Stator module, stator equipment, magnetic drive conveying line and three-dimensional warehousing system

Abstract

The invention relates to the technical field of magnetic drive conveying, in particular to a stator module, stator equipment, a magnetic drive conveying line and a three-dimensional warehousing system. The shell is provided with a working surface, the working surface is provided with a downwards-sunken mounting groove, at least part of the structure of the rail part is located in the mounting groove, the rail part is provided with a guide groove, and the guide groove is used for making contact with a guide body of the rotor assembly so as to guide the rotor assembly. The electrical conductor can drive the mover assembly so that the mover assembly can move along the guide slot. In the embodiment of the invention, the mover assembly is in contact with the guide groove, and the stator main body can support the mover assembly and an object borne by the mover assembly, so that the upper part of the mover assembly can bear a heavier object. The working surface of the shell is provided with the downwards-sunken mounting groove, under the condition that the rotor assembly is supported on the rail piece, the gravity center of the rotor assembly is lowered, the size of the stator module in the height direction is small, and the mounting groove can play a certain role in limiting the rail piece.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of magnetic drive conveying, in particular to a stator module, a stator device, a magnetic drive conveying line and a stereoscopic storage system. BACKGROUND

[0002] The magnetic drive conveying line is a multi-mover intelligent conveying system based on the principle of linear motor. The system mainly consists of a stator coil and a moving magnet. The traveling wave magnetic field generated by the stator coil drives the magnet to move, realizing magnetic drive conveying. Each mover does not need to drag a cable and can be independently controlled, which can adapt to the beat of different production stations and improve the flexibility of the production line. In the actual application process, due to the different arrangement positions of the stations, the mover needs to perform a turning action during transportation to make the mover reach the next station. The mover assembly is suspended above the stator device under the action of the magnetic force generated by the stator coil and can move in the preset direction under the action of the magnetic force.

[0003] In the related art, the magnetic drive conveying line has poor carrying capacity. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a stator module, a stator device, a magnetic drive conveying line and a stereoscopic storage system, which can improve the carrying capacity of the magnetic drive conveying line.

[0005] The stator module according to the first aspect of the present application is used to drive a mover assembly to move, the mover assembly comprising a bearing plate and a guide body, and the stator module comprising: a stator body comprising a housing and a track piece connected to each other, the housing having a working surface, the working surface being provided with a downwardly recessed mounting groove, at least part of the structure of the track piece being located in the mounting groove, the track piece having a guide groove, the guide groove being used to contact the guide body of the mover assembly to guide the mover assembly; an electric conductor mounted on the stator body, the electric conductor being configured to generate a magnetic field to enable the magnetized mover assembly to move along the guide groove.

[0006] The stator module according to the embodiments of the present application has at least the following beneficial effects: In the embodiment of this application, the stator body has a guide groove that guides the mover assembly. The mover assembly contacts the guide groove, and the stator body supports the mover assembly and the item carried by the mover assembly, thereby enabling the mover assembly to support items of considerable weight. Furthermore, the working surface of the outer shell has a downwardly recessed mounting groove, and at least a portion of the track component is located within the mounting groove. With the mover assembly supported by the track component, the center of gravity of the mover assembly is lowered, the stator module has a smaller dimension in the height direction, and the mounting groove can provide a certain degree of restriction on the track component, resulting in more stable movement of the mover assembly.

[0007] According to some embodiments of this application, the top surface of the track component is flush with the top of the groove wall of the mounting groove.

[0008] According to some embodiments of this application, the track component includes a first track and a second track that are interconnected. The first track extends along a first direction, and the second track extends along a second direction. The first direction and the second direction are arranged to intersect. The first track and the second track are used to cooperate with the guide of the moving part assembly to guide the moving part assembly.

[0009] According to some embodiments of this application, the track component further includes a connecting track, which includes a first connecting segment, a second connecting segment, a third connecting segment, and a fourth connecting segment that are interconnected. The first connecting segment and the second connecting segment extend along a first direction, and the third connecting segment and the fourth connecting segment extend along a second direction. The outer casing has a first side edge and a second side edge that are disposed opposite to each other, the first side edge extending along the first direction and the second side edge extending along the second direction; The first connecting segment extends to the nearest second side edge, the second connecting segment is connected to the first track, the third connecting segment extends to the nearest first side edge, and the fourth connecting segment is connected to the second track.

[0010] According to some embodiments of this application, the mounting groove includes a first groove wall, a second groove wall, and a third groove wall. The second groove wall is connected to the first groove wall and the third groove wall respectively. The first groove wall and the third groove wall are arranged opposite to each other, and the second groove wall is arranged parallel to the horizontal plane.

[0011] This application also provides a stator module for driving a mover assembly to move, the mover assembly including a support plate and a guide body, comprising: The stator body has a working surface, which is recessed downward to form a guide groove. The guide groove is used to contact the guide body of the mover assembly and to guide the mover assembly. An electrical conductor is mounted on the stator body and is configured to generate a magnetic field that enables a magnetized mover assembly to move along the guide slot.

[0012] According to some embodiments of this application, the guide groove includes a first guide groove and a second guide groove that are interconnected. The first guide groove extends along a first direction, and the second guide groove extends along a second direction. The first direction and the second direction are arranged to intersect. The first guide groove is used to guide the moving part assembly to move along the first direction, and the second guide groove is used to guide the moving part assembly to move along the second direction.

