Double-track horizontal magnetic drive conveying line and control method

Abstract

This invention discloses a dual-rail horizontal magnetic drive conveyor line and its control method, including a stator module, a mover module, a motor, a Hall effect sensor, and a driver module. The stator module has a motor slot at the top and a hollow internal slot at the bottom. This invention relates to the field of material conveying technology. By embedding the driver module in the stator module, the width of the magnetic drive conveyor line structure is reduced, thus reducing its volume. Simultaneously, the motor magnetic plate enters the motor slot along the linear guide rail, enabling the motor to operate within its range and generating a traveling wave magnetic field in the air gap. This drives the mover base to move linearly. As the induction magnetic plate moves linearly with the mover base, its magnetic field sequentially triggers the Hall effect sensor on the Hall effect sensor to generate signals, thereby detecting the absolute position of the mover base in real time. The driver module adjusts the motor current to achieve multi-point positioning of the mover module during its stroke. Combined with the robotic arm for material handling, this improves material conveying efficiency and reduces the production cycle time of the conveyor line.

Description

Technical Field

[0001] This invention relates to the field of material conveying technology, and in particular to a double-rail horizontal magnetic drive conveyor line and its control method. Background Technology

[0002] Currently, industrial material conveying mostly uses traditional mechanical conveying equipment such as belts, chains, rollers, and double-speed chains. This type of transmission solution has inherent shortcomings: First, it is based on friction drive, which limits the operating speed and makes it difficult to achieve high-precision positioning at any workstation, requiring additional stop and positioning accessories, thus slowing down the overall production cycle. Second, the long-term reciprocating operation of wear-prone components such as belts and chains generates mechanical wear dust, which not only interferes with the product yield in precision machining and clean production environments but also shortens the service life of the entire machine. Third, traditional conveyor lines use linkage control, with the entire line starting and stopping synchronously, and each process workstation cannot be independently controlled, resulting in insufficient adaptability to multiple specifications.

[0003] Magnetic drive conveyor lines are a new type of intelligent flexible transmission system developed based on linear motor technology and magnetic drive principles. Essentially, they convert the rotational motion of traditional motors into linear motion and achieve non-contact drive through the electromagnetic force between the mover and stator. However, existing magnetic drive conveyor line products have large hardware layouts, low modularity, and are cumbersome to maintain and debug. They are also prone to accelerated aging of the motor insulation layer due to heat accumulation, which can even lead to thermal overload and system damage. In addition, existing magnetic drive conveyor lines have complex multi-point positioning during the stroke, making it difficult to coordinate with the robotic arm of the next process for material handling. The production cycle time of the conveyor line is long and the conveying efficiency is low. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problems existing in the above and / or existing product visual inspection, the present invention is proposed.

[0006] The present invention aims to solve the problems of large hardware layout, low modularity, cumbersome maintenance and debugging by commissioning personnel, and long production cycle time and low conveying efficiency of magnetic drive conveyor line products in the prior art due to heat accumulation.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a dual-rail horizontal magnetic drive conveyor line, comprising a stator module, a mover module at the upper end of the stator module, the stator module having an H-shaped structure, a motor slot at the top of the stator module, and a hollow internal slot at the bottom of the stator module; the dual-rail horizontal magnetic drive conveyor line further comprising a motor, disposed in the motor slot at the top of the stator module, the motor wiring harness passing through the motor slot and placed in the hollow internal slot; two linear guides disposed at the top of the stator module, located on both sides of the motor slot; a Hall effect sensor disposed on the stator module, fixedly installed on one side of the stator module, the Hall effect sensor being covered by the mover module; and a driver module disposed in the hollow internal slot. The moving module moves linearly along the linear guide rail, and Hall effect sensors are arranged at equal intervals on one side of the stator module. When the moving module moves, its magnetic field triggers the Hall sensor on the Hall effect sensor and generates a signal. The Hall effect sensor detects and provides feedback on the absolute position of the moving module in real time, and the driver module adjusts the motor current to achieve multi-point positioning.

