Stator module and conveying line body

Abstract

The utility model discloses a stator module and a conveying line body, the stator module comprises a base, an armature winding and a circuit board, the armature winding is connected with the base and at least partially protrudes out of the base, a heat dissipation channel is formed in the base, and a ventilation opening communicated with the heat dissipation channel is formed in the base; the circuit board is located in the heat dissipation channel and electrically connected with the armature winding, the base comprises a first base body and a second base body, the armature winding is connected with the first base body, at least part of the armature winding protrudes out of the first base body in the second direction, the second base body is connected with the first base body, and the second base body and the armature winding protrude out of the same side of the first base body. The first seat body and / or the second seat body are / is provided with a heat dissipation channel and a ventilation opening. According to the technical scheme, the rotor and the armature winding can be conveniently installed in a matched mode, the matching size of the rotor and the armature winding is reduced, and on the basis, the heat dissipation channel is formed in the base to conduct ventilation and heat dissipation on the circuit board.

Description

Technical Field

[0001] The present application relates to the field of magnetic drive technology, and in particular to a stator module and a conveyor line. Background Art

[0002] In the field of electromagnetic drive technology, a conveying device usually has a stator and a mover. When the stator is energized, it can generate magnetic force, thereby driving the mover to move along the length direction of the stator, thereby achieving a certain conveying function.

[0003] In the existing technical solutions, various electronic devices are arranged in sequence on the stator. After the power is connected, the armature winding of the stator tends to generate a large amount of heat when working for a long time. If the heat cannot be dissipated in time, it is easy to cause damage to the related electronic devices on the stator. Utility Model Content

[0004] The embodiments of the present application provide a stator module and a conveyor line body, which can solve the problem of poor heat dissipation performance of the stator module.

[0005] In a first aspect, an embodiment of the present application provides a stator module, comprising a base, an armature winding and a circuit board; the base extends along a first direction, the armature winding extends along the first direction and is connected to the base, at least part of the armature winding protrudes from the base along a second direction, and the second direction intersects with the first direction; a heat dissipation channel is formed in the base, and a vent connected to the heat dissipation channel is formed on the base; and the circuit board is located in the base, and the circuit board is electrically connected to the armature winding; wherein the base comprises a first base body and a second base body, the first base body extends along the first direction, the armature winding is connected to the first base body, at least part of the armature winding protrudes from the first base body along the second direction, the second base body extends along the first direction, the second base body is connected to the first base body, the second base body protrudes compared to the first base body, and the second base body and the armature winding protrude from the same side of the first base body, and the heat dissipation channel and the vent are provided on the first base body and / or the second base body.

[0006] Some of the embodiments further include a fan, which is located in the heat dissipation channel. A plurality of vents are formed on the base, and the plurality of vents include an air inlet and an air outlet. The fan is used to allow air to enter the heat dissipation channel through the air inlet and be discharged through the air outlet.

[0007] In some of the embodiments, along the air flow direction, the circuit board is located downstream of the fan.

[0008] In some embodiments, the fan has an air inlet and an air outlet. Along the air flow direction, the air inlet is located downstream of the air inlet, the air outlet is located downstream of the air inlet, the circuit board is located downstream of the air outlet, and the board surface of the circuit board is arranged facing the air outlet.

[0009] In some embodiments, the base has a bottom surface and a first side surface connected to the bottom surface, the bottom surface and the first side surface both extend along the first direction, and the air inlet is arranged on the bottom surface and / or the first side surface.

[0010] In some embodiments, the base also has a second side, the first side and the second side are respectively located on opposite sides of the base along the second direction, the second side extends along the first direction, and the exhaust port is arranged on the first side and / or the second side.

[0011] In some embodiments, the air outlet extends along the first direction and passes through the base.

[0012] In some of the embodiments, the armature winding is disposed corresponding to the air outlet, and along the air flow direction, at least a portion of the armature winding is located downstream of the air outlet.

[0013] In some embodiments, the base has a bottom surface, a first side surface connected to the bottom surface, and a second side surface arranged opposite to the first side surface along a second direction. The bottom surface, the first side surface and the second side surface all extend along the first direction, and a portion of the armature winding passes through the exhaust port and is located in the heat dissipation channel.

[0014] In some embodiments, the heat dissipation channel is located at the first base, the air inlet is located at the first side, the air outlet is located at the second side, and the circuit board is located in the heat dissipation channel of the first base.

[0015] In some embodiments, the heat dissipation channel is located at the second seat body, the air inlet is located at the bottom surface, the air outlet is located at the second side surface, and the circuit board is located in the heat dissipation channel at the second seat body; wherein a portion of the heat dissipation channel extends to the first seat body to communicate with the air outlet.

[0016] In some embodiments, the base further includes a guide rail, which extends along the first direction and is installed above the second base body, and the armature winding is located above the guide rail and spaced apart from the guide rail.

[0017] In some embodiments, the circuit board includes: a connector, which is fixedly disposed on the base and electrically connected to the armature winding; a cable, which is used to be electrically connected to the connector, and the base is formed with a receiving groove for receiving the cable, and the receiving groove extends along the first direction.

[0018] In some embodiments, the base has a bottom surface, a first side surface connected to the bottom surface, and a second side surface arranged opposite to the first side surface along the second direction, and the bottom surface, the first side surface and the second side surface all extend along the first direction, wherein the first side surface is provided with a socket, and the connector is arranged corresponding to the socket; the connector is arranged on the side of the base where the first side surface is located, and the receiving groove is arranged on the first side surface; or, the connector is arranged on the side of the base where the second side surface is located, and the receiving groove is arranged on the second side surface.

[0019] In some of the embodiments, the stator module further includes a cover body, which is located on a side of the notch of the accommodating slot and covers the notch, and the cover body is connected to the base, and the cover body is arranged away from the connector.

[0020] In some embodiments, the stator module further includes a sensor array, which is connected to the first base body. The first base body has a top surface along a side away from the second base body. The sensor array is located on the top surface and extends along the first direction.

[0021] In some embodiments, the stator module is an arc-shaped stator module, and the first direction is along an arc direction; or, the stator module is a linear stator module, and the first direction is along a linear direction.