[0013] According to some embodiments of this application, the guide groove has a transition surface, which is connected to the groove wall of the first guide groove and the groove wall of the second guide groove, respectively.

[0014] According to some embodiments of this application, the transition surface is an arc surface.

[0015] According to some embodiments of this application, the electrical conductor includes a first sub-part extending along the first direction and a second sub-part extending along the second direction, and the first sub-part and the second sub-part are arranged in a cross shape.

[0016] According to some embodiments of this application, the stator module further includes a position sensor disposed within the stator body and configured to detect the position of the mover assembly; the stator body includes a support frame, the first sub-part and the second sub-part are both connected to the support frame, the support frame divides the internal space of the stator body into multiple mounting cavities, and at least one of the mounting cavities contains the position sensor.

[0017] According to some embodiments of this application, the stator body has a first side edge and a second side edge that are disposed opposite to each other. The first side edge extends along a first direction, and the second side edge extends along a second direction. The first guide groove is spaced apart from the first side edge, and the second guide groove is spaced apart from the second side edge. The stator body is provided with an installation structure in the area between the first guide groove and the nearest first side edge, and / or the stator body is provided with an installation structure in the area between the second guide groove and the nearest second side edge, the installation structure being used to install brackets and support members.

[0018] According to some embodiments of this application, the area between the first guide groove and the nearest first side edge is a first area, the area between the second guide groove and the nearest second side edge is a second area, and the mounting structure is located in the overlapping area of ​​the first area and the second area.

[0019] According to some embodiments of this application, the stator body is configured as a rectangle, and the stator body has a first side edge and a second side edge that are arranged opposite to each other. The first side edge extends along a first direction, and the second side edge extends along a second direction. The first direction and the second direction are arranged orthogonally.

[0020] This application also provides a stator device, including: support; Multiple independently configured stator modules as described above, the stator body is mounted on the bracket, the guide slots corresponding to two adjacent stator modules are interconnected, and the mover assembly can move from one of the stator modules to the adjacent stator module through the guide slot.

[0021] According to some embodiments of this application, the multiple stator modules are distributed in multiple groups along a horizontal first direction and a second direction, with the first direction and the second direction being arranged intersecting. The stator coils of each stator module can drive the mover assembly to move along the first direction and drive the mover assembly to move along the second direction. Any multiple adjacent stator modules arranged along the first direction or the second direction can form a drive line that drives the mover assembly to move.

[0022] According to some embodiments of this application, each of the stator modules is detachably connected to the corresponding bracket.

[0023] This application also provides a magnetic drive conveyor line, comprising: Stator equipment as described in any of the above; A moving part assembly, which is supported above the guide groove, is movable along the guide groove under the magnetic force generated by the electrical conductor.

[0024] According to some embodiments of this application, the moving part component includes: Support plate; A permanent magnet is installed at the bottom of the support plate; A guide body is installed at the bottom of the support plate, and the guide body contacts the guide groove and can roll along the guide groove.

[0025] This application also provides an automated storage and retrieval system, including: Support components; As described above, a plurality of magnetic drive conveyor lines are arranged at intervals in the vertical direction, and the support member is installed on two adjacent magnetic drive conveyor lines in the vertical direction so that the corresponding magnetic drive conveyor lines are relatively fixed. A lifting device is used to carry the moving part assembly so that the moving part assembly can move vertically from one of the stators to the other stator.

[0026] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0027] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a top view of the stator module in one embodiment of this application; Figure 2 This is a schematic diagram of the stator module in one embodiment of this application; Figure 3 This is a schematic diagram of the stator module in one embodiment of this application; Figure 4 for Figure 3 A magnified view of a portion at position A in the middle; Figure 5 This is a bottom view of the stator module in one embodiment of this application; Figure 6 This is a schematic diagram of the structure of a magnetic drive conveyor line in one embodiment of this application; Figure 7 This is a schematic diagram of the structure of the moving part component in one embodiment of this application; Figure 8 This is a simplified diagram of an automated storage system according to an embodiment of this application. The lifting device is not shown in the diagram.

[0028] Figure label: 100. Stator assembly; 200. Mover assembly; 210. Bearing plate; 220. Permanent magnet; 230. Guide body; 300. Bracket; 400. Stator module; 400a. First drive line; 400b. Second drive line; 410. Stator body; 410a. Mounting cavity; 410b. First side edge; 410c. Second side edge; 410d. Mounting structure; 410e. First guide groove; 410f. Second guide groove; 410g. Transition surface; 411. Support frame; 420. Electrical conductor; 421. First sub-... 422, Second sub-section; 430, Position sensor; 440, First track; 440a, First region; 450, Second track; 450a, Second region; 460, Connecting track; 461, First connecting segment; 462, Second connecting segment; 463, Third connecting segment; 464, Fourth connecting segment; 470, Housing; 470a, Working surface; 470b, First mounting slot; 470c, Second mounting slot; 470d, First slot wall; 470e, Second slot wall; 470f, Third slot wall; 500, Support member. Detailed Implementation

[0029] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0030] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and 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. Therefore, they should not be construed as limitations on this application.

