Mover module and magnetic drive conveying system

Abstract

This invention provides a mover module and a magnetic drive conveying system. The mover module includes a base, a first power harvester, a power storage structure, a second power harvester, and an execution structure. The first power harvester, the second power harvester, the power storage structure, and the execution structure are all disposed on the base, and the power storage structure is electrically connected to the first power harvester, the second power harvester, and the execution structure, respectively. The mover module includes a first conveying direction and a second conveying direction with different directions. The first power harvester extends along the first conveying direction and is used to acquire electrical energy when the base moves along the first conveying direction. The second power harvester extends along the second conveying direction and is used to acquire electrical energy when the base moves along the second conveying direction. The technical solution provided by this invention can solve the problem in the prior art where the power acquisition after commutation of multi-directional moving mover modules may be adversely affected, which can easily lead to unstable power supply and power failure of the execution mechanism.

Description

Technical Field

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

[0002] The existing moving module moves on the stator module. When the conveying direction of the moving module changes, the power supply of the moving module may be adversely affected by the change in the direction of movement, which may lead to unstable power supply, cause power failure of the actuator, and reduce the overall working reliability of the moving module.

[0003] Therefore, existing multi-directional motion actuator modules may be adversely affected by the power supply after motion reversal, which may lead to unstable power supply and power failure of the actuator, and these problems urgently need to be solved. Summary of the Invention

[0004] This invention provides a moving module and a magnetic drive conveying system to at least solve the problem in the prior art where the power supply of a multi-directional moving module may be adversely affected after commutation, which can easily lead to unstable power supply and power failure of the actuator.

[0005] To address the aforementioned problems, according to one aspect of the present invention, a mover module is provided, comprising a substrate, a first power source, a power storage structure, a second power source, and an execution structure; the first power source, the second power source, the power storage structure, and the execution structure are all disposed on the substrate, and the power storage structure is electrically connected to the first power source, the second power source, and the execution structure, respectively; the mover module includes a first conveying direction and a second conveying direction with different directions, the first power source extends along the first conveying direction, and when the substrate moves along the first conveying direction, the first power source is used to acquire electrical energy; the second power source extends along the second conveying direction, and when the substrate moves along the second conveying direction, the second power source is used to acquire electrical energy, and the first power source and the second power source are used to supply power to the execution structure.

[0006] Furthermore, the first power source includes a first power source base and a first power receiving coil. The first power source base includes a first mounting portion and a first receiving portion. The first mounting portion is fixedly connected to the base. The first power receiving coil is disposed in the first receiving portion. A plurality of first power receiving coils are arranged in parallel and spaced apart. Additionally, each second power source includes a second power source base and a second power receiving coil. The second power source base includes a second mounting portion and a second receiving portion. The second mounting portion is fixedly connected to the base. The second power receiving coil is disposed in the second receiving portion. A plurality of second power receiving coils are arranged in parallel and spaced apart.

[0007] Furthermore, the first receiving portion protrudes from the first mounting portion along a third direction, and the second receiving portion protrudes from the second mounting portion along the first conveying direction, wherein the third direction is perpendicular to the first conveying direction and the second conveying direction.

[0008] Furthermore, the moving part module also includes a guide structure, which is detachably mounted on the base. The guide structure includes a mounting base, a guide wheel, and a support wheel. The mounting base is detachably mounted on the base. The guide wheel is rotatably mounted on the mounting base, and the rotation axis of the guide wheel is perpendicular to the first conveying direction and the second conveying direction. The support wheel is rotatably mounted on the mounting base, and the rotation axis of the support wheel extends along the first conveying direction or the second conveying direction.

[0009] Furthermore, the moving module also includes a housing structure, the interior of which is used to accommodate the workpiece to be transported; the actuation structure includes a rotating platform, which is rotatably mounted on the base, and the housing structure is mounted on the rotating platform; the rotating platform adjusts the orientation of the workpiece to be transported by rotating the housing structure.

[0010] Furthermore, the execution structure also includes a lifting unit, which is movably mounted on the base, and a rotating platform is rotatably mounted on the lifting unit to follow the lifting unit's rise and fall; the lifting unit adjusts the height of the housing structure by lifting the rotating platform; or, the execution structure also includes a lifting unit, which is movably mounted on the rotating platform, and the housing structure is mounted on the lifting unit to follow the lifting unit's rise and fall; the lifting unit adjusts the height of the housing structure.

[0011] Furthermore, the execution structure includes a door opening drive unit; the housing structure includes a protective housing and a housing door, the interior of which is used to accommodate the workpiece to be transported; the housing door is rotatably disposed at the opening of the protective housing to open and close the opening; the door opening drive unit is disposed on the protective housing and is drivenly connected to the housing door to drive the housing door to open and close.

[0012] Furthermore, the protective box also includes a door hinge, and the box door is rotatably mounted on the protective box via the door hinge; the door opening drive unit includes a first drive motor, a first gear, a second gear, and at least one bearing; the first drive motor is mounted on the base or the protective box, the first gear is mounted on the shaft of the first drive motor, and the second gear is mounted on one end of the door hinge and meshes with the first gear; the bearing cooperates with the door hinge to support the door hinge; wherein, the first drive motor drives the box door to rotate by driving the first gear and the second gear to rotate.

[0013] Furthermore, the execution structure includes a workpiece bearing section, which is located inside the protective box; the workpiece bearing section is used to carry the workpiece to be transported and drive the workpiece to be transported to move out of or into the protective box in a horizontal direction.

[0014] Furthermore, the workpiece carrying part includes a second drive motor, a drive rod, a first belt conveyor, and a second belt conveyor; the first belt conveyor and the second belt conveyor are spaced apart in the horizontal direction and are respectively installed on the inner side wall of the protective box; the second drive motor is driven to the middle of the drive rod to drive the drive rod to rotate; the two ends of the drive rod are driven to the first belt conveyor and the second belt conveyor respectively to drive the first belt on the first belt conveyor and the second belt on the second belt conveyor to move in a circular motion simultaneously; the upper part of the first belt and the upper part of the second belt respectively carry the workpiece to be transported, and the first belt and the second belt move simultaneously to drive the workpiece to be transported to move out of the protective box or into the protective box in the horizontal direction.

[0015] Furthermore, the workpiece bearing section also includes a central support body, which is used to support the lower part of the workpiece to be transported.

[0016] Furthermore, the central support body includes a central support frame and at least one central support wheel. The central support frame is fixedly installed on the bottom wall inside the protective box and is located between the first belt conveyor and the second belt conveyor. The central support wheel is rotatably installed on the central support frame, and the rotation axis of the central support wheel is parallel to the horizontal direction. The central support wheel is used to support the middle part of the workpiece to be transported. When there are at least two central support wheels, the at least two central support wheels are spaced apart along the extension direction of the central support frame.

[0017] Furthermore, the workpiece bearing part also includes a side limiting body, which is used to cooperate with the side wall limiting guide of the workpiece to be transported in order to constrain the horizontal movement of the workpiece to be transported.

[0018] Furthermore, the side limiting body includes at least two side limiting wheels, the rotation axis of the side limiting wheels being parallel to the vertical direction; one side limiting wheel is rotatably disposed on the upper part of the first belt conveyor, and the other side limiting wheel is rotatably disposed on the upper part of the second belt conveyor, the side limiting wheels being used to limit and cooperate with the side wall of the workpiece to be transported.

[0019] Furthermore, the side limiting body includes at least two side universal balls; one side universal ball is rotatably disposed on the upper part of the first belt conveyor, and the other side universal ball is rotatably disposed on the upper part of the second belt conveyor, and the side universal balls are used to limit and cooperate with the side wall of the workpiece to be transported.

[0020] Furthermore, the execution structure also includes an auxiliary support body, a portion of which is movably disposed; after the door is opened, a portion of the auxiliary support body extends out of the opening to support the part of the workpiece to be transported that has extended out of the opening.

[0021] Furthermore, the auxiliary support includes a third drive motor, an extension frame, and at least one auxiliary support wheel. The third drive motor is located inside the protective box and is driven by the extension frame. The extension frame is movably located at the opening of the protective box. The auxiliary support wheel is rotatably located on the extension frame, and the rotation axis of the auxiliary support wheel is parallel to the horizontal direction. After the box door is opened, the third drive motor drives the extension frame to extend from the opening so that the auxiliary support wheel supports the part of the workpiece to be transported that has extended out of the opening.

[0022] Furthermore, there are at least two auxiliary supports, which are spaced apart in the horizontal direction.

[0023] Furthermore, the auxiliary support includes a telescopic cylinder, a pneumatic frame, and at least one auxiliary roller. The telescopic cylinder is located inside the protective box and is driven by the pneumatic frame. The pneumatic frame is movably located at the opening of the protective box. The auxiliary roller is rotatably located on the pneumatic frame, and the rotation axis of the auxiliary roller is parallel to the horizontal direction. After the box door is opened, the telescopic cylinder drives the pneumatic frame to extend from the opening, so that the auxiliary roller supports the part of the workpiece to be transported that has extended out of the opening.

[0024] Furthermore, the workpiece bearing part includes a fourth drive motor, a transmission component, and a bearing platform; the two ends of the bearing platform in the horizontal direction are slidably mounted on the inner sidewall of the protective box; the fourth drive motor is driven to the bearing platform through the transmission component, which is used to convert the rotation of the fourth drive motor into linear motion to drive the bearing platform to move out of or into the protective box.