[0022] In the second aspect, an embodiment of the present application also provides a conveyor line body, which includes: a stator module and a mover module; the mover module is slidably connected to the base along the first direction, and the mover module is provided with a permanent magnet array, and the permanent magnet array is magnetically matched with the armature winding to drive the mover module to move relative to the stator module along the first direction.

[0023] In some embodiments, the stator module includes a connector, which is fixedly arranged on the base and electrically connected to the armature winding; the conveying line body includes a plurality of stator modules, and the plurality of stator modules are connected in sequence along the first direction, wherein the plurality of stator modules include connected arc stator modules and linear stator modules, the connector of the arc stator module is located on the inner side of the conveying line body, and the connector of the linear stator module is located on the outer side of the conveying line body, and a wire passing channel is formed on the base of the linear stator module, which passes through the inner and outer sides of the base, and the connector of the arc stator module is passed through in sequence via cables. After passing through the line passage, it is electrically connected to the connector of the linear stator module; and / or, the multiple stator modules include a first arc-shaped stator module and a second arc-shaped stator module that are connected to each other, the connector of the first arc-shaped stator module is located on the inner side of the conveying line body, the connector of the second arc-shaped stator module is located on the inner side of the conveying line body, and the connector of the first arc-shaped stator module is electrically connected to the connector of the second arc-shaped stator module via a cable; and / or, each stator module includes two connectors, and the two connectors of each stator module are electrically connected to the connectors of two adjacent stator modules via cables.

[0024] In some embodiments, the conveyor line body also includes the sensor array connected to the first seat body, the first seat body has a top surface along the side facing away from the second seat body, the sensor array is located on the top surface, and the sensor array extends along the first direction; and a sensor element, the sensor element is connected to the movable module, the sensor element is located on the side of the sensor array facing away from the base, and the sensor element and the sensor array are arranged opposite to each other in a third direction.

[0025] In some embodiments, the conveyor line body includes a plurality of stator modules, and the plurality of stator modules are sequentially connected along the first direction to form a conveyor line body with a closed path, and the plurality of stator modules are surrounded to form a containing interval for placing the actuator.

[0026] Based on the stator module and conveyor line body of the embodiment of the present application, the armature winding is connected to the base and at least partially protrudes from the base. Since the mover is driven by the magnetic force generated when the armature winding is energized, such a configuration can facilitate the mover to be directly matched and installed with the armature winding to reduce the overall matching size of the mover and the base. At the same time, since a heat dissipation channel is formed inside the base and a vent connected to the heat dissipation channel is formed on the base, the heat dissipation channel is connected to the outside world, which is convenient for heat dissipation of the circuit board arranged in the heat dissipation channel, thereby solving the problem of slow heat dissipation of the stator module.

[0027] At the same time, the base has a first base body and a second base body which are arranged in sequence along the up and down directions. The second base body is protruded along one side relative to the first base body, and the protruding side of the second base body and the protruding side of the armature winding installed to the first base body are the same side. Therefore, an installation space is formed between the second base body and the two protruding parts of the armature winding, which is convenient for assembling the mover module and the armature winding. At this time, the mover module is installed along one side of the base without having to span across both sides of the base, thereby better reducing the installation dimensions of the base and the mover module, so as to achieve the purpose of miniaturization of the installation of the stator module and the mover module. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 This is a schematic diagram of the three-dimensional structure of a stator module in one embodiment of the present application at an angle;

[0030] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure of the linear stator module at another angle;

[0031] Figure 3 for Figure 2 A cross-sectional view of the stator module at D;

[0032] Figure 4 This is a schematic diagram of the three-dimensional structure of a conveyor line body at an angle in one embodiment of the present application;

[0033] Figure 5 for Figure 4 Schematic diagram of the arc-shaped stator module.

[0034] Reference numerals:

[0035] 1000, conveyor line body;

[0036] 100, stator module; 1, base; 1a, bottom surface; 1b, first side surface; 1c, second side surface; 11, heat dissipation channel; 12, vent; 121, air inlet; 122, air outlet; 13, first seat body; 14, second seat body; 15, guide rail; 16, receiving groove; 17, cover body; 18, wire passage; 181, first wire hole; 182, second wire hole; 2, armature winding; 3, circuit board; 4, connector;

[0037] 100A, arc-shaped stator module; 100B, linear stator module;

[0038] 200, mover module; 5, permanent magnet array;

[0039] 300, sensor array;

[0040] 400, sensor element;

[0041] 500, accommodation interval;

[0042] A. First direction; B. Second direction; C. Third direction. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically limited.

[0044] In addition, in the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] During the creation and design process of this application, it was found that the conveyor line body currently composed of a stator module and a mover module generally adopts the method of setting the mover module across the base of the stator module to realize the movable connection between the mover module and the stator module. Such matching requires the size of the mover module to be larger than the size of the base of the stator module, and a gap must be left for installation and matching, which leads to a larger matching size between the mover module and the stator module, which is not conducive to the miniaturization and flexibility of the conveyor line body. At the same time, the current stator module does not take into account the ventilation and cooling of the electronic devices installed at the base, making it difficult for the existing stator module to effectively cool down, affecting the use of electronic devices, causing heat loss to the electronic devices, and thus reducing the service life of the stator module. In order to solve the problems of insufficient heat dissipation function and large matching size of the stator module in the related art, the embodiment of this application proposes a stator module and a conveyor line body.

[0046] See also Figures 1 to 3 The stator module 100 in the embodiment of the present application includes a base 1, an armature winding 2 and a circuit board 3.

[0047] The base 1 and the armature winding 2 both extend in a first direction A, the armature winding 2 is connected to the base 1 and at least partially protrudes from the base 1 in a second direction B, and the second direction B intersects with the first direction A. A heat dissipation channel 11 is formed in the base 1, and a vent 12 connected to the heat dissipation channel 11 is formed on the base 1. The circuit board 3 is located in the heat dissipation channel 11, and the circuit board 3 is electrically connected to the armature winding 2.