[0031] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0032] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0033] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0034] In related technologies, the mover assembly is suspended above the stator device by the stator coils and moves in a preset direction. The magnetic force generated by the stator coils needs to provide both levitation force and propulsion for the mover assembly. Given a fixed magnetic force from the stator coils, the mover assembly has limited load-bearing capacity. When the mover assembly is carrying a heavy object, it may be pressed against the stator device, preventing it from moving relative to the stator.

[0035] In this embodiment, the guide groove is used to contact the guide body 230 of the mover assembly 200 and to guide the guide body 230 of the mover assembly 200. The stator body 410 can contact and support the mover assembly 200, and the mover assembly 200 can move along the guide groove. The stator coil does not need to provide a large magnetic force to levitate the mover assembly 200, and the mover assembly 200 has a strong load-bearing capacity.

[0036] The stator module 400 in this embodiment is used to drive the actuator assembly 200 to move. Please refer to [link / reference]. Figures 1 to 3 The stator module 400 includes a stator body 410 and an electrical conductor 420. The stator body 410 includes an interconnected housing 470 and a track component. The housing 470 has a working surface 470a with a downwardly recessed mounting groove. At least a portion of the structure of the track component is located within the mounting groove, and the track component has a guide groove. Exemplarily, the working surface 470a is the top surface of the housing 470. During the manufacturing process of the stator module 400, the track component and the housing 470 can be manufactured simultaneously. After manufacturing, the track component can be connected to the housing 470, resulting in high manufacturing efficiency for the stator module 400.

[0037] The guide groove is used for contact between the guide body 230 of the mover assembly 200 and the guide body 230. When the guide body 230 of the mover assembly 200 is in contact with the guide groove, the magnetic force generated by the electrical conductor 420 can drive the mover assembly 200 to move along the mover assembly 200 while overcoming the rolling friction of the guide body 230. The guide body 230 of the mover assembly 200 is partially located within the guide groove, thereby enabling it to move along the extension direction of the guide groove.

[0038] An electrical conductor 420 is installed inside the stator body 410. The electrical conductor 420 is configured to generate a magnetic field that enables the magnetized mover assembly 200 to move along the guide groove. The electrical conductor 420 can apply an upward magnetic force to the mover assembly 200 and also apply a force to the mover assembly 200 along the extension direction of the guide groove. The upward magnetic force on the mover assembly 200 reduces the friction between the mover assembly 200 and the guide groove, while the force applied by the electrical conductor 420 along the extension direction of the guide groove overcomes the rolling friction within the guide body 230 and the guide groove support 300, thereby enabling the mover assembly 200 to move along the guide groove.

[0039] In the embodiment of this application, the stator body 410 has a guide groove that guides the mover assembly 200. The mover assembly 200 is in contact with the guide groove, and the stator body 410 can support the mover assembly 200 and the items carried by the mover assembly 200, so that the top of the mover assembly 200 can support items with a large weight. Furthermore, the working surface 470a of the housing 470 has a downwardly recessed mounting groove, and at least a part of the structure of the track component is located in the mounting groove. When the mover assembly 200 is supported by the track component, the center of gravity of the mover assembly 200 is lowered, the stator module 400 has a smaller dimension in the height direction, and the mounting groove can play a certain limiting role for the track component, making the movement of the mover assembly 200 more stable.

[0040] In one embodiment, please refer to Figure 4 The top surface of the track component is flush with the top of the wall of the mounting groove. The track component being fully housed within the mounting groove further reduces the degree to which it protrudes from the working surface 470a, thereby further lowering the center of gravity height of the mover assembly 200 and reducing the space occupied by the magnetic drive conveyor line in the vertical direction.

[0041] It is understood that other embodiments of this application are not limited to the top surface of the track member being flush with the top of the mounting groove wall. Exemplarily, a portion of the track member is located within the mounting groove, with the top of the track member protruding beyond the top of the mounting groove wall.

[0042] In one embodiment, please refer to Figure 4The mounting groove includes a first groove wall 470d, a second groove wall 470e, and a third groove wall 470f. The second groove wall 470e is connected to both the first groove wall 470d and the third groove wall 470f. The first groove wall 470d and the third groove wall 470f are arranged opposite to each other, and the second groove wall 470e is arranged parallel to the horizontal plane. For example, the first groove wall 470d and the third groove wall 470f are arranged parallel to the vertical direction, forming a rectangular groove. The first groove wall 470d and the third groove wall 470f can restrict the position of the track component along the width direction of the mounting groove, making it difficult for relative displacement to occur between the track component and the housing 470. For example, when the top surface of the track component is flush with the top of the groove wall of the mounting groove, the top surface of the track component is on the same horizontal plane as the top of the first groove wall 470d and the third groove wall 470f.

[0043] It is understood that other embodiments of this application do not limit the shape of the mounting groove. For example, the shape of the mounting groove may be an arc-shaped groove.

