifically, in this embodiment, the elastic member 72 is a compression spring.

[0125] like Figure 4 、 Figure 6 、 Figure 7 and Figure 10 As shown, multiple stator modules 21 are fixedly arranged relative to the mounting base 10, and the magnetic drive conveying system also includes an in-position detection component 80 arranged between the stator module 21 and the movable guide rail 43. The in-position detection component 80 includes a reader 81 (it should be noted that the reader 81 here and the reader used to detect the real-time position of the mover module 22 in the previous text refer to different structures) and a light shielding plate 82. The reader 81 is arranged on one of the stator module 21 and the movable guide rail 43, and the light shielding plate 82 is arranged on the other of the stator module 21 and the movable guide rail 43. The in-position detection assembly 80 can accurately detect whether the lifting component 60 has driven the movable guide rail 43 to reach the predetermined position. The in-position detection assembly 80 includes a reader 81 and a light shielding plate 82. The reader 81 can send a signal. When the movable guide rail 43 has not reached the predetermined position, the signal sent by the transmitter of the reader 81 can be normally received by the receiver. When the movable guide rail 43 reaches the predetermined position, the light shielding plate 82 can block the signal sent by the reader 81, and the signal sent by the transmitter of the reader 81 cannot be received by the receiver. The control system of the magnetic drive conveying system can determine whether the movable guide rail 43 has reached the predetermined position based on the position information fed back by the in-position detection assembly 80, so as to proceed to the next step of the operation.

[0126] In some embodiments, as Figure 7 As shown, the magnetic drive conveying system also includes at least three distance measuring sensors 90 arranged on the mounting base 10, and at least three distance measuring sensors 90 are not arranged in a colinear manner. The distance measuring sensors 90 can emit detection waves to the movable guide rail 43. In the embodiment of the present application, by setting multiple distance measuring sensors 90, the current position and posture information of the movable guide rail 43 is obtained by the distance measuring sensors 90, and the posture of the movable guide rail 43 during the transportation of the workpiece 1 is determined by measuring the distance from the movable guide rail 43 to each distance measuring sensor 90. For example, when the distance information obtained by the multiple distance measuring sensors 90 is different, the movable guide rail 43 may be in a tilted state. The PLC calculates the distance information to determine the current tilt degree of the movable guide rail 43. When the tilt angle of the movable guide rail 43 is greater than the set value, it is necessary to stop and adjust. For another example, when the distance information obtained by the multiple distance measuring sensors 90 is the same, the movable guide rail 43 is in a horizontal state. The PLC calculates the distance information to determine the current height of the movable guide rail 43 to facilitate the transportation of the workpiece 1. Furthermore, by arranging the plurality of distance measuring sensors 90 in a non-collinear manner, the accuracy and precision of information acquisition are further improved, so that the movable guide rail 43 can be controlled more accurately.

[0127] like Figures 17a to 18bAs shown, multiple stator modules 21 include a lifting stator 212 corresponding to the movable guide rail 43. The movable guide rail 43 is a frame structure. The upper part of the frame structure is provided with a clearance opening for avoiding the lifting stator 212. When the movable module 22 moves onto the movable guide rail 43, the movable module 22 is located inside the frame structure. A clearance opening for avoiding the lifting stator 212 is provided on the upper part of the frame structure of the movable guide rail 43, so that the lifting stator 212 can be magnetically coupled with the movable module 22 in the frame structure of the movable guide rail 43, thereby allowing the movable module 22 to drive the workpiece 1 to move continuously along the conveying direction a. The setting of the frame structure allows the lifting stator 212 to be fixed to the mounting base outside the clearance opening when the lifting component 60 drives the movable guide rail 43 to rise and fall, so as to avoid interference between the lifting stator 212 and the movable guide rail 43.

[0128] like Figure 8 、 Figure 13 and Figure 16As shown, the mover module 22 includes a mover body 221, a permanent magnet array 223, a bogie 224, a guide wheel 225 and a support wheel 226. The permanent magnet array 223 is fixedly arranged on the mover body 221 and is used for magnetic coupling with the stator module 21. The bogie 224 is rotatably arranged on the mover body 221. The guide wheel 225 and the support wheel 226 are both arranged on both sides of the length direction of the bogie 224; the guide rail mechanism 40 is arranged below the support wheel 226, and the first fixed guide rail 41 and the movable guide rail 43 are arranged at intervals along the conveying direction a for rolling connection with the support wheel 226. The surfaces of the first fixed guide rail 41 that are close to each other and the surfaces of the movable guide rail 43 that are close to each other are used for rolling connection with the guide wheel 225. The permanent magnet array 223 is fixedly mounted on the mover body 221. The permanent magnet array 223 is composed of a plurality of permanent magnets and is capable of generating a strong and stable magnetic field. The magnetic field generated by the coil windings on the stator module 21 interacts with each other to form an electromagnetic force that drives the mover module 22 to move along the conveying direction a, thereby realizing the function of conveying the workpiece 1. The bogie 224 is capable of rotating about a straight line perpendicular to the upper surface of the conveyor line 20 as an axis. The bogie 224, in conjunction with the guide wheel 225 and the support wheel 226, is capable of providing stable support and directional control for the movement of the mover module 22. The rotatable bogie 224 is capable of changing the moving direction of the mover module 22, so that the mover module 22 can flexibly move within the guide rail mechanism 40, adapting to the layout and turning requirements of the complex guide rail mechanism 40. The guide wheels 225 ensure that the mover module 22 moves along the conveying direction a and prevent the mover module 22 from deviating from the predetermined track. The guide wheels 225 utilize a rolling connection to engage with the adjacent surfaces of the first fixed guide rail 41 and the adjacent surfaces of the movable guide rail 43, thereby reducing friction with the inner surface of the guide rail mechanism 40 and improving the service life of the guide wheels 225 and the guide rail mechanism 40. The support wheels 226 support the mover module 22. The support wheels 226 are in rolling connection with the surfaces of the first fixed guide rail 41 and the movable guide rail 43 adjacent to the stator module 21. This not only evenly distributes the weight of the mover module 22 and the supporting member 222 on the guide rails, but also facilitates movement of the mover module 22 along the conveying direction a under the action of the support wheels 226.