[0048] In the above structure, the base 1 is used to carry the armature winding 2 and the circuit board 3. The circuit board 3 is electrically connected to the armature winding 2. The circuit board 3 is used to control the periodic power supply of the armature winding 2 so that the armature winding 2 generates a changing magnetic field. In an embodiment of the present application, the armature winding 2 is used to match the mover module 200. Therefore, the changing magnetic field is used to magnetically cooperate with the permanent magnet array on the mover module 200 and realize the driving of the mover module 200.

[0049] It can be understood that the first direction A corresponds to the conveying direction of the stator module 100, that is, the direction in which the stator module 100 conveys the mover module 200. By connecting the armature winding 2 to the base 1 and at least partially protruding from the base 1 along the second direction B intersecting with the first direction A, it is possible to facilitate the mover module 200 to be directly matched and installed with the armature winding 2, so that the mover module 200 does not need to be matched and installed with the entire base 1, but only needs to be matched and installed with the armature winding 2, thereby reducing the overall matching size of the mover module 200 and the base 1. At the same time, since a heat dissipation channel 11 is formed inside the base 1, and a vent 12 connected to the heat dissipation channel 11 is formed on the base 1, the heat dissipation channel 11 is connected to the outside world, which is convenient for heat dissipation of the circuit board 3 arranged in the heat dissipation channel 11, and solves the problem of slow heat dissipation of the stator module 100.

[0050] Furthermore, the base 1 includes a first base body 13 and a second base body 14, the armature winding 2 is connected to the first base body 13; the second base body 14 is located below the first base body 13 and connected to the first base body 13, the second base body 14 protrudes compared to the first base body 13, and the second base body 14 and the armature winding 2 protrude on the same side of the first base body 13, a heat dissipation channel 11 is arranged on the first base body 13 and / or the second base body 14, and a ventilation opening 12 is arranged on the first base body 13 and / or the second base body 14.

[0051] It can be understood that the base 1 has a first base body 13 and a second base body 14 which are arranged in sequence along the up and down directions. The second base body 14 is protruded along one side relative to the first base body 13, and the protruding side of the second base body 14 and the protruding side of the armature winding 2 installed to the first base body 13 are the same side. Therefore, an installation space is formed between the two protruding parts of the second base body 14 and the armature winding 2, which is convenient for the assembly of the mover module 200 and the armature winding 2. At this time, the mover module 200 is installed along one side of the base 1 without being straddled to both sides of the base 1, thereby better reducing the installation dimensions of the base 1 and the mover module 200, so as to achieve the purpose of miniaturization of the installation of the stator module 100 and the mover module 200.

[0052] In order to further enhance the heat dissipation effect, the stator module 100 further includes a fan (not shown in the figure), the fan is located in the heat dissipation channel 11, and a plurality of vents 12 are formed on the base 1, the plurality of vents 12 include an air inlet 121 and an air outlet 122, and the fan is used to allow airflow to enter the heat dissipation channel 11 through the air inlet 121 and be discharged through the air outlet 122. In this way, when the fan is located in the heat dissipation channel 11, during its operation, the air flow speed in the heat dissipation channel 11 can be accelerated, so that the low-temperature air in the environment enters the heat dissipation channel 11 through the air inlet 121, and the heat dissipation of the electronic components inside the heat dissipation channel 11 is achieved, and the gas after heating is discharged through the heat dissipation channel 11 through the air outlet 122, so that the cycle can effectively enhance the heat dissipation effect in the heat dissipation channel 11, achieve the cooling of the circuit board 3, and provide a good temperature environment for the operation of the circuit board 3. In the embodiment of the present application, there is no restriction on the type of the fan, which can be a centrifugal fan or an axial flow fan, as long as it can achieve the effect of air flow.

[0053] In addition, the shape of the air inlet 121 can be variously set, and can be circular, rectangular or other special shapes. In the embodiment of the present application, the air inlet 121 includes a plurality of grids, and the grids are arranged in sequence. While providing a larger ventilation area, it is easy to manufacture and install. The size and number of the grids can be adjusted as needed to adapt to different equipment requirements and achieve corresponding heat dissipation effects.

[0054] In some embodiments, along the flow direction of the airflow, the circuit board 3 is located downstream of the fan. It is worth noting that the flow direction of the air refers to the direction in which the air flows in from the air inlet 121, flows through the heat dissipation channel 11 driven by the fan, and then flows out along the exhaust port 122. Therefore, when the circuit board 3 is located downstream of the fan, the low-temperature air flowing in from the outside is driven by the fan to accelerate the flow speed, and the high-speed flowing gas can take away the heat in the heat dissipation channel 11, thereby effectively exchanging heat and cooling the circuit board 3.

[0055] In order to further enhance the heat dissipation effect of the fan on the circuit board 3, the fan has an air inlet and an air outlet. Along the air flow direction, the air inlet is located downstream of the air inlet 121, the air outlet is located downstream of the air inlet, the circuit board 3 is located downstream of the air outlet, and the board surface of the circuit board 3 is arranged to face the air outlet. It can be understood that the circuit board 3 is usually a thin plate-like structure, and the board surface of the circuit board 3 can specifically refer to the surface of the circuit board 3 for placing circuit elements or the surface opposite to the placement of circuit elements. Since the surface of the circuit board 3 for placing circuit elements or the surface opposite to the placement of circuit elements has a larger surface area than the remaining surface, therefore, the board surface of the circuit board 3 is designed to face the air outlet, which can increase the surface area of ​​the circuit board 3 facing the air outlet of the fan and improve the heat dissipation effect of the circuit board 3.

[0056] Furthermore, the air outlet of the fan can be used to face the surface of the circuit board 3 for placing circuit elements. In this way, the low-temperature airflow flowing in from the air inlet 121 enters along the air inlet of the fan and flows out from the air outlet of the fan after being accelerated by the fan. In this process, the accelerated low-temperature airflow can directly contact the circuit elements and can exchange heat with the surface of the circuit board 3 more quickly, thereby reducing the temperature of the surface of the circuit board 3 and achieving a better heat dissipation effect.