[0044] In one embodiment, please refer to Figure 1 and Figure 4 The track component includes a first track 440 and a second track 450 that are interconnected. The first track 440 extends along a first direction, and the second track 450 extends along a second direction. The first direction and the second direction are arranged intersecting. For example, the first direction is as follows: Figure 1 The direction indicated by the middle arrow R1, the second direction is as follows Figure 1 The direction indicated by the middle arrow R2. The first track 440 and the second track 450 can be directly connected or indirectly connected. The first track 440 and the second track 450 are used to cooperate with the rolling element 230 of the mover assembly 200 to guide the mover assembly 200. For example, a first guide groove 410e is formed in the first track 440, and a second guide groove 410f is formed in the second track 450.

[0045] It is understood that the first track 440 and the second track 450 are solid structures independent of the outer shell 470. The first track 440 and the second track 450 are used to cooperate with the rolling element 230 of the mover assembly 200 to guide the mover assembly 200. When the stator assembly moves on the first track 440 or the second track 450, the first track 440 and the second track 450 can limit the planar displacement of the mover assembly 200 except in the extension direction, so that the mover assembly 200 can move relatively stably on the stator module 400.

[0046] In one embodiment, please refer to Figure 1The track component also includes a connecting track 460 disposed on the housing 470. The connecting track 460 includes a first connecting segment 461, a second connecting segment 462, a third connecting segment 463, and a fourth connecting segment 464 that are interconnected. The first connecting segment 461 and the second connecting segment 462 extend along a first direction, and the third connecting segment 463 and the fourth connecting segment 464 extend along a second direction. The connecting track 460 can be a one-piece molded structure. Interconnection means that any one of the first connecting segment 461, the second connecting segment 462, the third connecting segment 463, and the fourth connecting segment 464 is interconnected with the other three structures. The connecting track 460 is approximately cross-shaped.

[0047] The stator body 410 has a first side edge 410b and a second side edge 410c that are oppositely disposed. The first side edge 410b extends along a first direction, and the second side edge 410c extends along a second direction. The first side edges 410b are spaced apart along the second direction, and the second side edges 410c are spaced apart along the first direction. A first connecting segment 461 extends to the nearest second side edge 410c, a second connecting segment 462 connects to a first track 440, a third connecting segment 463 extends to the nearest first side edge 410b, and a fourth connecting segment 464 connects to a second track 450. The track components used to support the mover assembly 200 are divided into a first track 440, a second track 450, and a connecting track 460. The first track 440 and the second track 450 corresponding to a single stator module 400 are connected through the connecting track 460. The track component is assembled from the first track 440, the second track 450 and the connecting track 460. Compared with the one-piece molding of the track, it can reduce the manufacturing precision requirements and assembly precision requirements of the track.

[0048] For example, the mounting slot includes a first mounting slot 470b and a second mounting slot 470c that are interconnected. The first mounting slot 470b extends along a first direction, and the second mounting slot 470c extends along a second direction. The first track 440, the first connecting segment 461, and the second connecting segment 462 are all disposed within the first mounting slot 470b, and the second track 450, the third connecting segment 463, and the fourth connecting segment 464 are all disposed within the second mounting slot 470c.

[0049] In other embodiments, the first track 440, the second track 450, and the connecting track 460 are all detachably mounted on the housing 470. By changing the length of the first track 440, the spacing of the second tracks 450 on the corresponding stator module 400 can be adjusted, and vice versa. For example, shortening the length of the first track 440 shortens the spacing of the connecting tracks 460 along the first direction, thereby reducing the spacing between the second tracks 450. The spacing between the first track 440 and the second track 450 can be adjusted flexibly, allowing the first track 440, the second track 450, and the connecting track 460 to accommodate mover assemblies 200 of various sizes.

[0050] It is understood that other embodiments of this application are not limited to the stator module 400, which also includes a connecting track 460. For example, the first track 440 and the second track 450 are directly connected, and the first track 440 and the second track 450 are integrally formed.

[0051] This application also provides a stator module 400, which includes a stator body 410 and an electrical conductor 420. The stator body 410 has a support member, and its working surface 470a is recessed downward to form a guide groove. The guide groove is used to contact the guide body 230 of the mover assembly 200 and to guide the mover assembly 200. The electrical conductor 420 is mounted on the stator body 410 and can drive the mover assembly 200 so that the mover assembly 200 can move along the guide groove. In this embodiment, the guide groove is directly formed on the working surface 470a of the stator body 410. The guide groove for guiding the mover assembly 200 can be formed by additional machining on the working surface 470a of the stator body 410.

[0052] In one embodiment, please refer to Figure 1 The guide groove includes a first guide groove 410e and a second guide groove 410f that are interconnected. The first guide groove 410e extends along a first direction, and the second guide groove 410f extends along a second direction. The first direction and the second direction are intersecting. For example, the first direction and the second direction are orthogonal, and the first guide groove 410e and the second guide groove 410f are interconnected to form a cross shape. The first direction is as follows: Figure 1 The direction indicated by the middle arrow R1, the second direction is as follows Figure 2The direction indicated by the middle arrow R2. The first guide groove 410e is used to guide the moving part 200 to move along the first direction, and the second guide groove 410f is used to guide the moving part 200 to move along the second direction. When the moving part 200 moves to the junction of the first guide groove 410e and the second guide groove 410f, the electrical conductor 420 can drive the moving part 200 to move along the first direction according to the preset movement path of the moving part 200, and can also drive the moving part 200 to move along the second direction. When the moving part 200 moves from the first guide groove 410e or the second guide groove 410f to the junction, the electrical conductor 420 can also drive the moving part 200 to turn. For example, when the moving part 200 moves from the first guide groove 410e to the junction along the first direction, the electrical conductor 420 can apply a magnetic force along the second direction to the moving part 200 so that the moving part 200 can move from the second guide groove 410f out of the junction along the second direction, thereby realizing the turning of the moving part 200.