[0129] Specifically, if Figure 4 As shown, the guide rail mechanism 40 further includes a connecting frame 44, one end of which is connected to the mounting base 10, and the other end of which is connected to the first fixed guide rail 41. The stator module 21 corresponding to the first fixed guide rail 41 is fixedly disposed within the connecting frame 44. There are multiple connecting frames 44, and the second fixed guide rail 42 and the stator module 21 corresponding to the second fixed guide rail 42 are also connected to the mounting base 10 via the connecting frames 44.

[0130] like Figure 10 、 Figure 13 and Figure 16 As shown, the movable guide rail 43 is a frame structure, wherein the track body 432 of the movable guide rail 43 includes a main frame 4321, a first track 4322, and a second track 4323. The main frame 4321 is provided with an opening at the bottom, and the first track 4322 and the second track 4323 are respectively fixedly arranged at both ends of the lower opening of the main frame 4321. The main frame 4321, the first track 4322, and the second track 4323 are connected to form a cavity, and the permanent magnet array 223, the bogie 224, the guide wheels 225, and the support wheels 226 are arranged in the above cavity. The movable module 22 includes four guide wheels 225 and four support wheels 226. The two guide wheels 225 roll with the inner surface of the first track 4322, the two guide wheels 225 roll with the inner surface of the second track 4323, the two support wheels 226 roll with the upper surface of the first track 4322, and the two support wheels 226 roll with the upper surface of the second track 4323.

[0131] like Figure 1 and Figure 14 As shown, the magnetic drive conveying system further includes a transfer mechanism 100 disposed below the movable guide rail 43. The transfer mechanism 100 includes a transfer platform 101 movably disposed along the horizontal direction c. The transfer mechanism 100 is used to place the workpiece 1 transferred from the conveyor line 20. When the lifting component 60 drives the movable module 22 and the workpiece 1 to move downward along the vertical direction b to the transfer platform 101, the transfer platform 101 drives the workpiece 1 to move along the horizontal direction c, so that the workpiece 1 is separated from the carrier 222 on the movable module 22, thereby realizing the function of transferring the workpiece 1.

[0132] like Figures 1 to 4 、 Figure 10 and Figure 13As shown, the carrier 222 has a bearing cavity 2221 and a docking port 2222 located below and connected to the bearing cavity 2221. The bearing cavity 2221 and the docking port 2222 extend through the carrier 222 along a horizontal direction c. The width d of the bearing cavity 2221 is greater than the width e of the docking port 2222, and the width e of the docking port 2222 is greater than the width f of the transfer platform 101. The bearing cavity 2221 of the carrier 222 is used to place the workpiece 1. By making the width d of the bearing cavity 2221 greater than the width e of the docking port 2222, the workpiece 1 can be prevented from falling off during transportation or transfer. A docking port 2222 connected to the carrying cavity 2221 is provided below the supporting member 222. By making the width e of the docking port 2222 greater than the width f of the transfer platform 101, when the lifting component 60 drives the movable module 22 and the workpiece 1 to move downward along the up-down direction b to the transfer platform 101, the workpiece 1 can contact the transfer platform 101 and the transfer platform 101 will not interfere with the supporting member 222, thereby not affecting the transfer platform 101 driving the workpiece 1 to move along the horizontal direction c, so that the workpiece 1 is separated from the supporting member 222 on the movable module 22.

[0133] like Figure 1 and Figure 2 As shown, when the lifting mechanism drives the movable module 22 downward, the movable module 22 has a docking position. When the movable module 22 is in the docking position, the bottom wall of the bearing cavity 2221 is lower than the top wall of the transfer platform 101. The above arrangement enables the workpiece 1 in the bearing cavity 2221 to contact the transfer platform 101 and separate from the bottom wall of the bearing cavity 2221 when the movable module 22 is in the docking position, thereby enabling the transfer platform 101 to drive the workpiece 1 in the bearing cavity 2221 to separate from the bearing member 222 along the horizontal direction c.

[0134] like Figure 14 and Figure 15 As shown, the transfer platform 101 is provided with a docking member, which includes a plurality of docking posts 1011; the docking member also includes an in-place detection member 1012 that triggers and cooperates with the workpiece 1 carried by the carrier 222. The docking posts 1011 can position the workpiece 1, preventing it from moving or rotating relative to the transfer platform 101; the in-place detection member 1012 can detect whether the workpiece 1 has been smoothly transferred to the transfer platform 101.

[0135] Specifically, if Figure 15 As shown, a docking socket is provided on the transfer platform 101, and the in-place detection parts 1012 are optical coupling detection parts and there are two of them. The two in-place detection parts 1012 are relatively arranged on both sides of the docking socket, and the workpiece 1 has a connector that can be extended into the docking socket. Each in-place detection part 1012 can detect the distance between its own detection end and the connector, and then determine whether the workpiece 1 is placed flat on the transfer platform 101.

[0136] In this embodiment, the transfer platform 101 is driven by a motor to move in the horizontal direction c; of course, in other feasible implementations, the transfer platform can also be driven by a magnetic drive mechanism to move in the horizontal direction, that is, the transfer platform can be set on another movable module, which is magnetically coupled with the conveying line extending in the horizontal direction.

[0137] like Figure 17a and Figure 17b As shown, in this embodiment, the lifting stator 212 is fixedly arranged on the mounting base 10. When the workpiece 1 needs to be transferred, the lifting stator 212 remains fixed, and the lifting component 60 only drives the movable guide rail 43 and the movable module 22 thereon to move. Such a setting can reduce the weight that the lifting component 60 needs to lift; at the same time, since the lifting stator 212 remains fixed, it is convenient to realize the power supply connection and communication connection of the lifting stator 212.

[0138] It is understandable that after the conveyor line 20 is erected, the specifications of the stator module 21 are generally fixed, and the size of the mover module 22 can be adjusted according to the size and weight of the workpiece 1 to be carried. For example, for a workpiece 1 that is larger in size and heavier in weight, the length of the mover module 22 can be increased so that the mover module 22 carries more permanent magnet arrays 223, thereby improving the carrying and transportation capacity of the workpiece 1. At this time, the length of the mover module 22 may be greater than the length of the lifting stator 212. At this time, if the length of the movable guide rail 43 is still the same as the length of the lifting stator 212, the mover module 22 will be arranged across the first fixed guide rail 41 and the second fixed guide rail 42 and will not be able to descend along with the movable guide rail 43.

