Rotor module and conveying system

Abstract

The utility model discloses a mover module and a conveying system.The mover module is applied to the conveying system and is in magnetic drive fit with a stator conveying line, the stator conveying line comprises a stop structure, and the mover module comprises a mover base, a permanent magnet assembly and a guide assembly; the rotor base is provided with a first limiting part extending in the first direction and a second limiting part extending in the second direction, an included angle is formed between the first direction and the second direction, and the first limiting part and the second limiting part are used for being in limiting fit with the stop structure; the permanent magnet assembly is arranged on the rotor base and located on the inner side of the first limiting part and the inner side of the second limiting part, and the permanent magnet assembly comprises a first permanent magnet array arranged in the first direction and a second permanent magnet array arranged in the second direction. The guide assembly is arranged on the rotor base and located on the peripheral side of the permanent magnet assembly. According to the rotor module, the precision and stability of the rotor module during reversing can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of conveying devices, in particular to a mover module and a conveying system. Background Art

[0002] In the related art, the conveying system includes a mover and a stator conveyor line composed of multiple stators. The coils in the stator conveyor line are periodically energized to generate a traveling wave magnetic field, which has two functions: first, it allows the mover to float on the stator conveyor line without any supporting components; second, the traveling wave magnetic field drives the mover to move along a preset planned route. When the mover carries objects, the stator conveyor line can drive the mover and the objects on it to move without friction, thereby realizing the transportation of the objects.

[0003] However, if the mover changes its running direction only through the action of magnetic driving force, when the accuracy of the mover load change or magnetic field control is low, relying solely on the magnetic field to achieve the mover's direction change will result in low mover direction change accuracy, which is not conducive to the transportation of products. Utility Model Content

[0004] The embodiments of the present application provide a mover module and a conveying system, which can improve the accuracy and stability of the mover module during reversing, so as to improve the stability of conveying products by the conveying system.

[0005] In a first aspect, an embodiment of the present application provides a mover module, which cooperates with a stator conveyor line magnetic drive, wherein the stator conveyor line includes a stopper structure, and the mover module includes:

[0006] The mover base is provided with a first limiting portion extending along a first direction and a second limiting portion extending along a second direction, wherein the first direction and the second direction are arranged at an angle, wherein the first limiting portion and the second limiting portion are used to cooperate with the stop structure for limiting;

[0007] a permanent magnet assembly, arranged on the mover base and located inside the first limiting portion and the second limiting portion, the permanent magnet assembly comprising a first permanent magnet array arranged along the first direction and a second permanent magnet array arranged along the second direction; and

[0008] The guide assembly is arranged on the mover base and is located on the outer peripheral side of the permanent magnet assembly.

[0009] In a possible implementation, the mover base includes a base portion, the first limiting portion and the second limiting portion are connected to the bottom of the base portion, and the first limiting portion and the second limiting portion are alternately arranged around the circumference of the guide assembly.

[0010] In a possible implementation, the mover base further includes a mounting seat, and the mounting seat is mounted on the bottom of the base portion;

[0011] The guide assembly includes a plurality of guide wheels, the mounting seat includes a plurality of sub-mount bodies, one guide wheel is mounted on one sub-mount body, and one sub-mount body is correspondingly connected to an inner side of the first limiting portion or an inner side of the second limiting portion;

[0012] Alternatively, the mounting seat includes a plurality of sub-seat bodies, and the plurality of sub-seat bodies are arranged around the outer peripheral side of the permanent magnet assembly, wherein two guide wheels are arranged on one sub-seat body at intervals, and one sub-seat body is correspondingly formed as the first limiting portion or the second limiting portion.

[0013] In a possible implementation, the axial direction of the guide wheel is perpendicular to the base portion.

[0014] In a possible implementation, outer edges of the first limiting portion and the second limiting portion are closer to an outer edge of the base portion than to an outer edge of the guide assembly.