[0053] It is understood that other embodiments of this application do not limit the form of the guide groove. Exemplarily, the guide groove may include only the first guide groove 410e or the second guide groove 410f.

[0054] For example, there are two first guide grooves 410e, which are spaced apart along the second direction, and two second guide grooves 410f, which are spaced apart along the first direction. Any one of the first guide grooves 410e is connected to both of the second guide grooves 410f, and any one of the second guide grooves 410f is connected to both of the first guide grooves 410e. The arrangement of the first guide grooves 410e and the second guide grooves 410f can be well adapted to the mover assembly 200 with four guide bodies 230.

[0055] In one embodiment, please refer to Figure 2 The guide groove has a transition surface 410g, which is connected to the groove wall of the first guide groove 410e and the groove wall of the second guide groove 410f, respectively. When the mover assembly 200 moves to the position where the first guide groove 410e and the second guide groove 410f intersect, the transition surface 410g can reduce the interference of the guide grooves on the guide body 230 of the mover assembly 200, and the turning of the mover assembly 200 is smoother. For example, a single first guide groove 410e and a single second guide groove 410f form four transition surfaces 410g.

[0056] In one embodiment, please refer to Figure 2The transition surface 410g is an arc surface. The arc-shaped transition surface 410g can further reduce the interference of the guide groove on the steering of the mover assembly 200, thereby making the steering of the mover assembly 200 smoother. In another embodiment, the transition surface 410g is a plane, and the transition surface 410g forms an obtuse angle with the groove wall of the first guide groove 410e and the groove wall of the second guide groove 410f.

[0057] In one embodiment, please refer to Figure 5 The bottom walls of the first guide groove 410e and the second guide groove 410f are arc-shaped. The arc-shaped groove walls fit the shape of the guide body 230 better to increase the contact area between the guide groove and the guide body 230, thereby further increasing the stability of the movement of the mover assembly 200.

[0058] In one embodiment, please refer to Figure 4 The electrical conductor 420 includes a first sub-part 421 extending along the first direction and a second sub-part 422 extending along the second direction, and the first sub-part 421 and the second sub-part 422 are arranged in a cross shape. The arrangement of the first sub-part 421 and the second sub-part 422 can be well adapted to the movement of the moving part assembly 200 along the orthogonally arranged first and second directions, and the movement of the moving part assembly 200 is relatively smooth.

[0059] In one embodiment, please refer to Figure 5 and Figure 1 The stator module 400 further includes a position sensor 430, which is disposed within the stator body 410 and configured to detect the position of the mover assembly 200. The position sensor 430 can sense the position of the mover assembly 200 in real time, thereby adjusting the movement trajectory of the mover assembly 200. The stator body 410 includes a support frame 411, to which both the first sub-part 421 and the second sub-part 422 are connected. For example, the support frame 411 can be cross-shaped. The support frame 411 divides the internal space of the stator body 410 into multiple mounting cavities 410a, at least one of which contains the position sensor 430. For example, the number of position sensors 430 can be multiple. The cross-shaped support frame 411 can divide the interior of the stator body 410 into four mounting cavities 410a. Each mounting cavity 410a is provided with a corresponding position sensor 430. Multiple position sensors 430 can better measure the space inside the stator body 410 and increase the detection accuracy of the position of the mover assembly 200.

[0060] In one embodiment, please refer to [the document / reference]. Figure 1The stator body 410 has a first side edge 410b and a second side edge 410c that are oppositely disposed. The first side edge 410b extends along a first direction, and the second side edge 410c extends along a second direction. A first guide groove 410e is spaced apart from the first side edge 410b, and a second guide groove 410f is spaced apart from the second side edge 410c. The first direction is as follows: Figure 1 Left and right directions, second direction as Figure 1 The stator body 410 has a mounting structure 410d located in the area between the first guide groove 410e and the nearest first side edge 410b. The mounting structure 410d is used to mount the bracket 300 and the support member 500. In other embodiments, the mounting structure 410d is located in the area between the second guide groove 410f and the nearest second side edge 410c. When there are multiple stator modules 400, they can be mounted on the bracket 300 via the mounting structure 410d, thus enabling the splicing of multiple stator modules 400. The mover assembly 200 can move within the guide grooves on the multiple stator modules 400. The support member 500 mounted on the mounting structure 410d allows the stator modules 400 to be spaced apart in the height direction. When the stator modules 400 form a stator device 100, the support member 500 can support the stator device 100 in the height direction, thus forming a three-dimensional storage system. Furthermore, the mounting structure 410d is located at the boundary of the stator body 410. With the bracket 300 connected to the mounting structure 410d, the bracket 300 can support the mounting structure 410d. The cantilever distance of the stator body 410 is relatively short. When the stator body 410 bears a load, it can improve the stress situation of the housing 470 and reduce the degree of warping of the first side edge 410b and the second side edge 410c of the housing 470. As a result, the alignment of the tracks between two adjacent stator modules 400 is more accurate. For example, the mounting structure 410d has threaded holes, and the bracket 300 and the support member 500 are threadedly connected to the corresponding mounting structure 410d through the threaded holes.