[0008] Preferably, the stator module includes a stator base, which has an H-shaped structure, with a motor slot at the top and a hollow internal slot at the bottom; a stator connecting plate disposed in the motor slot; multiple stator base fixing feet disposed at the bottom of the stator base; multiple motor wiring harness through-holes disposed at equal intervals on the motor slot; and a fan bracket disposed on one side of the stator base. The stator connecting plate connects two adjacent stator bases. The motor harness passes downward through the motor harness through-hole into the hollow built-in slot. Linear guide rails are symmetrically installed on both sides of the motor slot at the top of the stator base. A Hall effect sensor is installed on one side of the stator base.

[0009] Preferably, the mover module includes a mover base disposed on the upper end of the stator base; a motor magnetic plate disposed on the lower end of the mover base; a sensing shim block disposed on the lower end of the mover base and located on one side of the mover base; a sensing magnetic plate disposed on the lower end of the mover base and fixedly connected to the mover base by the sensing shim block; multiple sliders disposed on the lower end of the mover base and slidably connected to a linear guide rail on the top of the stator base; and multiple buffer posts disposed at both ends of the mover base. The motor magnetic plate at the lower end of the mover base enters the motor slot along the linear guide rail and generates a traveling wave magnetic field in the air gap. Under the cutting of the traveling wave magnetic field, the motor induces an electromotive force and generates a current. The current interacts with the magnetic field in the air gap to generate an electromagnetic thrust, which pushes the mover base to move linearly along the linear guide rail via the slider at its lower end. The induction magnetic plate is set on the same side as the Hall sensor on the stator base. When the induction magnetic plate moves linearly with the mover base, its magnetic field triggers the Hall sensor on the Hall sensor in sequence to generate a signal, thereby detecting the absolute position of the mover base in real time. The driver module adjusts the motor current to achieve multi-point positioning of the mover module during the stroke, which is coordinated with the robotic arm in the next process to pick up materials.

[0010] Preferably, a protective induction plate is provided on the outer side of the induction magnetic plate.

[0011] Preferably, the driver module includes a driver, which is mounted in a hollow built-in slot at the bottom of the stator base via an external hexagonal support; an LED indicator light, mounted on the upper surface of the stator base; a driver debugging adapter module, mounted in the hollow built-in slot on the side near the Hall sensor, with the debugging interface of the driver debugging adapter module passing through the side of the stator base and located at the lower end of the Hall sensor; and a cooling fan, mounted on the side of the stator base away from the Hall sensor, which is fixedly connected to the side wall of the stator base via a fan bracket. The driver converts control signals into drive current, and the LED indicator flashes different colors and flashing patterns to reflect the current working status of the driver. The driver debugging adapter is connected to an external debugging computer for parameter setting, and the cooling fan blows air from the inside out to promote driver cooling.

[0012] Preferably, two cooling fans are provided on the side wall of the stator base.

[0013] Preferably, a transparent acrylic plate is provided on the upper end of the LED indicator light of the stator base.

[0014] Preferably, a protective cover is provided on the outer surface of the stator base.

[0015] This invention also provides a control method for a dual-rail horizontal magnetic drive conveyor line, comprising the following steps: S1. The material is fixed on the moving base. The production command issued by the external control system is received by the driver module. After receiving the command, the driver module performs path planning and assigns parameters such as ID, target position, speed and acceleration / deceleration curve to the moving module to ensure that the moving modules work together and avoid collisions. S2. The driver sequentially powers on the motor. The motor magnetic plate set at the lower end of the mover base enters the motor slot along the linear guide rail and generates a traveling wave magnetic field in the air gap. Under the cutting of the traveling wave magnetic field, the motor induces an electromotive force and generates a current. The current interacts with the magnetic field in the air gap to generate an electromagnetic thrust, which pushes the mover base to move linearly along the linear guide rail through the slider set at its lower end. S3. The induction magnetic plate moves linearly with the moving base. Its magnetic field triggers the Hall sensor on the Hall ruler to generate a signal, which detects the position of the moving base in real time. When the moving module approaches the target work position, the external control system reads the position information in real time through the high-precision Hall ruler and relies on the driver to accurately adjust the motor current to perform closed-loop control of speed and position. S4. After the Hall effect sensor detects that the moving module has reached the target position, it sends a position signal to the external control system. The robotic arm then moves to the designated coordinates to perform the material picking operation. It should be noted that the moving module can set multiple target positions in one stroke and provide real-time feedback of the absolute position to the external controller via the Hall effect sensor, eliminating the need for repeated positioning. The external controller sends a command to the driver, which adjusts the motor current to achieve the desired result. After picking up the material, the external control system sends a rotation command to the driver, which adjusts the motor current. The interaction between the motor magnetic plate and the motor of the moving module drives the moving module to move back to the initial position. Beneficial effects