[0057] Please refer to Figure 2 The base 1 has a bottom surface 1a and a first side surface 1b connected to the bottom surface 1a. The bottom surface 1a and the first side surface 1b both extend along the first direction A. The air inlet 121 is arranged on the bottom surface 1a and / or the first side surface 1b. In the embodiment of the present application, the number of air inlets 121 is not limited, and it can be single or multiple. The single air inlet 121 is respectively located on the bottom surface 1a or the first side surface 1b of the base 1, and the multiple air inlets 121 can be respectively arranged on the bottom surface 1a and the first side surface 1b of the base 1. The placement positions of the circuit board 3 and the fan will change accordingly when the number and position of the air inlet 121 are set differently. For example, when the single air inlet 121 is located on the bottom surface 1a of the base 1, the fan is arranged close to the bottom surface 1a of the base 1, and the circuit board 3 is arranged close to the bottom surface 1a of the base 1. Near the bottom surface 1a of the base 1, it is located downstream of the fan along the airflow direction; when a single air inlet 121 is located on the first side 1b of the base 1, the fan is arranged close to the first side 1b, and the circuit board 3 is close to the first side 1b of the base 1, it is located downstream of the fan along the airflow direction; and when there are multiple air inlets 121, and they are located on the bottom surface 1a and the first side 1b respectively, due to the increase in the number of air inlets 121, it is possible to more effectively achieve the entry of external airflow, achieve heat exchange with the inside of the base 1, and its cooling effect is better. Therefore, the position and number of the air inlet 121 can be flexibly set according to actual needs to adapt to different application scenarios, and the placement of the circuit board 3 and the fan can be changed, which provides space for the arrangement of other components inside the base 1, and can be beneficial to the space utilization inside the base 1.

[0058] Based on this, the base 1 also has a second side surface 1c connected to the bottom surface 1a, the first side surface 1b and the second side surface 1c are respectively located on opposite sides of the base 1 along the second direction B, the second side surface 1c extends along the first direction A, and the exhaust port 122 is arranged on the first side surface 1b and / or the second side surface 1c. It can be understood that the vent 12 also includes an exhaust port 122, and the air inlet 121 and the exhaust port 122 are connected through the heat dissipation channel 11, so that the air inlet 121 introduces air and the exhaust port 122 discharges air, forming a unidirectional air flow in the base 1, which can facilitate the guidance of the airflow, so that the airflow can cool down the components located in the heat dissipation channel 11 according to the set heat dissipation channel 11.

[0059] Please refer to Figure 1 In order to achieve a better exhaust effect, the exhaust port 122 extends along the first direction A and penetrates the base 1. In the embodiment of the present application, the exhaust port 122 penetrates the base 1 to communicate with the heat dissipation channel 11, and the exhaust port 122 extends along the first direction A to form a larger wind guide area, so that the air flow in the base 1 is discharged through the exhaust port 122 to achieve a better exhaust effect.

[0060] Based on the above embodiment, the armature winding 2 is arranged corresponding to the exhaust port 122, and along the airflow direction, at least part of the armature winding 2 is located downstream of the exhaust port 122. It can be understood that during the operation of the stator module 100, the armature winding 2 is energized to generate current, and the thermal effect of the current will cause the temperature of some components of the armature winding 2 to rise, thereby adversely affecting the operation of the armature winding 2. In the embodiment of the present application, the armature winding 2 is arranged corresponding to the exhaust port 122. Therefore, the low-temperature air entering from the air inlet 121 can pass through the heat dissipation channel 11, and after being driven by the fan, it is discharged from the exhaust port 122 through the heat dissipation channel 11, and the corresponding armature winding 2 is blown to dissipate heat, taking away the heat of the armature winding 2, achieving the heat dissipation and cooling effect of the armature winding 2, thereby avoiding the adverse effect of the thermal effect of the current in the armature winding 2 on it.

[0061] For further information, please refer to Figure 1 , part of the armature winding 2 passes through the exhaust port 122 and is located in the heat dissipation channel 11. It can be understood that part of the armature winding 2 extends into the heat dissipation channel 11, which is convenient for increasing the contact area between the armature winding 2 and the heat dissipation channel 11, thereby increasing the contact area between the armature winding 2 and the flowing air, achieving a better heat dissipation effect, and then effectively reducing the heat on the surface of the armature winding 2.

[0062] In addition, please refer to Figure 3In the embodiment of the present application, there are also multiple ways to set the heat dissipation channel 11, and the form of the heat dissipation channel 11 can be flexibly set as needed. For example, when the heat dissipation channel 11 is located in the first base body 13, the air inlet 121 is located on the first side 1b, and the air outlet 122 is located on the second side 1c. At this time, the circuit board 3 is vertically arranged in the heat dissipation channel 11 in the first base body 13 along the up and down direction, and the fan is located between the air inlet 121 and the circuit board 3. The airflow flows through the air inlet 121, the fan, the circuit board 3, the air outlet 122, and the armature winding 2 in sequence, which can realize the cooling and heat dissipation of the circuit board 3 and the armature winding 2, and the circuit board 3 is placed in the vertical direction, which will not increase the lateral space of the base 1, and is convenient for the assembly of the armature winding 2 and the mover module 200, and reduces the lateral size of its assembly, so as to achieve the stator module 100 and the mover module 200. Small installation. For example, when the heat dissipation channel 11 is located in the second seat body 14, the air inlet 121 is located on the bottom surface 1a of the base 1, and the air outlet 122 is located on the second side surface 1c, at this time, the heat dissipation channel 11 is also connected to the first seat body 13 to realize the connection between the air inlet 121 and the air outlet 122, and the circuit board 3 is horizontally placed in the second seat body 14, and the fan is located between the air inlet 121 and the circuit board 3. The airflow flows through the air inlet 121, the fan, the circuit board 3, the air outlet 122, the armature winding 2 and other devices in turn, which can realize the cooling and heat dissipation of the circuit board 3 and the armature winding 2, and the circuit board 3 is horizontally placed in the second seat body 14, which will not affect the matching of the mover module 200 and the armature winding 2. Since the length of the heat dissipation channel 11 is longer at this time, the airflow can pass through various components inside the base 1 to dissipate heat and cool each component, so its heat dissipation effect is better.