[0139] In order to solve the above problems, Figure 18a and Figure 18b As shown, there is a first seam g1 between the lifting stator 212 and the fixed stator 211, and a second seam g2 between the movable guide rail 43 and the first fixed guide rail 41 and the second fixed guide rail 42. The first seam g1 and the second seam g2 are offset in the conveying direction a, and the second seam g2 is located outside the first seam g1. This means that the length of the movable guide rail 43 is greater than the length of the lifting stator 212. When the length of the movable module 22 is greater than the length of the lifting stator 212, the length of the movable guide rail 43 is still greater than the length of the movable module 22. When the movable module 22 moves onto the movable guide rail 43, the movable module 22 is completely within the range of the movable guide rail 43, allowing the movable module 22 to rise and fall along with the movable guide rail 43.

[0140] In other embodiments, the stator module 21 corresponding to the movable guide rail 43 can also move along with the movable guide rail 43. Figure 19aand Figure 19b As shown, the multiple stator modules 21 include fixed stators 211 corresponding to the first fixed guide rail 41 and the second fixed guide rail 42, and lifting stators 212 corresponding to the movable guide rail 43. The lifting stators 212 are fixedly connected to the movable guide rail 43. When the lifting component 60 drives the movable guide rail 43 and the movable module 22 to move in the up-down direction b, the lifting stators 212 move synchronously with the movable guide rail 43. In other words, the lifting component 60 can drive the movable guide rail 43, the lifting stators 212, and the movable module 22 to rise and fall together. It is understandable that when the lifting stator 212 and the movable module 22 are lifted and lowered together, it is ensured that there is always a magnetic attraction force between the stator module 21 and the movable module 22. On the one hand, the possibility of the movable module 22 moving due to the shaking of the movable guide rail 43 can be reduced, and the position of the movable module 22 relative to the movable guide rail 43 can be fixed to improve the stability of the transfer of the workpiece 1. On the other hand, when there is a deviation between the current position of the workpiece 1 and the transfer position, the lifting stator 212 can drive the movable module 22 to move, so as to reduce the deviation between the current position of the workpiece 1 and the transfer position, thereby improving the accuracy of the transfer of the workpiece 1. Specifically, a power box can be set on the lifting stator 212 to power the coil windings in the lifting stator 212 so that the lifting stator 212 can drive the movable module 22 to move.

[0141] like Figure 19a and Figure 19b As shown, a first joint g1 exists between the lifting stator 212 and the fixed stator 211, and a second joint g2 exists between the movable guide rail 43 and the first and second fixed guide rails 41 and 42. The first and second joints g1 and g2 are offset in the conveying direction a, and the second joint g2 is located outside the first joint g1. This arrangement ensures that the length of the movable guide rail 43 is greater than the length of the movable module 22. When the movable module 22 moves onto the movable guide rail 43, the movable module 22 is completely within the range of the movable guide rail 43, allowing the movable module 22 to rise and fall with the movable guide rail 43. Even if the length of the movable module 22 is greater than the length of the lifting stator 212, the lifting stator 212 can still couple with part of the movable module 22, and the lifting stator 212 can still complete the drive control of the movable module 22 during the lifting process.

[0142] like Figure 19a and Figure 19bAs shown, in this embodiment, the connection ends of the first belt 6212 and the second belt 6222 are both connected to the lifting stator 212. It is understandable that when the connection ends of the first belt 6212 and the second belt 6222 are both connected to the lifting stator 212, the movable guide rail 43 is fixedly connected to the lifting stator 212. The height of the lifting stator 212 and thus the height of the workpiece 1 can be changed by adjusting the extension length of the first belt 6212 and the second belt 6222; or, when the lifting stator 212 is tilted, the horizontality of the lifting stator 212 can be adjusted by adjusting the extension length of the first belt 6212 or the second belt 6222 separately, thereby improving the stability of the movable module 22 during the lifting process.

[0143] Of course, in other feasible implementations, the connecting ends of the first belt and the second belt may also be connected only to the movable guide rail; or, the connecting ends of the first belt and the second belt may be connected to both the movable guide rail and the lifting stator.

[0144] like Figures 20 to 22 As shown, the present application provides a magnetic drive conveying system. An embodiment of the magnetic drive conveying system of the present application includes: a stator module 21 and a mover module, wherein the mover module includes a mover body 221, a rotating frame 2230, a support structure 2240, a guide structure 2250, and a reset structure 2260. The stator module 21 extends along the conveying direction a; the mover body 221 is magnetically coupled to the stator module 21 and can move relative to the stator module 21 along the conveying direction a; the rotating frame 2230 is rotatably disposed on the mover body 221; the support structure 2240 is disposed on the rotating frame 2230 and supports and cooperates with the stator module 21; the guide structure 2250 is disposed on the rotating frame 2230 and guides and cooperates with the stator module 21; and the reset structure 2260 is disposed between the rotating frame 2230 and the mover body 221 to keep the rotating frame 2230 in an initial state.

[0145] By applying the technical solution of this embodiment, the mover body 221 is magnetically coupled with the stator module 21 and can move relative to the stator module 21 along the conveying direction a, and a support structure 2240 and a guide structure 2250 are installed on the mover body 221, wherein the support structure 2240 supports and cooperates with the stator module 21 so that the mover body 221 can be stably magnetically coupled with the stator module 21, and the guide structure 2250 guides and cooperates with the stator module 21 so that the mover body 221 can move stably along the conveying direction a, that is, during the movement of the mover body 221, the support structure 2240 and the guide structure 2250 are in direct contact with the stator module 21 to support and guide the mover body 221. The support structure 2240 and the guide structure 2250 are mounted on the mover body 221 via the rotating frame 2230. When the mover body 221 passes through the arc segment 217 or the curved segment on the stator module 21, the rotating frame 2230 can rotate and drive the guide structure 2250 and the support structure 2240 provided thereon to move to a position adapted to the stator module 21, that is, the movement direction of the support structure 2240 and the guide structure 2250 is close to the conveying direction of the stator module 21, so as to reduce the support structure 2 The extrusion and friction between the support structure 2240 and the guide structure 2250 and the stator module 21 are improved. When the mover body 221 passes through the arc segment 217 or the curved segment on the stator module 21 and moves to the straight segment 216 on the stator module 21, the rotating frame 2230 will be reset to the initial state under the action of the reset structure 2260. That is, the rotating frame 2230 is reset to the position where the support structure 2240 and the guide structure 2250 are compatible with the straight segment of the stator module 21, thereby improving the smoothness of the movement of the mover body 221. Therefore, the technical solution of this embodiment can effectively solve the problem of squeezing and friction between the mover module and the stator body when the mover module passes through the arc segment or the curved segment in the related art.

