Magnetic drive conveyor system

Abstract

The application provides a magnetic drive conveying system, comprising a mounting base, a conveying line body, a mover module, a guide rail mechanism and a lifting mechanism. The conveying line body comprises the mover module and a plurality of stator modules, the stator modules are arranged on the mounting base, and the mover module is magnetically coupled with the stator modules. The guide rail mechanism extends along a conveying direction and can guide and support the mover module to move along the conveying direction, and the guide rail mechanism comprises a movable guide rail. The lifting mechanism is located between the mounting base and the conveying line body, and comprises a lifting component, the lifting component is fixedly arranged on the mounting base, 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 along the vertical direction or the horizontal direction. The technical scheme of the application can reduce the weight and cost of the mover module and simplify the structure of the magnetic drive conveying system.

Description

Technical Field

[0001] This invention relates to the field of transportation equipment technology, and more specifically, to a magnetic drive conveying system. Background Technology

[0002] In related technologies, AMHS (Automatic Material Handling System) plays a crucial role in improving production efficiency and shortening product cycle times for wafer fabs manufacturing chips. It typically uses OHT (Overhead Hoist Transport) cranes to transport workpieces. During workpiece transport, due to process requirements, workpieces need to be moved to different locations; for example, OHT cranes can autonomously handle lifting or horizontal transport of workpieces. However, the numerous transport mechanisms integrated into OHT cranes result in their weight and high cost. Summary of the Invention

[0003] The main objective of this invention is to provide a magnetic drive conveying system to solve the problem of the heavy weight of OHT overhead cranes in related technologies.

[0004] To achieve the above objectives, the present invention provides a magnetic drive conveying system, comprising: a mounting base; a conveyor line including a mover module and a plurality of stator modules arranged sequentially along the conveying direction; a mover module magnetically coupled to the stator modules and located further away from the mounting base than the stator modules, the mover module including a mover body and a support member fixedly disposed on the mover body, the support member being further away from the stator modules than the mover body; a 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; and a lifting mechanism located between the mounting base and the stator modules, the lifting mechanism including a limiting component and a lifting component, the lifting component being fixedly disposed on the mounting base, one end of the lifting component being connected to a 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 vertical or horizontal direction.

[0005] Furthermore, the lifting component includes a first power assembly and a pulley assembly. The first power assembly includes a first drive assembly and a drive shaft that is pulsatorically connected to the first drive assembly. The pulley assembly 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. Both the first pulley and the second pulley are fitted onto the drive shaft and can rotate synchronously with the drive shaft. 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 with respect 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 with respect to the center plane of the movable guide rail perpendicular to the conveying direction.

[0007] Furthermore, there is one drive shaft, which is parallel to and spaced apart from the output shaft of the first drive component. The extension direction of the drive shaft and the output shaft of the first drive component is parallel to the conveying direction, and the orthographic projection of the drive 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. The first flattening mechanism and the second flattening mechanism are respectively disposed on both sides of the mounting base perpendicular to the conveying direction. The first flattening mechanism is used to roll into 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 into 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 mounted on the mounting frame, and the limiting pulley and the guide pulley are both fixedly mounted on the flattening base. 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 which is used for rolling engagement with the surface of the first belt, and the side wall of which is used for sliding engagement with the end of the first belt in the width direction.

[0011] Furthermore, there are two guide pulleys located below the limiting pulley and on both sides of the limiting pulley. Each guide pulley includes a guide groove, and the bottom wall of the guide groove is used for rolling engagement 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 mounted on the mounting base. The first fixed guide rail and the second fixed guide rail are spaced apart, and the movable guide rail is located between the first fixed guide rail and the second fixed guide rail. When the moving 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 moving 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 moving module to move in the up and down direction, the lifting stator moves synchronously with the movable guide rail.

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

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

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

[0017] Furthermore, the lifting mechanism also includes a limiting component, which is disposed 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 disposed 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 disposed on the mounting base or on the first fixed guide rail and a second locking member disposed 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. 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 away from the guide rail mechanism. The first locking member is movably arranged along the conveying direction or along the width direction of the conveyor line so as to engage or disengage with the second locking member.

[0020] Furthermore, the limiting component also includes a second drive assembly mounted on the mounting base and located above the movable guide rail and the stator module. The second drive assembly is driven to connect with 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 disposed on the mounting base, the axis of the guide member and the axis of the drive shaft being projected onto the upper surface of the conveyor line, and the first locking member being slidably disposed on the guide member.

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

[0023] Furthermore, an electric slip ring is fitted on the drive shaft, and the interior of the first belt and / or the second belt has a conductive layer, which is electrically connected to the electric slip ring.

[0024] Furthermore, the magnetic drive conveyor system also includes a buffer component disposed between the mounting base and the movable guide rail, which can buffer the movement of the movable guide rail toward the conveyor line.

[0025] Furthermore, the buffer includes a buffer cylinder mounted on the mounting base, an elastic element mounted inside the buffer cylinder, and a buffer shaft mounted on the movable guide rail. When the movable guide rail moves toward the conveyor line, the buffer shaft can be inserted into the buffer cylinder and abut against the elastic element.

[0026] Furthermore, multiple stator modules are fixedly mounted relative to the mounting base. The magnetic drive conveying system also includes a positioning detection component disposed between the stator module and the movable guide rail. The positioning detection component includes a read head and a light shield. The read head is disposed on one of the stator module and the movable guide rail, and the light shield is disposed on the other of the stator module and the movable guide rail.

[0027] Furthermore, the magnetic drive conveying system also includes at least three ranging sensors mounted on the mounting base. The at least three ranging sensors are not collinear and are capable of emitting probe waves toward the movable guide rail.

[0028] Furthermore, the multiple stator modules include a lifting stator corresponding to the movable guide rail. The movable guide rail is a frame structure, and the upper part of the frame structure is provided with a clearance opening to avoid the lifting stator. When the moving module moves onto the movable guide rail, the moving module is located inside the frame structure.

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

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

[0031] Furthermore, the carrier has a carrier cavity and a docking interface located below the carrier cavity and communicating with the carrier cavity. The carrier cavity and the docking interface extend through the carrier in a horizontal direction. The width of the carrier cavity is greater than the width of the docking interface, and the width of the docking interface is greater than the width of the transfer platform.

[0032] Furthermore, when the lifting mechanism moves the moving module downward, the moving module has a docking position. When the moving module is in the docking position, the bottom wall of the bearing cavity is lower than the top wall of the transfer platform.

[0033] Furthermore, the transfer platform is equipped with a docking component, wherein the docking component includes multiple docking posts; and / or, the docking component includes a positioning detection component that triggers engagement with the workpiece carried by the carrier.

[0034] This embodiment of the application sets the lifting component that changes the workpiece height on the mounting base. Compared with the OHT crane in related technologies, the moving module in this embodiment only serves the function of carrying and transporting the workpiece. The moving module does not require an additional transfer mechanism, thereby reducing the weight and cost of the moving module. This embodiment of the application also sets a movable guide rail. The movable guide rail supports and guides the moving module. When the moving 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, while the moving module is limited and guided by the movable guide rail, the moving module can maintain a fixed position during the up and down movement of the movable guide rail, thus ensuring the accuracy of workpiece transfer. This embodiment of the application sets a stator module to change the horizontal position of the workpiece and a lifting component to change the height position of the workpiece, together completing the change of the workpiece's spatial position, so that the workpiece can adapt to the process requirements and be stably transferred to the next process. Attached Figure Description

[0035] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0036] Figure 1 A three-dimensional structural schematic diagram of a magnetic drive conveyor system in some embodiments of this application is shown;

[0037] Figure 2 A front view schematic diagram of a magnetic drive conveyor system in some embodiments of this application is shown;

[0038] Figure 3 Partial schematic diagrams of magnetic drive conveying systems in some embodiments of this application are shown;

[0039] Figure 4 A three-dimensional structural schematic diagram of a portion of the magnetic drive delivery system in some embodiments of this application is shown;

[0040] Figure 5 It shows Figure 4 Enlarged schematic diagram of point A in the magnetic drive conveyor system;

[0041] Figure 6 It shows Figure 4 An enlarged schematic diagram of point B in the magnetic drive conveyor system;

[0042] Figure 7 A top view schematic diagram of a partial structure of a magnetic drive delivery system in some embodiments of this application is shown;

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

[0044] Figure 9 It shows Figure 8 Enlarged schematic diagram of point C in the magnetic drive conveyor system;

[0045] Figure 10 A three-dimensional structural schematic diagram of a portion of the magnetic drive delivery system in some embodiments of this application is shown;

[0046] Figure 11 It shows Figure 10 An enlarged schematic diagram of point D in the magnetic drive conveyor system;

[0047] Figure 12 It shows Figure 10 Enlarged schematic diagram of point E in the magnetic drive conveyor system;

[0048] Figure 13 A side view schematic diagram of a partial structure of a magnetic drive delivery system in some embodiments of this application is shown;

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

[0050] Figure 15 It shows Figure 14 An enlarged schematic diagram of point F of the transfer mechanism in the diagram;

[0051] Figure 16 A three-dimensional structural schematic diagram of the moving module carrying the workpiece is shown in some embodiments of this application;

[0052] Figures 17a-17b A schematic diagram of the process of conveying workpieces in a magnetic drive conveying system according to some embodiments of this application is shown;

[0053] Figures 18a-18b A schematic diagram of the process for conveying workpieces in a magnetic drive conveying system according to other embodiments of this application is shown;

[0054] Figures 19a-19b A schematic diagram of the process of conveying workpieces in a magnetic drive conveying system according to some embodiments of this application is shown;

[0055] Figure 20 A three-dimensional structural schematic diagram of a mover module according to an embodiment of a magnetic drive conveyor system based on the present invention is shown.