[0016] The beneficial effects of this invention are: The motor magnetic plate, located at the lower end of the moving base, enters the motor slot along the linear guide rail, generating a traveling wave magnetic field in the air gap. Under the cutting action of this magnetic field, the motor induces an electromotive force and generates current. This current interacts with the magnetic field in the air gap to produce electromagnetic thrust, propelling the moving base through a slider at its lower end along the linear guide rail. As the magnetic plate moves linearly with the moving base, its magnetic field sequentially triggers the Hall sensor on the Hall scale to generate a signal, thus detecting the absolute position of the moving base in real time. The driver module adjusts the motor current to achieve multi-point positioning of the moving module during its stroke. This, combined with the robotic arm in the next process, improves the conveying efficiency on the moving base, reduces the production cycle time of the conveyor line, and ensures the moving module operates quickly, smoothly, and with high repeatability, enabling it to rapidly transport items to designated locations and meet the requirements of large-scale production cycles. By opening a hollow built-in slot in the stator base and placing the drive module in the hollow built-in slot, it is beneficial to reduce the width of the magnetic drive conveyor structure, reduce the volume of the magnetic drive conveyor, and improve the modularity of the magnetic drive conveyor. The outer surface of the stator base is equipped with a protective cover that fits its shape and is connected by a snap-fit ​​method, which not only ensures the protection capability of the suspended conveyor but also reduces the volume of the magnetic drive conveyor and improves the space utilization. The LED indicator light of the driver module is located on the upper surface of the stator base. A transparent acrylic plate is installed on the upper part of the LED indicator light to facilitate the debugging personnel to detect and judge the working status of the magnetic drive conveyor line. The driver debugging adapter module is built into the side wall of the stator base to facilitate the debugging personnel to burn the program. The cooling fan is placed on the side wall of the stator base to continuously cool the driver and improve the system stability under long-term operation of the magnetic drive conveyor line. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a structural diagram of the stator base of the present invention; Figure 3 This is a top view of the present invention; Figure 4 This is the left view of the present invention; Figure 5 This is a structural diagram of the moving part module of the present invention; Figure 6 To illustrate this invention, an overall structural diagram of the protective cover is added. Figure 7 This is a structural diagram of the motor of the present invention; Figure 8 for Figure 1 A magnified view of a portion of region A in the middle.

[0018] Explanation of reference numerals in the attached diagram: 1. Stator module; 2. Mover module; 3. Motor slot; 4. Hollow built-in slot; 5. Motor; 6. Linear guide rail; 7. Hall effect sensor; 8. Driver module; 9. Induction protection plate; 10. Transparent acrylic plate; 11. Protective cover; 21. Mover base; 22. Motor magnetic plate; 23. Induction shim block; 24. Induction magnetic plate; 25. Slider; 26. Buffer column; 81. Driver; 82. LED indicator; 83. Driver debugging adapter module; 84. Cooling fan; 101. Stator base; 102. Stator connecting plate; 103. Stator base fixing feet; 104. Motor wiring harness through-hole; 105. Fan bracket. Detailed Implementation

[0019] 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. 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.