[0025] Furthermore, the carrying platform has mating protrusions at both ends along the second conveying direction, and the protective box has sliding limiting grooves on its two inner sidewalls along the second conveying direction. At least a portion of the mating protrusion extends into the sliding limiting groove and slides in contact with the inner wall of the sliding limiting groove. The mating protrusions and the sliding limiting grooves at the same end correspond to each other, so that the carrying platform reciprocates along the first conveying direction. Alternatively, the protective box has mating protrusions on its two inner sidewalls along the second conveying direction, and the carrying platform has sliding limiting grooves at both ends along the second conveying direction. At least a portion of the mating protrusion extends into the sliding limiting groove and slides in contact with the inner wall of the sliding limiting groove. The mating protrusions and the sliding limiting grooves at the same end correspond to each other, so that the carrying platform reciprocates along the first conveying direction.

[0026] Furthermore, the moving module also includes electronic equipment; the housing structure also includes an electrical box, which is installed on the outer wall of the protective box and is used to house the electronic equipment; the electronic equipment is electrically connected to the first power take-off and the second power take-off respectively to obtain electrical energy.

[0027] According to another aspect of the present invention, a magnetic drive conveying system is provided, the magnetic drive conveying system including the aforementioned mover module, the magnetic drive conveying system further including a stator module; the stator module drives the mover module to move by magnetic force; the first power supply and the second power supply respectively obtain electrical energy from the stator module by wireless power supply.

[0028] The present invention provides a moving module comprising a substrate, a first energy harvester, an energy storage structure, a second energy harvester, and an execution structure. The first energy harvester, the second energy harvester, the energy storage structure, and the execution structure are all disposed on the substrate, and the energy storage structure is electrically connected to the first energy harvester, the second energy harvester, and the execution structure, respectively. The moving module includes a first conveying direction and a second conveying direction with different directions. The first energy harvester extends along the first conveying direction and is used to harvest electrical energy when the substrate moves along the first conveying direction. The second energy harvester extends along the second conveying direction and is used to harvest electrical energy when the substrate moves along the second conveying direction. The first and second energy harvesters are used to supply power to the execution structure.

[0029] This invention obtains electrical energy from the energy storage structure by setting a first and a second power collector, respectively. This ensures stable power supply to the multi-directional moving part module after commutation, preventing power outages and improving the overall reliability of the moving part module. The moving part module proposed in this invention achieves stable, dust-free power transmission in a clean environment, filling the gap in the integration of high-precision magnetic actuators and dust-free power supply. In practical use, the moving part module proposed in this invention ensures continuous and reliable power supply to the moving part during high-speed, high-precision movement. This invention has a simple structure and low cost, facilitating assembly and subsequent maintenance. It solves the problem in existing multi-directional moving part modules where power acquisition after commutation may be adversely affected, leading to unstable power supply and power outages in the actuator. Therefore, it is suitable for large-scale application. Attached Figure Description

[0030] 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:

[0031] Figure 1 A schematic diagram of the external structure of the moving part module provided in an embodiment of the present invention is shown;

[0032] Figure 2 A partial structural schematic diagram of a magnetic drive conveyor system provided in an embodiment of the present invention is shown;

[0033] Figure 3 This diagram shows a partial structural schematic of the moving part module provided in an embodiment of the present invention from a bottom-view angle;

[0034] Figure 4 This diagram shows a partial structural schematic of the moving part module provided in an embodiment of the present invention behind a hidden door;

[0035] Figure 5 This diagram shows a partial structural schematic of the workpiece bearing portion in the moving part module provided by an embodiment of the present invention;

[0036] Figure 6 A partial structural schematic diagram of the door opening drive unit provided in an embodiment of the present invention is shown;

[0037] Figure 7 A partial structural schematic diagram of the workpiece support and the base provided in an embodiment of the present invention is shown;

[0038] Figure 8 This diagram shows a partial structural schematic of the workpiece support and base provided in an embodiment of the present invention from another angle;

[0039] Figure 9 This diagram shows a partial structural schematic of the moving part module provided in an embodiment of the present invention from a rear-view angle;

[0040] Figure 10 This diagram shows a partial structural schematic of the moving part module provided by an embodiment of the present invention, viewed from the front angle after being concealed behind the cabinet door;

[0041] Figure 11 A partial structural perspective view of a first power source provided in an embodiment of the present invention is shown;

[0042] Figure 12 A partial structural perspective view of the second power source provided in an embodiment of the present invention is shown.

[0043] The above figures include the following reference numerals:

[0044] 10. Stator module;

[0045] 20. Moving part module; 21. Base; 22. First power source; 221. First opening; 222. First power source base; 2221. First mounting part; 2222. First receiving part; 223. First receiving coil; 23. Second power source; 231. Second opening; 232. Second power source base; 2321. Second mounting part; 2322. Second receiving part; 233. Second receiving coil; 24. Actuating structure; 241. Rotating platform; 242. Door opening drive part; 2421. First drive motor; 2422. First gear; 2 423. Second gear; 2424. Bearing; 243. Workpiece bearing part; 2431. Second drive motor; 2432. Drive rod; 2433. First belt conveyor; 2434. Second belt conveyor; 2435. Middle support frame; 2436. Middle support wheel; 2437. Side limiting wheel; 244. Third drive motor; 245. Extended frame; 246. Auxiliary support wheel; 25. Mounting base; 26. Guide wheel; 27. Support wheel; 28. Box structure; 281. Protective box; 282. Box door; 283. Electrical box. Detailed Implementation

[0046] 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.

[0047] like Figures 1 to 12 As shown, an embodiment of the present invention provides a moving part module 20, including: a base 21, a first power tap 22, a power storage structure, a second power tap 23, and an execution structure 24; the first power tap 22, the second power tap 23, the power storage structure, and the execution structure 24 are all disposed on the base 21, and the power storage structure is electrically connected to the first power tap 22, the second power tap 23, and the execution structure 24 respectively; as shown Figure 2 As shown, the moving module 20 includes a first conveying direction and a second conveying direction with different directions. The first power source 22 extends along the first conveying direction and is used to obtain electrical energy when the base 21 moves along the first conveying direction. The second power source 23 extends along the second conveying direction and is used to obtain electrical energy when the base 21 moves along the second conveying direction. The first power source 22 and the second power source 23 are used to supply power to the execution structure 24.

[0048] This invention obtains electrical energy from the energy storage structure by setting a first power take-off 22 and a second power take-off 23, respectively. This ensures stable power supply to the actuator 24 after commutation of the multi-directional motion module 20, preventing power outages and improving the overall reliability of the motion module 20. The motion module 20 proposed in this invention can achieve stable, dust-free power transmission in a clean environment, filling the gap in the field of high-precision magnetic actuators and dust-free power supply integration. In practical use, the motion module 20 proposed in this invention ensures continuous power supply reliability for the motion module during high-speed, high-precision motion. This invention has a simple structure and low cost, is easy to assemble and maintain, and solves the problem in the prior art where the power acquisition after commutation of the multi-directional motion module 20 may be adversely affected, leading to unstable power supply and power outages in the actuator. It is suitable for large-scale promotion and use.

[0049] In one specific embodiment of the present invention, the first power source 22 and the second power source 23 respectively adopt a wireless power supply method, such as... Figure 3 As shown, the first opening 221 of the first power source 22 for wireless power extraction faces downwards from the base 21, and the second opening 231 of the second power source 23 for wireless power extraction faces sideways to the base 21. Vertically, the distance between the first opening 221 of the first power source 22 and the stator module 10 is a first distance, and the distance between the second opening 231 of the second power source 23 and the stator module 10 is a second distance; the first distance is equal to the second distance. Through this arrangement, the stable power supply to the first power source 22 and the second power source 23 is ensured by the positional relationship of the wireless power extraction related structures.

[0050] like Figure 1 , Figure 3 , Figure 4 and Figure 11 As shown, the first power source 22 includes a first power source base 222 and a first power receiving coil 223. The first power source base 222 includes a first mounting portion 2221 and a first receiving portion 2222. The first mounting portion 2221 is fixedly connected to the base 21. The first power receiving coil 223 is disposed in the first receiving portion 2222, and a plurality of first power receiving coils 223 are arranged in parallel and at intervals; and, as Figure 12 As shown, each of the second power-collecting devices 23 includes a second power-collecting base 232 and a second power-receiving coil 233. The second power-collecting base 232 includes a second mounting portion 2321 and a second receiving portion 2322. The second mounting portion 2321 is fixedly connected to the base 21. The second power-receiving coil 233 is disposed in the second receiving portion 2322. Multiple second power-receiving coils 233 are arranged in parallel and at intervals.

[0051] The first power source 22 includes a first power-taking base 222 and a first receiving coil 223. The first power-taking base 222 is provided with a first mounting portion 2221 and a first receiving portion 2222. The first mounting portion 2221 is fixedly connected to the base 21. A plurality of first receiving coils 223 are arranged in parallel and spaced apart within the first receiving portion 2222. The second power source 23 includes a second power-taking base 232 and a second receiving coil 233. The second power-taking base 232 is provided with a second mounting portion 2321 and a second receiving portion 2322. The second mounting portion 2321 is fixedly connected to the base 21. A plurality of second receiving coils 233 are arranged in parallel and spaced apart within the second receiving portion 2322. The first receiving coil 223 and the second receiving coil 233 together with the capacitor in the energy storage structure form a resonant circuit. When the substrate 21 moves along the first or second conveying direction, the resonant circuit significantly widens the frequency response bandwidth of wireless power pickup and improves energy conversion efficiency through the electromagnetic resonance coupling effect of the coil and the capacitor. This allows the mover module 20 to maintain a stable power supply through resonant energy storage even if it briefly leaves the single-direction movement area during the commutation process. This avoids voltage drop in the energy storage structure due to power input interruption, ensures the continuous and reliable operation of the actuator 24, and improves the power supply continuity and stability of the system under multi-directional movement conditions.