[0056] Figure 21 A three-dimensional structural schematic diagram of a mover module according to an embodiment of a magnetic drive conveyor system based on the present invention is shown.

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

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

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

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

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

[0062] The above figures 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. Reader head; 2151. First reader head section; 2152. Second reader head section; 2153. Third reader head section; 2154. Fourth reader head section; 2155. Fifth reader head section; 2156. Sixth reader head section; 2157. Seventh reader head section; 216. Straight section; 217. Curved section; 22. Mover module; 221. Mover body; 2211. Cavity; 222. Bearing component 2221, Bearing cavity; 2222, Interface; 223, Permanent magnet array; 224, Bogie; 225, Guide wheel; 226, Support wheel; 227, Readable medium; 2271, First medium; 2272, Second medium; 2230, Rotating frame; 2231, Connecting part; 2232, Placement part; 2240, Support 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 component; 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 component; 51. First locking component; 511. Locking block; 512. Slider; 513. Transmission seat; 52. Second locking component; 521. Locking slot; 53. Second drive assembly; 531. Motor; 532. Transmission component; 533. Transmission shaft; 54. Guide component;

[0067] 60. Lifting component; 61. First power assembly; 611. First drive assembly; 6111. Motor; 6112. Transmission 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 component; 71. Buffer cylinder; 72. Elastic component; 73. Buffer shaft;

[0069] 80. Arrival detection component; 81. Reader head; 82. Light shield;

[0070] 90. Distance sensor;

[0071] 100. Transfer mechanism; 101. Transfer platform; 1011. Docking column; 1012. Arrival inspection piece;

[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 interface; f. Width of the transfer platform; z. Width direction of the stator module;

[0074] g1, First seam; g2, Second seam. Detailed Implementation

[0075] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0076] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" 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, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0078] like Figures 1 to 4 , Figure 10 , Figure 16 as well as Figures 17a to 19b As shown, this application provides a magnetic drive conveying system, including a mounting base 10, a conveyor line 20, a guide rail mechanism 40, and a lifting mechanism. The conveyor line 20 includes a stator module 21 and a moving module 22. In this embodiment of the magnetic drive conveying system, the lifting mechanism is disposed between the mounting base 10 and the conveyor line 20, and is fixedly connected to the guide rail mechanism 40. When the moving module 22 is located on 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 related technologies, this embodiment avoids placing the lifting mechanism on the moving module 22, so that the moving module 22 only serves the function of carrying and conveying the workpiece, greatly reducing the weight of the moving module 22 and reducing the installation cost of the moving module 22. Specifically, in this embodiment:

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

[0080] The conveyor line 20 serves as a conveying component in the magnetic drive conveyor system to carry and transport the workpiece 1. The conveyor line 20 includes a moving module 22 and a stator module 21. Multiple stator modules 21 are sequentially arranged along the conveying direction a to form one or more conveying paths. The moving module 22 is positioned on the conveying path and moves along the conveying direction a. The moving module 22 carries the workpiece 1 and moves under the drive of the stator module 21 to transport the workpiece 1 to a designated position. The moving module 22 and the stator module 21 achieve relative motion through magnetic coupling. In some embodiments, the moving module 22 includes a permanent magnet array 223, and the stator module 21 includes coil windings. By sequentially energizing the coil windings in the stator module 21, a changing traveling wave magnetic field is generated in the stator module 21. The permanent magnet array 223 couples with the traveling wave magnetic field, causing the moving module 22 to move along the conveying direction a under the influence 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 member 222 fixedly mounted on the mover body 221. The support member 222 is further away from the stator module 21 than the mover body 221. The support member 222 is used to support the workpiece 1, ensuring that the workpiece 1 is stably positioned within the support member 222. The fact that the support member 222 is further away from the stator module 21 than the mover body 221 facilitates the transfer of the workpiece 1 and enables miniaturization of the conveyor line 20. Applying the technical solution of this application embodiment, the conveyor line 20 is provided with a plurality of stator modules 21 in sequence along the conveying direction a. The stator modules 21 are magnetically coupled with the moving modules 22. Under the action of electromagnetic force, the moving modules 22 drive the workpiece 1 in the carrier 222 to move along the conveying direction a. The transfer of workpiece 1 is realized by the magnetic coupling between the stator modules 21 and the moving modules 22. This not only responds quickly but also runs smoothly, improving the conveying efficiency and accuracy of workpiece 1.

[0081] The guide rail mechanism 40, as a guiding component in the magnetic drive conveying system, extends along the conveying direction a and is used to guide and support the moving module 22, so that the moving module 22 can move along the conveying direction a. The guide rail mechanism 40 includes a movable guide rail 43, which can guide and support the moving module 22 during its movement along the conveying direction a.

[0082] The lifting mechanism, as a 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 fixedly mounted on the mounting base 10. One end of the lifting component 60 is connected to the movable guide rail 43. The lifting component 60 can both drive the movable guide rail 43 to move horizontally in the horizontal direction (c) and to move it vertically in the vertical direction (b).

[0083] When the moving module 22 moves onto the movable guide rail 43, the lifting component 60 drives the movable guide rail 43 and the moving module 22 to move along the vertical direction b or the horizontal direction c. Taking the movement of the movable guide rail 43 along the vertical direction b by the lifting component 60 as an example, when the moving 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 moving module 22 to descend along the vertical direction b. This allows the workpiece 1 carried on the moving module 22 to change its spatial position along 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 can adapt to the current process requirements. In some embodiments, the lifting mechanism only drives the movable guide rail 43 or the moving module 22 to move up and down. That is, when the moving module 22 moves to the movable guide rail 43, the stator module 21 drives the moving module 22 to a preset position on the movable guide rail 43. During the process of the lifting component 60 driving the movable guide rail 43 to descend, the moving module 22 and the stator module 21 are decoupled from each other. The moving module 22 is stationary on the movable guide rail 43 until the lifting component 60 lowers the workpiece 1 to a specified height. Then, the external component removes the workpiece 1 from the carrier 222. After the workpiece 1 is removed, the lifting component 60 drives the movable guide rail 43 to rise and reset to its original height, so that the moving module 22 and the stator module 21 are magnetically coupled. Then, the moving module 22 drives out of the movable guide rail 43 under the drive of the stator module 21. That is, in this embodiment, the moving module 22 only serves the functions of conveying and carrying. Compared with the OHT (Overhead Hoist Transport) crane in the related technology, the moving module 22 does not need to be equipped with any transfer mechanism, thereby reducing the weight and cost of the moving module 22. In this embodiment, by fixing the lifting mechanism (i.e. the transfer mechanism in the related technology) to the mounting base 10, the weight and cost of the moving module 22 can be reduced, and the spatial position of the workpiece 1 in the vertical direction b can be changed. By lowering the workpiece 1 to a specified height, the process requirements can be met, and the transfer of the workpiece 1 can be successfully realized. In other embodiments, the lifting component 60 can drive the movable guide rail 43, the stator module 21, and the moving module 22 to move up and down together. That is, when the moving 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 moving module 22 to a preset position. In other words, the embodiments of this application make full use of the time required for the movable guide rail 43 to descend, and drive the moving module 22 to a preset position during the process of the movable guide rail 43 descending, so as to improve time utilization and conveying efficiency.In some embodiments, the lifting component 60 can drive the movable guide rail 43, stator module 21, and mover module 22 to move up and down together. That is, when the mover 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 the current position of the workpiece 1 deviates from its actual position due to factors such as placement error, the stator module 21 can drive the mover module 22 to move in order to achieve precise control of the position of the workpiece 1, thereby reducing or eliminating the deviation between the workpiece 1 and its actual position, improving the accuracy of workpiece 1 transfer, and thus improving the transport accuracy of the magnetic drive conveyor system. Similarly, the above embodiments are also applicable to the case where the lifting component 60 drives the movable guide rail 43 and the mover module 22 to move in 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 another conveyor line 20, the lifting component 60 can drive the movable guide rail 43 and the moving module 22 that moves to the movable guide rail 43 to move together in the vertical direction b or the horizontal direction c, thereby realizing the transfer of the workpiece 1 from the current conveyor line 20 to another conveyor line 20. By setting a 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 conveyor line 20. Compared with the related technology of setting an independent transfer mechanism on the OHT crane to realize the transfer of workpieces, the lifting component 60 in this embodiment is located between the mounting base 10 and the stator module 21, which occupies less space, has a simpler structure, and can reduce the weight of the moving module 22.