[0146] It can be understood that, in the process of the mover body 221 moving along the stator module 21, for the straight segment 216, since the movement direction of the support structure 2240 is parallel to the conveying direction a of the mover body 221, there is a small friction between the support structure 2240 and the stator module 21; for the arc segment 217, since the support structure in the related technology is fixedly arranged on the mover body, there is a large angle between the movement direction of the support structure and the conveying direction of the mover body. Therefore, in the process of the mover body being conveyed along the arc segment of the stator module under the limiting action of the guide structure, there will be a large friction between the support structure and the stator module, which will accelerate the wear of the support structure and the stator module, and thus reduce the service life of the support structure and the stator module. In the embodiment of the present application, a rotating frame 2230 is disposed on the mover body 221, and both the support structure 2240 and the guide structure 2250 are disposed on the rotating frame 2230. The guide structure 2250 is used to cooperate with the stator module 21 to change the posture of the rotating frame 2230, thereby changing the movement direction of the support structure 2240. When the mover body 221 is transported along the straight section 216, since the transport direction a of the mover body 221 is constant during the transport process of the straight section 216, the guide structure 2250 cooperates with the stator module 21 to guide the rotating frame 2230. Under the restraint of the guide structure 2250, the movement direction of the support structure 2240 is parallel to the transport direction a of the mover body 221, thereby reducing the friction between the support structure 2240 and the stator module 21. When the mover body 221 moves along the arc segment 217, the guide structure 2250 changes the posture of the rotating frame 2230 in real time so that the movement direction of the support structure 2240 is roughly the same as the conveying direction a of the mover body 221. That is, the embodiment of the present application sets the guide structure 2250 to guide the stator module 21, and the guide structure 2250 drives the rotating frame 2230 to rotate to reduce the angle between the movement direction of the support structure 2240 and the conveying direction a, thereby reducing the friction between the support structure 2240 and the stator module 21, and then improving the service life of the support structure 2240 and the stator module 21.

[0147] like Figure 21As shown, the rotating frame 2230 includes a connecting portion 2231 and a placing portion 2232 adjacent to both sides of the connecting portion 2231, the connecting portion 2231 is rotatably matched with the mover body 221, the supporting structure 2240 and the guide structure 2250 are both arranged on the placing portion 2232, the reset structure 2260 includes a first elastic member 2261 and a second elastic member 2262, the first elastic member 2261 and the second elastic member 2262 are arranged on both sides of the placing portion 2232 along the conveying direction a, the two ends of the first elastic member 2261 are respectively connected to the placing portion 2232 and the mover body 221, and the two ends of the second elastic member 2262 are respectively connected to the placing portion 2232 and the mover body 221. The first elastic member 2261 and the second elastic member 2262 are respectively arranged on both sides of the placement portion 2232 along the conveying direction a. Even if the placement portion 2232 is deflected under the action of the arc segment 217 or the curved segment, when the mover body 221 runs to the straight segment 216, the placement portion 2232 is quickly reset to the middle position under the action of the first elastic member 2261 and the second elastic member 2262, ensuring the reset effect and avoiding the deviation between the movement direction of the support structure 2240 and the conveying direction a of the mover module, so as to improve the stability of the mover module in conveying before and after turning, and reduce the friction between the support structure 2240 and the stator module 21; that is, in the absence of external force, the movement direction of the support structure 2240 and the guide structure 2250 arranged on the placement portion 2232 is the same as the conveying direction, thereby improving the stability of the mover module in conveying on the straight segment 216 and the arc segment 217.

[0148] like Figure 21 As shown, there are two placement portions 2232, and the two placement portions 2232 are symmetrically arranged relative to the connecting portion 2231, wherein each placement portion 2232 is provided with a support structure 2240, a guide structure 2250 and a reset structure 2260, thereby achieving support and guidance on both sides of the stator module 21, thereby improving the stability and reliability of the mover body 221 during movement.

[0149] It should be noted that the aforementioned "two placement portions 2232 are symmetrically arranged relative to the connecting portion 2231" refers to the two placement portions 2232 being symmetrically arranged relative to the center plane of the connecting portion 2231 extending along the conveying direction a. Accordingly, the support structures 2240, guide structures 2250, and restoring structures 2260 provided on the two placement portions 2232 are also symmetrically arranged relative to the center plane of the connecting portion 2231 extending along the conveying direction a.

[0150] like Figure 21As shown, the first elastic member 2261 and the second elastic member 2262 are symmetrically arranged relative to the center plane of the placement portion 2232. The "center plane of the placement portion 2232" herein refers to the center plane of the placement portion 2232 perpendicular to the conveying direction a. By symmetrically arranging the first elastic member 2261 and the second elastic member 2262 relative to the center plane of the placement portion 2232, the same type of elastic member can be used as the first elastic member 2261 and the second elastic member 2262, so as to achieve the same or nearly the same magnitude of force on the placement portion 2232, thereby improving the accuracy of the placement portion 2232 in resetting.

[0151] like Figure 21 As shown, a cavity 2211 is provided on the mover body 221 corresponding to the placement portion 2232, at least a portion of the placement portion 2232 is provided in the cavity 2211, and the first elastic member 2261 and the second elastic member 2262 are both provided in the cavity 2211. By extending at least a portion of the placement portion 2232 and the support structure 2240 and the guide structure 2250 provided thereon into the cavity 2211, the overall thickness of the mover module can be reduced, thereby reducing the overall size of the magnetic drive conveying system. In addition, placing both the first elastic member 2261 and the second elastic member 2262 in the cavity 2211 can protect the first elastic member 2261 and the second elastic member 2262, thereby increasing the service life and reset effect of the first elastic member 2261 and the second elastic member 2262.