[0052] In one specific embodiment of the present invention, the first receiving coil 223 is arranged in an array within the first receiving portion 2222, and the projection of the first receiving coil 223 on the horizontal plane is located within the projection of the first receiving portion 2222 on the horizontal plane, so as to ensure the stability of magnetic drive transportation; and / or, the first receiving coil 223 has at least two rows of coil groups arranged at intervals within the first receiving portion 2222, the coil groups are all parallel to the first conveying direction, and the first receiving coils 223 in two adjacent coil groups are staggered, so as to ensure the stability of magnetic drive transportation.

[0053] In another specific embodiment of the present invention, the second receiving coil 233 is arranged in an array within the second receiving portion 2322, and the projection of the second receiving coil 233 on the horizontal plane is located within the projection of the second receiving portion 2322 on the horizontal plane, so as to ensure the stability of magnetic drive transportation; and / or, the second receiving coil 233 has at least two rows of coil groups arranged at intervals within the second receiving portion 2322, the coil groups are all parallel to the second transport direction, and the second receiving coils 233 in adjacent coil groups are staggered, so as to ensure the stability of magnetic drive transportation.

[0054] It should be noted that the first power take-off 22 and the second power take-off 23 of this invention adopt the inductive wireless power supply principle. The inductive wireless power supply principle is based on Faraday's law of electromagnetic induction. Specifically, the stator side generates an alternating magnetic field through alternating current, which induces an electromotive force in the receiving coil on the mover side, and finally rectifies it into direct current for use. Multiple sets of rectangular or strip copper coils are embedded along the transmission track at the transmitting end, arranged in segments according to the mover's movement path, and can be independently powered and controlled. The copper coil at the receiving end is wound on a ferrite core and installed at the bottom or side wall of the mover, forming a magnetic coupling pair with the transmitting coil.

[0055] like Figure 2 , Figure 11 and Figure 12 As shown, the first receiving portion 2222 protrudes from the first mounting portion 2221 along a third direction, and the second receiving portion 2322 protrudes from the second mounting portion 2321 along a first conveying direction, wherein the third direction is perpendicular to the first conveying direction and the second conveying direction.

[0056] The first receiving portion 2222 protrudes from the first mounting portion 2221 along a third direction, and the second receiving portion 2322 protrudes from the second mounting portion 2321 along a first conveying direction, with the third direction perpendicular to both the first and second conveying directions. This ensures that the coil planes of the first receiving coil 223 and the second receiving coil 233 are respectively aligned with the power supply planes of the stator power supply structure in the first and second conveying directions. When the moving module 20 moves along the first conveying direction, the first receiving coil 223 forms a magnetic coupling with the power supply structure. When the moving module 20 reverses direction to move along the second conveying direction, the second receiving coil 233 can also maintain a perpendicular alignment with the corresponding power supply plane, avoiding a decrease in magnetic flux coupling efficiency due to the tilt of the generator mounting surface. This ensures that the energy storage structure continuously and stably receives energy, maintains the efficient operation of the resonant circuit formed with the capacitor, effectively solves the problem of power outages or power supply fluctuations that easily occur during the reversal of the moving module 20, and ensures that the execution structure 24 can obtain a stable power supply.

[0057] In one specific embodiment of the present invention, the receiving part of the first power source 22 protrudes downward and is flush with the bottom surface of the base 21, adapting to the vertical power supply track laid on the ground; the receiving part of the second power source 23 protrudes to the side, with its outer edge flush with the side wall of the base 21, aligning with the horizontal power supply coil of the track side wall of the stator module 10; the two receiving parts have a certain height difference, which can be finely adjusted by adding elastic shims to adapt to different track installation errors.

[0058] In one specific embodiment of the present invention, such as Figure 11 and Figure 12As shown, the third direction is perpendicular to the first conveying direction and the second conveying direction. The first receiving part 2222 protrudes from the first mounting part 2221 along the second conveying direction, and the second receiving part 2322 protrudes from the second mounting part 2321 along the third direction, so as to avoid interference between the first power take-off 22 or the second power take-off 23 and the external power supply structure when the moving module 20 is reversed.

[0059] like Figures 3 to 10 As shown, the moving part module 20 also includes a guide structure, which is detachably mounted on the base 21. The guide structure includes a mounting base 25, a guide wheel 26, and a support wheel 27. The mounting base 25 is detachably mounted on the base 21. The guide wheel 26 is rotatably mounted on the mounting base 25, and the rotation axis of the guide wheel 26 is perpendicular to the first conveying direction and the second conveying direction. The support wheel 27 is rotatably mounted on the mounting base 25, and the rotation axis of the support wheel 27 extends along the first conveying direction or the second conveying direction.

[0060] The guide structure is detachably mounted on the base 21 and includes a mounting base 25, a guide wheel 26, and a support wheel 27. The mounting base 25 is detachably connected to the base 21, allowing the entire guide structure to be independently disassembled and replaced, facilitating maintenance and adaptation to different conveying paths. The guide wheel 26 is rotatably mounted on the mounting base 25, with its rotation axis perpendicular to both the first and second conveying directions. It provides lateral limiting and stable guidance during the reversing process of the moving module 20, preventing lateral displacement of the base 21 during multi-directional movement. The support wheel... 27 is also rotatably mounted on the mounting base 25, with its rotation axis extending along the first or second conveying direction. It works in conjunction with the guide wheel 26 to provide axial support force when the moving module 20 moves along different conveying directions, ensuring smooth operation of the moving module 20 and reducing frictional resistance. By orthogonally arranging the axial directions of the guide wheel 26 and the support wheel 27, a guide support structure perpendicular and parallel to the conveying direction is formed, which improves the motion stability of the moving module 20 during the reversing process and reduces the maintenance difficulty and replacement cost caused by the non-removable structure.

[0061] In one specific embodiment of the present invention, the guide structure includes a mounting base 25, a guide wheel 26, and a support wheel 27. The mounting base 25 is an aluminum alloy die-casting part with threaded holes on the side, which can be quickly connected to the base 21 by screws. The guide wheel 26 is made of stainless steel 304, with a wheel surface of 90° and a V-groove. The bearing 2424 is a ceramic sealed bearing. The support wheel 27 is a cylindrical steel wheel with a mirror-polished wheel body and a magnetic positioning block at the bottom, which can be adsorbed and aligned with the ferromagnetic area of ​​the track.

[0062] In one specific embodiment of the present invention, such as Figure 3 , Figure 4 , Figure 5 and Figure 8As shown, there are eight guide structures. The eight guide structures are arranged in pairs at the four corners of the base 21 on the side with the first power take-off 22 and the second power take-off 23. The two guide structures in each group are parallel to the first conveying direction and the second conveying direction, respectively, to ensure that the moving module 20 can move stably along the first conveying direction or the second conveying direction.

[0063] In another specific embodiment of the present invention, there are twelve guide structures, of which eight guide structures are arranged in pairs at the four corners of the side of the base 21 with the first power take-off 22 and the second power take-off 23, and the two guide structures in each pair are parallel to the first conveying direction and the second conveying direction, respectively. The other four guide structures are located in the middle of the four edges of the side of the base 21 with the first power take-off 22 and the second power take-off 23, so as to ensure that the moving module can move stably along the first conveying direction or the second conveying direction, and to avoid the failure of a certain guide structure affecting the movement of the entire moving module 20.

[0064] like Figures 3 to 10 As shown, the moving module 20 also includes a housing structure 28, the interior of which is used to accommodate the workpiece to be transported; the actuation structure 24 includes a rotating platform 241, which is rotatably mounted on the base 21, and the housing structure 28 is mounted on the rotating platform 241; the rotating platform 241 adjusts the orientation of the workpiece to be transported by rotating the housing structure 28.

[0065] The base 21 is equipped with a first power collector 22, a second power collector 23, a power storage structure, and an execution structure 24. The first power collector 22 extends along the first conveying direction, and the second power collector 23 extends along the second conveying direction. Both power collectors acquire electrical energy when the moving module 20 moves in the corresponding direction and supply power to the execution structure 24 through the power storage structure, ensuring that the moving module 20 maintains a stable power supply during the reversing process. The execution structure 24 includes a rotating platform 241, which is rotatably mounted on the base 21. The housing structure 28 is directly disposed on the surface of the rotating platform 241, and its interior is used to accommodate the workpiece to be transported. When the moving module 20 moves in the first or second conveying direction, the rotating platform 241 can be angled independently of the movement direction of the base 21, thereby driving the housing structure 28 to rotate as a whole. This enables flexible adjustment of the orientation of the workpiece to be transported, solving the problem that the moving module 20 cannot change the orientation of the workpiece during multi-directional movement and improving the adaptability of the moving module 20 and the accuracy of subsequent loading and unloading operations.

[0066] In a specific embodiment of the present invention, the rotating platform 241 can be a composite disk structure with two sets of angular contact bearings on the bottom surface, which are connected to the base 21; the internal gear ring is driven by a stepper motor through a harmonic reducer to achieve high-precision rotation; the top surface of the rotating platform 241 is provided with a linear guide rail for fixing the housing structure 28, and an encoder is embedded in the edge of the linear guide rail for feeding back the angle information of the rotating platform 241 to an external controller.