[0085] In summary, by setting the lifting component 60 that changes the height of workpiece 1 on the mounting base 10, this embodiment of the application, compared with the OHT crane in related technologies, only serves the function of carrying and conveying workpiece 1. The moving module 22 does not need to be set with an additional transfer mechanism, thereby reducing the weight and cost of the moving module 22. This embodiment of the application also sets a movable guide rail 43. The movable guide rail 43 supports and guides the moving module 22. When the moving module 22 is on the movable guide rail 43, the lifting component 60 changes the height position of the movable guide rail 43, thereby changing the height position of the workpiece 1. That is, while the moving module 22 is limited and guided by the movable guide rail 43, the moving module 22 can maintain a fixed position during the up and down movement of the movable guide rail 43, thereby ensuring the accuracy of workpiece 1 transfer. In this embodiment, the stator module 21 is set to change the horizontal position of the workpiece 1, and the lifting component 60 is set to change the height position of the workpiece 1. Together, they complete the change of the spatial position of the workpiece 1 so that the workpiece 1 can be adapted to the process requirements and be stably transferred 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 this application refers to the magnetic coupling method in which the mover module 22 includes the permanent magnet array 223 and the stator module 21 includes the coil windings. That is, the mover module 22 is a passive device, and its movement can be achieved without external power supply or wireless communication. The relevant magnetic coupling principle has been described above and will not be repeated here. Moreover, the mover module 22 in this application is equipped with a sensor, such as a passive magnetic sensor, and the stator module 21 is equipped with a read head used to read the real-time position of the sensor, thereby obtaining the real-time position of the mover module 22. In other words, the mover module 22 in this embodiment can achieve movement and position acquisition without external power supply or wireless communication. Compared to the OHT crane in related technologies, this application can realize the movement and position detection of the mover without setting a power supply device on the mover module 22. While reducing the weight of the mover module 22, it also facilitates the control of the movement of the mover module 22 and the acquisition of its real-time position.

[0087] It should be noted that the embodiments of this application do not limit the length of the movable guide rail 43 or the number of moving modules 22 located on the movable guide rail 43. In some embodiments, the number of moving modules 22 located on the movable guide rail 43 can be multiple. When multiple moving modules 22 are simultaneously located on the movable guide rail 43, the lifting component 60 drives the movable guide rail 43 to rise and fall, thereby enabling multiple moving modules 22 to rise and fall simultaneously. Compared with the related technology where each OHT crane has an independent transfer mechanism, and when multiple workpieces 1 are raised and lowered simultaneously, the embodiments of this application only set a single lifting component 60, which can realize the synchronous raising and lowering of multiple workpieces 1, thereby improving the conveying efficiency and reducing the setup 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 fixedly disposed on the mounting base 10 and whose position cannot be changed. The moving 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 can be understood that for the positions where the first fixed guide rail 41 and the second fixed guide rail 42 are set, the workpiece 1 does not require lifting and transfer processes. The first fixed guide rail 41 and the second fixed guide rail 42 can connect multiple movable guide rails 43, allowing the moving module 22 to lift and lower at different positions on the movable guide rails 43, thereby realizing the transfer of the workpiece 1. The positions where the movable guide rails 43 are set are the process locations where the workpiece 1 needs to be lifted and transferred.

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

[0090] When the movable guide rail 43 is at the same horizontal height as the first fixed guide rail 41 and the second fixed guide rail 42, the movable module 22 can move along the first fixed guide rail 41, the second fixed guide rail 42, and the movable guide rail 43 to transport the workpiece 1. Alternatively, after moving to the movable guide rail 43, the movable module 22 can descend with the movable guide rail 43 to transfer the workpiece 1. When the movable guide rail 43 is not at the same horizontal height as the first fixed guide rail 41 and the second fixed guide rail 42, there is a gap between the first fixed guide rail 41 and the second fixed guide rail 42. 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 connect with the first fixed guide rail 41, so that the movable module 22 can move from the first fixed guide rail 41 to the movable guide rail 43. Understandably, in some embodiments, the first fixed guide rail 41 and the second fixed guide rail 42 are at the same horizontal height. The movable guide rail 43 drives the first moving module 22 to descend to a specified height. When the second moving module 22 runs to the first fixed guide rail 41 near the movable guide rail 43, the second moving module 22 stops and waits for the movable guide rail 43 to rise to a position level with the first fixed guide rail 41. When the movable guide rail 43 rises to a position level 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. The first moving 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. The second moving module 22 runs from the first fixed guide rail 41 to the movable guide rail 43, and then descends to a specified height under the drive of the movable guide rail 43 to complete the transfer of workpiece 1. In other embodiments, the first fixed guide rail 41 and the second fixed guide rail 42 are offset in the vertical direction b. When the moving module 22 moves 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 and the movable guide rail 43 are connected. Then the movable guide rail 43 can be lowered to a position flush with the second fixed guide rail 42 so that the moving module 22 can carry the workpiece 1 and transport it 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. Then the movable guide rail 43 rises to a position flush with the second fixed guide rail 42 so that the unloaded moving module 22 can be 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, the movable guide rail 43 is driven back to the position connecting the first fixed guide rail 41 and the second fixed guide rail 42 by default. The movable guide rail 43 will only move under the drive of the lifting component 60 when it is necessary to transfer the workpiece 1 to other conveyor lines 20 or to transfer the workpiece 1.

[0092] Specifically, such as Figure 1As shown, "conveying direction a" refers to the direction parallel to the length of the conveyor line 20; "vertical direction b" refers to the direction perpendicular to the upper surface of the conveyor line 20, and also refers to the vertical direction.

[0093] The lifting mechanism in this embodiment can transfer the workpiece 1 along the vertical direction b. Specifically, in some embodiments, the magnetic drive conveying system may include multiple layers of conveyor lines 20 spaced apart in the vertical direction b. Each layer of conveyor lines 20 can independently transport the workpiece 1. A certain interval is maintained between adjacent layers of conveyor lines 20 to ensure smooth transport of the workpiece 1 and reduce the risk of collision between the workpiece 1 and the conveyor lines 20. In adjacent layers of conveyor lines 20, the movable guide rail 43 can realize the transfer of the workpiece 1 between adjacent layers of conveyor lines 20.

[0094] In this embodiment of the application, by setting a first fixed guide rail 41 and a second fixed guide rail 42, the moving module 22 can transport the workpiece 1 along the conveying direction a. By setting the fixed guide rail on the mounting base 10, the stability of the conveying of the moving module 22 is ensured. By setting the first fixed guide rail 41 and the second fixed guide rail 42 at intervals, that is, setting the workpiece 1 transfer point at the interval of the fixed guide rail, 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 setting the conveying part and the lifting part independently, the moving module 22 does not need to consider the transfer of the workpiece when it is in the conveying part. Therefore, the moving module 22 does not need to be equipped with a transfer mechanism, thereby reducing the weight and cost of the moving module 22. When the moving module 22 is in the lifting part, the lifting component 60 is set on the mounting base 10 to realize the transfer of the workpiece 1. There is no need to set a transfer mechanism on the moving module 22, thereby reducing the weight and cost of the moving module 22 and simplifying the structure of the magnetic drive conveying system.

[0095] In addition, in an embodiment not shown in the figure, the lifting component can also drive the movable guide rail and the moving module that moves onto the movable guide rail to move horizontally, thereby realizing the transfer of workpieces between transversely 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 assembly 62. The first power component 61 includes a first drive component 611 and a drive shaft 612 that is pulsorily connected to the first drive component 611. The pulley assembly 62 includes a first pulley assembly 621 and a second pulley assembly 622 that are spaced apart. The first pulley assembly 621 includes a first pulley 6211 and a first belt 6212 wound around the first pulley 6211. The second pulley assembly 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. The connecting 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 along the direction perpendicular to the conveying direction a. This embodiment of the application sets up a first drive component 611 to drive the first pulley 6211 and the second pulley 6221 to rotate synchronously, thereby realizing the retraction or release of the first belt 6212 and the second belt 6222. This enables the lifting component 60 to lift or lower the movable guide rail 43 and the moving module 22, which has the advantages of simple structure and easy control. In addition, the connecting ends of the first belt 6212 and the second belt 6222 are respectively connected to the two sides of the movable guide rail 43 along the direction 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, making the force on both sides of the movable guide rail 43 uniform, 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, which are symmetrically arranged relative to the central plane of the movable guide rail 43 perpendicular to the conveying direction a, and / or multiple second pulley assemblies 622, which are symmetrically arranged relative to the central plane of the movable guide rail 43 perpendicular to the conveying direction a. This arrangement ensures that the lifting forces on both sides of the central plane of the movable guide rail 43 perpendicular to the conveying direction a are the same or similar. This facilitates the lifting component 60 in driving the movable guide rail 43 and the moving module 22 to move in the vertical direction b more stably and efficiently, ensuring that the movable guide rail 43 and the moving module 22 remain balanced during their vertical movement. This reduces the risk of swaying or overturning during their vertical movement, thereby improving the stability of the movable guide rail 43 during lifting.

[0098] like Figure 4 , Figure 7 and Figure 10As shown, there is one drive shaft 612. The drive shaft 612 is parallel to and spaced apart 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. 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 setting one drive shaft 612 to drive the first pulley assembly 621 and the second pulley assembly 622, synchronous rotation of the first pulley assembly 621 and the second pulley assembly 622 can be achieved, suppressing tilting of the lifting component 60, the moving module 22, and the workpiece 1 during the vertical movement along the b direction. At the same time, setting one 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 is located in the middle of the movable guide rail 43, which can ensure the balance of power transmission and improve the stability when transferring the workpiece 1, reducing the risk of tilting or swaying of the movable guide rail 43, the moving module 22, and the workpiece 1 during the vertical movement along the b direction. In addition, there is enough space on both sides of the drive shaft 612 to arrange other structures. For example, the first drive assembly 611 and the second drive assembly 53 can be arranged on both sides of the drive shaft 612 to improve the space utilization of the magnetic drive conveyor system.