[0015] In a possible implementation, the mover base further includes a mounting portion, the mounting portion is connected to the bottom of the base portion, and the mounting portion is used to mount the permanent magnet assembly;

[0016] The mover module also includes a support member, which is installed at the bottom of the base portion. The support member is used to support the mover module on the stator conveying line so that there is a gap between the permanent magnet assembly and the stator conveying line.

[0017] In a possible implementation, the mover base further includes a plurality of reinforcing ribs, wherein the reinforcing ribs are connected to the bottom of the base portion, and two ends of the reinforcing ribs are respectively connected to the mounting portion and the first limiting portion or the second limiting portion.

[0018] Based on the mover module of the embodiment of the present application, the commutation module has a commutation winding and a stopper structure. The commutation winding can selectively be magnetically coupled with the first permanent magnet array and the second permanent magnet array to drive the mover module to move in the first direction or in the second direction.

[0019] The mover base is provided with a first limiting portion extending along the first direction and a second limiting portion extending along the second direction, and the first limiting portion and the second limiting portion cooperate with the stop structure to limit the movement of the mover module along the first direction or the second direction. The first limiting portion and the second limiting portion can provide a larger contact area, thereby enhancing the stability of the mover module when limiting.

[0020] In a second aspect, an embodiment of the present application provides a delivery system, comprising

[0021] The above-mentioned mover module, the mover base includes a base portion, the first limiting portion and the second limiting portion; and

[0022] A commutation module, comprising a commutation winding and a stopper structure, wherein the commutation winding comprises a coil substrate, a first commutation winding and a second commutation winding; the first commutation winding and the second commutation winding are arranged on the coil substrate;

[0023] The first commutation winding is magnetically coupled to the first permanent magnet array to drive the mover module to move in a first direction, and the second commutation winding is magnetically coupled to the second permanent magnet array to drive the mover module to move in a second direction;

[0024] The stop structure is arranged on the four sides of the commutation winding and is used to selectively abut against the first limiting portion and the second limiting portion to limit the running direction of the mover module.

[0025] In a possible implementation, the conveying system further includes a frame, and the sub-wire body and the coil substrate are both mounted on the frame;

[0026] The stator conveying line comprises a plurality of sub-line bodies, the sub-line bodies and the reversing modules are arbitrarily spliced ​​along the conveying direction, and the reversing module is used to guide the moving sub-module from one sub-line body to another sub-line body;

[0027] The stop structure also includes a first limit assembly and a second limit assembly arranged on the frame, the first limit assembly and the second limit assembly are arranged at intervals on the circumferential side of the coil substrate, the first limit assembly is used to limit the movement of the movable module in the first direction, and the second limit assembly is used to limit the movement of the movable module in the second direction.

[0028] In a possible implementation, the first limiting assembly includes a first power source and a first baffle plate transmission-connected to the first power source, and the second limiting assembly includes a second power source and a second baffle plate transmission-connected to the second power source;

[0029] The first baffle extends in the first direction, and the second baffle extends in the second direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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 utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0031] Figure 1 A schematic structural diagram of a magnetic drive conveying system provided in an embodiment of the present application;

[0032] Figure 2 A schematic diagram of the structure of a magnetic drive conveying system without a frame provided in an embodiment of the present application;

[0033] Figure 3 for Figure 2 The enlarged schematic diagram of point A in the middle;

[0034] Figure 4 A schematic diagram of the structure of a switching module provided in an embodiment of the present application;

[0035] Figure 5 A schematic diagram of the structure of a moving module of an embodiment provided in the present application;

[0036] Figure 6 A schematic structural diagram of a mover module according to another embodiment of the present application;

[0037] Figure 7 A side view schematic diagram of a mover module of an embodiment provided in the present application.