[0067] In another embodiment of the present invention not shown, the execution structure 24 further includes a lifting part, which is movably and vertically disposed on the base 21, and a rotating platform 241 is rotatably disposed on the lifting part to follow the lifting part in rising and falling; the lifting part adjusts the height of the housing structure 28 by lifting and rotating the platform 241; or, the execution structure 24 further includes a lifting part, which is movably and vertically disposed on the rotating platform 241, and the housing structure 28 is disposed on the lifting part to follow the lifting part in rising and falling; the lifting part adjusts the height of the housing structure 28.

[0068] The lifting unit is movably mounted on the base 21, and the rotating platform 241 is rotatably mounted on the lifting unit. This allows the rotating platform 241 to adjust its height synchronously with the overall lifting of the lifting unit, thereby driving the box structure 28 mounted on it to achieve height adjustment. When the moving module 20 moves along the first or second conveying direction, the lifting unit can control the vertical position of the box structure 28 according to the height requirements of the working equipment. This ensures that the workpiece is correctly matched with the docking device at different processing positions during the handover process, solving problems such as docking difficulties caused by the fixed height of the box structure 28. It also reduces the risk of workpiece falling or colliding. At the same time, the rotatable design of the rotating platform 241 on the lifting unit allows the box structure 28 to rotate freely after the height adjustment is completed, enabling independent adjustment of the workpiece orientation. This balances flexibility and operational adaptability, improving the collaborative operation capability and operational reliability of the moving module 20 under complex working conditions.

[0069] like Figure 4 , Figure 5 , Figure 6 and Figure 9 As shown, the execution structure 24 includes a door opening drive unit 242; the housing structure 28 includes a protective housing 281 and a housing door 282. The interior of the protective housing 281 is used to accommodate the workpiece to be transported; the housing door 282 is rotatably disposed at the opening of the protective housing 281 to open and close the opening; the door opening drive unit 242 is disposed on the protective housing 281 and is drivenly connected to the housing door 282 to drive the housing door 282 to open and close.

[0070] The execution structure 24 includes a door opening drive unit 242. The housing structure 28 consists of a protective box 281 and a door 282. The protective box 281 is used to accommodate the workpiece to be transported. The door 282 is rotatably installed at the opening of the protective box 281 to achieve the opening and closing of the opening. The door opening drive unit 242 is directly set on the protective box 281 and forms a drive connection with the door 282. This allows the door opening drive unit 242 to independently drive the door 282 to perform opening and closing actions without interfering with other components, regardless of whether the base 21 is in different positions or whether the rotating platform 241 has completed angle adjustment, during the movement and reversal of the moving module 20 along the first or second conveying direction. This ensures that the interior of the protective box 281 maintains a clean and sealed environment, effectively preventing the intrusion of external pollutants or accidental exposure of the workpiece, and improving the transportation safety and environmental controllability of the workpiece during multi-directional movement and reversal.

[0071] In one specific embodiment of the present invention, the door opening drive unit 242 includes a brushless motor and a gear set including at least two gears, one large and one small; the door 282 and the protective box 281 are rotatably connected by a deep groove ball bearing and a thrust bearing; the door 282 is a double-layer stainless steel structure filled with polyurethane in the middle, with a silicone sealing strip on the edge, and the opening and closing are confirmed by an additional infrared sensor.

[0072] In one specific embodiment of the present invention, there are two boxes 282, which are located on the left and right sides of the opening of the protective box 281, respectively. The two boxes 282 are combined to close the opening of the protective box 281. There are two door opening drive units 242, which correspond one-to-one with the two boxes 282 and drive the corresponding boxes 282 to open or close. The boxes 282 can rotate on an axis parallel to the first conveying direction or the second conveying direction, and / or the boxes 282 can also rotate on an axis perpendicular to the first conveying direction and the second conveying direction.

[0073] like Figure 3 and Figure 6 As shown, the protective box 281 also includes a door hinge, and the box door 282 is rotatably mounted on the protective box 281 via the door hinge; the door opening drive unit 242 includes a first drive motor 2421, a first gear 2422, a second gear 2423, and at least one bearing 2424; the first drive motor 2421 is mounted on the base 21 or the protective box 281, the first gear 2422 is mounted on the rotating shaft of the first drive motor 2421, and the second gear 2423 is mounted on one end of the door hinge and meshes with the first gear 2422; the bearing 2424 cooperates with the door hinge to support the door hinge; wherein, the first drive motor 2421 drives the box door 282 to rotate by driving the first gear 2422 and the second gear 2423 to rotate.

[0074] The protective box 281 is mounted on the rotating platform 241. The box door 282 is rotatably mounted on the opening of the protective box 281 via a door hinge. The door opening drive unit 242 includes a first drive motor 2421, a first gear 2422, a second gear 2423, and at least one bearing 2424. The first drive motor 2421 is fixedly mounted on the base 21 or the protective box 281, and the first gear 2422 is fixedly mounted on its shaft. The second gear 2423 is coaxially mounted on one end of the door hinge and meshes with the first gear 2422. The bearing 2424 is installed in conjunction with the door hinge to provide power to the door hinge. The system provides stable support and reduces rotational resistance. When the first drive motor 2421 starts, its output torque is directly transmitted to the door shaft via the gear transmission of the first gear 2422 and the second gear 2423, driving the door shaft to rotate, thereby causing the door 282 to rotate around the door shaft to achieve opening and closing actions. This transmission structure adopts a gear meshing transmission method, which ensures transmission accuracy and door opening and closing speed. It is suitable for workpiece transportation scenarios in clean environments, ensuring that the door 282 can maintain high reliability during frequent opening and closing, thereby improving the applicability and stability of the overall moving module 20 in precision manufacturing environments.

[0075] In a specific embodiment of the present invention, the door hinge can be a hollow shaft, with bearing assemblies consisting of deep groove ball bearings and thrust bearings at both ends. The front end of the bearing assembly is a deep groove ball bearing, the rear end is a thrust bearing, and a wave spring washer is provided in the middle to eliminate thermal expansion gaps. The first gear 2422 and the second gear 2423 can be made of hard anodized aluminum alloy, which is lightweight while ensuring sufficient strength and rigidity. The first gear 2422 and the first drive motor 2421 are connected by a shaft keyway and a pin. The first gear 2422 and the second gear 2423 have a helical tooth structure, and the second gear 2423 is mounted on the door hinge. To protect the first gear 2422 and the second gear 2423, a transparent protective cover is provided on the gear assembly.

[0076] In another specific embodiment of the present invention (not shown), the door opening drive unit 242 may include a first drive motor 2421, a first worm gear, a first worm wheel, and at least one bearing 2424. The first drive motor 2421 is mounted on the base 21 or the protective box 281. The first worm gear is mounted on the shaft of the first drive motor 2421. The first worm wheel is mounted on one end of the door hinge and meshes with the first worm gear. The bearing 2424 cooperates with the door hinge to support the door hinge. The first drive motor 2421 drives the box door 282 to rotate by driving the first worm gear and the first worm wheel to rotate.

[0077] like Figure 4 , Figure 5 , Figure 7 and Figure 10As shown, the execution structure 24 includes a workpiece bearing part 243, which is disposed inside the protective box 281. The workpiece bearing part 243 is used to carry the workpiece to be transported and drive the workpiece to be transported to move out of the protective box 281 or into the protective box 281 in the horizontal direction.

[0078] The workpiece carrying unit 243 is located inside the protective box 281. It can carry the workpiece to be transported and drive it to move horizontally out of or into the protective box 281. Combined with the opening and closing action of the box door 282, it realizes the unloading of workpieces in a clean and sealed environment without the intervention of external structures. When the box door 282 is opened, the workpiece carrying unit 243 can smoothly push the workpiece out of the protective box 281 to complete the unloading, or pull the workpiece horizontally into and position it when the workpiece is placed outside the protective box 281. This ensures that the entire transportation and unloading process does not require the participation of external robotic arms or conveying devices, effectively maintaining the cleanliness and airtightness inside the protective box 281, while improving the continuous operation capability and work efficiency of the moving module 20.

[0079] like Figure 4 , Figure 5 and Figure 7 As shown, the workpiece carrying part 243 includes a second drive motor 2431, a drive rod 2432, a first belt conveyor 2433, and a second belt conveyor 2434. The first belt conveyor 2433 and the second belt conveyor 2434 are arranged at intervals in the horizontal direction and are respectively disposed on the inner side wall of the protective box 281. The second drive motor 2431 is driven to the middle part of the drive rod 2432 to drive the drive rod 2432 to rotate. The two ends of the drive rod 2432 are driven to the first belt conveyor 2433 and the second belt conveyor 2434 respectively to drive the first belt on the first belt conveyor 2433 and the second belt on the second belt conveyor 2434 to move in a circular motion simultaneously. The upper part of the first belt and the upper part of the second belt respectively carry the workpiece to be transported. The first belt and the second belt move simultaneously to drive the workpiece to be transported to move out of the protective box 281 or into the protective box 281 in the horizontal direction.

[0080] The workpiece carrying part 243 drives the drive rod 2432 to rotate via the second drive motor 2431. The two ends of the drive rod 2432 are linked with the first belt conveyor 2433 and the second belt conveyor 2434 respectively, so that the first belt on the first belt conveyor 2433 and the second belt on the second belt conveyor 2434 move synchronously in a cycle. The upper parts of the first belt and the second belt jointly carry the workpiece to be transported and apply force evenly in the horizontal direction, ensuring that the workpiece is subjected to balanced force and moves in a consistent manner during the process of entering or leaving the protective box 281. This avoids problems such as workpiece offset, jamming or mispositioning caused by unilateral drive or asynchronous transmission, thereby improving the transmission accuracy and stability of the workpiece in the clean environment. The second drive motor 2431 is set in the middle of the drive rod 2432 to make the power transmission symmetrical and balanced. The first belt conveyor 2433 and the second belt conveyor 2434 are fixed at horizontal intervals on the inner side wall of the protective box 281, forming a double-sided cooperative drive structure, which further improves the smoothness of operation and ensures that the workpiece maintains a stable horizontal displacement trajectory during bidirectional movement.