[0063] You can refer to Figure 4 The base 1 further includes a guide rail 15, which extends along the first direction A of the stator module 100 and is installed above the second base body 14. The armature winding 2 is located above the guide rail 15 and is spaced apart from the guide rail 15. In the actual installation process, one side of the mover module 200 is open to match the armature winding 2. The bottom of the mover module 200 has a roller, which matches the guide rail 15 on the base 1, so that the mover module 200 can slide on the base 1 along the guide rail 15 through the roller, which has a more precise guiding effect and is also convenient for the movement of the mover module 200.

[0064] In some embodiments, the stator module 100 further includes a connector 4 and a cable (not shown in the figure), the connector 4 is connected to the base 1; the cable is used to be electrically connected to the connector 4, and the base 1 is formed with a receiving groove 16 for receiving the cable, and the receiving groove 16 extends along the first direction A of the stator module 100. It can be understood that the connector 4 is electrically connected to the circuit board 3, and the base 1 is provided with a hole corresponding to the connector 4, so that the connector 4 is exposed at the base 1, so that the connector 4 can be plugged with the cable, and since the base 1 is also formed with a receiving groove 16, the receiving groove 16 can be used to receive the cable, and the cable can be easily gathered into the receiving groove 16, which provides protection and a certain aesthetic effect. In addition, the cable includes a power line and a signal line.

[0065] For further information, please refer to Figures 1 to 3 The base 1 has a bottom surface 1a, a first side surface 1b connected to the bottom surface 1a, and a second side surface 1c arranged opposite to the first side surface 1b along the second direction B, and the first side surface 1b and the second side surface 1c both extend along the first direction A of the stator module 100, wherein the connector 4 is arranged on the side where the first side surface 1b of the base 1 is located, and the accommodating groove 16 is arranged on the first side surface 1b; or, the connector 4 is arranged on the side where the second side surface 1c of the base 1 is located, and the accommodating groove 16 is arranged on the second side surface 1c. Specifically, the connector 4 and the receiving groove 16 are located on the same side of the base 1. This arrangement makes it easy for the cable to be gathered in the receiving groove 16 after being plugged into the connector 4. On the one hand, since the connector 4 and the receiving groove 16 are located on the first side 1b and / or the second side 1c, the first side 1b and the second side 1c are two sides connected to the bottom surface 1a, and the first side 1b and the second side 1c extend along the first direction A of the stator module 100, the cable routing can be directly extended along the first direction A of the stator module 100. The arrangement of the receiving groove 16 can facilitate the routing of the cable along the first direction A of the stator module 100 to connect to the next plug interface. On the other hand, the receiving groove 16 can form a semi-enclosed state for the cable, thereby providing a certain protective effect on the cable.

[0066] In addition, the stator module 100 further includes a cover 17, which is located at one side of the notch of the receiving slot 16 and covers the notch, is connected to the base 1, and is arranged away from the connector 4. In the embodiment of the present application, the cover 17 is detachably mounted at the notch of the receiving slot 16. When the cables are connected, the cover 17 is in a disassembled state, which is convenient for the cable connection. When the cables are connected, the cover 17 is in an installed state and covers the notch of the receiving slot 16, and cooperates with the notch of the receiving slot 16 to form a cluster cavity, so as to avoid the accidental breakage, leakage and other hidden dangers of the cables being exposed to the outside world over a large area, and is used to accommodate and protect the cables. From the perspective of appearance, the cables are covered by the cover 17, so as to avoid the messy cable connection and the overall appearance is beautiful and durable.

[0067] Please refer to Figure 4 The stator module 100 further includes a sensor array 300, which is connected to the first base body 13, and the first base body 13 has a top surface along a side away from the second base body 14, and the sensor array 300 is located at the top surface, and the sensor array 300 extends along the first direction A. Therefore, in the above structure, the first base body 13 is used to carry the sensor array 300, and the circuit board 3 is electrically connected to the corresponding sensor array 300, and the position sensed by the sensor array 300 is read by the circuit board 3 to realize the positioning function of the mover module 200.

[0068] Please refer to Figure 4 , the stator module 100 is an arc-shaped stator module 100A, and the first direction A of the arc-shaped stator module 100A is along the arc direction; or, the stator module 100 is a linear stator module 100B, and the first direction A of the linear stator module 100B is along the linear direction. In fact, the shape of the stator module 100 can be set to be various. In the technical solution of the present application, the stator module 100 is an arc-shaped stator module 100A and / or a linear stator module 100B, and the first direction A of the arc-shaped stator module 100A is an arc, so the function of reversing can be realized, and the first direction A of the linear stator module 100B is a straight line. The arc-shaped stator module 100A and the linear stator module 100B can be docked and installed. Stator modules 100 of different shapes cooperate with each other to form different conveying states to meet different needs. The present application does not limit the combination state of the arc-shaped stator module 100A and the arc stator module.

[0069] Please refer to Figure 4 The embodiment of the utility model also proposes a conveyor line body 1000, which includes a stator module 100. The specific structure of the stator module 100 refers to the above embodiment. Since the conveyor line body 1000 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0070] The conveyor line body 1000 also includes a mover module 200; the mover module 200 is slidably connected to the base 1 along the first direction A of the stator module 100, and the mover module 200 is provided with a permanent magnet array 5, and the permanent magnet array 5 and the armature winding 2 are magnetically matched to drive the mover module 200 to move relative to the stator module 100. The conveyor line body 1000 uses the magnetic match between the permanent magnet array 5 and the armature winding 2 to drive the movement of the mover module 200, and can control the magnitude of the magnetic force by energizing the armature winding 2 and controlling the current by the circuit board 3, thereby accurately controlling the movement of the mover module 200, and realizing the transportation and operation of workpieces or materials with large capacity, high energy efficiency, and long-term round-trip transportation.