[0152] like Figure 21 and Figure 22As shown, the stator module 21 includes a plurality of stator bodies 213 arranged along the conveying direction a and a guide rail mechanism 40 arranged on the stator body 213, the support structure 2240 includes a support wheel 2241, the guide rail mechanism 40 is supported below the support wheel 2241, the guide rail mechanism 40 includes a first guide rail 451 arranged on a first side of the plurality of stator bodies 213 and a second guide rail 452 arranged on a second side of the plurality of stator bodies 213, the guide structure 2250 includes a first guide member 2251 for guiding and cooperating with the first guide rail 451 and a second guide member 2252 for guiding and cooperating with the second guide rail 452, wherein the first guide member 2251 is a guide wheel, and the guide wheel is in guiding cooperation with the side wall of the first guide rail 451. The support and cooperation between the first guide rail 451 and the support wheel 2241, the guiding cooperation between the first guide rail 451 and the first guide member 2251, the support and cooperation between the second guide rail 452 and the support wheel 2241, and the guiding cooperation between the second guide rail 452 and the second guide member 2252 can support and guide both sides of the mover module, making the movement of the mover body 221 smoother and more stable. The first guide member 2251 is a guide wheel that cooperates with the side wall of the first guide rail 451 to guide and reduce friction between the first guide member 2251 and the first guide rail 451, thereby improving the smoothness of the movement of the mover body 221 and the service life of the first guide member 2251 and the first guide rail 451.

[0153] like Figure 21 As shown, in this embodiment, the second guide member 2252 is also a guide wheel, and the guide wheel is in guiding cooperation with the side wall of the second guide rail 452 .

[0154] Of course, in other feasible implementations, the second guide member may be a guide shaft. Specifically, the second guide member is a guide shaft, a guide groove is provided on the second guide rail, and the guide shaft is inserted into the guide groove.

[0155] In specific implementation, the first guide member and the second guide member can be the same structure, for example, the first guide member and the second guide member are both guide wheels, or the first guide member and the second guide member are both guide shafts; the first guide member and the second guide member can also be different structures, for example, one of the first guide member and the second guide member is a guide wheel, and the other of the first guide member and the second guide member is a guide shaft.

[0156] Specifically, if Figure 21 As shown, a mover module includes a mover body 221 and two rotating frames 2230, wherein each rotating frame 2230 has two placement portions 2232, and each placement portion 2232 is provided with a support wheel 2241 and two guide wheels, so as to improve the stability of the movement of the mover module.

[0157] like Figure 20 and Figure 23As shown, the mover body 221 includes a permanent magnet array 223 and a readable medium 227. The stator module 21 is provided with a coil 214 and a read head 215 arranged along the conveying direction a. The coil 214 and the read head 215 are spaced apart in the width direction of the stator module 21. The coil 214 is correspondingly arranged and magnetically coupled to the permanent magnet array 223, and the read head 215 is correspondingly arranged and inductively coupled to the readable medium 227. The coil 214 is correspondingly arranged and magnetically coupled to the permanent magnet array 223, which can drive the mover body 221 to move along the conveying direction a. The read head 215 is correspondingly arranged and inductively coupled to the readable medium 227, which can detect the position of the mover body 221, thereby facilitating precise control of the movement of the mover body 221.

[0158] It should be noted that Figures 23 to 26 The readable medium 227 marked in the figure is not the readable medium 227 itself, but the projection of the readable medium 227 on the stator module 21. By showing the projection of the readable medium 227 on the stator module 21, the relative positions of the readable medium 227 and the reading head 215 can be clearly seen.

[0159] In some embodiments, the reading head 215 is a bar-shaped structure. By directly arranging the reading head 215 and the coil 214 side by side in the width direction z of the stator module 21 , the assembly difficulty of the stator module 21 can be simplified.

[0160] In some embodiments, as Figure 21 and Figure 24 As shown, the mover body 221 includes a permanent magnet array 223, which partially forms a readable medium 227. The stator module 21 is provided with a coil 214 and a read head 215 arranged along the conveying direction a. The read head 215 is disposed within the coil 214, or the read head 215 and the coil 214 are spaced apart in the height direction of the stator module 21, with the orthographic projection of the read head 215 located within the orthographic projection of the coil 214. The coil 214 is magnetically coupled to the permanent magnet array 223, and the read head 215 is inductively coupled to the readable medium 227. The read head 215 has a bar-shaped structure. By directly disposing the read head 215 within the coil 214, or by spaced apart from the coil 214 in the height direction of the stator module 21, with the orthographic projection of the read head 215 located within the orthographic projection of the coil 214, the width of the stator module 21 can be reduced, thereby reducing the overall cost of the stator module 21.

[0161] Specifically, when the read head 215 is set inside the coil 214, the read head 215 may include multiple magnetic induction components arranged along the conveying direction a. When the read head 215 is directly set inside the coil 214, the thickness of the stator module 21 can be reduced; when the read head 215 and the coil 214 are spaced apart in the height direction of the stator module 21, the assembly cost of the stator module 21 can be reduced.

[0162] like Figure 25 As shown, the stator module 21 includes a straight segment 216 and an arc segment 217 connected to the straight segment 216. The read head 215 includes a first read head segment 2151 disposed on the straight segment 216 and a second read head segment 2152 disposed on the arc segment 217. The ends of the first read head segment 2151 and the ends of the second read head segment 2152 are spaced apart in the width direction of the stator module 21. It will be understood that when the mover body 221 moves onto the arc segment 217, the motion trajectory formed by the projection of the readable medium 227 on the arc segment 217 may change due to factors such as the mover length and the turning radius of the arc segment 217. The projection trajectory of the readable medium 227 is offset from the arc length of the arc segment 217, i.e., the center of the circle corresponding to the projection trajectory of the readable medium 227 is offset from the center of the circle corresponding to the arc segment 217. Furthermore, in the embodiment of the present application, by arranging the end of the first read head segment 2151 and the end of the second read head segment 2152 at intervals in the width direction of the stator module 21, on the one hand, the center of the circle corresponding to the trajectory of the second read head segment 2152 is made to coincide with the center of the circle corresponding to the arc segment 217, so that the second read head segment 2152 has a shorter setting length and a more standard setting structure, thereby reducing the setting cost of the second read head segment 2152; on the other hand, the distance between the second read head segment 2152 and the readable medium 227 is reduced, so that the setting position of the second read head segment 2152 is closer to the projection position of the readable medium 227 on the arc segment 217, thereby improving the position detection accuracy of the arc segment 217 for the mover body 221.