[0020] The present invention aims to solve the problems of large hardware layout, low modularity, cumbersome maintenance and debugging by commissioning personnel, and long production cycle time and low conveying efficiency of magnetic drive conveyor line products in the prior art due to heat accumulation.

[0021] In view of this, the present invention provides a dual-rail horizontal magnetic drive conveyor line. A motor magnetic plate located at the lower end of the mover base enters the motor slot along the linear guide rail, generating a traveling wave magnetic field in the air gap. Under the cutting action of this traveling wave magnetic field, the motor induces an electromotive force and generates a current. This current interacts with the magnetic field in the air gap to produce an electromagnetic thrust, propelling the mover base through a slider located at its lower end along the linear guide rail. As the magnetic plate moves linearly with the mover base, its magnetic field sequentially triggers Hall sensors on a Hall scale to generate signals, thus detecting the absolute position of the mover base in real time. The driver module adjusts the motor current to achieve multi-point positioning of the mover module during its stroke. This, combined with the robotic arm in the next process for material handling, improves the conveying efficiency of the mover base, reduces the production cycle time of the conveyor line, and allows the mover module to operate quickly, smoothly, and with high repeatability, rapidly transporting items to designated locations. This system can meet the requirements of large-scale production cycle time. By creating a hollow built-in slot in the stator base and placing the driver module inside, the width and volume of the magnetic drive conveyor line can be reduced, improving its modularity. A protective cover with a matching shape is installed on the outer surface of the stator base and connected by snap-fit, ensuring the protection of the suspended conveyor line while reducing its volume and improving space utilization. The LED indicator of the driver module is located on the upper surface of the stator base, with a transparent acrylic plate at the top, facilitating the testing personnel to check and judge the working status of the magnetic drive conveyor line. The driver debugging adapter module is built into the side wall of the stator base, facilitating program burning for the testing personnel. The cooling fan, also placed on the side wall of the stator base, continuously provides cooling for the driver, improving the system stability of the magnetic drive conveyor line during long-term operation.

[0022] Reference Figures 1 to 8This embodiment provides a dual-rail horizontal magnetic drive conveyor line, including a stator module 1, with a mover module 2 at the upper end of the stator module 1. The stator module 1 has an H-shaped structure, with a motor slot 3 at the top and a hollow internal slot 4 at the bottom. The dual-rail horizontal magnetic drive conveyor line also includes a motor 5, which is disposed in the motor slot 3 at the top of the stator module 1, and the motor 5 wiring harness passes through the motor slot 3 and is placed in the hollow internal slot 4; two linear guide rails 6 are disposed at the top of the stator module 1, located on both sides of the motor slot 3; a Hall effect sensor 7 is disposed on the stator module 1 and fixedly installed on one side of the stator module 1, and the Hall effect sensor 7 is covered by the mover module 2; and a driver module 8 is disposed in the hollow internal slot 4. This design helps to reduce the structural width of the magnetic drive conveyor line, reduce the volume of the magnetic drive conveyor line, and improve the modularity of the magnetic drive conveyor line. In the specific implementation process, the driver module 8 sequentially powers the motor 5 in the motor slot 3 at the top of the stator module 1. Under the cutting of the traveling wave magnetic field, the motor 5 induces an electromotive force and generates a current. The current interacts with the magnetic field in the air gap to generate an electromagnetic thrust, which pushes the moving module 2 to move linearly along the linear guide rail 6. Hall scales 7 are arranged at equal intervals on one side of the stator module 1. When the moving module 2 moves, its magnetic field will trigger the Hall sensor on the Hall scale 7 and generate a signal. The Hall scale 7 detects in real time and feeds back the position of the moving module 2 to the external control system. Multi-point positioning is achieved by adjusting the current of the motor 5 through the driver module 8. The moving module 2 runs fast, smoothly, and with high repeatability, which can quickly transport items to the designated position and meet the requirements of large-scale production cycle.