[0038] Description of Figure Numbers:

[0039] 1. Conveying system; 10. Moving element module; 110. Moving element base; 111. Base part; 112. First limiting part; 113. Second limiting part; 114. Mounting seat; 115. Mounting part; 116. Reinforcing rib; 120. Permanent magnet assembly; 121. First permanent magnet array; 122. Second permanent magnet array; 130. Guide assembly; 131. Guide wheel; 140. Support member; 20. Stator conveying line; 210. Sub-line body; 211. Stator module; 2111. Stator body; 2112. Stator guide rail; 40. Reversing module; 410, commutation winding; 411, coil substrate; 412, first commutation winding; 413, second commutation winding; 420, stop structure; 421, first limit assembly; 4211, first power source; 4212, first baffle; 422, second limit assembly; 4221, second power source; 4222, second baffle; 30, commutation module; 310, drive member; 320, commutation guide; 330, third commutation winding; 331, confluence end; 332, shunt end; 50, rack; XX, first direction; YY, second direction.

[0040] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the present invention more clear, the following part will further describe the embodiments of the present application in detail in conjunction with the accompanying drawings.

[0042] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present utility model. Instead, they are only examples of devices and methods consistent with some aspects of the present utility model as detailed in the attached claims.

[0043] In the description of the present utility model, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. In addition, in the description of the present utility model, unless otherwise specified, "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previously associated objects are in an "or" relationship.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0045] Please refer to Figure 1 The embodiment of the present application proposes a conveying system 1, which includes a frame 50, a moving module 10 and a stator conveying line 20. The moving module 10 cooperates with the stator conveying line 20 in magnetic drive, wherein the stator conveying line 20 includes a plurality of sub-line bodies 210 and a reversing module 40 spliced ​​together, the reversing module 40 has a reversing winding 410 and a stop structure 420, and the plurality of sub-line bodies 210 and the reversing module 40 are both installed on the frame 50.

[0046] The moving module 10 is used as a bearing component to stably bear and transport the product. Figure 5 and Figure 6 The mover module 10 may include a mover base 110, a permanent magnet assembly 120 and a guide assembly 130. The permanent magnet assembly 120 and the guide assembly 130 are both arranged on the mover base 110. The permanent magnet assembly 120 includes a first permanent magnet array 121 arranged along a first direction XX and a second permanent magnet array 122 arranged along a second direction YY. The first direction XX is arranged at an angle to the second direction YY. Exemplarily, the first direction XX and the second direction YY are arranged perpendicular to each other.

[0047] During transportation, the permanent magnet assembly 120 is magnetically coupled with the stator conveyor line 20, so that the mover module 10 is driven by the stator conveyor line 20, thereby driving the product to move on the conveyor line, and the stator conveyor line 20 selectively magnetically couples with one of the first permanent magnet array 121 and the second permanent magnet array 122, so that the mover module 10 can be transported in different directions.

[0048] The stator conveying line 20 includes a plurality of sub-line bodies 210, which can be selectively magnetically coupled with the first permanent magnet array 121 and the second permanent magnet array 122, and are used to drive the movable module 10 to move. The sub-line body 210 can be formed by splicing a plurality of stator modules 211, and the plurality of stator modules 211 are installed on the frame 50. The embodiment of the present application does not specifically limit the shape of the stator conveying line 20 formed by splicing the stator modules 211, wherein the stator module 211 includes a linear winding (not shown in the figure), and the permanent magnet component 120 of the movable module 10 can be magnetically coupled with the linear winding, so that the stator module 211 drives the movable module 10 to move.

[0049] It is understandable that the extension directions of the multiple sub-line bodies 210 may be the same or different. When the transport directions of two adjacent sub-line bodies 210 are different, the moving sub-module 10 needs to change the movement direction. In order to facilitate the switching of the moving sub-module 10 from one sub-line body 210 to another sub-line body 210, the embodiment of the present application sets a switching module 40 on the conveying system 1.