[0061] It is understood that other embodiments of this application do not limit the position of the mounting structure 410d. Exemplarily, the mounting structure 410d may be located on the side of the first guide groove 410e opposite to the first side edge 410b, and / or, the mounting structure 410d may be located on the side of the second guide groove 410f opposite to the second side edge 410c.

[0062] In one embodiment, please refer to Figure 2 and Figure 1The area between the first guide groove 410e and the nearest first side edge 410b is designated as the first region 440a, and the area between the second guide groove 410f and the nearest second side edge 410c is designated as the second region 450a. The mounting structure 410d is located in the overlapping area of ​​the first region 440a and the second region 450a. The first region 440a is connected to the first side edge 410b, and the second region 450a is connected to the second side edge 410c. The overlapping area of ​​the first region 440a and the second region 450a is located in the corner region of the corresponding stator module 400. The mounting structure 410d is positioned as far away as possible from the first guide groove 410e and the second guide groove 410f. When the remaining connecting structures are mounted above the mounting structure 410d, interference of the connecting structures on the movement of the mover assembly 200 can be reduced. Furthermore, the corner location of the mounting structure 410d can further reduce the degree of warping between the first side edge 410b and the second side edge 410c.

[0063] In one embodiment, please refer to Figure 6 The stator body 410 is rectangular. The outer casing 470 can be square or rectangular. The outer casing 470 has a first side edge 410b and a second side edge 410c that are oppositely arranged. The first side edge 410b extends along a first direction, and the second side edge 410c extends along a second direction. The first direction and the second direction are orthogonal.

[0064] In the embodiment of this application, the stator body 410 is rectangular. When there are multiple stator modules 400, adjacent stator modules 400 can be easily spliced ​​and arranged, and the shape of the spliced ​​stator assembly is relatively regular.

[0065] This application also provides a stator device 100, please refer to... Figure 6 The stator assembly 100 includes a support 300 and multiple independently configured stator modules, each of the aforementioned components. The stator body 410 is mounted on the support 300. The guide slots corresponding to adjacent stator modules are interconnected, allowing the mover assembly 200 to move from one stator module to an adjacent stator module via the guide slots. The stator assembly 100 can be assembled according to the actual movement trajectory requirements of the mover assembly 200, and the guide slots between adjacent stator modules are interconnected, enabling the mover assembly 200 to move smoothly from one stator module to another adjacent stator module. For example, the stator assembly 100 can be linear, frame-shaped, or planar.

[0066] In one embodiment, please refer to Figure 6Multiple stator modules 400 are connected to the bracket 300 and are distributed in multiple groups along both the first and second horizontal directions. The first and second directions are arranged intersectingly. The stator coils of each stator module 400 can drive the mover assembly 200 to move along the first direction and drive the mover assembly 200 to move along the second direction. Any multiple adjacent stator modules 400 arranged along the first or second direction can form a drive line to drive the mover assembly 200 to move.

[0067] Multiple stator modules 400 are connected to the bracket 300 and are distributed in multiple groups along both the first and second horizontal directions, with the first and second directions intersecting. The angle between the first and second directions can be a right angle or other angles. For ease of explanation, the multiple stator modules 400 arranged along the first direction are referred to as a row, and the multiple stator modules 400 arranged along the second direction are referred to as a column. For example, Figure 6 The multiple stator modules 400 are arranged in four rows and four columns.

[0068] Each stator module 400's stator coil can drive the mover assembly 200 to move along a first direction and also drive the mover assembly 200 to move along a second direction. The first direction is... Figure 6 The direction indicated by the middle arrow R1, the second direction is Figure 6 As indicated by the arrow R2, the mover assembly 200 can move along either a first direction or a second direction on the corresponding stator module 400, and the specific direction of movement can be selected according to the motion trajectory of the mover assembly 200. Any plurality of adjacent stator modules 400 arranged along the first or second direction can form a drive line that drives the mover assembly 200. For ease of explanation, the drive line formed by any plurality of adjacent stator modules 400 arranged along the first direction is referred to as the first drive line 400a, and the drive line formed by any plurality of adjacent stator modules 400 arranged along the second direction is referred to as the second drive line 400b. For example... Figure 6The first drive line 400a, shown in the dashed box, consists of four stator modules 400 arranged along a first direction, and the second drive line 400b, shown in the other dashed box, consists of four stator modules 400 arranged along a second direction. The first drive line 400a can also consist of two or three stator modules 400 arranged along the first direction, and the second drive line 400b can also consist of two or three stator modules 400 arranged along the second direction. The mover assembly 200 can achieve steering on the stator modules 400 that form both the first drive line 400a and the second drive line 400b. For example, multiple stator modules 400 are formed with at least one first drive line 400a and at least one second drive line 400b. When a second drive line 400b is connected to each end of the first drive line 400a along a first direction, the mover assembly 200 can move along a second direction under the drive of one of the second drive lines 400b, then turn via the first drive line 400a, thereby moving along the first direction under the drive of the first drive line 400a, and then turn via the drive line of the other second drive line 400b, thereby moving along the second direction under the drive of the other second drive line 400b. The embodiments of this application do not limit the number of first drive lines 400a and second drive lines 400b; the number of first drive lines 400a and second drive lines 400b can both be two, or as shown in the example. Figure 6 As shown, there are four first drive lines 400a and four second drive lines 400b.