[0071] In some embodiments, the stator module 100 includes a connector 4, which is connected to the base 1. In this embodiment, the connector 4 serves to connect an external power source and / or a signal source. The connector 4 may be provided with a plurality of power interfaces, one of which may be connected to a power cord of an external power source to supply power to the armature winding 2, the sensor array 300 and the circuit board 3, and the remaining power interfaces may be connected to power cords to achieve connection with the circuit board 3 connected to the connector 4 on the adjacent base 1. When a plurality of stator modules are provided, since the circuit boards 3 in each stator module are connected in series through the connector 4, it is only necessary to connect an external power source to the connector 4 of one of the bases 1, so that the plurality of stator modules 100 can be powered as a whole.

[0072] Preferably, multiple power interfaces can be set to different voltage levels to adapt to the working environment in different places. For example, the voltage of the external power supply can be changed so that the armature winding 2 generates magnetic fields of different strengths, and the movement speed of the mover module 200 is different under different magnetic field strengths, thereby controlling the movement speed of the mover module 200. Similarly, multiple signal interfaces can be provided on the connector 4, one of which is for the signal line of the external signal source to be plugged in, so as to realize the signal transmission between the external signal source and the controller or between the controller and the controller. Furthermore, the power line can be a cable, a wire, etc., and the signal line can be an optical fiber; the power line and the signal line can be set separately, or they can be combined to form an optoelectronic hybrid cable. Correspondingly, the power interface and the signal interface can be set separately or combined to form a hybrid interface to realize the power supply and signal transmission functions separately or simultaneously.

[0073] The conveyor line body 1000 includes a plurality of stator modules 100, which are connected in sequence; the plurality of stator modules 100 include an arc-shaped stator module 100A and a linear stator module 100B connected to each other, the connector 4 of the arc-shaped stator module 100A is located on the inner side of the conveyor line body 1000, and the connector 4 of the linear stator module 100B is located on the outer side of the conveyor line body 1000. Specifically, the plurality of stator modules 100 are connected in sequence to enclose a closed line body, and in this conveyor line body 1000, there are corresponding inner and outer sides, the arc-shaped stator module 100A has an arc-shaped base 1, and the linear stator module 100B has a linear base 1, for the arc-shaped base 1, its connector 4 is located on the inner side of the conveyor line body 1000, and for the linear stator module 100B, its connector 4 is located on the outer side of the conveyor line body 1000.

[0074] Please refer to Figure 4In some embodiments, when the connector 4 of the arc-shaped base 1 is located on the inner side of the arc-shaped base 1, a wire-passing channel 18 penetrating the inner and outer sides of the base 1 is formed on the base 1 of the linear stator module 100B, and the connector 4 of the arc-shaped stator module 100A is electrically connected to the connector 4 of the linear stator module 100B after the cables pass through the wire-passing channel 18 in sequence. Among them, the wire passing channel 18 runs through the linear base 1, and forms a first wire passing hole 181 and a second wire passing hole 182 on the inner and outer sides of the linear base 1 respectively. One end of the cable is connected to the connector 4 at the arc base 1, and the other end passes through the first wire passing hole 181, passes through the wire passing channel 18, and is transmitted from the second wire passing hole 182, through the accommodating groove 16 to the connector 4 of the linear base 1, and is connected to the connector 4 of the linear base 1 to form an electrical connection between the arc base 1 and the linear base 1. The wire passing channel 18 can facilitate wiring, and the line is simple without unnecessary winding. The cable does not need to bypass the top or bottom of the stator module 100 for connection, so as to avoid the cable from hindering the movement of the movable module 200 or increasing the risk of collision. On the one hand, the length of the cable can be shortened and the cost is lower; on the other hand, due to the simple line, it is easy to achieve quick plug-in or disassembly.

[0075] It should be noted that the cross-sectional dimensions of the wire passage 18 should not be designed to be too small or too large, and can be specifically designed according to the number and thickness of the cables to be passed through, as long as the cables can pass through and the cables cannot be excessively bent. The wire passage 18 is preferably integrally formed inside the base 1 during the casting process of the base 1, without the need for subsequent separate excavation or installation, which facilitates the overall manufacturing and installation of the stator module 100.

[0076] In some other embodiments, the connector 4 of the arc-shaped base 1 is located on the outside of the arc-shaped base 1. In this case, there is no need to use the wire passage 18. Instead, after the cable is connected to the connector 4 of the arc-shaped base 1, it is connected to the connector 4 of the linear base 1 along the transportation direction of the stator module 100. The wiring is simple and can be quickly connected and removed.

[0077] Correspondingly, the multiple stator modules 100 include a first arc-shaped stator module 100A and a second arc-shaped stator module 100A connected to each other. The connector 4 of the first arc-shaped stator module 100A is located on the inner side of the conveying line body 1000, and the connector 4 of the second arc-shaped stator module 100A is located on the inner side of the conveying line body 1000. The connector 4 of the first arc-shaped stator module 100A is electrically connected to the connector 4 of the second arc-shaped stator module 100A via a cable. In the above embodiment, the connectors 4 of the connected first arc-shaped stator module 100A and the second arc-shaped stator module 100A are both located on the inner side of the conveying line body 1000, so the cable can be directly connected to the connectors 4 of the first arc-shaped stator module 100A and the second arc-shaped stator. With this arrangement, the cable does not need to bypass the top or bottom of the stator module 100 for connection, thereby avoiding the cable from hindering the movement of the movable module 200 or increasing the risk of collision, and the cable length is designed to be shorter and the cost is lower.

[0078] In addition, each stator module 100 includes two connectors 4, and the two connectors 4 of each stator module 100 are electrically connected to the connectors 4 of two adjacent stator modules 100 via cables. For example, in a closed transmission line body 1000 formed by a plurality of stator modules 100, both sides of each stator module 100 are connected to other stator modules 100. Therefore, in order to ensure the electrical connection of the circuit board 3 between the stator modules 100, each stator module 100 needs to be provided with two connectors 4, which are electrically connected to the connectors 4 between the two adjacent stator modules 100 via cables, so as to realize the control of the entire line.