[0050] Please refer to Figure 4 The commutation module 40 has a commutation winding 410 and a stop structure 420. The commutation winding 410 can be selectively magnetically coupled with the first permanent magnet array 121 and the second permanent magnet array 122. Among them, the commutation winding 410 may include a coil substrate 411, and a first commutation winding 412 and a second commutation winding 413 arranged on the coil substrate 411. The first commutation winding 412 is extended along the first direction XX, and the second commutation winding 413 is extended along the second direction YY. The first commutation winding 412 is magnetically coupled with the first permanent magnet array 121 to drive the mover module 10 to move along the first direction XX, and the second commutation winding 413 is magnetically coupled with the second permanent magnet array 122 to drive the mover module 10 to move along the second direction YY. The relevant driving principle has been disclosed and will not be repeated in this application.

[0051] Please refer to Figure 5 and Figure 6 The mover base 110 is provided with a first limit portion 112 extending along the first direction XX and a second limit portion 113 extending along the second direction YY, wherein the first limit portion 112 and the second limit portion 113 cooperate with the stop structure 420 to limit the movement of the mover module 10 along the first direction XX or the second direction YY. The first limit portion 112 and the second limit portion 113 can provide a larger contact area, thereby enhancing the stability of the mover module 10 when limiting. In some embodiments, the first limit portion 112 and the second limit portion 113 can be directly integrated on the mover base 110, which can simplify the assembly process of the mover base 110.

[0052] Please refer to Figure 4The stop structure 420 includes a first limiting component 421 and a second limiting component 422, which are arranged at intervals on the circumference of the coil substrate 411. The first limiting component 421 and the first limiting portion 112 are used to limit the movement of the movable module 10 in the first direction, and the second limiting component 422 is used to limit the movement of the movable module 10 in the second direction. In this way, when the first limiting component 421 acts, the movement of the movable module 10 in the second direction YY is limited, so that it can only move in the first direction XX, and when the second limiting component 422 acts, the movement of the movable module 10 in the first direction XX is limited, so that it can only move in the second direction YY, thereby improving the stability of the movable module 10 moving along the first direction XX or the second direction YY.

[0053] Please refer to Figure 4 In some embodiments, the first limiting assembly 421 includes a first power source 4211 and a first baffle 4212 that is transmission-connected to the first power source 4211, and the second limiting assembly 422 includes a second power source 4221 and a second baffle 4222 that is transmission-connected to the second power source 4221. There are two first baffles 4212, which are spaced apart in the second direction YY and extend in the first direction XX, and there are two second baffles 4222, which are spaced apart in the first direction XX and extend in the second direction YY. In some embodiments, the first power source 4211 drives the first baffle 4212 to perform a lifting operation in the height direction, and the second power source 4221 drives the second baffle 4222 to perform a lifting operation in the height direction. In this way, the first baffle 4212 or the second baffle 4222 is raised to limit the mover module 10.

[0054] In some structural forms, the first baffle 4212 and the second baffle 4222 may be located on the four sides of the coil substrate 411, respectively, wherein the first power source 4211 and the second power source 4221 may be fixed on the four sides of the coil substrate 411, and the first baffle 4212 is fixed on the driving shaft of the first power source 4211, and the second baffle 4222 is fixed on the driving shaft of the second power source 4221. The first power source 4211 and the second power source 4221 may be a cylinder, a lead screw, a linear motor, etc., and the present application does not limit them.

[0055] In some structural forms, the permanent magnet assembly 120 is located on the inner side of the first limiting portion 112 and the second limiting portion 113, and the guide assembly 130 is located on the outer side of the permanent magnet assembly 120. In this arrangement, the operations of the permanent magnet assembly 120, the first limiting portion 112, the second limiting portion 113 and the guide assembly 130 do not interfere with each other, and the installation space of the mover base 110 can be reasonably utilized, making the structure of the mover module 10 more compact.