[0081] In one specific embodiment of the present invention, the distance between the first belt conveyor 2433 and the second belt conveyor 2434 is adjustable and lockable. By controlling the distance between the first belt conveyor 2433 and the second belt conveyor 2434, different sizes of workpieces to be transported can be adapted.

[0082] Specifically, the workpiece carrying part 243 also includes a telescopic rod. The two ends of the telescopic rod can extend and retract synchronously. The two ends of the telescopic rod are respectively connected to the side walls of the first belt conveyor 2433 and the second belt conveyor 2434. The first belt conveyor 2433 and the second belt conveyor 2434 are slidably arranged. The telescopic rod can adjust the distance between the first belt conveyor 2433 and the second belt conveyor 2434 by controlling the extension or retraction of the two ends, so as to accommodate workpieces of different sizes to be transported.

[0083] In another specific embodiment of the present invention, the workpiece bearing part 243 includes two sets of parallel belt conveyors. The belts can be fluororubber-coated fiberglass belts, and the tension is adjusted by spring wheels. The drive rod 2432 is a stainless steel hollow shaft with bearings at both ends. It is connected to the second drive motor 2431 through a synchronous belt to realize the synchronous operation of the two belts. The surface of the belt is coated with an anti-slip coating to avoid slippage.

[0084] like Figure 7 As shown, the workpiece bearing part 243 also includes a central support body, which is used to support the lower part of the workpiece to be transported.

[0085] When the workpiece to be transported is driven horizontally out of or into the protective box 281 by the first belt on the first belt conveyor 2433 and the second belt on the second belt conveyor 2434, the central support body is set between the first belt conveyor 2433 and the second belt conveyor 2434 and directly supports the lower part of the workpiece. This avoids bending, deformation or lateral displacement of the workpiece caused by it being suspended on the belt, ensuring that the workpiece maintains a stable posture during the transport process. This improves the compatibility between the workpiece and the inner cavity of the protective box 281, prevents collisions or jamming caused by workpiece instability, and ensures the positioning accuracy and transport safety of the workpiece when entering and exiting the protective box 281. Through the coordinated action of the central support body with the first belt conveyor 2433 and the second belt conveyor 2434, the synchronous driving function of the belt is not affected while providing support for the workpiece.

[0086] like Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, the central support includes a central support frame 2435 and at least one central support wheel 2436. The central support frame 2435 is fixedly mounted on the bottom wall inside the protective box 281 and is located between the first belt conveyor 2433 and the second belt conveyor 2434. The central support wheel 2436 is rotatably mounted on the central support frame 2435, and the axis of rotation of the central support wheel 2436 is parallel to the horizontal direction. The central support wheel 2436 is used to support the middle part of the workpiece to be transported. When there are at least two central support wheels 2436, the at least two central support wheels 2436 are spaced apart along the extension direction of the central support frame 2435.

[0087] When the workpiece to be transported is driven horizontally out of or into the protective box 281 by the first belt conveyor 2433 and the second belt conveyor 2434, the middle part of the workpiece is prone to sagging, tilting, or local stress concentration due to being suspended, which affects the transport stability and may cause fine damage to the workpiece. By fixing a middle support frame 2435 on the bottom wall inside the protective box 281, and rotatably mounting at least one middle support wheel 2436 on it, and making the rotation axis of the middle support wheel 2436 parallel to the horizontal direction, the middle support wheel 2436... It can directly support the middle part of the workpiece, and together with the first belt conveyor 2433 and the second belt conveyor 2434, it forms a stable support structure for the upper and middle parts of the workpiece, effectively preventing the workpiece from becoming unbalanced due to suspension during horizontal movement; when multiple middle support wheels 2436 are set, they are arranged at intervals along the extension direction of the middle support frame 2435, which can achieve uniform support for the workpiece, reduce local pressure, improve the stability and reliability during transportation, thereby avoiding workpiece displacement deviation and surface damage, and improving the overall handling accuracy and safety.

[0088] In one specific embodiment of the present invention, the workpiece carrying part 243 further includes a limiting buffer and a photoelectric sensor. The limiting buffer is disposed inside the protective box 281 and located at one end of the protective box 281 away from its opening. The limiting buffer is used to elastically limit the workpiece to be transported as it is driven into the protective box 281 by the first belt conveyor 2433 and the second belt conveyor 2434. The photoelectric sensor is disposed on the inner wall of the protective box 281 and is used to detect whether the workpiece to be transported has been transported to the limiting buffer.

[0089] like Figure 4 , Figure 5 and Figure 7 As shown, the workpiece bearing part 243 also includes a side limiting body, which is used to cooperate with the side wall limiting guide of the workpiece to be transported in order to constrain the horizontal movement of the workpiece to be transported.

[0090] The workpiece carrying part 243 is located inside the protective box 281. Its first belt conveyor 2433 and second belt conveyor 2434 are arranged horizontally on the inner side wall of the protective box 281. They achieve synchronous cyclic movement through the linkage of the second drive motor 2431 and the drive rod 2432 to stably carry and drive the material to enter and exit the protective box 281 in the horizontal direction. In order to prevent the workpiece to be transported from shifting or shaking due to lack of lateral restraint during transportation, the workpiece carrying part 243 is equipped with a side limiting body. The side limiting body directly limits and guides the side wall of the workpiece to be transported, and laterally positions the workpiece from the side, effectively restraining its lateral displacement during horizontal movement, avoiding collision between the workpiece and the inner wall of the protective box 281, improving the stability and positioning accuracy of the transportation process, and ensuring that the workpiece maintains a consistent posture when entering and exiting the protective box 281, providing a reliable basis for the operation of the subsequent execution structure 24.

[0091] like Figure 5 and Figure 7 As shown, the side limiting body includes at least two side limiting wheels 2437, the rotation axis of the side limiting wheels 2437 is parallel to the vertical direction; one side limiting wheel 2437 is rotatably disposed on the upper part of the first belt conveyor 2433, and the other side limiting wheel 2437 is rotatably disposed on the upper part of the second belt conveyor 2434, and the side limiting wheel 2437 is used to limit and cooperate with the side wall of the workpiece to be transported.

[0092] The rotation axis of the side limiting wheel 2437 is parallel to the vertical direction, and one side limiting wheel 2437 is set on the upper part of the first belt conveyor 2433, and the other side limiting wheel 2437 is set on the upper part of the second belt conveyor 2434. When the workpiece to be transported is driven by the first belt and the second belt to move out or into the protective box 281 in the horizontal direction, the side limiting wheel 2437 forms a limiting engagement with the side wall of the workpiece to be transported, so as to avoid the lateral sway of the workpiece due to the shift of the center of gravity or uneven driving force during transportation, and ensure that the workpiece moves along the preset trajectory, thereby improving the positioning accuracy and transportation safety. At the same time, the rotation design of the side limiting wheel 2437 can reduce the sliding friction between it and the side wall of the workpiece, avoid scratching or wearing the surface of the workpiece, and ensure the stability and reliability of the transportation process.

[0093] In one specific embodiment of the present invention, the side limiting body further includes a guide plate, which is used to guide the left and right sides of the workpiece to be transported into the protective box 281 to align with the side limiting wheels 2437 on the first belt conveyor 2433 and the second belt conveyor 2434.

[0094] In another embodiment of the invention not shown, the side limiting body includes at least two side universal balls; the side universal balls can equivalently replace the side limiting wheel 2437; one side universal ball is rotatably disposed on the upper part of the first belt conveyor 2433, and the other side universal ball is rotatably disposed on the upper part of the second belt conveyor 2434, and the side universal balls are used to limit and cooperate with the side wall of the workpiece to be transported.

[0095] The side limiting body includes at least two side omnidirectional balls, one located on the upper part of the first belt conveyor 2433 and the other on the upper part of the second belt conveyor 2434. Both form point contact with the side wall of the workpiece to be transported, providing point-contact limiting. The omnidirectional balls can roll freely, adapting to the curvature of the side wall or slight offsets as the workpiece moves horizontally, reducing sliding friction resistance and minimizing the risk of scratches on the workpiece surface. In a clean environment, the rolling motion of the omnidirectional balls avoids the generation of metal friction debris, helping to maintain the cleanliness inside the protective box 281. Its simple structure, installed above the belt conveyor, does not interfere with the vertical movement of the workpiece, nor does it increase the complexity of the carrying platform, facilitating maintenance and replacement. The omnidirectional balls guide the workpiece smoothly along a preset path, reducing jamming or collisions caused by offsets and improving overall transport stability.

[0096] like Figure 7 , Figure 8 and Figure 10 As shown, the execution structure 24 also includes an auxiliary support body, a portion of which is movably disposed; after the door 282 is opened, a portion of the auxiliary support body extends out of the opening to support the part of the workpiece to be transported that has extended out of the opening.

[0097] When the door 282 is opened by the door opening drive unit 242, a part of the auxiliary support extends from the opening of the protective box 281 to provide support for the part of the workpiece to be transported that has extended out of the opening and is driven to move horizontally by the workpiece bearing unit 243. This prevents the workpiece from falling, shifting, or becoming unstable due to being suspended in the air, and ensures that the workpiece maintains a stable posture during the movement process. The movable setting of the auxiliary support achieves the effect of timely intervention and support when the workpiece extends, avoiding the efficiency reduction and operational risks caused by relying on external support devices or manual intervention in traditional structures. At the same time, it does not affect the compact layout of the internal space of the protective box 281 and improves the transportation reliability of the moving module 20.