[0023] Furthermore, the stator module 1 includes a stator base 101, a stator connecting plate 102, a stator base fixing feet 103, a motor harness through-hole 104, and a fan bracket 105; the stator base 101 has an H-shaped structure, with a motor slot 3 at the top and a hollow internal slot 4 at the bottom, and a protective cover 11 on the outer surface of the stator base 101 to improve the protection capability of the magnetic drive conveyor line; the stator connecting plate 102 is disposed in the motor slot 3; multiple stator base fixing feet 103 are disposed at the bottom of the stator base 101 to fix the stator module 1; multiple motor harness through-holes 104 are disposed at equal intervals on the motor slot 3; and the fan bracket 105 is disposed on one side of the stator base 101; In the specific implementation process, the stator connecting plate 102 connects two adjacent stator bases 101. The motor 5 wiring harness passes downward through the motor wiring harness through-hole 104 and enters the hollow built-in slot 4. Linear guide rails 6 are symmetrically installed on both sides of the motor slot 3 at the top of the stator base 101. A Hall effect sensor 7 is set on one side of the stator base 101. In the prior art, the protective cover 11 of the magnetic drive conveyor line is often an irregular splicing structure due to the external driver module 8. It is difficult to splice and the hardware layout of the magnetic drive conveyor line is large. Although it has a certain protective capability, it also reduces its space utilization. In this magnetic drive conveyor line, the driver module 8 is built into the hollow built-in slot 4 of the stator base 101. The protective cover 11 and the stator base 101 are connected by a snap-fit, which reduces the volume of the magnetic drive conveyor line and improves the space utilization.

[0024] Furthermore, the mover module 2 includes a mover base 21, a motor magnetic plate 22, a sensing pad 23, a sensing magnetic plate 24, a slider 25, a buffer column 26, and a sensing protective plate 9; the mover base 21 is disposed on the upper end of the stator base 101; the motor magnetic plate 22 is disposed on the lower end of the mover base 21; the sensing pad 23 is disposed on the lower end of the mover base 21 and located on one side of the mover base 21; the sensing magnetic plate 24 is disposed on the lower end of the mover base 21 and is fixedly connected to the mover base 21 by the sensing pad 23; multiple sliders 25 are disposed on the lower end of the mover base 21 and are slidably connected to the linear guide rail 6 on the top of the stator base 101; multiple buffer columns 26 are disposed at both ends of the mover base 21; and the sensing protective plate 9 is disposed on the outside of the sensing magnetic plate 24. In the specific implementation process, the motor magnetic plate 22 set at the lower end of the mover base 21 enters the enabling range of the motor 5 in the motor slot 3 along the direction of the linear guide rail 6 and generates a traveling wave magnetic field in the air gap. Under the cutting of the traveling wave magnetic field, the motor 5 induces an electromotive force and generates a current. The current interacts with the magnetic field in the air gap to generate an electromagnetic thrust, which pushes the mover base 21 to move linearly along the direction of the linear guide rail 6 through the slider 25 set at its lower end. The sensing magnetic plate 24 is set on the same side as the Hall scale 7 on the stator base 101. When the sensing magnetic plate 24 moves linearly with the mover base 21, its magnetic field triggers the Hall sensor on the Hall scale 7 to generate a signal in real time, thereby detecting the absolute position of the mover base 21. The driver module 8 adjusts the current of the motor 5 to realize multi-point positioning of the mover module 2 in the stroke. In conjunction with the robotic arm of the next process to pick up materials, the conveying efficiency of the mover base 21 is improved and the production cycle time of the conveyor line is reduced.