[0163] like Figure 26As shown, the stator module 21 includes a straight segment 216 and an arc segment 217 spliced ​​with the straight segment 216, and the read head 215 includes a third read head segment 2153 arranged on the straight segment 216 and a fourth read head segment 2154 and a fifth read head segment 2155 arranged on the arc segment 217, wherein the third read head segment 2153 and the fourth read head segment 2154 are arranged continuously, and the fifth read head segment 2155 and the fourth read head segment 2154 are arranged at intervals in the width direction of the stator module 21. When the mover body 221 moves along the straight line segment 216, the movement trajectory of each point on the mover body 221 is consistent with the extension direction of the straight line segment 216; when the mover body moves to the arc segment 217, the movement trajectory of each point on the mover body 221 is not completely consistent with the extension direction of the arc segment 217. At this time, the readable medium 227 and the reading head 215 that were originally facing each other will be misaligned. In this embodiment of the application, the fourth reading head segment 2154 and the fifth reading head segment 2155 are arranged at intervals on the arc segment 217. When the mover body 221 is at a position close to the straight line segment 216 on the arc segment 217, the fourth reading head segment 2154 and the fifth reading head segment 2155 are arranged at intervals. 154 can accurately sense the readable medium 227; when the mover body 221 is at a position relatively far away from the straight line segment 216 on the arc segment 217, the readable medium 227 deviates far from the fourth read head segment 2154, which will weaken the sensing ability between the two. At this time, the readable medium 227 can be sensed by the fifth read head segment 2155, thereby ensuring that when the mover body 221 moves on the arc segment 217, the readable medium 227 can ensure that it is at least located within the better sensing range of one of the fourth read head segment 2154 and the fifth read head segment 2155, thereby improving the accuracy of position detection of the mover body 221.

[0164] Preferably, the accuracy of the fifth read head segment 2155 is lower than that of the fourth read head segment 2154. The fourth read head segment 2154, serving as the primary detection element, possesses higher detection accuracy, enabling better position detection of the mover body 221. The fifth read head segment 2155, serving as a secondary detection element, possesses lower detection accuracy and is also used to detect the position of the mover body 221. After acquiring detection data from the fourth and fifth read head segments 2154, 2155, the controller applies a compensation algorithm to the detection data from the fifth read head segment 2155, combining it with the detection data from the fourth read head segment 2154 to more accurately determine the current position of the mover body 221. This not only achieves better detection accuracy for the mover body 221, but also reduces the setup cost of the magnetic drive conveying system.

[0165] like Figure 24As shown, the stator module 21 includes a straight segment 216 and an arc segment 217 spliced ​​with the straight segment 216, the read head 215 includes a sixth read head segment 2156 arranged on the straight segment 216 and a seventh read head segment 2157 arranged on the arc segment 217, the seventh read head segment 2157 and the sixth read head segment 2156 are arranged continuously, and the readable medium 227 includes a first medium 2271 and a second medium 2272 arranged at intervals in the width direction of the mover body 221, and the first medium 2271 and the second medium 2272 are arranged on both sides of the seventh read head segment 2157. When the mover body 221 moves along the straight line segment 216, all points on the mover body 221 move along the extension direction of the straight line segment 216; when the mover body moves to the arc segment 217, the movement trajectory of each point on the mover body 221 is not completely consistent with the extension direction of the arc segment 217. At this time, the readable medium 227 and the reading head 215 that were originally facing each other will be misaligned. By arranging a first medium 2271 and a second medium 2272 spaced apart along the width direction on the mover body 221, and the seventh reading head segment 2157 is located between the first medium 2271 and the second medium 2272, when the mover body 221 moves along the arc segment 217, at least one of the first medium 2271 and the second medium 2272 is located within the better sensing range of the seventh reading head segment 2157, thereby improving the accuracy of position detection of the mover body 221.

[0166] In addition, the first medium 2271 and the second medium 2272 can also be arranged on both sides of the sixth reading head segment 2156. By also arranging the first medium 2271 and the second medium 2272 spaced apart on the straight line segment 216, the sixth reading head segment 2156 and the first medium 2271 and the second medium 2272 can all be better sensed, thereby improving the accuracy of the position detection of the mover body 221.

[0167] It should be noted that in Figures 23 to 26 In the figure, the dotted lines inside the stator module 21 show the outline of the coil 214, wherein the coil 214 includes a plurality of coil bodies 2141 arranged along the extension direction of the stator module 21 (only one is drawn in the figure for schematic purposes), and the dotted lines inside the stator module 21 show the reader 215, which is a continuous structure.

[0168] 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.

[0169] 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.

[0170] 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.

[0171] The above are merely preferred embodiments of the present invention and are 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 shall be included within the scope of protection of the present invention.

Claims

1. A magnetic drive conveying system, characterized in that: include: Installing a base frame (10); A conveying line body (20) comprises a mover module (22) and a plurality of stator modules (21) sequentially arranged along a conveying direction (a), wherein the stator module (21) is arranged on the mounting base (10), the mover module (22) is magnetically coupled with the stator module (21), and is further away from the mounting base (10) than the stator module (21), the mover module (22) comprises a mover body (221) and a bearing member (222) fixedly arranged on the mover body (221), and the bearing member (222) is further away from the stator module (21) than the mover body (221); a guide rail mechanism (40), the guide rail mechanism (40) extending along the conveying direction (a) and capable of guiding and supporting the movable submodule (22) so that the movable submodule (22) can move along the conveying direction (a); the guide rail mechanism (40) includes a movable guide rail (43); A lifting mechanism is located between the mounting base (10) and the stator module (21), the lifting mechanism comprising a lifting component (60), the lifting component (60) being fixedly disposed on the mounting base (10), and one end of the lifting component (60) being connected to the movable guide rail (43); When the movable module (22) moves onto the movable guide rail (43), the lifting component (60) can drive the movable guide rail (43) and the movable module (22) to move in the up-down direction (b) or the horizontal direction (c).