[0069] In this embodiment, the stator assembly includes multiple independently configured stator modules 400, which are connected to a bracket 300. The stator modules 400 can adjust their assembled shape according to the actual movement trajectory requirements of the mover assembly 200. The multiple stator modules 400 can be mounted on the bracket 300 according to a defined shape, thereby forming the movement trajectory of the mover assembly 200, enabling the mover assembly 200 to smoothly reach the next workstation. The stator modules 400 form drive lines in a first direction and a second direction, allowing the mover assembly 200 to move along the drive lines. Any stator module 400 forming a drive line can also drive the mover assembly 200 to change direction, switching to another intersecting drive line, making the movement direction of the mover assembly 200 more flexible. Furthermore, the arrangement of the stator modules 400 can be aligned with a preset movement path of the mover assembly 200, ensuring that the actual movement path of the mover assembly 200 accurately matches the preset movement path. The stator device 100 is spliced ​​onto the bracket 300 through multiple stator modules 400 to adapt to different preset motion paths of the mover, and the stator device 100 has high adaptability.

[0070] This application also provides a magnetic drive conveyor line; please refer to [link / reference]. Figure 7 The device includes the stator assembly 100 and the mover assembly 200, as described above. The mover assembly 200 is supported above a guide groove and can move along the guide groove under the magnetic force generated by the stator coils. The mover assembly 200 is in contact with the stator body 410, so that the stator body 410 can support the mover assembly 200, thereby improving the load-bearing capacity of the mover assembly 200. For example, a magnetic drive conveyor line can be used in the vehicle manufacturing process of electric vehicles and other motor vehicles, and the magnetic drive conveyor line can be used to transport raw materials required for the manufacturing process.

[0071] In one embodiment, please refer to Figure 8 The mover assembly 200 also includes a support plate 210, permanent magnets 220, and guide bodies 230. The permanent magnets 220 are mounted on the bottom of the support plate 210 and are arranged in a cross shape. The guide bodies 230 are mounted on the bottom of the support plate 210, contact a guide groove, and are capable of rolling along the guide groove; the guide bodies 230 are bullseye bearings. The mover assembly 200 is supported and rolls along the bullseye bearings, and the rotation process of the bullseye bearings is relatively smooth and stable. For example, there are four guide bodies 230, with each of the four corners of the support plate 210 having a guide body 230.

[0072] It is understood that other embodiments of this application do not limit the type of guide 230. For example, guide 230 may be a caster wheel.

[0073] This application also provides an automated storage and warehousing system; please refer to [link / reference]. ​ The automated storage and retrieval system includes a support member 500, a lifting device, and multiple magnetic drive conveyor lines. The multiple magnetic drive conveyor lines are arranged at intervals in the vertical direction, and the support member 500 is installed on two adjacent magnetic drive conveyor lines in the vertical direction to fix the corresponding magnetic drive conveyor lines relative to each other. The lifting device can adjust the position of the moving part assembly 200 in the vertical direction, thereby enabling the moving part assembly 200 to be transferred between the multiple magnetic drive conveyor lines. The moving part assembly 200 can move from one of the stator devices 100 to the lifting device, and then the lifting device can raise or lower the moving part assembly 200 to align with the corresponding guide groove of another stator device 100, thereby realizing the transfer of the moving part assembly 200 in the vertical direction. The automated storage and retrieval system is adaptable to the transfer of goods in the vertical direction and has strong adaptability. For example, the automated storage and retrieval system can be an automated storage and retrieval warehouse.

[0074] In one embodiment, in two stator devices 100 arranged vertically, the lower end of a support member 500 is connected to the mounting structure 410d corresponding to the lower stator device 100, and the upper end of the support member 500 is connected to the bracket 300 corresponding to the upper stator device 100. There can be multiple support members 500; each mounting structure 410d can be connected to a support member 500, or some mounting structures 410d can be connected to support rods. The support rods can support the stator devices 100 between their outer edges, resulting in a smaller cantilever distance and greater overall stability of the automated storage system.

[0075] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and all should be covered within the scope of the specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of protection.

Claims

1. A stator module for driving a mover assembly to move, the mover assembly comprising a support plate and a guide body, characterized in that, include: The stator body includes an interconnected housing and a track component. The housing has a working surface with a recessed mounting groove. At least a portion of the structure of the track component is located within the mounting groove. The track component has a guide groove for contacting a guide body of the mover assembly to guide the mover assembly. An electrical conductor is mounted on the stator body and is configured to generate a magnetic field that enables a magnetized mover assembly to move along the guide slot.

2. The stator module according to claim 1, characterized in that, The top surface of the track component is flush with the top of the groove wall of the mounting groove.

3. The stator module according to claim 1, characterized in that, The track component includes a first track and a second track that are interconnected. The first track extends along a first direction, and the second track extends along a second direction. The first direction and the second direction are arranged to intersect. The first track and the second track are used to cooperate with the guide of the moving part assembly to guide the moving part assembly.