[0025] Furthermore, the driver module 8 includes a driver 81, an LED indicator 82, a driver debugging adapter module 83, a cooling fan 84, and a transparent acrylic plate 10. The driver 81 is mounted in a hollow built-in slot 4 at the bottom of the stator base 101 via an external hexagonal support. By embedding the driver 81 in the hollow built-in slot 4 of the stator base 101, the width of the magnetic drive conveyor line structure is reduced. The LED indicator 82 is located on the upper surface of the stator base 101, and a transparent acrylic plate 10 is provided at the upper end of the LED indicator 82 to facilitate debugging personnel in detecting and judging the working status of the magnetic drive conveyor line. The driver debugging adapter module... Block 83 is located in the hollow built-in slot 4 on the side near the Hall scale 7. The debugging interface of the drive debugging adapter module 83 passes through the side of the stator base 101 and is located at the lower end of the Hall scale 7. The built-in side-mounted drive debugging adapter module 83 shortens the width of the magnetic drive conveyor line and facilitates the program burning by the debugging personnel. Cooling fan 84 is located on the side of the stator base 101 away from the Hall scale 7. It is fixedly connected to the side wall of the stator base 101 by the fan bracket 105. Two cooling fans 84 are set on the side wall of the stator base 101 to continuously provide cooling for the driver 81 and improve the system stability under long-term operation of the magnetic drive conveyor line. In the specific implementation process, the driver 81 converts the control signal into a drive current, the LED indicator 82 reflects the current working status of the driver by flashing different colors and flashing patterns, the driver debugging adapter module 83 is connected to an external debugging computer for parameter setting, and the cooling fan 84 blows air from the inside out to promote the cooling of the driver 81.

[0026] Based on the same inventive concept, this application also provides a control method for a dual-rail horizontal magnetic drive conveyor line. The implementation of the dual-rail horizontal magnetic drive conveyor line provided in the above embodiments includes the following steps: S1. The material is fixed on the moving base 21. The production command issued by the external control system is received by the driver 81 of the driver module 8. After receiving the command, the driver module 8 performs path planning and assigns parameters such as ID, target position, speed and acceleration / deceleration curve to the moving module 2 to ensure that the moving module 2 works together and avoids collisions. S2. The driver 81 sequentially powers the motor 5. The motor magnetic plate 22 set at the lower end of the mover base 21 enters the motor slot 3 in the direction of the linear guide rail 6 and generates a traveling wave magnetic field in the air gap. Under the cutting of the traveling wave magnetic field, the motor 5 induces an electromotive force and generates a current. The current interacts with the magnetic field in the air gap to generate an electromagnetic thrust, which pushes the mover base 21 to move linearly along the direction of the linear guide rail 6 through the slider 25 set at its lower end. S3. The induction magnetic plate 24 moves linearly with the moving base 21. Its magnetic field triggers the Hall sensor on the Hall ruler 7 to generate a signal, and detects the position of the moving base 21 in real time. When the moving module 2 approaches the target work position, the external control system reads the position information in real time through the high-precision Hall ruler 7, and relies on the driver 81 to accurately adjust the current of the motor 5 to perform closed-loop control of speed and position. After the Hall effect sensor 7 detects that the moving module 2 has reached the target position, it sends a position signal to the external control system. The robotic arm then moves to the designated coordinates to perform the material picking operation. It should be noted that the moving module 2 can set multiple target positions in one stroke and provide real-time feedback of the absolute position to the external controller through the Hall effect sensor 7, eliminating the need for repeated positioning. The external controller sends a command to the driver 81, which adjusts the current of the motor 5 to achieve this. After the material picking is completed, the external control system sends a rotation command to the driver 81, which adjusts the current of the motor 5. The motor magnetic plate 22 of the moving module 2 interacts with the motor 5 to drive the moving module 2 to move back to the initial position.

[0027] The working principle of the present invention is illustrated below with a preferred embodiment: The material is placed on the mover base 21. The motor magnetic plate 22 set at the lower end of the mover base 21 enters the motor slot 3 along the linear guide rail 6 and enters the enabling range of the motor 5, generating a traveling wave magnetic field in the air gap. Under the cutting of the traveling wave magnetic field, the motor 5 induces an electromotive force and generates a current. The current interacts with the magnetic field in the air gap to generate an electromagnetic thrust, which pushes the mover base 21 to move linearly along the linear guide rail 6 through the slider 25 set at its lower end. The sensing magnetic plate 24 moves linearly with the mover base 21. Its magnetic field triggers the Hall sensor on the Hall ruler 7 to generate a signal and detect the position of the mover base 21 in real time. When the mover module 2 approaches the target work position, the external control system reads the position information in real time through the high-precision Hall ruler 7 and relies on the driver 81 to accurately adjust the current of the motor 5 to perform closed-loop control of speed and position.