2. The magnetic drive conveying system according to claim 1, characterized in that: The lifting component (60) includes a first power component (61) and a pulley group (62), wherein the first power component (61) includes a first driving component (611) and a driving shaft (612) connected to the first driving component (611); the pulley group (62) includes a first pulley group (621) and a second pulley group (622) arranged at intervals, wherein the first pulley group (621) includes a first pulley (6211) and a first belt (6212) wound around the first pulley (6211), and the second pulley group (621) includes a first belt (6212) wound around the first belt pulley (6211). The component (622) includes a second pulley (6221) and a second belt (6222) wound around the second pulley (6221), the first pulley (6211) and the second pulley (6221) are both mounted on the driving shaft (612) and can rotate synchronously with the driving shaft (612), wherein the connection ends of the first belt (6212) and the second belt (6222) are both connected to the movable guide rail (43), and are respectively connected to both sides of the movable guide rail (43) perpendicular to the conveying direction (a).

3. The magnetic drive conveying system according to claim 2, characterized in that: There are multiple first pulley assemblies (621), and the multiple first pulley assemblies (621) are symmetrically arranged relative to the center plane of the movable guide rail (43) perpendicular to the conveying direction (a); and / or, There are multiple second pulley assemblies (622), and the multiple second pulley assemblies (622) are symmetrically arranged relative to the center plane of the movable guide rail (43) perpendicular to the conveying direction (a).

4. The magnetic drive conveying system according to claim 2, characterized in that: The number of the driving shaft (612) is one, the driving shaft (612) is parallel to the output shaft of the first driving component (611) and is spaced apart, the extension direction of the driving shaft (612) and the output shaft of the first driving component (611) is parallel to the conveying direction (a), and the positive projection of the driving shaft (612) on the movable guide rail (43) is located in the middle of the movable guide rail (43).

5. The magnetic drive conveying system according to claim 2, characterized in that: The lifting component (60) also includes a first flattening mechanism (63) and a second flattening mechanism (64), and the first flattening mechanism (63) and the second flattening mechanism (64) are respectively arranged on both sides of the mounting base (10) perpendicular to the conveying direction (a), the first flattening mechanism (63) is used to roll in contact with the first belt (6212) to support and guide the first belt (6212) so that the width direction of the first belt (6212) is parallel to the conveying direction (a), and the second flattening mechanism (64) is used to roll in contact with the second belt (6222) to support and guide the second belt (6222) so that the width direction of the second belt (6222) is parallel to the conveying direction (a).

6. The magnetic drive conveying system according to claim 5, characterized in that: The first flattening mechanism (63) includes a flattening base (631), a limiting pulley (632) and a guide pulley (633), wherein the flattening base (631) is fixedly arranged on the mounting base (10), and the limiting pulley (632) and the guide pulley (633) are both fixedly arranged on the flattening base (631), wherein the limiting pulley (632) and the guide pulley (633) are in rolling cooperation with the first belt (6212), the axis of the limiting pulley (632) is parallel to the conveying direction (a), and the axis of the guide pulley (633) is perpendicular to the conveying direction (a).

7. The magnetic drive conveying system according to claim 6, characterized in that: The limiting pulley (632) includes a limiting groove, the bottom wall of the limiting groove is used for rolling cooperation with the surface of the first belt (6212), and the side wall of the limiting groove is used for sliding cooperation with the end of the first belt (6212) in the width direction.

8. The magnetic drive conveying system according to claim 7, characterized in that: The guide pulley (633) is located below the limiting pulley (632) and is arranged on both sides of the limiting pulley (632). The guide pulley (633) includes a guide groove (6331), and the bottom wall of the guide groove (6331) is used for rolling cooperation with the end of the first belt (6212) in the width direction.

9. The magnetic drive conveying system according to claim 2, characterized in that: The guide rail mechanism (40) further comprises a first fixed guide rail (41) and a second fixed guide rail (42) fixedly arranged on the mounting base (10), wherein the first fixed guide rail (41) and the second fixed guide rail (42) are arranged at intervals, and the movable guide rail (43) is located between the first fixed guide rail (41) and the second fixed guide rail (42); wherein, when the movable module (22) moves to the first fixed guide rail (41), the lifting component (60) can drive the movable guide rail (43) to communicate with the first fixed guide rail (41), so that the movable module (22) moves from the first fixed guide rail (41) to the movable guide rail (43).

10. The magnetic drive conveying system according to claim 9, characterized in that: The plurality of stator modules (21) include fixed stators (211) corresponding to the first fixed guide rail (41) and the second fixed guide rail (42), and lifting stators (212) corresponding to the movable guide rail (43). The lifting stators (212) are fixedly connected to the movable guide rail (43). When the lifting component (60) drives the movable guide rail (43) and the movable module (22) to move along the up-down direction (b), the lifting stators (212) move synchronously with the movable guide rail (43).

11. The magnetic drive conveying system according to claim 10, characterized in that: There is a first seam (g1) between the lifting stator (212) and the fixed stator (211), and a second seam (g2) between the movable guide rail (43) and the first fixed guide rail (41) and the second fixed guide rail (42). The first seam (g1) and the second seam (g2) are staggered in the conveying direction (a), and the second seam (g2) is located outside the first seam (g1).

12. The magnetic drive conveying system according to claim 10, characterized in that: The connection ends of the first belt (6212) and the second belt (6222) are both connected to the lifting stator (212).

13. The magnetic drive conveying system according to claim 2, characterized in that: The movable guide rail (43) includes a rail body (432) and a leveling mechanism (431) arranged on the rail body (432); the leveling mechanism (431) includes a fixing frame (4311) and a winding member (4312); the fixing frame (4311) is arranged on the rail body (432); the winding member (4312) is rotatably arranged on the fixing frame (4311); the connecting section of the first belt (6212) is wound around the winding member (4312) to adjust the length of the first belt (6212) between the first pulley (6211) and the winding member (4312).

14. The magnetic drive conveying system according to claim 9, characterized in that: The lifting mechanism further includes a limiting component (50), The limiting component (50) is provided between the mounting base (10) and the movable guide rail (43), and the limiting component (50) is used to lock or unlock the movable guide rail (43); or, The limiting component (50) is arranged between the first fixed guide rail (41) and the movable guide rail (43), and the limiting component (50) is used to lock or unlock the movable guide rail (43).