[0099] Specifically, such as 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. One pulley of the transmission belt assembly 6112 is mounted on the output shaft of the motor 6111, and the other pulley of the transmission belt assembly 6112 is mounted on the drive 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, which drives the drive shaft 612 to rotate via the transmission belt assembly 6112. The drive shaft 612 drives the first pulley 6211 and the second pulley 6221 mounted on the drive shaft 612 to rotate synchronously, thereby realizing the retraction or release of the first belt 6212 and the second belt 6222, thus realizing the lifting function of the lifting component 60 for the movable guide rail 43 and the moving module 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. The first flattening mechanism 63 and the second flattening mechanism 64 are respectively disposed on both sides of the mounting base 10 perpendicular to the conveying direction a. The first flattening mechanism 63 is used to roll into contact with the first belt 6212 to support and guide it, ensuring that the width direction of the first belt 6212 is parallel to the conveying direction a. The second flattening mechanism 64 is used to roll into contact with the second belt 6222 to support and guide it, ensuring that the width direction of the second belt 6222 is parallel to the conveying direction a. By setting the first flattening mechanism 63 and the second flattening mechanism 64, the possibility of the first belt 6212 or the second belt 6222 overturning due to uneven force during the lifting and lowering of the movable guide rail 43 can be reduced, ensuring that the movable guide rail 43 and the moving module 22 remain balanced during movement along the vertical direction b.

[0101] Specifically, multiple first flattening mechanisms 63 and second flattening mechanisms 64 can be provided. These multiple first flattening mechanisms 63 and multiple second flattening mechanisms 64 are respectively arranged 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. This embodiment of the application, by providing multiple flattening mechanisms on both sides of the mounting base 10, further reduces the possibility of the first belt 6212 or the second belt 6222 overturning due to uneven force, thereby further improving the stability during the lifting and lowering process of the movable guide rail.

[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 frame 10. 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 roll in 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. 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 moving module 22 remain balanced during the movement along the vertical direction b, reducing the risk of swaying or overturning of the movable guide rail 43 and the moving module 22 during the movement along 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 used for rolling engagement with the surface of the first belt 6212, and the side wall of the limiting groove is used for sliding engagement with the end of the first belt 6212 in the width direction. The limiting pulley 632 has a simple structure and can support the first belt 6212. The rolling engagement between the bottom wall of the limiting groove and the surface of the first belt 6212 can effectively reduce the wear of the limiting pulley 632 on the first belt 6212.

[0104] like Figure 5 As shown, guide pulley 633 is located below and on both sides of limiting pulley 632. Guide pulley 633 includes guide groove 6331, the bottom wall of which is used for rolling engagement with the end of the first belt 6212 in the width direction. Guide pulley 633 has a simple structure. The two guide pulleys 633 respectively engage with the two ends of the first belt 6212 in the width direction, which can flatten the first belt 6212, reducing the risk of the first belt 6212 flipping or shifting to the left or right. This ensures that the movable guide rail 43 and the moving module 22 remain balanced during the movement in the vertical direction b, reducing the risk of swaying or overturning. The rolling engagement between the end wall of the first belt 6212 and the bottom wall of the guide groove 6331 can reduce the wear of the first belt 6212 and improve its lifespan.

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

[0106] In some embodiments, such as Figure 4 and Figure 5As shown, the movable guide rail 43 includes a track body 432 and a leveling mechanism 431 disposed on the track body 432. The leveling mechanism 431 includes a fixed frame 4311 and a winding member 4312. The fixed frame 4311 is disposed on the track body 432, and the winding member 4312 is rotatably disposed on the fixed 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 conveyor system conveys the workpiece 1, if the movable guide rail 43 is skewed (that is, the angle between the upper surface of the movable guide rail 43 and the horizontal plane exceeds a preset range), the length of the first belt 6212 between the first pulley 6211 and the winding member 4312 can be adjusted by rotating the winding member 4312 to level the movable guide rail 43. In addition, when the movable guide rail 43 tilts after the magnetic drive conveyor system has been running for a period of time, the machine can be stopped and the attitude of the movable guide rail 43 can be adjusted by the leveling mechanism 431.

[0107] like Figure 4 and Figure 5 As shown, the leveling mechanism 431 also includes a clamping piece disposed 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 portion of the first belt 6212 above the winding member 4312 between the fixed frame 4311 and the clamping piece.

[0108] Specifically, there are multiple leveling mechanisms 431. 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, such as Figure 10 As shown, the lifting mechanism also includes a limiting component 50, which is disposed between the mounting base 10 and the movable guide rail 43. The limiting component 50 is used to lock or unlock the movable guide rail 43. When the workpiece 1 needs to be transferred to another conveyor line 20, the limiting component 50 unlocks the movable guide rail 43, so that the movable guide rail 43 and the moving module 22 move along the vertical direction b under the drive of the lifting component 60. When the workpiece 1 does not need to be transferred to another conveyor line 20 (that is, when the workpiece 1 only passes through the movable guide rail 43 and continues to move along the current conveyor 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 when the moving module 22 enters and exits the movable guide rail 43, and ensure that the moving 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, a limiting component is also disposed 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 disposed 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 disposed on the mounting base 10 or on the first fixed guide rail 41, and a second locking member 52 disposed 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. The locking slot 521 is used to cooperate with the locking plug 511. The cooperation of the locking plug 511 and the locking slot 521 locks the movable guide rail 43 in a position aligned with the first fixed guide rail 41 and the second fixed guide rail 42, which has the advantages of simple structure and easy control.

[0112] Specifically, in this embodiment, the locking block 511 is disposed on the first locking member 51, and the locking slot 521 is disposed on the second locking member 52. In other feasible embodiments, the positions of the locking block and the locking slot can be interchanged, that is, the locking block can be disposed on the second locking member, and correspondingly, the locking slot can be disposed 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 engage or disengage with the second locking member 52. By moving the first locking member 51 to achieve the engagement or disengagement 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 disposed along the conveying direction a. In other feasible embodiments, the first locking member may also be movably disposed along the width direction of the conveyor line; or, the first locking member may be configured as a fixed member and the second locking member as a movable member to achieve the insertion and engagement or separation of the two.

[0115] like Figure 7 , Figure 10 and Figure 11As shown, the limiting component 50 also 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 drivenly 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 located above the movable guide rail 43 and the stator module 21, which can make 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 component 532, and a transmission shaft 533. The first locking component 51 includes a locking block 511, a slider 512, and a transmission seat 513. The locking block 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, and the output shaft of the motor 531 is perpendicular to the transmission shaft 533. The transmission component 532 includes a bevel gear structure, enabling the motor 531 to drive the transmission shaft 533 to rotate. The transmission seat 513 is sleeved on the transmission shaft 533, and when the transmission shaft 533 rotates, it drives the transmission seat 513 to move along the transmission shaft 533, thereby driving the locking block 511 to move along the conveying direction a. When workpiece 1 needs to be transferred to other conveyor lines 20 via the movable guide rail 43, the second drive component 53 can drive the locking block 511 to move away from the locking slot 521 along the conveying direction a, thereby unlocking the movable guide rail 43. This allows the movable guide rail 43 to separate from the first fixed guide rail 41 and the second fixed guide rail 42, thus driving the moving module 22 and workpiece 1 on the moving module 22 to be transferred to other conveyor lines 20. When the transfer of workpiece 1 is completed and the lifting component 60 drives the movable guide rail 43 to reset to the position connecting the first fixed guide rail 41 and the second fixed guide rail 42, the second drive component 53 can drive the locking block 511 to move towards the locking slot 521 along the conveying direction a, thereby locking the movable guide rail 43 and ensuring the smooth movement of the moving module 22 along the current conveyor line 20.

[0117] In this embodiment, there are two sets of first locking members 51 and second locking members 52. The two sets 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. There is one second driving component 53. The second driving component 53 is arranged above the movable guide rail 43 to synchronously drive the two first locking members 51 to move so as to lock or unlock 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 disposed on the mounting base 10. The axis of the guide member 54 coincides with the projection of the axis of the drive shaft 612 onto the upper surface of the conveyor line 20. The first locking member 51 is slidably disposed 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 disposed 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 onto the upper surface of the conveyor line 20. This allows the two first locking members 51 to lock the middle part of the movable guide rail 43 in the width direction, preventing the movable guide rail 43 from deviating.

[0119] like Figure 10 and Figure 11 As shown, the locking insert 511 has a contraction section at one end near the locking slot 521, and the locking slot 521 has an expansion section at one end near the locking insert 511. The upper and lower surfaces of the contraction section and the expansion section form a guide slope, which makes the movement of the locking insert 511 into the locking slot 521 more stable on the one hand, and reduces the alignment accuracy requirements of the locking insert 511 and the locking slot 521 on the other hand, thereby reducing the positional accuracy requirements of the lifting component 60 driving 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 located on both sides of the drive shaft 612. It can be understood that the orthographic projection of the drive shaft 612 onto the movable guide rail 43 is located in the middle of the movable guide rail 43. This arrangement ensures that the first drive assembly 611 and the second drive assembly 53 do not interfere with each other during operation, improves the space utilization of the magnetic drive conveyor system, and facilitates the installation and coordination of the various components of the first drive assembly 611 and the second drive assembly 53.

[0121] In some embodiments, such as Figure 2 and Figure 7As shown, an electric slip ring 6121 is fitted on the drive shaft 612. The first belt 6212 and / or the second belt 6222 have a conductive layer inside, which is electrically connected to the electric slip ring 6121. The conductive layer can supply power to the electrical components (such as sensors) on the movable guide rail 43, enabling these components to operate normally. It is understood that in some embodiments, when the lifting part drives the movable guide rail 43, the stator module 21, and the mover 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. 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 mover module 22. Furthermore, since the first belt 6212 and the second belt 6222 are conductive, when the stator module 21 moves up and down, the first belt 6212 and the second belt 6222 can supply power to the stator module 21, so that the stator module 21 can still drive the mover module 22 to move horizontally during the lifting process, thereby adjusting the moving position of the mover module 22 to improve the accuracy of workpiece 1 transfer. In some embodiments, the mover module 22 is equipped with an ID tag, and the movable guide rail 43 is equipped 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 ID tag of the mover to identify whether the workpiece 1 carried by the mover module 22 needs to be transferred. When it is determined that the workpiece 1 needs to be transferred, the movable guide rail 43 descends; when it is determined that the workpiece 1 does not need to be transferred, the mover module 22 is conveyed along the conveying direction a and moves out of the movable guide rail 43. Understandably, the RFID scanner is electrically connected to the first belt 6212 and the second belt 6222 so that the RFID scanner can be powered and complete the scanning and identification of the ID tag.