[0056] In some embodiments, the mover base 110 includes a base 111, a first limit portion 112 and a second limit portion 113 connected to the bottom of the base 111, and the first limit portion 112 and the second limit portion 113 are alternately arranged around the guide assembly 130. In this example, the base 111, the first limit portion 112 and the second limit portion 113 can be an integrated structure, so that the installation operation of the mover base 110 can be simplified and the stability of the first limit portion 112 and the second limit portion 113 can be improved. Among them, the base 111 is used to carry products and install the permanent magnet assembly 120. The embodiment of the present application does not limit the specific structure of the base 111, for example, the base 111 can be a rectangular parallelepiped structure or a cylindrical structure. In addition, the embodiment of the present application does not specifically limit the material used for the mover base 110, for example, the mover base 110 can be made of aluminum, stainless steel metal material or carbon fiber mixed material. Exemplarily, when the mover base 110 is made of aluminum, the aluminum can attract the magnetic field generated by the stator coil on the stator conveying line 20 after the stator conveying line 20 is energized, so that the mover module 10 can be stably conveyed by the stator conveying line 20 .

[0057] Please refer to Figure 4 In some embodiments, the guide assembly 130 includes a plurality of guide wheels 131, wherein the axial direction of the guide wheel 131 is perpendicular to the base portion 111. In this configuration, the outer wheel surface of the guide wheel 131 abuts against the side walls on both sides of the reversing guide rail 320, thereby ensuring that the mover module 10 will not deviate or swing during operation, ensuring that it runs stably on a predetermined track, especially at high speeds. Of course, in other embodiments, the guide assembly 130 may be a plurality of sliders, which is not limited in this application.

[0058] Please refer to Figure 4In some embodiments, the mover module 10 further includes a support member 140 disposed at the bottom of the mover base 110. The support member 140 may be a roller-type universal wheel, a ball-type universal wheel, or a Mecanum wheel. It is understood that when the support member 140 is configured as a rolling member, the stator module 211 on the stator conveyor line 20 may be connected to the support member 140 on the mover module 10 by rolling, and the rolling member supports the mover module 10 and can reduce the resistance between the mover module 10 and the stator module 211. Of course, in other embodiments, the support member 140 may be a support block, which may only play a supporting role. It is understood that the mover module 10 can be lifted from the surface of the mover module 10 by its magnetic levitation force, and may not rely on the contact of the support member 140. The mover module 10 of the present application provides a supporting function through the support member 140, which can reduce the friction resistance between the stator module 211 and improve the operating efficiency and precision. A plurality of support members 140 may be provided on the mover base 110 , and the embodiment of the present application does not specifically limit the number of support members 140 .

[0059] When the support member 140 is configured as a rolling member, the magnetic levitation force of the stator module 211 used to drive the permanent magnet assembly 120 to move in the vertical direction can be reduced. Therefore, the magnetic levitation force originally used to drive the permanent magnet assembly 120 to suspend can be used more to support the mover module 10 and the objects it carries, so that the mover module 10 has a greater load force, and then the mover module 10 can carry objects with heavier weights. Since the support member 140 can support the mover module 10, it can prevent the mover module 10 from falling onto the stator module 211 when the load on the mover module 10 changes or the stator conveying line 20 is accidentally powered off and shuts down, so as to damage the mover module 10 and the stator conveying line 20. In addition, the rolling member can reduce the friction between the mover module 10 and the stator module 211.

[0060] To facilitate installation of the support member 140, please refer to Figure 5 and Figure 6 , the movable base 110 of the present application also includes a mounting seat 114, which is mounted on the bottom of the base portion 111 and is used to mount the support member 140. In some embodiments, the mounting seat 114 includes a plurality of sub-base bodies, a support member 140 is mounted on a sub-base body, and a sub-base body is correspondingly connected to the inner side of a first limiting portion 112 or the inner side of a second limiting portion 113. By using a plurality of sub-base bodies, each support member 140 can be individually mounted on the sub-base body, which makes the installation process simpler and more flexible. In addition, the sub-base body is connected to the inner side of the first limiting portion 112 or the second limiting portion 113, so that the stability and reliability of the support member 140 can be enhanced.