[0028] It should be noted that the control method of the present invention is controlled by an external control system. The control circuit of the external control system can be implemented by those skilled in the art through simple programming. The power supply is also common knowledge in the art. Therefore, the present invention will not explain the control method and circuit connection in detail.

Claims

1. A dual-rail horizontal magnetic drive conveyor line, comprising a stator module (1), wherein a mover module (2) is provided at the upper end of the stator module (1), characterized in that: The stator module (1) has an H-shaped structure, with a motor slot (3) at the top and a hollow internal slot (4) at the bottom. The dual-rail horizontal magnetic drive conveyor line also includes: The motor (5) is located in the motor slot (3) at the top of the stator module (1), and the motor (5) wiring harness passes through the motor slot (3) and is placed in the hollow built-in slot (4); Linear guide rails (6) are provided on the top of the stator module (1), with two rails located on both sides of the motor slot (3); Hall ruler (7) is set on stator module (1) and fixedly installed on one side of stator module (1). The Hall ruler (7) is covered by passive sub-module (2). The driver module (8) is located in the hollow built-in slot (4); The moving module (2) moves linearly along the linear guide rail (6), and the Hall rulers (7) are arranged at equal intervals on one side of the stator module (1). When the moving module (2) moves, its magnetic field will trigger the Hall sensor on the Hall ruler (7) and generate a signal. The Hall ruler (7) detects and feeds back the absolute position of the moving module (2) in real time. The driver module (8) adjusts the current of the motor (5) to achieve multi-point positioning.

2. The dual-rail horizontal magnetic drive conveyor line according to claim 1, characterized in that: The stator module (1) includes: Stator base (101) has an H-shaped structure with a motor slot (3) at the top and a hollow internal slot (4) at the bottom. Stator connecting plate (102) is set in motor slot (3); Stator base fixing feet (103) are provided in multiple locations at the bottom of the stator base (101); Multiple motor wiring harness through-holes (104) are equally spaced on the motor slot (3); A fan bracket (105) is disposed on one side of the stator base (101); The stator connecting plate (102) connects two adjacent stator bases (101). The motor (5) harness passes downward through the motor harness through-hole (104) and enters the hollow built-in slot (4). Linear guide rails (6) are symmetrically installed on both sides of the motor slot (3) at the top of the stator base (101). A Hall ruler (7) is provided on one side of the stator base (101).

3. A double-rail horizontal magnetic drive conveyor line according to claim 2, characterized in that: The moving module (2) includes: The mover base (21) is disposed on the upper end of the stator base (101); The motor magnetic plate (22) is located at the lower end of the mover base (21); The induction pad (23) is located at the lower end of the mover base (21) and on one side of the mover base (21); The induction magnetic plate (24) is located at the lower end of the mover base (21), and the induction magnetic plate (24) is fixedly connected to the mover base (21) through the induction pad (23); Multiple sliders (25) are provided at the lower end of the mover base (21) and are slidably connected to the linear guide rails (6) at the top of the stator base (101); Multiple buffer columns (26) are provided at both ends of the moving base (21); Among them, the motor magnetic plate (22) set at the lower end of the moving base (21) enters the motor slot (3) in the direction of the linear guide rail (6) and generates a traveling wave magnetic field in the air gap. Under the cutting of the traveling wave magnetic field, the motor (5) induces an electromotive force and generates a current. The current interacts with the magnetic field in the air gap to generate an electromagnetic thrust, which pushes the moving base (21) to move linearly along the direction of the linear guide rail (6) through the slider (25) set at its lower end. The sensing magnetic plate (24) is set on the same side as the Hall ruler (7) on the stator base (101). When the sensing magnetic plate (24) moves linearly with the moving base (21), its magnetic field triggers the Hall sensor on the Hall ruler (7) to generate a signal in sequence, and detects the absolute position of the moving base (21) in real time. The driver module (8) adjusts the current of the motor (5) to realize the multi-point positioning of the moving module (2) in the stroke, and coordinates with the robotic arm of the next process to pick up materials.