[0122] In some embodiments, such as Figure 4 , Figure 8 , Figure 10 and Figure 13As shown, the magnetic drive conveying system also includes a buffer 70 disposed between the mounting base 10 and the movable guide rail 43. The buffer 70 can buffer the movement of the movable guide rail 43 toward the conveyor line 20. It is understood that after the lifting component 60 completes the transfer of the workpiece 1, it will drive the movable guide rail 43 and the moving module 22 upwards. When the movable guide rail 43 is connected to the first fixed guide rail 41 or the second fixed guide rail 42, the buffer 70 serves to reduce the upward impact of the movable guide rail 43, so that the movable guide rail 43 maintains a stable position for a short time. This prevents the movable guide rail 43 from vibrating for a long time after rising to the designated position due to the stretchability of the belt, which could lead to damage or falling of the workpiece 1 on the moving module 22 after it enters the movable guide rail 43. The buffer in this embodiment... The buffer 70 reduces the vibration time and suppresses the vibration frequency of the movable guide rail 43 after it rises to its position, allowing the movable guide rail 43 to quickly reach a stable state. This ensures that the moving module 22 maintains the conveying stability of the workpiece 1 after entering the movable guide rail 43. On the other hand, the buffer 70 provides a layer of protection between the movable guide rail 43 and the mounting base 10, preventing direct contact and collision between the movable guide rail 43 and the mounting base 10, thus improving the lifespan of both the movable guide rail 43 and the mounting base 10. At the same time, the buffer 70 can absorb the impact and vibration during the upward movement of the movable guide rail 43 through its own deformation, protecting various components of the magnetic drive conveying system.

[0123] like Figure 9 As shown, the buffer 70 includes a buffer cylinder 71 disposed on the mounting base 10, an elastic element 72 disposed inside the buffer cylinder 71, and a buffer shaft 73 disposed on the movable guide rail 43. When the movable guide rail 43 moves toward the conveyor line 20, the buffer shaft 73 can be inserted into the buffer cylinder 71 and abut against the elastic element 72. The buffer cylinder 71 and the elastic element 72 are located on the lower side of the mounting base 10. The buffer cylinder 71 has a lower opening, and the buffer shaft 73 is located on the upper side of the movable guide rail 43. When the movable guide rail 43 is located at the 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 element 72. When the lifting component 60 moves the movable guide rail 43 downward, the buffer shaft 73 is gradually pulled out from the buffer cylinder 71 and eventually separates from the buffer cylinder 71, and the elastic element 72 returns to its maximum extension position. When the lifting component 60 moves the movable guide rail 43 upward, the buffer shaft 73 is inserted into the buffer cylinder 71 through the lower opening and squeezes the elastic element 72, thus playing a buffering role.

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

[0125] like Figure 4 , Figure 6 , Figure 7 and Figure 10 As shown, multiple stator modules 21 are fixedly mounted relative to the mounting base 10. The magnetic drive conveying system also includes a position detection component 80 disposed between the stator module 21 and the movable guide rail 43. The position detection component 80 includes a reader 81 (it should be noted that the reader 81 here refers to a different structure than the reader used to detect the real-time position of the mover module 22 mentioned above) and a light shield 82. The reader 81 is disposed on one of the stator module 21 and the movable guide rail 43, and the light shield 82 is disposed on the other of the stator module 21 and the movable guide rail 43. The positioning detection component 80 can accurately detect whether the lifting component 60 has driven the movable guide rail 43 to a predetermined position. The positioning detection component 80 includes a reader 81 and a light-blocking plate 82. The reader 81 can send signals. When the movable guide rail 43 has not reached the predetermined position, the signal sent by the reader 81 can be received normally by the receiver. When the movable guide rail 43 reaches the predetermined position, the light-blocking plate 82 can block the signal sent by the reader 81, preventing the signal from being received by the receiver. The control system of the magnetic drive conveyor system can determine whether the movable guide rail 43 has reached the predetermined position based on the position information fed back by the positioning detection component 80, in order to proceed with the next step of the operation.

[0126] In some embodiments, such as Figure 7 As shown, the magnetic drive conveying system also includes at least three ranging sensors 90 mounted on the mounting base 10. These three ranging sensors 90 are not collinear and can emit probe waves towards the movable guide rail 43. This embodiment uses multiple ranging sensors 90 to obtain the current position and attitude information of the movable guide rail 43. By measuring the distance from the movable guide rail 43 to each ranging sensor 90, the attitude of the movable guide rail 43 during the transfer of the workpiece 1 is determined. For example, when the ranging information obtained by multiple ranging sensors 90 is different, the movable guide rail 43 may be tilted. The PLC calculates the ranging information to determine the degree of tilt of the movable guide rail 43. If the tilt angle of the movable guide rail 43 is greater than a set value, the machine needs to be stopped for adjustment. Conversely, when the ranging information obtained by multiple ranging sensors 90 is the same, the movable guide rail 43 is horizontal. The PLC calculates the ranging information to determine the current height of the movable guide rail 43 to facilitate the transfer of the workpiece 1. Furthermore, by setting multiple ranging sensors 90 to be non-collinear, the accuracy and precision of information acquisition are further improved, so as to achieve more precise control of the movable guide rail 43.

[0127] like Figures 17a to 18bAs shown, multiple stator modules 21 include lifting stators 212 corresponding to the movable guide rail 43. The movable guide rail 43 is a frame structure, with a clearance opening at the top to avoid the lifting stator 212. When the moving module 22 moves onto the movable guide rail 43, the moving module 22 is located inside the frame structure. The clearance opening at the top of the frame structure of the movable guide rail 43 allows the lifting stator 212 to be magnetically coupled to the moving module 22 within the frame structure of the movable guide rail 43, thereby ensuring the continuous movement of the workpiece 1 along the conveying direction a driven by the moving module 22. The frame structure allows the lifting stator 212 to be fixedly mounted on the mounting base outside the clearance opening when the lifting component 60 moves the movable guide rail 43 up and down, thus preventing 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 mounted on the mover body 221 and is used for magnetic coupling with the stator module 21. The bogie 224 is rotatably mounted on the mover body 221. The guide wheel 225 and the support wheel 226 are both located on both sides of the bogie 224 along its length. The guide rail mechanism 40 is located below the support wheel 226. The first fixed guide rail 41 and the movable guide rail 43 are spaced apart along the conveying direction a and are used 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. Composed of multiple permanent magnets, the array generates a strong and stable magnetic field, which interacts with the coil windings on the stator module 21 to form an electromagnetic force that drives the mover module 22 to move along the conveying direction a, thus conveying the workpiece 1. The bogie 224 can rotate around a straight line perpendicular to the upper surface of the conveyor line 20. Through cooperation with the guide wheel 225 and support wheel 226, the bogie 224 provides stable support and directional control for the movement of the mover module 22. The rotatable bogie 224 can change the direction of movement of the mover module 22, allowing it to move flexibly within the guide rail mechanism 40, adapting to the complex layout and turning requirements of the guide rail mechanism 40. The guide wheel 225 ensures that the moving module 22 moves along the conveying direction a, preventing it from deviating from the predetermined track. Simultaneously, the guide wheel 225 uses a rolling connection to engage with the surfaces of the first fixed guide rail 41 and the movable guide rail 43, reducing friction with the inner surface of the guide rail mechanism 40 and improving the lifespan of both. The support wheel 226 supports the moving module 22. The support wheel 226 is rolled to the side of the first fixed guide rail 41 and the movable guide rail 43 closest to the stator module 21, not only distributing the weight of the moving module 22 and the supporting component 222 evenly on the guide rails but also facilitating the movement of the moving module 22 along the conveying direction a under the action of the support wheel 226.

[0129] Specifically, such as Figure 4 As shown, the guide rail mechanism 40 also includes a connecting frame 44. One end of the connecting frame 44 is connected to the mounting base 10, and the other end of the connecting frame 44 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. 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 through the connecting frame 44.

[0130] like Figure 10 , Figure 13 and Figure 16 As shown, the movable guide rail 43 has a frame structure. 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 has an opening at the bottom, and the first track 4322 and the second track 4323 are respectively fixed at both ends of the opening at the bottom of the main frame 4321. The main frame 4321, the first track 4322, and the second track 4323 are connected to form a cavity. The permanent magnet array 223, the bogie 224, the guide wheels 225, and the support wheels 226 are disposed in the cavity. The mover module 22 includes four guide wheels 225 and four support wheels 226. Two guide wheels 225 roll in contact with the inner surface of the first track 4322 and two guide wheels 225 roll in contact with the inner surface of the second track 4323. Two support wheels 226 roll in contact with the upper surface of the first track 4322 and two support wheels 226 roll in contact with the upper surface of the second track 4323.