[0098] like Figure 7 , Figure 8 and Figure 10 As shown, specifically, the auxiliary support includes a third drive motor 244, an extension frame 245, and at least one auxiliary support wheel 246. The third drive motor 244 is disposed inside the protective box 281 and is drivenly connected to the extension frame 245. The extension frame 245 is movably disposed at the opening of the protective box 281. The auxiliary support wheel 246 is rotatably disposed on the extension frame 245, and the rotation axis of the auxiliary support wheel 246 is parallel to the horizontal direction. Wherein, after the box door 282 is opened, the third drive motor 244 drives the extension frame 245 to extend from the opening, so that the auxiliary support wheel 246 supports the part of the workpiece to be transported that has extended out of the opening.

[0099] When the workpiece bearing unit 243 drives the workpiece to be transported to move horizontally out of the protective box 281, the box door 282 opens, the third drive motor 244 starts and drives the extension frame 245 to extend outward from the opening of the protective box 281, so that the auxiliary support wheel 246 set on the extension frame 245 contacts the workpiece part that has extended out of the opening and provides support. The rotation axis of the auxiliary support wheel 246 is parallel to the horizontal direction, so that it can roll synchronously with the horizontal movement of the workpiece, reducing the frictional resistance between the workpiece and the support surface, and preventing the workpiece from tilting, shaking or slipping due to its own weight or external force. This improves the stability and positioning accuracy of the workpiece during the extension process, avoids workpiece damage caused by lack of support, and the auxiliary support body is integrated inside the protective box 281, so timely support of the workpiece can be achieved without external equipment, improving the transportation reliability of the moving module 20.

[0100] In another embodiment of the present invention not shown, there are at least two auxiliary supports, which are spaced apart in the horizontal direction.

[0101] At least two auxiliary supports are provided, spaced horizontally at the opening of the protective box 281, offering multi-point support when the workpiece is extended. Each auxiliary support operates independently, collectively sharing the weight of the suspended portion of the workpiece, preventing localized sagging or tilting caused by single-point support. This multi-point layout ensures more even distribution of support force, reducing the risk of deformation due to uneven stress on the workpiece, especially effective for long, narrow, or less rigid workpieces. The staggered arrangement of the auxiliary supports along the workpiece's length allows for adaptation to transport objects of different sizes, enhancing system versatility. The contact surface between the support wheels 27 or rollers and the workpiece utilizes rolling friction, reducing drag resistance, preventing surface scratches, and minimizing dust or particle generation, meeting cleanroom requirements.

[0102] In another embodiment of the present invention (not shown), the auxiliary support includes a telescopic cylinder, a pneumatic frame, and at least one auxiliary roller. The telescopic cylinder is disposed inside the protective box 281 and is drivenly connected to the pneumatic frame. The pneumatic frame is movably disposed at the opening of the protective box 281. The auxiliary roller is rotatably disposed on the pneumatic frame, and the rotation axis of the auxiliary roller is parallel to the horizontal direction. After the box door 282 is opened, the telescopic cylinder drives the pneumatic frame to extend from the opening so that the auxiliary roller supports the part of the workpiece to be transported that has extended out of the opening.

[0103] The auxiliary support includes a telescopic cylinder, a pneumatic frame, and at least one auxiliary roller. The telescopic cylinder is installed inside the protective box 281, driving the pneumatic frame to extend smoothly along the opening direction. The auxiliary roller is located on top of the pneumatic frame, with its rotation axis parallel to the horizontal direction. When the box door 282 is opened, the telescopic cylinder actuates, causing the pneumatic frame to move outward, allowing the auxiliary roller to promptly contact the extended workpiece to be transported, providing support and preventing the workpiece from sagging or swaying due to suspension. The rolling design of the roller reduces friction with the workpiece surface, avoiding scratches and reducing particle generation, meeting cleanroom requirements. The pneumatic drive offers rapid response, a compact structure, does not occupy excessive internal space, and requires no external power, reducing the risk of electrical interference. Multiple auxiliary rollers are distributed along the length of the workpiece, accommodating workpieces of different lengths and improving support stability. This structure eliminates the need for external robotic arms, achieving automatic coordination and improving operational continuity.

[0104] In another embodiment of the present invention not shown, the workpiece bearing part 243 includes a fourth drive motor, a transmission component, and a bearing platform; the two ends of the bearing platform in the horizontal direction are respectively slidably disposed on the inner side wall of the protective box 281; the fourth drive motor is drivenly connected to the bearing platform through the transmission component, and the transmission component is used to convert the rotation of the fourth drive motor into linear motion to drive the bearing platform to move out of the protective box 281 or into the protective box 281.

[0105] The workpiece carrying unit 243, by setting up a fourth drive motor, transmission components, and a carrying platform, achieves stable horizontal displacement of the workpiece to be transported inside the protective box 281. The two ends of the carrying platform in the horizontal direction are slidably mounted on the inner wall of the protective box 281, forming a bidirectional limiting sliding structure to ensure that the carrying platform moves along a preset straight path during movement, avoiding deviation or shaking. The fourth drive motor is driven by the transmission components, which convert the rotational motion of the fourth drive motor into linear motion, thereby driving the carrying platform to smoothly move out or back along the sliding trajectory of the inner wall of the protective box 281, realizing the docking action between the workpiece to be transported and external equipment. This structure, utilizing the sliding cooperation between the carrying platform and the inner wall of the protective box 281, improves the stability and positioning accuracy of the horizontal displacement of the carrying platform, ensuring reliable transport of the workpiece during entry and exit from the protective box 281, and solving the problem of power outages or actuator malfunctions caused by unstable movement.

[0106] In another embodiment of the invention (not shown), the protective box 281 has sliding limiting grooves on its two inner sidewalls along the second conveying direction. At least a portion of the mating protrusion extends into the sliding limiting groove and slides in contact with the inner wall of the sliding limiting groove. The mating protrusion corresponds to the sliding limiting groove at the same end, so that the carrying platform reciprocates along the first conveying direction. Alternatively, the protective box 281 has mating protrusions on its two inner sidewalls along the second conveying direction, and the carrying platform has sliding limiting grooves at both ends along the second conveying direction. At least a portion of the mating protrusion extends into the sliding limiting groove and slides in contact with the inner wall of the sliding limiting groove. The mating protrusion corresponds to the sliding limiting groove at the same end, so that the carrying platform reciprocates along the first conveying direction.

[0107] The carrying platform has mating protrusions at both ends along the second conveying direction, and the protective box 281 has sliding limit grooves on its two inner sidewalls along the second conveying direction. At least a portion of the mating protrusions extends into the sliding limit grooves and forms a sliding fit with the inner wall of the sliding limit grooves. The linear guiding constraint between the mating protrusions and the corresponding sliding limit grooves avoids the possible deviation, swaying, or jamming of the carrying platform during high-speed operation or reversal, thereby ensuring that the workpiece to be transported achieves stable and accurate horizontal entry and exit movements on the carrying platform, improving the repeatability of workpiece positioning and the reliability of the conveying process.

[0108] In another embodiment of the present invention not shown, the moving module 20 further includes electronic equipment; the housing structure 28 further includes an electrical box 283, which is disposed on the outer wall of the protective box 281 and is used to house the electronic equipment; the electronic equipment is electrically connected to the first power take-off device 22 and the second power take-off device 23 respectively to obtain electrical energy.

[0109] Electrical box 283 is installed on the outer wall of protective box 281 and is used to house electronic equipment. The electronic equipment is directly connected to the first power take-off 22 and the second power take-off 23, so that the electronic equipment can obtain power through a non-contact power take-off structure when the moving module 20 moves along the first or second conveying direction, without the need for power supply lines or sliding contact units. This ensures that the electronic equipment can operate stably in a clean environment while maintaining the original dust-free and wear-free power supply characteristics of the first power take-off 22 and the second power take-off 23, avoiding the risk of dust precipitation or electric sparks caused by contact power take-off. At the same time, it simplifies the internal wiring structure of the moving module 20 and improves the reliability of the moving module 20.

[0110] The present invention also provides a magnetic drive conveying system, which includes the aforementioned mover module 20 and a stator module 10. The stator module 10 drives the mover module 20 to move by magnetic force. The first power supply 22 and the second power supply 23 respectively obtain electrical energy from the stator module 10 by wireless power supply.

[0111] The magnetic drive conveying system includes a mover module 20 and a stator module 10. The stator module 10 drives the base 21 to move via magnetic force. At the same time, the first power harvester 22 and the second power harvester 23 obtain power from the stator module 10 wirelessly, so that the mover can stably obtain energy through the corresponding power harvester when moving along the first or second conveying direction. The obtained power is buffered by the energy storage structure and then supplied to the execution structure 24, avoiding the power interruption problem caused by the reversal of movement. In addition, the wireless power supply method avoids the metal wear particles and electrostatic adsorption generated by the contact conductive structure during operation, maintains dust-free operation in a clean environment, and ensures the safety of workpiece transportation and the reliability of long-term system operation in high-cleanliness scenarios.