15. The magnetic drive conveying system according to claim 14, characterized in that: The limiting component (50) includes a first locking member (51) arranged on the mounting base (10) or on the first fixed guide rail (41) and a second locking member (52) arranged on the movable guide rail (43), one of the first locking member (51) and the second locking member (52) includes a locking slot (521), and the other of the first locking member (51) and the second locking member (52) includes a locking plug (511), and the locking slot (521) is used to cooperate with the locking plug (511).

16. The magnetic drive conveying system according to claim 15, characterized in that: The first locking member (51) and the second locking member (52) are located on a side of the conveying line body (20) away from the guide rail mechanism (40), and the first locking member (51) is movably arranged along the conveying direction (a) or along the width direction of the conveying line body (20) to be plugged into or separated from the second locking member (52).

17. The magnetic drive conveying system according to claim 15, characterized in that: The limiting component (50) further includes a second driving assembly (53) mounted on the mounting base (10) and located above the movable guide rail (43) and the stator module (21), wherein the second driving assembly (53) is drivingly connected to the first locking member (51) to drive the first locking member (51) to move along the conveying direction (a).

18. The magnetic drive conveying system according to claim 17, characterized in that: The limiting component (50) also includes a guide member (54) arranged on the mounting base (10), the axis of the guide member (54) coincides with the projection of the axis of the driving shaft (612) on the upper surface of the conveying line body (20), and the first locking member (51) is slidably arranged on the guide member (54).

19. The magnetic drive conveying system according to claim 18, characterized in that: The first drive assembly (611) and the second drive assembly (53) are respectively located on both sides of the drive shaft (612).

20. The magnetic drive conveying system according to claim 2, characterized in that: An electric slip ring (6121) is sleeved on the driving shaft (612), and a conductive layer is provided inside the first belt (6212) and / or the second belt (6222), and the conductive layer is electrically connected to the electric slip ring (6121).

21. The magnetic drive conveying system according to claim 1, characterized in that: The magnetic drive conveying system further comprises a buffer member (70) arranged between the mounting base (10) and the movable guide rail (43), wherein the buffer member (70) is capable of buffering the movement of the movable guide rail (43) toward the conveying line body (20).

22. The magnetic drive conveying system according to claim 21, characterized in that: The buffer member (70) includes a buffer cylinder (71) arranged on the mounting base (10), an elastic member (72) arranged in the buffer cylinder (71), and a buffer shaft (73) arranged on the movable guide rail (43); when the movable guide rail (43) moves toward the conveying line body (20), the buffer shaft (73) can be inserted into the buffer cylinder (71) and abut against the elastic member (72).

23. The magnetic drive conveying system according to claim 1, characterized in that: The plurality of stator modules (21) are fixedly arranged relative to the mounting base (10), and the magnetic drive conveying system further comprises an in-position detection component (80) arranged between the stator module (21) and the movable guide rail (43), the in-position detection component (80) comprising a reader (81) and a light shielding plate (82), the reader (81) being arranged on one of the stator module (21) and the movable guide rail (43), and the light shielding plate (82) being arranged on the other of the stator module (21) and the movable guide rail (43).

24. The magnetic drive conveying system according to claim 1, characterized in that: The magnetic drive conveying system further comprises at least three distance measuring sensors (90) arranged on the mounting base (10), wherein the at least three distance measuring sensors (90) are not arranged in a colinear manner, and the distance measuring sensors (90) are capable of emitting detection waves to the movable guide rail (43).

25. The magnetic drive conveying system according to claim 1, characterized in that: The plurality of stator modules (21) include a lifting stator (212) corresponding to the movable guide rail (43); the movable guide rail (43) is a frame structure; an escape opening for evading the lifting stator (212) is provided on the upper portion of the frame structure; when the movable module (22) moves onto the movable guide rail (43), the movable module (22) is located inside the frame structure.

26. The magnetic drive conveying system according to claim 9, characterized in that: The mover module (22) comprises a mover body (221), a permanent magnet array (223), a bogie (224), a guide wheel (225) and a support wheel (226); the permanent magnet array (223) is fixedly arranged on the mover body (221) and is used for magnetic coupling with the stator module (21); the bogie (224) is rotatably arranged on the mover body (221); the guide wheel (225) and the support wheel (226) are both arranged on both sides of the bogie (224) in the length direction; The guide rail mechanism (40) is arranged below the support wheel (226), and the first fixed guide rail (41) and the movable guide rail (43) are arranged at intervals along the conveying direction (a). The surfaces of the first fixed guide rail (41) and the movable guide rail (43) close to the stator module (21) are used for rolling connection with the support wheel (226), and the surfaces of the first fixed guide rail (41) and the surfaces of the movable guide rail (43) close to each other are used for rolling connection with the guide wheel (225).

27. The magnetic drive conveying system according to claim 1, characterized in that: The magnetic drive conveying system further comprises a transfer mechanism (100) arranged below the movable guide rail (43), and the transfer mechanism (100) comprises a transfer platform (101) movably arranged along the horizontal direction (c).

28. The magnetic drive conveying system according to claim 27, characterized in that: The carrier (222) has a carrier cavity (2221) and a docking port (2222) located below the carrier cavity (2221) and connected to the carrier cavity (2221); the carrier cavity (2221) and the docking port (2222) pass through the carrier (222) along the horizontal direction (c); the width (d) of the carrier cavity (2221) is greater than the width (e) of the docking port (2222); and the width (e) of the docking port (2222) is greater than the width (f) of the transfer platform (101).

29. The magnetic drive conveying system according to claim 28, characterized in that: When the lifting mechanism drives the movable module (22) to move downward, the movable module (22) has a docking position, and when the movable module (22) is located at the docking position, the bottom wall of the bearing cavity (2221) is lower than the top wall of the transfer platform (101).

30. The magnetic drive conveying system according to claim 27, characterized in that: The transfer platform (101) is provided with a docking piece, wherein: The docking member includes a plurality of docking poles (1011); and / or, The docking member comprises an in-position detection member (1012) that triggers and cooperates with the workpiece (1) carried by the carrying member (222).

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