[0131] like Figure 1 and Figure 14 As shown, the magnetic drive conveying system also 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 moving 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 detached from the carrier 222 on the moving 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 carrier cavity 2221 and a docking interface 2222 located below and communicating with the carrier cavity 2221. The carrier cavity 2221 and the docking interface 2222 extend through the carrier 222 in a horizontal direction c. The width d of the carrier cavity 2221 is greater than the width e of the docking interface 2222, and the width e of the docking interface 2222 is greater than the width f of the transfer platform 101. The carrier cavity 2221 of the carrier 222 is used to place the workpiece 1. By making the width d of the carrier cavity 2221 greater than the width e of the docking interface 2222, the workpiece 1 is prevented from falling off during transportation or transfer. A connection interface 2222 communicating with the bearing cavity 2221 is provided below the bearing member 222. By making the width e of the connection interface 2222 greater than the width f of the transfer platform 101, when the lifting member 60 drives the moving module 22 and the workpiece 1 to move downward along the vertical 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 bearing member 222. This will not affect the transfer platform 101 from driving the workpiece 1 to move along the horizontal direction c, so that the workpiece 1 can detach from the bearing member 222 on the moving module 22.

[0133] like Figure 1 and Figure 2 As shown, when the lifting mechanism moves the moving module 22 downward, the moving module 22 has a docking position. When the moving 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. This arrangement allows the workpiece 1 located in the bearing cavity 2221 to contact the transfer platform 101 and separate from the bottom wall of the bearing cavity 2221 when the moving module 22 is in the docking position. This, in turn, allows the transfer platform 101 to move the workpiece away from the bearing component 222 along the horizontal direction c.

[0134] like Figure 14 and Figure 15 As shown, the transfer platform 101 is equipped with a docking component, which includes multiple docking posts 1011; the docking component also includes a positioning detection component 1012 that engages with the workpiece 1 carried by the carrier 222. The docking posts 1011 can position the workpiece 1, preventing the workpiece 1 from moving or rotating relative to the transfer platform 101; the positioning detection component 1012 can detect whether the workpiece 1 has been smoothly transferred onto the transfer platform 101.

[0135] Specifically, such as Figure 15 As shown, the transfer platform 101 is provided with a docking port. The positioning detection element 1012 is an optical coupler detection element and there are two of them. The two positioning detection elements 1012 are arranged opposite each other on both sides of the docking port. The workpiece 1 has a connector that can extend into the docking port. Each positioning detection element 1012 can detect the distance between its own detection end and the connector, thereby determining 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 along the horizontal direction c; of course, in other feasible embodiments, the transfer platform can also be driven by a magnetic drive mechanism to move along the horizontal direction, that is, the transfer platform can be set on another moving module, which is magnetically coupled to the conveyor line extending along the horizontal direction.

[0137] like Figure 17a and Figure 17b As shown, in this embodiment, the lifting stator 212 is fixedly mounted 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 moving module 22 on it to move. This arrangement 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] Understandably, after the conveyor line 20 is erected, the specifications of the stator module 21 are generally fixed. 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 and heavier, the length of the mover module 22 can be increased to allow the mover module 22 to carry more permanent magnet arrays 223, thereby improving the carrying and transport capacity of the workpiece 1. In this case, the length of the mover module 22 may be greater than the length of the lifting stator 212. 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 straddling the first fixed guide rail 41 and the second fixed guide rail 42 and will not be able to descend with the movable guide rail 43.

[0139] To solve the above problems, such as Figure 18a and Figure 18b As shown, there is a first joint g1 between the lifting stator 212 and the fixed stator 211, and a second joint g2 between the movable guide rail 43 and the first fixed guide rail 41 and the second fixed guide rail 42. The first joint g1 and the second joint g2 are offset in the conveying direction a, and the second joint g2 is located outside the first joint g1. That is, the length of the movable guide rail 43 is greater than the length of the lifting stator 212. When the length of the moving 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 moving module 22. When the moving module 22 moves onto the movable guide rail 43, the moving module 22 is completely within the range of the movable guide rail 43, so that the moving module 22 can rise and fall together 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. Specifically, as shown in the figure... 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 stator 212 is fixedly connected to the movable guide rail 43. When the lifting component 60 drives the movable guide rail 43 and the moving module 22 to move in the vertical direction b, the lifting stator 212 moves synchronously with the movable guide rail 43. That is, the lifting component 60 can drive the movable guide rail 43, the lifting stator 212, and the moving module 22 to rise and fall together. Understandably, when the lifting stator 212 and the moving module 22 rise and fall together, a magnetic attraction force is always maintained between the stator module 21 and the moving module 22. This reduces the possibility of the moving module 22 moving due to wobbling of the movable guide rail 43, ensuring its fixed position relative to the guide rail 43 and improving the stability of workpiece 1 transport. Furthermore, when there is a deviation between the current position and the transport position of workpiece 1, the lifting stator 212 can drive the moving module 22 to move, reducing this deviation and improving the accuracy of workpiece 1 transport. Specifically, a power supply box can be installed on the lifting stator 212 to supply power to the coil windings within it, enabling the lifting stator 212 to drive the moving module 22.

[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 fixed guide rail 41 and the second fixed guide rail 42. The first joint g1 and the second joint 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 moving module 22. When the moving module 22 moves onto the movable guide rail 43, the moving module 22 is completely within the range of the movable guide rail 43, allowing the moving module 22 to rise and fall together with the movable guide rail 43. Even though the length of the moving module 22 is greater than the length of the lifting stator 212, the lifting stator 212 can still couple with part of the moving module 22, and the lifting stator 212 can still complete the drive control of the moving module 22 during the rising and falling process.

[0142] like Figure 19a and Figure 19bAs shown, in this embodiment, the connecting ends of the first belt 6212 and the second belt 6222 are both connected to the lifting stator 212. It can be understood that when the connecting 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 can be changed by adjusting the extension length of the first belt 6212 and the second belt 6222, thereby changing the height of the workpiece 1. Alternatively, when the lifting stator 212 is tilted, the levelness of the lifting stator 212 can be adjusted by individually adjusting the extension length of the first belt 6212 or the second belt 6222, thereby improving the stability of the moving 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 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, this application provides a magnetic drive conveying system. An embodiment of the magnetic drive conveying system 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 mounted on the mover body 221; the support structure 2240 is mounted on the rotating frame 2230 and supports the stator module 21; the guide structure 2250 is mounted on the rotating frame 2230 and guides the stator module 21; the reset structure 2260 is disposed between the rotating frame 2230 and the mover body 221 to maintain the rotating frame 2230 in its initial state.

[0145] Applying the technical solution of this embodiment, 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 mover body 221 is equipped with a support structure 2240 and a guide structure 2250. The support structure 2240 supports and cooperates with the stator module 21 so that the mover body 221 can be stably magnetically coupled to the stator module 21. 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 guide structure 2250 are mounted on the mover body 221 via a rotating frame 2230. When the mover body 221 passes through the arc segment 217 or curved segment on the stator module 21, the rotating frame 2230 can rotate, thereby driving the guide structure 2250 and support structure 2240 mounted thereon to move to a position adapted to the stator module 21, so that the movement direction of the support structure 2240 and guide structure 2250 is close to the conveying direction of the stator module 21, thereby reducing the speed of movement of the support structure 2240 and guide structure 2250. The moving body 221 experiences squeezing and friction between the support structure 2240 and the guide structure 2250 and the stator module 21. When the moving body 221 moves from the arc segment 217 or curved segment on the stator module 21 to the straight segment 216 on the stator module 21, the rotating frame 2230 will be reset to its 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 adapted to the straight segment of the stator module 21, improving the smoothness of the movement of the moving body 221. Therefore, the technical solution of this embodiment can effectively solve the problem of squeezing and friction between the moving body and the stator module 21 when the moving body passes through the arc segment or curved segment in the related art.

[0146] It is understandable that during the movement of the mover body 221 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 frictional force 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 set 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, during 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 frictional force between the support structure and the stator module, which will accelerate the wear of the support structure and the stator module, thereby reducing the service life of the support structure and the stator module. In this embodiment, a rotating frame 2230 is disposed on the moving body 221, and a support structure 2240 and a guide structure 2250 are both disposed on the rotating frame 2230. The guide structure 2250 is used to guide and 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 moving body 221 is conveyed along the straight section 216, since the conveying direction a of the moving body 221 is constant during the conveying process of the straight section 216, the guide structure 2250 guides and cooperates with the stator module 21. Under the limitation of the guide structure 2250, the rotating frame 2230 makes the movement direction of the support structure 2240 parallel to the conveying direction a of the moving body 221, thereby reducing the friction between the support structure 2240 and the stator module 21. When the moving 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 approximately the same as the conveying direction a of the moving body 221. That is, in this embodiment of the application, by setting the guide structure 2250 to guide and cooperate with the stator module 21, 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 thus 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 placement portion 2232 adjacent to both sides of the connecting portion 2231. The connecting portion 2231 is rotatably engaged with the moving body 221. The support structure 2240 and the guide structure 2250 are both disposed in the placement 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 disposed on both sides of the placement portion 2232 along the conveying direction a. The two ends of the first elastic member 2261 are respectively connected to the placement portion 2232 and the moving body 221, and the two ends of the second elastic member 2262 are respectively connected to the placement portion 2232 and the moving body 221. The first elastic element 2261 and the second elastic element 2262 are respectively disposed on both sides of the placement part 2232 along the conveying direction a. Even if the placement part 2232 deflects under the action of the arc segment 217 or the curved segment, when the moving body 221 moves to the straight segment 216, the placement part 2232 quickly returns to the middle position under the action of the first elastic element 2261 and the second elastic element 2262, ensuring the reset effect and avoiding deviation between the movement direction of the support structure 2240 and the conveying direction a of the moving module, so as to improve the stability of the moving module before and after the bend and reduce the friction between the support structure 2240 and the stator module 21. That is, under the action of no external force, the movement direction of the support structure 2240 and the guide structure 2250 disposed on the placement part 2232 is the same as the conveying direction, improving the stability of the moving module in the straight segment 216 and the arc segment 217.