[0112] The working process and principle of a specific embodiment of the present invention will now be described in detail as follows:

[0113] When the moving module moves along the first conveying direction, the base 21 moves along the first conveying direction under the magnetic drive of the stator module 10. The first power harvester 22 extends along the first conveying direction, and its first receiving coil forms a magnetic coupling with the power supply structure of the stator module 10, obtaining electrical energy through wireless power supply. The obtained electrical energy is rectified and regulated before being delivered to the energy storage structure. When the moving module reverses direction and moves along the second conveying direction, the base 21 moves along the second conveying direction under the magnetic drive of the stator module 10, and the second power harvester 23 extends along the second conveying direction. The second receiving coil forms a magnetic coupling with the power supply structure of the stator module 10, and obtains electrical energy through wireless power supply. The obtained electrical energy is rectified and regulated before being delivered to the energy storage structure. The energy storage structure is electrically connected to the first power taker 22, the second power taker 23 and the execution structure 24 respectively. During the process of the moving module changing from the first conveying direction to the second conveying direction or from the second conveying direction to the first conveying direction, one power taker is in an effective coupling state and continuously supplies power to the energy storage structure. The energy storage structure maintains a stable power supply to the execution structure 24 to avoid power failure of the execution structure 24.

[0114] The rotating platform 241 of the execution structure 24 is rotatably mounted on the base 21, and the box structure 28 is mounted on the rotating platform 241. The rotating platform 241 can rotate independently of the movement direction of the base 21, thereby driving the box structure 28 to adjust the orientation of the workpiece to be transported inside. The lifting part is rotatably mounted on the base 21, and the rotating platform 241 is rotatably mounted on the lifting part. The lifting part drives the rotating platform 241 and the box structure 28 to rise and fall synchronously to adapt to docking devices of different heights.

[0115] The protective box 281 of the box structure 28 is used to accommodate the workpiece to be transported. The box door 282 is rotatably mounted at the opening of the protective box 281 via a door hinge. The first drive motor 2421 of the door opening drive unit 242 is mounted on the base 21 or the protective box 281. A first gear 2422 is fixedly mounted on its shaft. A second gear 2423 is mounted at one end of the door hinge and meshes with the first gear 2422. The bearing 2424 cooperates with the door hinge to support the door hinge. When the box door 282 needs to be opened, the first drive motor 2421 drives the first gear 2422 to rotate, which in turn drives the door hinge to rotate through the second gear 2423, thus opening the box door 282. When the box door 282 needs to be closed, the first drive motor 2421 drives in the opposite direction, thus closing the box door 282.

[0116] The workpiece bearing part 243 is disposed inside the protective box 281. Its second drive motor 2431 is driven and connected to the middle part of the drive rod 2432. The two ends of the drive rod 2432 are driven and connected to the first belt conveyor 2433 and the second belt conveyor 2434 respectively. The first belt conveyor 2433 and the second belt conveyor 2434 are horizontally spaced on the inner side wall of the protective box 281. The second drive motor 2431 drives the drive rod 2432 to rotate, so that the first belt on the first belt conveyor 2433 and the second belt on the second belt conveyor 2434 move synchronously in a circular motion. The upper parts of the first belt and the second belt together carry the workpiece to be transported, driving the workpiece to be transported to move horizontally out of the protective box 281 or into the protective box 281. The middle support frame 2435 is fixedly disposed inside the protective box 281. On the bottom wall of the part, and located between the first belt conveyor 2433 and the second belt conveyor 2434, at least one central support wheel 2436 is rotatably mounted on the central support frame 2435. The rotation axis of the central support wheel 2436 is parallel to the horizontal direction and is used to support the middle part of the workpiece to be transported. At least two central support wheels 2436 are spaced apart along the extension direction of the central support frame 2435 to achieve uniform support for the entire length of the workpiece. The rotation axis of the side limiting wheel 2437 is parallel to the vertical direction. One side limiting wheel 2437 is rotatably mounted on the upper part of the first belt conveyor 2433, and the other side limiting wheel 2437 is rotatably mounted on the upper part of the second belt conveyor 2434. The side limiting wheel 2437 is matched with the side wall of the workpiece to be transported to limit the horizontal movement of the workpiece to be transported.

[0117] After the door 282 is opened, the third drive motor 244 is installed inside the protective box 281 and is connected to the extension frame 245. The third drive motor 244 drives the extension frame 245 to extend from the opening of the protective box 281, so that the auxiliary support wheel 246 installed on the extension frame 245 contacts the part of the workpiece to be transported that has extended out of the opening. The rotation axis of the auxiliary support wheel 246 is parallel to the horizontal direction and rolls synchronously with the movement of the workpiece to support the part of the workpiece to be transported that has extended out of the opening.

[0118] When a carrying platform is used to replace the belt structure, the fourth drive motor is driven to the carrying platform through a transmission component. The transmission component converts the rotation of the fourth drive motor into linear motion, driving the carrying platform to move along the inner wall of the protective box 281. The carrying platform is provided with mating protrusions at both ends along the second conveying direction. The protective box 281 is provided with sliding limiting grooves on the two inner walls along the second conveying direction. At least a part of the mating protrusion extends into the sliding limiting groove and slides in cooperation with the inner wall of the sliding limiting groove. Alternatively, the protective box 281 is provided with mating protrusions on the two inner walls along the second conveying direction, and the carrying platform is provided with sliding limiting grooves at both ends along the second conveying direction. At least a part of the mating protrusion extends into the sliding limiting groove and slides in cooperation with the inner wall of the sliding limiting groove, so that the carrying platform reciprocates along the first conveying direction.

[0119] Electrical box 283 is installed on the outer wall of protective box 281 to house electronic equipment. The electronic equipment is electrically connected to the first power feeder 22 and the second power feeder 23 and obtains power from stator module 10 through wireless power supply. There is no direct contact during the power supply process, thus avoiding dust generation.

[0120] The guide structure is detachably mounted on the base 21, and the mounting base 25 is detachably connected to the base 21. The guide wheel 26 is rotatably mounted on the mounting base 25, and its rotation axis is perpendicular to the first conveying direction and the second conveying direction, which is used to provide lateral limit. The support wheel 27 is rotatably mounted on the mounting base 25, and its rotation axis extends along the first conveying direction or the second conveying direction, which is used to provide axial support and works in conjunction with the guide wheel 26 to ensure that the moving module moves smoothly during the reversing process.

[0121] In summary, this invention provides a moving module 20 and a magnetic drive conveying system. By using a first power harvester 22 and a second power harvester 23 to wirelessly power the energy from a storage structure, compared to existing contact-based power supply methods, this invention not only provides power to the actuator 24 but also avoids the generation of metal wear particles, dust, or electrostatic adsorption during operation, thus preventing contamination of the cleanroom and the transported objects. This effectively improves the yield rate of subsequent products and meets the core process requirements of cleanroom manufacturing. Furthermore, the wireless power supply method is less susceptible to vibration, temperature changes, and long-term wear, ensuring a stable power supply to the actuator 24 and preventing power outages, thereby improving the overall reliability of the moving module 20. This invention proposes a moving module 20 based on non-contact power supply. This invention achieves stable, dust-free power transmission in clean environments, filling a gap in the existing technology for the synergistic integration of high-precision magnetic actuators and dust-free power supply. In practical use, the proposed actuator module 20 not only ensures continuous power supply reliability for the actuator during high-speed, high-precision movement but also fundamentally eliminates the path of particulate contamination caused by the power supply system in clean environments. It solves the dust contamination problem that is difficult to avoid in high-cleanliness scenarios such as semiconductors and biomedicine using traditional contact power supply, achieving deep compatibility between the power supply system and clean environment requirements. This invention has a simple structure and low cost, facilitating assembly and subsequent maintenance. It solves the problem in existing multi-directional actuator modules 20 where power acquisition after commutation may be adversely affected, leading to unstable power supply and power outages in the actuator. It is suitable for large-scale promotion and use. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0122] 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.

[0123] 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.

[0124] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this 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 a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0125] For ease of description, spatial relative terms such as "above," "over," "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 "above" 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, and the spatial relative descriptions used herein will be interpreted accordingly.

[0126] 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.

[0127] The above description is merely a preferred embodiment of the present invention and is not intended to limit the 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 moving part module, characterized in that, include: The system comprises a base (21), a first energy harvester (22), an energy storage structure, a second energy harvester (23), and an execution structure (24). The first energy harvester (22), the second energy harvester (23), the energy storage structure, and the execution structure (24) are all disposed on the base (21). The energy storage structure is electrically connected to the first energy harvester (22), the second energy harvester (23), and the execution structure (24), respectively. The moving module (20) includes a first conveying direction and a second conveying direction with different directions. The first energy harvester (22) extends along the first conveying direction. When the base (21) moves along the first conveying direction, the first energy harvester (22) is used to acquire electrical energy. The second energy harvester (23) extends along the second conveying direction. When the base (21) moves along the second conveying direction, the second energy harvester (23) is used to acquire electrical energy. The first energy harvester (22) and the second energy harvester (23) are used to supply power to the execution structure (24).

2. The moving part module according to claim 1, characterized in that, The first power source (22) includes a first power source base (222) and a first power receiving coil (223). The first power source base (222) includes a first mounting part (2221) and a first receiving part (2222). The first mounting part (2221) is fixedly connected to the base (21). The first power receiving coil (223) is disposed in the first receiving part (2222). A plurality of first power receiving coils (223) are arranged in parallel and spaced apart. The second power source (23) includes a second power source base (232) and a second power receiving coil (233). The second power source base (232) includes a second mounting part (2321) and a second receiving part (2322). The second mounting part (2321) is fixedly connected to the base (21). The second power receiving coil (233) is disposed in the second receiving part (2322). A plurality of second power receiving coils (233) are arranged in parallel and spaced apart.