4. The stator module according to claim 3, characterized in that, The track component also includes a connecting track, which includes a first connecting segment, a second connecting segment, a third connecting segment, and a fourth connecting segment that are interconnected. The first connecting segment and the second connecting segment extend along the first direction, and the third connecting segment and the fourth connecting segment extend along the second direction. The outer casing has a first side edge and a second side edge that are disposed opposite to each other, the first side edge extending along the first direction and the second side edge extending along the second direction; The first connecting segment extends to the nearest second side edge, the second connecting segment is connected to the first track, the third connecting segment extends to the nearest first side edge, and the fourth connecting segment is connected to the second track.

5. The stator module according to claim 1, characterized in that, The mounting groove includes a first groove wall, a second groove wall, and a third groove wall. The second groove wall is connected to the first groove wall and the third groove wall respectively. The first groove wall and the third groove wall are arranged opposite to each other, and the second groove wall is arranged parallel to the horizontal plane.

6. A stator module for driving a mover assembly to move, the mover assembly comprising a support plate and a guide body, characterized in that, include: The stator body has a working surface, which is recessed downward to form a guide groove. The guide groove is used to contact the guide body of the mover assembly and to guide the mover assembly. An electrical conductor is mounted on the stator body and is configured to generate a magnetic field that enables a magnetized mover assembly to move along the guide slot.

7. The stator module according to claim 1 or 6, characterized in that, The guide groove includes a first guide groove and a second guide groove that are interconnected. The first guide groove extends along a first direction, and the second guide groove extends along a second direction. The first direction and the second direction are intersected. The first guide groove is used to guide the moving part assembly to move along the first direction, and the second guide groove is used to guide the moving part assembly to move along the second direction.

8. The stator module according to claim 7, characterized in that, The guide groove has a transition surface, which is connected to the groove wall of the first guide groove and the groove wall of the second guide groove, respectively.

9. The stator module according to claim 8, characterized in that, The transition surface is an arc surface.

10. The stator module according to claim 7, characterized in that, The electrical conductor includes a first sub-section extending along the first direction and a second sub-section extending along the second direction, and the first sub-section and the second sub-section are arranged in a cross shape.

11. The stator module according to claim 10, characterized in that, The stator module further includes a position sensor disposed within the stator body and configured to detect the position of the mover assembly. The stator body includes a support frame, to which both the first sub-part and the second sub-part are connected. The support frame divides the internal space of the stator body into multiple mounting cavities, and at least one of the mounting cavities contains the position sensor.

12. The stator module according to claim 7, characterized in that, The stator body has a first side edge and a second side edge that are arranged opposite to each other. The first side edge extends along the first direction, and the second side edge extends along the second direction. The first guide groove is spaced apart from the first side edge, and the second guide groove is spaced apart from the second side edge. The stator body is provided with an installation structure in the area between the first guide groove and the nearest first side edge, and / or the stator body is provided with an installation structure in the area between the second guide groove and the nearest second side edge, the installation structure being used to install brackets and support members.

13. The stator module according to claim 12, characterized in that, The area between the first guide groove and the nearest first side edge is a first region, and the area between the second guide groove and the nearest second side edge is a second region. The mounting structure is located in the overlapping area of ​​the first region and the second region.

14. The stator module according to claim 1 or 6, characterized in that, The stator body is rectangular and has a first side edge and a second side edge that are opposite to each other. The first side edge extends along a first direction and the second side edge extends along a second direction. The first direction and the second direction are orthogonal.

15. A stator device, characterized in that, include: support; Multiple independently configured stator modules as described in any one of claims 1 to 14, wherein the stator body is mounted on the bracket, the guide grooves corresponding to two adjacent stator modules are interconnected, and the mover assembly can move from one of the stator modules to the adjacent stator module through the guide groove.

16. The stator device according to claim 15, characterized in that, The stator modules are distributed in multiple groups along the first and second horizontal directions, with the first and second directions intersecting. The stator coils of each stator module can drive the mover assembly to move along the first direction and drive the mover assembly to move along the second direction. Any multiple adjacent stator modules arranged along the first or second direction can form a drive line that drives the mover assembly to move.

17. The stator device according to claim 15, characterized in that, Each of the stator modules is detachably connected to the corresponding bracket.

18. A magnetically driven conveyor line, characterized in that, include: The stator device as described in claim 15; A moving part assembly, which is supported above the guide groove, is movable along the guide groove under the magnetic force generated by the electrical conductor.

19. The magnetic drive conveyor line according to claim 18, characterized in that, The moving part component includes: Support plate; A permanent magnet is installed at the bottom of the support plate; A guide body is installed at the bottom of the support plate, and the guide body contacts the guide groove and can roll along the guide groove.

20. An automated storage and retrieval system, characterized in that, include: Support components; Multiple magnetic drive conveyor lines as described in claim 18 or 19, wherein the multiple magnetic drive conveyor lines are arranged at intervals in the vertical direction, and the support member is installed on two adjacent magnetic drive conveyor lines in the vertical direction so that the corresponding magnetic drive conveyor lines are relatively fixed. A lifting device is used to carry the moving part assembly so that the moving part assembly can move vertically from one of the stators to the other stator.

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