[0061] In some other embodiments, the mounting seat 114 includes a plurality of sub-mount bodies, and the plurality of sub-mount bodies are arranged around the outer peripheral side of the permanent magnet assembly 120, wherein two guide wheels 131 are arranged at intervals on one sub-mount body, and one sub-mount body is correspondingly formed as a first limiting portion 112 or a second limiting portion 113. The mounting seat 114 can not only facilitate the installation of the guide assembly 130, but also form the first limiting portion 112 and the second limiting portion 113. In this example, the first limiting portion 112 and the second limiting portion 113 are separately arranged from the base portion 111, and the specific forms of the first limiting portion 112 and the second limiting portion 113 are not limited in this application.

[0062] For further information, please refer to Figure 7 , the outer edges of the first limiting portion 112 and the second limiting portion 113 are closer to the outer edge of the base portion 111 than the outer edge of the guide assembly 130. For example, when the guide assembly 130 is a guide wheel 131, the outer wheel surface of the guide wheel 131 is located on the inner side of the outer edges of the first limiting portion 112 and the second limiting portion 113, so that the guide wheel 131 can be prevented from interfering with the limiting operation of the first limiting portion 112 and the second limiting portion 113 during the movement of the movable module 10.

[0063] Please refer to Figure 5 and Figure 6 , the mover base 110 also includes a mounting portion 115, which is connected to the bottom of the base 111, and the mounting portion 115 is used to mount the permanent magnet assembly 120; wherein, when the support 140 supports the mover module 10 on the sub-line body 210, there is a gap between the permanent magnet assembly 120 and the sub-line body 210. The present application provides a mounting portion 115 at the bottom of the base 111, and the mounting portion 115 protrudes in the direction close to the sub-line body 210. After the permanent magnet assembly 120 is mounted on the mounting portion 115, the interval between the permanent magnet assembly 120 and the sub-line body 210 can be reduced, and the driving force of the sub-line body 210 on the permanent magnet assembly 120 can be increased. At the same time, the support 140 provided can ensure that during the operation of the mover module 10, there is always a gap between the permanent magnet assembly 120 and the sub-line body 210, which can avoid possible wear when the permanent magnet assembly 120 and the sub-line body 210 are in direct contact.

[0064] Furthermore, the mover base 110 further includes a plurality of reinforcing ribs 116, which are connected to the bottom of the base portion 111, and the two ends of the reinforcing ribs 116 are respectively connected to the mounting portion 115 and the first limiting portion 112 or the second limiting portion 113. The reinforcing ribs 116 can effectively increase the overall structural strength of the mover base 110 and reduce the deformation and distortion of the mover base 110 during operation. They ensure that the base maintains stability when supporting large or heavy equipment, so that the mover module 10 can withstand a larger load, and can also improve fatigue resistance and durability, thereby extending the service life of the equipment.

[0065] In some embodiments, the first permanent magnet array 121 includes a plurality of first permanent magnets arranged along a first direction XX, the second permanent magnet array 122 includes a plurality of second permanent magnets arranged along a second direction YY, the polarity arrangement period of the first permanent magnets along the first direction XX is at least one of the NS period, the NHS period, and the NHSH period, and the second permanent magnet array 122 includes a polarity arrangement period along the second direction YY is at least one of the NS period, the NHS period, and the NHSH period.

[0066] In order to further facilitate the switching of the moving sub-module 10 from one sub-line body 210 to another sub-line body 210, the embodiment of the present application further includes a switching module 30, which includes a driving member 310 and at least two switching guides 320 extending in different directions. The switching guides 320 can be switched between a connection position and an avoidance position under the drive of the driving member 310, wherein the switching guides 320 in the connection position can be in sliding contact with the guide assembly 130. In this example, at least one switching guide 320 is an arc-shaped structure. With such a configuration, the guide assembly 130 of the moving sub-module 10 can switch to different sub-line bodies 210 by cooperating with different switching guides 320. Since at least one switching guide 320 is an arc-shaped structure, the switching guide 320 can guide the moving sub-module 10 to gradually transition from one sub-line body 210 to another sub-line body 210.