[0079] Please refer to Figure 4 In some other embodiments, the conveyor line body 1000 also includes a sensor array 300 and a sensor element 400, the sensor array 300 is connected to the base 1 of the stator module 100, and the sensor array 300 extends along the first direction A; and the sensor element 400 is connected to the movable module 200, and the sensor element 400 and the sensor array 300 are arranged relative to each other in the third direction C, wherein the first direction A, the second direction B and the third direction C are perpendicular to each other. Specifically, the base 1 has a top surface and a bottom surface 1a, and the sensor array 300 is arranged on the top surface of the base 1 along the extension direction of the stator module 100, the conveyor line body 1000 includes a plurality of stator modules 100, and the sensor array 300 is arranged on the plurality of bases 1, specifically, the sensor array 300 is located at the first base body 13; the sensor element 400 is arranged on the movable module 200, the sensor element 400 is located on the side of the sensor array 300 facing away from the bottom surface 1a, and is relatively spaced from the sensor array 300 in the upper and lower directions of the stator; and a circuit board 3 is provided in each base 1, and the circuit board 3 is electrically connected to the corresponding sensor array 300 respectively.

[0080] Therefore, in the above structure, the first seat body 13 is used to carry the sensor array 300, and the circuit board 3 is electrically connected to the corresponding sensor array 300. The position of the sensor element 400 sensed by the sensor array 300 is read through the circuit board 3 to realize the positioning function of the movable module 200. The sensor array 300 and the sensor element 400 can cooperate to control the position and movement of the movable module 200 to achieve precise transportation of workpieces or materials. The conveyor line body 1000 conveys workpieces by using a ring line driven by magnetic power. It has a large transportation capacity and high energy efficiency, and is suitable for the transportation of workpieces or materials that move back and forth for a long time.

[0081] Furthermore, when a plurality of stator modules 100 are connected in sequence to form an annular conveyor body 1000, by arranging the sensor array 300 on the top surface of the base 1, compared with arranging the sensor array 300 on the radially outer side of the annular conveyor body 1000, the sensor array 300 is easy to install and does not need to expand to occupy the radial space of the annular conveyor body 1000. The radial dimensions of the armature winding 2 and the mover module 200 can be designed to be smaller, thereby reducing the radial space occupied by the annular conveyor body 1000, improving space utilization, and reducing costs.

[0082] In some of the embodiments, the conveyor line body 1000 includes a plurality of stator modules 100, and the plurality of stator modules 100 are connected in sequence to form a receiving space 500 for placing the actuator between the plurality of stator modules 100. Among them, the plurality of stator modules 100 are connected in sequence to enclose and form a receiving space 500, and the receiving space 500 can be used to place the actuator, and the actuator is placed in the receiving space 500, which will not occupy the radial space of the closed conveyor line body 1000, thereby increasing the utilization rate of the space, reducing the space occupied by the conveyor line body 1000, and facilitating the miniaturization and lightweight of the conveyor line body 1000. In addition, the actuator includes a mechanical arm, a clamping mechanism, etc., which is not limited in this application and can be used according to actual conditions.

[0083] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "upper", "lower", "left", "right", etc. indicate an orientation or position relationship based on the orientation or position relationship shown in the drawings, it is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0084] In addition, the descriptions of "first", "second", etc. in this application are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this utility model.

[0085] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A stator module (100), characterized in that: include: A base (1), the base (1) extending along a first direction (A); An armature winding (2), the armature winding (2) extending along the first direction (A) and connected to the base (1), at least a portion of the armature winding (2) protruding from the base (1) along a second direction (B), the second direction (B) intersecting the first direction (A); a heat dissipation channel (11) formed in the base (1), a vent (12) in communication with the heat dissipation channel (11) formed on the base (1); and, A circuit board (3), the circuit board (3) being located in the base (1), and the circuit board (3) being electrically connected to the armature winding (2); The base (1) comprises a first base body (13) and a second base body (14); the first base body (13) extends along the first direction (A); the armature winding (2) is connected to the first base body (13); at least part of the armature winding (2) protrudes from the first base body (13) along the second direction (B); the second base body (14) extends along the first direction (A); the second base body (14) is connected to the first base body (13); the second base body (14) protrudes relative to the first base body (13); and the second base body (14) and the armature winding (2) protrude from the same side of the first base body (13); the first base body (13) and / or the second base body (14) are provided with the heat dissipation channel (11) and the vent (12).

2. The stator module (100) according to claim 1, characterized in that: Also includes: A fan, the fan is located in the heat dissipation channel (11), a plurality of ventilation openings (12) are formed on the base (1), the plurality of ventilation openings (12) include an air inlet (121) and an air outlet (122), the fan is used to allow air flow to enter the heat dissipation channel (11) through the air inlet (121) and be discharged through the air outlet (122).

3. The stator module (100) according to claim 2, characterized in that: Along the flow direction of the airflow, the circuit board (3) is located downstream of the fan.

4. The stator module (100) according to claim 3, characterized in that: The fan comprises an air inlet and an air outlet. Along the air flow direction, the air inlet is located downstream of the air inlet (121), and the air outlet is located downstream of the air inlet. The circuit board (3) is located downstream of the air outlet, and the board surface of the circuit board (3) is arranged facing the air outlet.

5. The stator module (100) according to claim 2, characterized in that: The base (1) comprises a bottom surface (1a) and a first side surface (1b) connected to the bottom surface (1a), the bottom surface (1a) and the first side surface (1b) both extend along the first direction (A), and the air inlet (121) is arranged on the bottom surface (1a) and / or the first side surface (1b).

6. The stator module (100) according to claim 5, characterized in that: The base (1) further comprises a second side surface (1c), the first side surface (1b) and the second side surface (1c) are respectively located on two opposite sides of the base (1) along the second direction (B), the second side surface (1c) extends along the first direction (A), and the exhaust port (122) is arranged on the first side surface (1b) and / or the second side surface (1c).

7. The stator module (100) according to claim 6, characterized in that: The air outlet (122) extends along the first direction (A) and passes through the base (1).

8. The stator module (100) according to any one of claims 2 to 7, characterized in that: The armature winding (2) is arranged corresponding to the air outlet (122), and along the air flow direction, at least a portion of the armature winding (2) is located downstream of the air outlet (122).