4. A double-rail horizontal magnetic drive conveyor line according to claim 3, characterized in that: An induction protection plate (9) is provided on the outside of the induction magnetic plate (24).

5. A double-rail horizontal magnetic drive conveyor line according to claim 4, characterized in that: The driver module (8) includes: The driver (81) is mounted in a hollow built-in groove (4) at the bottom of the stator base (101) via an external hexagonal support; LED indicator (82) is disposed on the upper surface of stator base (101); The drive debugging adapter module (83) is located in the hollow built-in slot (4) on the side near the Hall ruler (7). The debugging interface of the drive debugging adapter module (83) passes through the side of the stator base (101) and is located at the lower end of the Hall ruler (7). A cooling fan (84) is located on the side of the stator base (101) away from the Hall effect sensor (7), and is fixedly connected to the side wall of the stator base (101) by a fan bracket (105). The driver (81) converts the control signal into a drive current. The LED indicator (82) reflects the current working status of the driver by flashing different colors and flashing patterns. The driver debugging adapter (83) is connected to an external debugging computer for parameter setting. The cooling fan (84) blows air from the inside out to promote the cooling of the driver (81).

6. A double-rail horizontal magnetic drive conveyor line according to claim 5, characterized in that: Two cooling fans (84) are provided on the side wall of the stator base (101).

7. A double-rail horizontal magnetic drive conveyor line according to claim 6, characterized in that: A transparent acrylic plate (10) is provided on the upper end of the LED indicator (82) of the stator base (101).

8. A double-rail horizontal magnetic drive conveyor line according to claim 7, characterized in that: A protective cover (11) is provided on the outer surface of the stator base (101).

9. A control method for a dual-rail horizontal magnetic drive conveyor line, implemented using the dual-rail horizontal magnetic drive conveyor line described in claim 8, characterized in that: Includes the following steps: S1. The material is fixed on the moving base (21). The production command issued by the external control system is received by the driver (81) of the driver module (8) and the path planning is performed. The moving module (2) is assigned parameters such as ID, target position, speed and acceleration / deceleration curve to ensure that the moving module (2) works together and avoids collision. S2. The driver (81) sequentially powers the motor (5). The motor magnetic plate (22) set at the lower end of the mover base (21) enters the motor slot (3) in the direction of the linear guide (6) and generates a traveling wave magnetic field in the air gap. Under the cutting of the traveling wave magnetic field, the motor (5) induces an electromotive force and generates a current. The current interacts with the magnetic field in the air gap to generate an electromagnetic thrust, which pushes the mover base (21) to move linearly along the direction of the linear guide (6) through the slider (25) set at its lower end. S3. The induction magnetic plate (24) moves linearly with the moving base (21). Its magnetic field triggers the Hall sensor on the Hall ruler (7) to generate a signal in real time, and detects the position of the moving base (21) in real time. When the moving module (2) approaches the target work position, the external control system reads the position information in real time through the high-precision Hall ruler (7) and relies on the driver (81) to accurately adjust the current of the motor (5) to perform closed-loop control of speed and position. S4. After the Hall ruler (7) detects that the moving module (2) has reached the target position, it sends a position signal to the external control system. The robotic arm then moves to the specified coordinates to perform the material picking operation. It should be noted that the moving module (2) can set multiple target positions in one stroke and feed back the absolute position to the external controller in real time through the Hall ruler (7). There is no need for repeated positioning. The external controller sends a command to the driver (81), and the driver (81) adjusts the current of the motor (5) to achieve this. After the material picking is completed, the external control system sends a rotation command to the driver (81), and the driver (81) adjusts the current of the motor (5). The motor magnetic plate (22) of the moving module (2) interacts with the motor (5) to drive the moving module (2) to move to the initial position.

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