[0067] In order to improve the stability of the moving sub-module 10 switching to different sub-line bodies 210 through the switching module 30, please refer to Figure 2 and Figure 3 The commutation module 30 further includes a third commutation winding 330 spliced ​​between different sub-wires 210. The third commutation winding 330 can selectively be magnetically coupled with the first permanent magnet array 121 and the second permanent magnet array 122. Figure 3The third commutation winding 330 includes a confluence end 331 and at least two shunt ends 332, wherein the confluence end 331 is connected to a sub-line body 210, and the two shunt ends 332 are respectively connected to different sub-line bodies 210, and a commutation guide rail 320 guides the mover module 10 to move from the confluence end 331 to one of the shunt ends 332 to enter the next sub-line body 210. In this way, the mover module 10 is always affected by the magnetic driving force during the commutation from one sub-line body 210 to another sub-line body 210, and can be stably commutated. Of course, in other embodiments, commutation can also be achieved by relying solely on the inertia of the mover module 10, and this application does not limit this.

[0068] Please continue to refer to Figure 2 and Figure 3 In some embodiments, the sub-line body 210 includes a plurality of mutually spliced ​​stator modules 211, the stator module 211 includes a stator body 2111 and a stator guide rail 2112, the stator guide rail 2112 and the stator body 2111 are arranged in parallel along the conveying direction, and the stator guide rail 2112 is slidably matched with the guide assembly 130; wherein, the reversing guide rail 320 is spliced ​​with the stator guide rail 2112 when it is in the connection position. With such a configuration, the moving sub-module 10 can smoothly transition from the stator guide rail 2112 of one sub-line body 210 to the reversing guide rail 320, and then smoothly transition from the reversing guide rail 320 to the stator guide rail 2112 of another sub-line body 210. The stability of the moving sub-module 10 during operation is improved, sudden movement resistance or vibration is avoided, and it is beneficial to improve the operational stability and reliability of the system.

[0069] In some embodiments, the guide assembly 130 includes a plurality of guide wheels 131, wherein the axial direction of the guide wheel 131 is perpendicular to the base portion 111. In this configuration, the outer wheel surface of the guide wheel 131 abuts against the side walls on both sides of the reversing guide rail 320, thereby ensuring that the mover module 10 will not deviate or swing during operation, ensuring that it runs stably on a predetermined track, especially at high speeds. Of course, in other embodiments, the guide assembly 130 may be a plurality of sliders, which is not limited in this application.

[0070] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of the present utility model, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on the present utility model. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0071] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mover module (10) magnetically driven with a stator conveyor line (20), characterized in that: The stator conveying line (20) comprises a stop structure (420), and the mover module (10) comprises: The mover base (110) is provided with a first limiting portion (112) extending along a first direction and a second limiting portion (113) extending along a second direction, wherein the first direction and the second direction are arranged at an angle, wherein the first limiting portion (112) and the second limiting portion (113) are used to perform limiting cooperation with the stop structure (420); a permanent magnet assembly (120) arranged on the mover base (110) and located inside the first limiting portion (112) and the second limiting portion (113), the permanent magnet assembly (120) comprising a first permanent magnet array (121) arranged along the first direction and a second permanent magnet array (122) arranged along the second direction; and The guide assembly (130) is arranged on the mover base (110) and is located on the outer peripheral side of the permanent magnet assembly (120).

2. The mover module (10) according to claim 1, characterized in that: The mover base (110) comprises a base portion (111), the first limiting portion (112) and the second limiting portion (113) are connected to the bottom of the base portion (111), and the first limiting portion (112) and the second limiting portion (113) are alternately arranged around the circumference of the guide assembly (130).