9. The stator module (100) according to claim 8, characterized in that: The base (1) comprises a bottom surface (1a), a first side surface (1b) connected to the bottom surface (1a), and a second side surface (1c) arranged opposite to the first side surface (1b) along the second direction (B); the bottom surface (1a), the first side surface (1b), and the second side surface (1c) all extend along the first direction (A). Part of the armature winding (2) passes through the air outlet (122) and is located in the heat dissipation channel (11).

10. The stator module (100) according to claim 9, characterized in that: The heat dissipation channel (11) is located at the first base (13), the air inlet (121) is located at the first side surface (1b), the air outlet (122) is located at the second side surface (1c), and the circuit board (3) is located in the heat dissipation channel (11) at the first base (13).

11. The stator module (100) according to claim 9, characterized in that: The heat dissipation channel (11) is located at the second base (14), the air inlet (121) is located at the bottom surface (1a), the air outlet (122) is located at the second side surface (1c), and the circuit board (3) is located in the heat dissipation channel (11) at the second base (14); wherein a portion of the heat dissipation channel (11) extends to the first base (13) for communication with the air outlet (122).

12. The stator module (100) according to claim 1, characterized in that: The base (1) further comprises: A guide rail (15), the guide rail (15) extending along the first direction (A) and installed above the second seat (14), the armature winding (2) being located above the guide rail (15) and spaced apart from the guide rail (15).

13. The stator module (100) according to claim 1, characterized in that: The circuit board comprises: A plug connector (4), the plug connector (4) being fixedly disposed on the base (1) and electrically connected to the armature winding (2); A cable is used for electrically connecting to the connector (4); the base (1) is formed with a receiving groove (16) for receiving the cable, and the receiving groove (16) extends along the first direction (A).

14. The stator module (100) according to claim 13, characterized in that: The base (1) comprises a bottom surface (1a), a first side surface (1b) connected to the bottom surface (1a), and a second side surface (1c) arranged opposite to the first side surface (1b) along the second direction (B); the bottom surface (1a), the first side surface (1b), and the second side surface (1c) all extend along the first direction (A). The first side surface (1b) is provided with a socket, and the connector (4) is arranged corresponding to the socket; the connector (4) is arranged on the side of the base (1) where the first side surface (1b) is located, and the receiving groove (16) is arranged on the first side surface (1b); or, the connector (4) is arranged on the side of the base (1) where the second side surface (1c) is located, and the receiving groove (16) is arranged on the second side surface (1c).

15. The stator module (100) according to claim 13, characterized in that: Also includes: A cover body (17), the cover body (17) is located on one side of the notch of the accommodating groove (16) and covers the notch, the cover body (17) is connected to the base (1), and the cover body (17) is arranged away from the plug-in component (4).

16. The stator module (100) according to claim 1, characterized in that: Also includes: A sensor array (300), wherein the sensor array (300) is connected to the first base (13), the first base (13) having a top surface along a side facing away from the second base (14), the sensor array (300) being located on the top surface, and the sensor array (300) extending along the first direction (A).

17. The stator module (100) according to claim 1, characterized in that: The stator module is an arc-shaped stator module (100A), and the first direction (A) is along the arc direction; Alternatively, the stator module is a linear stator module (100B), and the first direction (A) is along a linear direction.

18. A conveyor line body (1000), characterized in that: include: The stator module (100) according to any one of claims 1 to 17; A mover module (200) is slidably connected to the base (1) along the first direction (A); the mover module (200) is provided with a permanent magnet array (5); the permanent magnet array (5) and the armature winding (2) are magnetically matched to drive the mover module (200) to move relative to the stator module along the first direction (A).

19. The conveyor line body (1000) according to claim 18, characterized in that: The stator module (100) comprises a connector (4), the connector (4) being fixedly arranged on the base (1) and electrically connected to the armature winding (2); the transmission line body (1000) comprises a plurality of the stator modules (100), the plurality of the stator modules (100) being connected in sequence along the first direction (A), The plurality of stator modules (100) include connected arc-shaped stator modules (100A) and linear stator modules (100B); the connector (4) of the arc-shaped stator module (100A) is located on the inner side of the conveying line body (1000); the connector (4) of the linear stator module (100B) is located on the outer side of the conveying line body (1000); a wire-passing channel (18) penetrating the inner side and the outer side of the base (1) is formed on the base (1) of the linear stator module (100B); the connector (4) of the arc-shaped stator module (100A) is electrically connected to the connector (4) of the linear stator module (100B) after the cables sequentially pass through the wire-passing channel (18); And / or, the plurality of stator modules (100) include a first arc-shaped stator module and a second arc-shaped stator module that are connected to each other, the connector (4) of the first arc-shaped stator module is located on the inner side of the conveying line body (1000), the connector (4) of the second arc-shaped stator module is located on the inner side of the conveying line body (1000), and the connector (4) of the first arc-shaped stator module is electrically connected to the connector (4) of the second arc-shaped stator module via a cable; And / or, each of the stator modules (100) comprises two of the connectors (4), and the two connectors (4) of each of the stator modules (100) are electrically connected to the connectors (4) of two adjacent stator modules (100) via cables.

20. The conveyor line body (1000) according to claim 18, characterized in that: Also includes: A sensor array (300), the sensor array (300) being connected to the first base (13), the first base (13) having a top surface along a side facing away from the second base (14), the sensor array (300) being located on the top surface, and the sensor array (300) extending along the first direction (A); as well as, A sensor element (400), the sensor element (400) being connected to the movable submodule (200), the sensor element (400) being located on a side of the sensor array (300) facing away from the base (1), and the sensor element (400) and the sensor array (300) being arranged relative to each other in a third direction (C).

21. The conveyor line body (1000) according to any one of claims 18 to 20, characterized in that: The conveyor line body (1000) comprises a plurality of stator modules (100), wherein the plurality of stator modules are sequentially connected along the first direction (A) to form a conveyor line body (1000) with a closed path, and the plurality of stator modules are arranged to form a containing area (500) for placing an actuator.

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