[0148] like Figure 21 As shown, there are two placement parts 2232, which are symmetrically arranged with respect to the connecting part 2231. Each placement part 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 and improving the stability and reliability of the mover body 221 during movement.

[0149] It should be noted that the phrase "the two placement portions 2232 are symmetrically arranged with respect to the connecting portion 2231" refers to the two placement portions 2232 being symmetrically arranged with respect to the center planes of the connecting portion 2231 extending along the conveying direction a. Correspondingly, the support structure 2240, guide structure 2250, and reset structure 2260 provided on the two placement portions 2232 are also symmetrically arranged with respect to the center planes of the connecting portion 2231 extending along the conveying direction a.

[0150] like Figure 21As shown, the first elastic element 2261 and the second elastic element 2262 are symmetrically arranged with respect to the center plane of the placement portion 2232. Here, "center plane of the placement portion 2232" refers to the center plane of the placement portion 2232 perpendicular to the conveying direction a. By symmetrically arranging the first elastic element 2261 and the second elastic element 2262 with respect to the center plane of the placement portion 2232, the same type of elastic element can be used as the first elastic element 2261 and the second elastic element 2262 to apply the same or nearly the same amount of force to the placement portion 2232, thereby improving the accuracy of the placement portion 2232's repositioning.

[0151] like Figure 21 As shown, a cavity 2211 is provided on the mover body 221 corresponding to the placement portion 2232, and at least part of the placement portion 2232 is disposed within the cavity 2211. Both the first elastic member 2261 and the second elastic member 2262 are disposed within the cavity 2211. By extending at least part of the placement portion 2232, along with the support structure 2240 and guide structure 2250 disposed 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. Furthermore, placing both the first elastic member 2261 and the second elastic member 2262 within the cavity 2211 protects them, improving their service life and reset effect.

[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 disposed on the stator bodies 213. The support structure 2240 includes a support wheel 2241, and the guide rail mechanism 40 is supported below the support wheel 2241. The guide rail mechanism 40 includes a first guide rail 451 disposed on a first side of the plurality of stator bodies 213 and a second guide rail 452 disposed on a second side of the plurality of stator bodies 213. The guide structure 2250 includes a first guide member 2251 that guides and cooperates with the first guide rail 451 and a second guide member 2252 that guides and cooperates with the second guide rail 452. The first guide member 2251 is a guide wheel, and the guide wheel guides and cooperates with the side wall of the first guide rail 451. The first guide rail 451 supports and engages with the support wheel 2241, and the first guide rail 451 guides and engages with the first guide member 2251; the second guide rail 452 supports and engages with the support wheel 2241, and the second guide rail 452 guides and engages with the second guide member 2252. This provides support and guidance for 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, which engages with the side wall of the first guide rail 451. This guide wheel, while providing guidance, reduces friction between the first guide member 2251 and the first guide rail 451, improving the smoothness of the mover body 221's movement and extending the service life of both 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 guided and engaged with the side wall of the second guide rail 452.

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

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

[0156] Specifically, such as Figure 21 As shown, a moving module includes a moving body 221 and two rotating frames 2230. Each rotating frame 2230 has two placement parts 2232. Each placement part 2232 is provided with a support wheel 2241 and two guide wheels to improve the stability of the moving module movement.

[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 equipped with a coil 214 and a read head 215 arranged along the conveying direction a. The coil 214 and read head 215 are spaced apart along the width of the stator module 21. The coil 214 is correspondingly positioned and magnetically coupled to the permanent magnet array 223, and the read head 215 is correspondingly positioned and inductively coupled to the readable medium 227. The corresponding positioning and magnetic coupling of the coil 214 and the permanent magnet array 223 enables the mover body 221 to move along the conveying direction a; the corresponding positioning and inductive coupling of the read head 215 and the readable medium 227 enables the position detection 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 position of the readable medium 227 and the read head 215 can be clearly seen.

[0159] In some embodiments, the read head 215 is a strip structure. By directly arranging the read 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, such as Figure 21 and Figure 24 As shown, the mover body 221 includes a permanent magnet array 223, a portion of which forms a readable medium 227. The stator module 21 is provided with a coil 214 and a read head 215 arranged along the transport 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 strip-shaped structure. By directly placing the read head 215 within the coil 214, or by having the read head 215 and the coil 214 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 width of the stator module 21 can be reduced, thereby lowering the overall cost of the stator module 21.

[0161] Specifically, when the reading head 215 is placed inside the coil 214, the reading head 215 may include multiple magnetic induction elements arranged along the conveying direction a. When the reading head 215 is directly placed inside the coil 214, the thickness of the stator module 21 can be reduced. When the reading 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 spliced ​​with 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 can 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 onto the arc segment 217 may change due to factors such as the length of the mover and the turning radius of the arc segment 217. The projection trajectory of the readable medium 227 is misaligned with the arc length of the arc segment 217, that is, the center of the circle corresponding to the projection trajectory of the readable medium 227 is misaligned with the center of the circle corresponding to the arc segment 217. Furthermore, in this embodiment, by spacing the ends of the first read head segment 2151 and the second read head segment 2152 along the width 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 coincides 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, by reducing the distance between the second read head segment 2152 and the readable medium 227, 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 on the moving 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. The read head 215 includes a third read head segment 2153 disposed on the straight segment 216 and a fourth read head segment 2154 and a fifth read head segment 2155 disposed on the arc segment 217. The third read head segment 2153 and the fourth read head segment 2154 are continuously disposed, and the fifth read head segment 2155 and the fourth read head segment 2154 are spaced apart in the width direction of the stator module 21. When the moving body 221 moves along the straight segment 216, the movement trajectory of each point on the moving body 221 is consistent with the extension direction of the straight segment 216; when the moving body moves to the arc segment 217, the movement trajectory of each point on the moving body 221 is not completely consistent with the extension direction of the arc segment 217. At this time, the originally facing readable medium 227 and read head 215 will be misaligned. In this embodiment, by setting a fourth read head segment 2154 and a fifth read head segment 2155 spaced apart on the arc segment 217, when the moving body 221 is in a position on the arc segment 217 close to the straight segment 216, the fourth read head segment 2154... 154 can accurately sense the readable medium 227; when the moving body 221 is located on the arc segment 217 relatively far from the straight segment 216, the readable medium 227 is far away from the fourth read head segment 2154, which weakens 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 moving body 221 moves on the arc segment 217, the readable medium 227 can be guaranteed to be within the good sensing range of at least one of the fourth read head segment 2154 and the fifth read head segment 2155, thereby improving the accuracy of position detection of the moving body 221.

[0164] Preferably, the accuracy of the fifth reading head segment 2155 is lower than that of the fourth reading head segment 2154. The fourth reading head segment 2154, as the primary detection element, has higher detection accuracy to better detect the position of the moving part 221; the fifth reading head segment 2155, as a secondary detection element with lower detection accuracy, is also used to detect the position of the moving part 221. After acquiring the detection data from the fourth and fifth reading head segments 2154, the controller combines the detection data from the fifth reading head segment 2155 with the detection data from the fourth reading head segment 2154 using a compensation algorithm to more accurately determine the current position of the moving part 221. This achieves better detection accuracy for the moving part 221 while also reducing the setup cost of the magnetic drive conveyor 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 disposed on the straight segment 216 and a seventh read head segment 2157 disposed on the arc segment 217. The seventh read head segment 2157 and the sixth read head segment 2156 are continuously disposed. The readable medium 227 includes a first medium 2271 and a second medium 2272 disposed at intervals in the width direction of the mover body 221. The first medium 2271 and the second medium 2272 are disposed on both sides of the seventh read head segment 2157. When the moving body 221 moves along the straight segment 216, all points on the moving body 221 move along the extension direction of the straight segment 216. When the moving body moves to the arc segment 217, the movement trajectory of each point on the moving body 221 is not completely consistent with the extension direction of the arc segment 217. At this time, the originally facing readable medium 227 and the read head 215 will be misaligned. By setting a first medium 2271 and a second medium 2272 spaced apart along the width direction on the moving body 221, and the seventh read head segment 2157 is located between the first medium 2271 and the second medium 2272, when the moving body 221 moves along the arc segment 217, at least one of the first medium 2271 and the second medium 2272 is within the better sensing range of the seventh read head segment 2157, thereby improving the accuracy of position detection of the moving body 221.

[0166] In addition, the first medium 2271 and the second medium 2272 can also be disposed on both sides of the sixth reading head segment 2156. By also distributing the first medium 2271 and the second medium 2272 at intervals on the straight segment 216, the sixth reading head segment 2156 and the first medium 2271 and the second medium 2272 can all be sensed well, thereby improving the accuracy of position detection of the moving 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 multiple coil bodies 2141 arranged along the extension direction of the stator module 21 (only one is shown in the figure for illustration), and the dashed lines inside the stator module 21 show the read head 215, which has a continuous structure.

[0168] In the description of this invention, it should be understood that "a plurality of" means two or more. Directional terms such as "front, back, up, down, left, right," "horizontal, vertical, horizontal," and "top, bottom" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are used solely for the convenience of describing the invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner or outer contours relative to the outline of each component itself.