3. The mover module (10) according to claim 2, characterized in that: The mover base (110) further comprises a mounting seat (114), wherein the mounting seat (114) is mounted on the bottom of the base portion (111); The guide assembly (130) includes a plurality of guide wheels (131), the mounting seat (114) includes a plurality of sub-seat bodies, one of the guide wheels (131) is mounted on one of the sub-seat bodies, and one of the sub-seat bodies is correspondingly connected to the inner side of one of the first limiting portions (112) or the inner side of the second limiting portion (113); Alternatively, the mounting seat (114) includes a plurality of sub-seat bodies, and the plurality of sub-seat bodies are arranged around the outer peripheral side of the permanent magnet assembly (120), wherein two guide wheels (131) are arranged at intervals on one of the sub-seat bodies, and one of the sub-seat bodies is correspondingly formed as the first limiting portion (112) or the second limiting portion (113).

4. The mover module (10) according to claim 3, characterized in that: The axial direction of the guide wheel (131) is perpendicular to the base portion (111).

5. The mover module (10) according to any one of claims 2 to 4, characterized in that: The outer edges of the first limiting portion (112) and the second limiting portion (113) are closer to the outer edge of the base portion (111) than the outer edge of the guide assembly (130).

6. The mover module (10) according to any one of claims 2 to 4, characterized in that: The mover base (110) further comprises a mounting portion (115), wherein the mounting portion (115) is connected to the bottom of the base portion (111), and the mounting portion (115) is used to mount the permanent magnet assembly (120); The mover module (10) further comprises a support member (140), wherein the support member (140) is mounted on the bottom of the base portion (111), and the support member (140) is used to support the mover module (10) on the stator conveying line (20) so that a gap exists between the permanent magnet assembly (120) and the stator conveying line (20).

7. The mover module (10) according to claim 6, characterized in that: The mover base (110) further comprises a plurality of reinforcing ribs (116), wherein the reinforcing ribs (116) are connected to the bottom of the base portion (111), and two ends of the reinforcing ribs (116) are respectively connected to the mounting portion (115) and the first limiting portion (112) or the second limiting portion (113).

8. A conveying system (1), characterized in that: include The mover module (10) according to any one of claims 1 to 7, wherein the mover base (110) comprises a base portion (111), the first limiting portion (112) and the second limiting portion (113); and A commutation module (40) comprises a commutation winding (410) and a stopper structure (420), wherein the commutation winding (410) comprises a coil substrate (411), a first commutation winding (412) and a second commutation winding (413); the first commutation winding (412) and the second commutation winding (413) are arranged on the coil substrate (411); The first commutation winding (412) is magnetically coupled to the first permanent magnet array (121) to drive the mover module (10) to move in a first direction, and the second commutation winding (413) is magnetically coupled to the second permanent magnet array (122) to drive the mover module (10) to move in a second direction; The stop structure (420) is arranged on the four sides of the commutation winding (410) and is used to selectively abut against the first limiting portion (112) and the second limiting portion (113) to limit the running direction of the mover module (10).

9. The conveying system (1) according to claim 8, characterized in that The conveying system (1) further comprises a frame (50), and the coil substrate (411) is mounted on the frame (50); The stator conveying line (20) comprises a plurality of sub-line bodies (210), the sub-line bodies (210) and the reversing modules (40) being spliced ​​arbitrarily along a conveying direction, and the reversing modules (40) being used to guide the moving module (10) from one sub-line body (210) to another sub-line body (210); The stop structure (420) further comprises a first limit assembly (421) and a second limit assembly (422) arranged on the frame (50); the first limit assembly (421) and the second limit assembly (422) are arranged at intervals on the circumference of the coil substrate (411); the first limit assembly (421) is used to limit the movement of the movable module (10) in the first direction; and the second limit assembly (422) is used to limit the movement of the movable module (10) in the second direction.

10. The conveying system (1) according to claim 9, characterized in that The first position-limiting assembly (421) comprises a first power source (4211) and a first baffle plate (4212) drivingly connected to the first power source (4211); the second position-limiting assembly (422) comprises a second power source (4221) and a second baffle plate (4222) drivingly connected to the second power source (4221); Wherein, the first baffle (4212) extends in the first direction, and the second baffle (4222) extends in the second direction.

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