3. The moving part module according to claim 2, characterized in that, The first receiving portion (2222) protrudes from the first mounting portion (2221) along a third direction, and the second receiving portion (2322) protrudes from the second mounting portion (2321) along the first conveying direction, wherein the third direction is perpendicular to the first conveying direction and the second conveying direction.

4. The moving part module according to claim 1, characterized in that, The moving part module (20) further includes a guide structure, which is detachably disposed on the base (21). The guide structure includes a mounting base (25), a guide wheel (26), and a support wheel (27). The mounting base (25) is detachably disposed on the base (21). The guide wheel (26) is rotatably disposed on the mounting base (25), and the rotation axis of the guide wheel (26) is perpendicular to the first conveying direction and the second conveying direction. The support wheel (27) is rotatably disposed on the mounting base (25), and the rotation axis of the support wheel (27) extends along the first conveying direction or the second conveying direction.

5. The moving part module according to claim 1, characterized in that, The moving module (20) also includes a housing structure (28), the interior of which is used to accommodate the workpiece to be transported; the execution structure (24) includes a rotating platform (241), which is rotatably mounted on the base (21), and the housing structure (28) is mounted on the rotating platform (241); the rotating platform (241) adjusts the orientation of the workpiece to be transported by rotating the housing structure (28).

6. The moving part module according to claim 5, characterized in that, The execution structure (24) further includes a lifting part, which is movably mounted on the base (21). The rotating platform (241) is rotatably mounted on the lifting part to follow the lifting part in raising and lowering. The lifting part adjusts the height of the box structure (28) by raising and lowering the rotating platform (241). Alternatively, the execution structure (24) may further include a lifting part, which is movably mounted on the rotating platform (241), and the housing structure (28) is mounted on the lifting part to follow the lifting part in raising and lowering; the lifting part adjusts the height of the housing structure (28).

7. The moving part module according to claim 5, characterized in that, The execution structure (24) includes a door opening drive unit (242); the box structure (28) includes a protective box (281) and a box door (282), the interior of the protective box (281) is used to accommodate the workpiece to be transported; the box door (282) is rotatably disposed at the opening of the protective box (281) to open and close the opening; the door opening drive unit (242) is disposed on the protective box (281) and is drivenly connected to the box door (282) to drive the box door (282) to open and close.

8. The moving part module according to claim 7, characterized in that, The protective box (281) also includes a door hinge, and the box door (282) is rotatably mounted on the protective box (281) via the door hinge; the door opening drive unit (242) includes a first drive motor (2421), a first gear (2422), a second gear (2423), and at least one bearing (2424); the first drive motor (2421) is mounted on the base (21) or the protective box (281), the first gear (2422) is mounted on the shaft of the first drive motor (2421), and the second gear (2423) is mounted on one end of the door hinge and meshes with the first gear (2422); the bearing (2424) cooperates with the door hinge to support the door hinge; wherein, the first drive motor (2421) drives the box door (282) to rotate by driving the first gear (2422) and the second gear (2423) to rotate.

9. The moving part module according to claim 7, characterized in that, The execution structure (24) includes a workpiece carrying part (243), which is disposed inside the protective box (281). The workpiece carrying part (243) is used to carry the workpiece to be transported and drive the workpiece to be transported to move out of the protective box (281) or into the protective box (281) in the horizontal direction.

10. The moving part module according to claim 9, characterized in that, The workpiece bearing part (243) includes a second drive motor (2431), a drive rod (2432), a first belt conveyor (2433), and a second belt conveyor (2434); the first belt conveyor (2433) and the second belt conveyor (2434) are spaced apart in the horizontal direction and are respectively disposed on the inner side wall of the protective box (281); the second drive motor (2431) is driven connected to the middle part of the drive rod (2432) to drive the drive rod (2432) to rotate; the drive rod (2431) 2) The two ends are respectively driven to be connected to the first belt conveyor (2433) and the second belt conveyor (2434) to drive the first belt on the first belt conveyor (2433) and the second belt on the second belt conveyor (2434) to move in a cyclic motion at the same time; the upper part of the first belt and the upper part of the second belt respectively carry the workpiece to be transported, and the first belt and the second belt move at the same time to drive the workpiece to be transported to move out of the protective box (281) or into the protective box (281) in the horizontal direction.

11. The mover module according to claim 10, characterized in that, The workpiece bearing part (243) also includes a central support body, which is used to support the lower part of the workpiece to be transported.

12. The mover module according to claim 11, characterized in that, The central support includes a central support frame (2435) and at least one central support wheel (2436). The central support frame (2435) is fixedly mounted on the bottom wall inside the protective box (281) and located between the first belt conveyor (2433) and the second belt conveyor (2434). The central support wheel (2436) is rotatably mounted on the central support frame (2435), and the rotation axis of the central support wheel (2436) is parallel to the horizontal direction. The central support wheel (2436) is used to support the middle part of the workpiece to be transported. When there are at least two central support wheels (2436), at least two central support wheels (2436) are spaced apart along the extension direction of the central support frame (2435).

13. The moving part module according to claim 12, characterized in that, The workpiece bearing part (243) also includes a side limiting body, which is used to cooperate with the side wall limiting guide of the workpiece to be transported to constrain the horizontal movement of the workpiece to be transported.

14. The mover module according to claim 13, characterized in that, The side limiting body includes at least two side limiting wheels (2437), the rotation axis of the side limiting wheels (2437) is parallel to the vertical direction; one side limiting wheel (2437) is rotatably disposed on the upper part of the first belt conveyor (2433), and the other side limiting wheel (2437) is rotatably disposed on the upper part of the second belt conveyor (2434), and the side limiting wheel (2437) is used to limit and cooperate with the side wall of the workpiece to be transported.

15. The mover module according to claim 13, characterized in that, The side limiting body includes at least two side universal balls; one side universal ball is rotatably disposed on the upper part of the first belt conveyor (2433), and the other side universal ball is rotatably disposed on the upper part of the second belt conveyor (2434). The side universal ball is used to limit and cooperate with the side wall of the workpiece to be transported.

16. The moving part module according to claim 9, characterized in that, The execution structure (24) also includes an auxiliary support, a portion of which is movably disposed; after the opening is opened by the door (282), a portion of the auxiliary support extends out of the opening to support the portion of the workpiece to be transported that has extended out of the opening.

17. The mover module according to claim 16, characterized in that, The auxiliary support includes a third drive motor (244), an extension frame (245), and at least one auxiliary support wheel (246). The third drive motor (244) is located inside the protective box (281) and is drivenly connected to the extension frame (245). The extension frame (245) is movably located at the opening of the protective box (281). The auxiliary support wheel (246) is rotatably located on the extension frame (245), and the rotation axis of the auxiliary support wheel (246) is parallel to the horizontal direction. After the box door (282) opens the opening, the third drive motor (244) drives the extension frame (245) to extend from the opening so that the auxiliary support wheel (246) supports the part of the workpiece to be transported that has extended out of the opening.

18. The mover module according to claim 16, characterized in that, The auxiliary support body is at least two, and the at least two auxiliary support bodies are arranged at intervals along the horizontal direction.

19. The mover module according to claim 16, characterized in that, The auxiliary support includes a telescopic cylinder, a pneumatic frame, and at least one auxiliary roller. The telescopic cylinder is located inside the protective box (281) and is drivenly connected to the pneumatic frame. The pneumatic frame is movably located at the opening of the protective box (281). The auxiliary roller is rotatably located on the pneumatic frame, and the rotation axis of the auxiliary roller is parallel to the horizontal direction. After the box door (282) opens the opening, the telescopic cylinder drives the pneumatic frame to extend out of the opening so that the auxiliary roller supports the part of the workpiece to be transported that has extended out of the opening.

20. The moving part module according to claim 9, characterized in that, The workpiece bearing part (243) includes a fourth drive motor, a transmission component and a bearing platform; the two ends of the bearing platform in the horizontal direction are respectively slidably disposed on the inner side wall of the protective box (281); the fourth drive motor is drivenly connected to the bearing platform through the transmission component, and the transmission component is used to convert the rotation of the fourth drive motor into linear motion to drive the bearing platform to move out of the protective box (281) or into the protective box (281).

21. The mover module according to claim 20, characterized in that, The carrying platform has mating protrusions at both ends along the second conveying direction, and the protective box (281) has sliding limiting grooves on its two inner sidewalls along the second conveying direction. At least a portion of the mating protrusion extends into the sliding limiting groove and slides in cooperation with the inner wall of the sliding limiting groove. The mating protrusion and the sliding limiting groove located at the same end are correspondingly engaged to make the carrying platform reciprocate along the first conveying direction. Alternatively, the protective box (281) has mating protrusions on its two inner sidewalls along the second conveying direction, and the carrying platform has sliding limiting grooves at both ends along the second conveying direction. At least a portion of the mating protrusion extends into the sliding limiting groove and slides in cooperation with the inner wall of the sliding limiting groove. The mating protrusion and the sliding limiting groove located at the same end are correspondingly engaged, so that the carrying platform reciprocates along the first conveying direction.

22. The moving part module according to claim 7, characterized in that, The moving module (20) also includes electronic equipment; the housing structure (28) also includes an electrical box (283), which is disposed on the outer wall of the protective box (281) and is used to house the electronic equipment; the electronic equipment is electrically connected to the first power source (22) and the second power source (23) respectively to obtain electrical energy.

23. A magnetic drive conveying system, characterized in that, The magnetic drive conveying system includes the mover module as described in any one of claims 1 to 22, and the magnetic drive conveying system further includes a stator module (10); the stator module (10) drives the mover module (20) to move by magnetic force; the first power collector (22) and the second power collector (23) respectively obtain electrical energy from the stator module (10) by wireless power supply.

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