[0169] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0170] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0171] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A magnetic drive conveying system, characterized in that, include: Mounting base frame (10); The conveyor line (20) includes a mover module (22) and a plurality of stator modules (21) arranged sequentially along the conveying direction (a). The stator modules (21) are disposed on the mounting base (10). The mover module (22) is magnetically coupled to the stator module (21) and is further away from the mounting base (10) than the stator module (21). The mover module (22) includes a mover body (221) and a carrier (222) fixedly disposed on the mover body (221). The carrier (222) is further away from the stator module (21) than the mover body (221). A guide rail mechanism (40) extends along the conveying direction (a) and is capable of guiding and supporting the moving module (22) so that the moving module (22) can move along the conveying direction (a); the guide rail mechanism (40) includes a movable guide rail (43). The lifting mechanism is located between the mounting base (10) and the stator module (21). The lifting mechanism includes a lifting component (60), which is fixedly mounted on the mounting base (10). One end of the lifting component (60) is connected to the movable guide rail (43). When the moving module (22) moves onto the movable guide rail (43), the lifting component (60) can drive the movable guide rail (43) and the moving module (22) to move in the vertical direction (b) or the horizontal direction (c). The lifting component (60) includes a first power assembly (61) and a pulley assembly (62). The first power assembly (61) includes a first drive assembly (611) and a drive shaft (612) that is pulverizedly connected to the first drive assembly (611). The pulley assembly (62) includes a first pulley assembly (621) and a second pulley assembly (622) spaced apart. The first pulley assembly (621) includes a first pulley (6211) and a first belt (6212) wound around the first pulley (6211). The second pulley assembly... 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 sleeved on the drive shaft (612) and can rotate synchronously with the drive shaft (612). The connecting 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 the two sides of the movable guide rail (43) perpendicular to the conveying direction (a). 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 the movable guide rail (43) is located between the first fixed guide rail (41) and the second fixed guide rail (42). When the moving 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 moving module (22) moves from the first fixed guide rail (41) to the movable guide rail (43).

2. The magnetic drive conveying system according to claim 1, characterized in that, The number of first pulley assemblies (621) is multiple, and the multiple first pulley assemblies (621) are symmetrically arranged with respect to the center plane of the movable guide rail (43) perpendicular to the conveying direction (a); and / or, The number of the second pulley assemblies (622) is multiple, and the multiple second pulley assemblies (622) are symmetrically arranged with respect to the center plane of the movable guide rail (43) perpendicular to the conveying direction (a).

3. The magnetic drive conveying system according to claim 1, characterized in that, The number of drive shafts (612) is one. The drive shaft (612) is parallel to and spaced apart 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). The orthographic projection of the drive shaft (612) on the movable guide rail (43) is located at the middle of the movable guide rail (43).

4. The magnetic drive conveying system according to claim 1, characterized in that, The lifting component (60) further includes a first flattening mechanism (63) and a second flattening mechanism (64). The first flattening mechanism (63) and the second flattening mechanism (64) are respectively disposed on both sides of the mounting base (10) perpendicular to the conveying direction (a). The first flattening mechanism (63) is used to roll 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 used to roll 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).

5. The magnetic drive conveying system according to claim 4, characterized in that, 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 frame (10). 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 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).

6. The magnetic drive conveying system according to claim 5, characterized in that, The limiting pulley (632) includes a limiting groove, the bottom wall of which is used for rolling engagement with the surface of the first belt (6212), and the side wall of which is used for sliding engagement with the end of the first belt (6212) in the width direction.

7. The magnetic drive conveying system according to claim 6, characterized in that, The guide pulley (633) is located below the limiting pulley (632) and is disposed 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 to roll with the end of the first belt (6212) in the width direction.

8. The magnetic drive conveying system according to claim 1, characterized in that, The plurality of stator modules (21) include a fixed stator (211) corresponding to the first fixed guide rail (41) and the second fixed guide rail (42) and a lifting stator (212) corresponding to the movable guide rail (43). The lifting stator (212) is fixedly connected to the movable guide rail (43). When the lifting component (60) drives the movable guide rail (43) and the moving module (22) to move along the vertical direction (b), the lifting stator (212) moves synchronously with the movable guide rail (43).

9. The magnetic drive conveying system according to claim 8, characterized in that, There is a first joint (g1) between the lifting stator (212) and the fixed stator (211), and there is a second joint (g2) between the movable guide rail (43) and the first fixed guide rail (41) and the second fixed guide rail (42). The first joint (g1) and the second joint (g2) are offset in the conveying direction (a), and the second joint (g2) is located outside the first joint (g1).

10. The magnetic drive conveying system according to claim 1, characterized in that, The movable guide rail (43) includes a track body (432) and a leveling mechanism (431) disposed on the track body (432). The leveling mechanism (431) includes a fixing frame (4311) and a winding member (4312). The fixing frame (4311) is disposed on the track body (432), and 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).

11. The magnetic drive conveying system according to claim 1, characterized in that, The lifting mechanism also includes a limiting component (50). The limiting component (50) is disposed 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 disposed 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).

12. The magnetic drive conveying system according to claim 11, characterized in that, The limiting component (50) includes a first locking member (51) disposed on the mounting base (10) or disposed on the first fixed guide rail (41) and a second locking member (52) disposed 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). The locking slot (521) is used to cooperate with the locking plug (511).

13. The magnetic drive conveying system according to claim 12, characterized in that, 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 engage or disengage with the second locking member (52).

14. The magnetic drive conveying system according to claim 12, characterized in that, 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 driven to connect with the first locking member (51) to drive the first locking member (51) to move along the conveying direction (a).

15. The magnetic drive conveying system according to claim 14, characterized in that, The limiting component (50) further includes a guide (54) disposed on the mounting base (10), the axis of the guide (54) and the axis of the drive shaft (612) are projected onto the upper surface of the conveyor line (20), and the first locking component (51) is slidably disposed on the guide (54).

16. The magnetic drive conveying system according to claim 15, characterized in that, The first drive assembly (611) and the second drive assembly (53) are located on both sides of the drive shaft (612).

17. The magnetic drive conveying system according to claim 1, characterized in that, An electric slip ring (6121) is fitted on the drive shaft (612). 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).

18. The magnetic drive conveying system according to claim 1, characterized in that, The magnetic drive conveying system also includes a buffer (70) disposed between the mounting base (10) and the movable guide rail (43), the buffer (70) being able to buffer the movement of the movable guide rail (43) toward the conveying line (20).

19. The magnetic drive conveying system according to claim 18, characterized in that, The buffer (70) includes a buffer cylinder (71) disposed on the mounting base (10), an elastic element (72) disposed inside the buffer cylinder (71), and a buffer shaft (73) disposed on the movable guide rail (43). When the movable guide rail (43) moves toward the conveyor line (20), the buffer shaft (73) can be inserted into the buffer cylinder (71) and abut against the elastic element (72).

20. The magnetic drive conveying system according to claim 1, characterized in that, Multiple stator modules (21) are fixedly disposed relative to the mounting base (10). The magnetic drive conveying system further includes a positioning detection component (80) disposed between the stator module (21) and the movable guide rail (43). The positioning detection component (80) includes a reading head (81) and a light shield (82). The reading head (81) is disposed on one of the stator module (21) and the movable guide rail (43), and the light shield (82) is disposed on the other of the stator module (21) and the movable guide rail (43).

21. The magnetic drive conveying system according to claim 1, characterized in that, The magnetic drive conveying system also includes at least three ranging sensors (90) mounted on the mounting base (10). The at least three ranging sensors (90) are not collinear and the ranging sensors (90) can emit probe waves to the movable guide rail (43).

22. The magnetic drive conveying system according to claim 1, characterized in that, The 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 to avoid the lifting stator (212). When the moving module (22) moves onto the movable guide rail (43), the moving module (22) is located inside the frame structure.

23. The magnetic drive conveying system according to claim 1, characterized in that, 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 disposed on the mover body (221) and is used for magnetic coupling with the stator module (21). The bogie (224) is rotatably disposed on the mover body (221). The guide wheel (225) and the support wheel (226) are both disposed on both sides of the bogie (224) in the length direction. The guide rail mechanism (40) is located below the support wheel (226). The first fixed guide rail (41) and the movable guide rail (43) are spaced apart along the conveying direction (a). The side of the first fixed guide rail (41) and the movable guide rail (43) close to the stator module (21) is used to roll with the support wheel (226). The surfaces of the first fixed guide rail (41) and the movable guide rail (43) close to each other are used to roll with the guide wheel (225).

24. The magnetic drive conveying system according to claim 1, characterized in that, The magnetic drive transport system further includes a transfer mechanism (100) disposed below the movable guide rail (43), the transfer mechanism (100) including a transfer platform (101) movably disposed along the horizontal direction (c).

25. The magnetic drive conveying system according to claim 24, characterized in that, The carrier (222) has a carrier cavity (2221) and a docking interface (2222) located below the carrier cavity (2221) and communicating with the carrier cavity (2221). The carrier cavity (2221) and the docking interface (2222) extend 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 interface (2222), and the width (e) of the docking interface (2222) is greater than the width (f) of the transfer platform (101).

26. The magnetic drive conveying system according to claim 25, characterized in that, When the lifting mechanism moves the moving module (22) downward, the moving module (22) has a docking position. When the moving 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).

27. The magnetic drive conveying system according to claim 24, characterized in that, The transfer platform (101) is equipped with a docking component, wherein, The mating component includes a plurality of mating posts (1011); and / or, The docking component includes a positioning detection component (1012) that engages with the workpiece (1) carried by the carrier (222).

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