Hybrid magnetic suspension magnetic drive type annular conveying device

Abstract

The utility model discloses a hybrid magnetic suspension magnetic drive type annular conveying device, which relates to the technical field of magnetic suspension and comprises a stator part and a rotor part, the stator part mainly provides a magnetic field, and the rotor part moves in the magnetic field in a suspension manner; the stator part is of an annular structure and can be divided into an arc-shaped structure and a linear structure according to the shape, the stator part is provided with a linear guide rail and an arc-shaped guide rail, a coil is wound between the arc-shaped guide rails, the rotor part comprises two U-shaped connecting pieces, a pulley mechanism, a magnetic railing ruler holder and a permanent magnet frame, permanent magnets adopting a Halbach array are arranged in the permanent magnet frame, and the permanent magnets are connected with the U-shaped connecting pieces. The magnetic railing ruler holder is provided with suspension coils, a permanent magnet is arranged between each group of suspension coils, and permanent magnets and guide coils are arranged in upper, lower, left and right grooves of the suspension connecting plate. A magnetic force driving system and a magnetic suspension system are effectively combined, the advantages of being free of friction in transmission, free of lubrication, clean, free of pollution and the like are achieved, the application prospect is wide, and far-reaching significance is achieved for development of high and new technology industries.

Description

Technical Field

[0001] The utility model relates to the technical field of permanent magnetic suspension, in particular to a hybrid magnetic suspension magnetic force driven annular transmission device. Background Art

[0002] With the continuous advancement of high-tech technologies and the emergence of numerous new industries, conventional material conveying methods are no longer suitable for processing that requires a dust-free environment, such as in aerospace, medical equipment, precision machinery, and semiconductors. While efficiency has gradually improved from manual to mechanical to robotic conveying, these methods still cannot avoid mechanical friction and have certain limitations in speed and travel distance. This utility model provides a new magnetic levitation technology solution with low power consumption, strong stability, and fast response, providing strong support for the development of dust-free conveying technology. Utility Model Content

[0003] The purpose of this utility model patent is to provide a hybrid magnetic levitation magnetic-driven annular conveying device to solve the problem mentioned in the above background that as the demand for production workshop environment in production manufacturing continues to increase, the aerial transport vehicles and vacuum manipulators currently used in clean room handling equipment still rely on mechanical contact to work, which generates dust due to friction, and the mechanical parts need to be lubricated, which will have an adverse effect on the clean room. The hybrid magnetic levitation conveying system is different from the electromagnetic suspension system, which has high energy consumption and high heat generation during continuous operation, and the permanent magnetic suspension system has low power consumption, high control difficulty, poor system stability, and large vibration of the suspension platform. The hybrid magnetic levitation system has low overall power consumption, good stability, and a constant air gap. Suspension can be achieved by controlling the current, and the permanent magnet is used to provide the suspension force at the equilibrium position. The electromagnet is used to maintain suspension and resist external disturbances.

[0004] To achieve the above-mentioned purpose, the utility model provides a hybrid magnetic levitation magnetic drive annular transmission device, including a stator part and a mover part, the stator part is slidingly connected to the mover part, the stator part includes an arc structure, a straight structure and a fixed base plate, the bottom end of the arc structure and the bottom end of the straight structure are both connected to the fixed base plate, and the arc structure and the straight structure are symmetrically spliced into an annular structure.

[0005] Preferably, the mover part includes two U-shaped connectors, a pulley, a magnetic scale holder, a permanent magnet frame, a suspension connecting plate, a suspension coil assembly and a guide coil assembly. The pulley is connected to the U-shaped connector through bolts and a sleeve, the bottom end of the U-shaped connector is connected to the permanent magnet frame through bolts, the top end of the U-shaped connector is connected to the magnetic scale holder through bolts, the suspension connecting plate is connected to the magnetic scale holder through bolts, the suspension coil assembly is connected to the magnetic scale holder, and the guide coil assembly is connected to the suspension connecting plate.

[0006] Preferably, the permanent magnet frame is provided with first permanent magnets arranged in sequence, the first permanent magnets adopt a Halbach magnet array, and a magnetic grating reading head and a fixing bracket are provided on the side of the permanent magnet frame, and the fixing bracket is connected to the permanent magnet frame.

[0007] Preferably, the suspension coil assembly includes a suspension magnet connector, a first displacement sensor bracket, a magnetic yoke, an iron core, a suspension coil, and a second permanent magnet;

[0008] The guide coil assembly includes a suspension connection plate, a second displacement sensor bracket, a third permanent magnet, a first guide coil, a fourth permanent magnet, a second guide coil, and an iron core;

[0009] The suspension connecting plate is threadedly connected to the suspension magnet connector and the magnetic yoke. The suspension magnet connector is connected to the magnetic scale holder and the first displacement sensor bracket through bolts. The first displacement sensor bracket is provided with a first displacement sensor, and the magnetic yoke is provided with an iron core surrounding the suspension coil. The suspension connecting plate is provided with an iron core surrounding the first guide coil above and below, and the suspension connecting plate is provided with an iron core surrounding the second guide coil on the left and right sides. The second displacement sensor bracket is provided with a second displacement sensor.

[0010] Preferably, a second permanent magnet is provided between the two magnetic yokes outside the suspension connector, the second permanent magnet is adhesively connected to the magnetic yoke, and the second permanent magnet and the two suspension coils on the same side form a mixed magnetic unit;

[0011] The third permanent magnet is placed in the upper and lower grooves of the suspension connecting plate, and the fourth permanent magnet is placed in the left and right grooves. The single third permanent magnet and the single first guide coil constitute a mixed magnetic unit, and the single fourth permanent magnet and the single second guide coil constitute a mixed magnetic unit.

[0012] Preferably, the arc-shaped structure of the stator portion includes an arc-shaped base frame, an arc-shaped winding holder, an arc-shaped winding frame, an arc-shaped back iron, and an arc-shaped winding frame, wherein the arc-shaped winding frame is connected to the arc-shaped winding frame groove portion via an outer protrusion, the arc-shaped back iron is placed between the arc-shaped winding frame and the arc-shaped winding frame, the arc-shaped winding frame protrusion is connected to the arc-shaped winding holder groove portion and is connected via bolts, and the arc-shaped winding holder and the arc-shaped base frame are connected via bolts;

[0013] A first coil is provided on the arc-shaped winding frame, an outer arc-shaped guide rail holder and an outer arc-shaped guide rail are provided on the outer side of the arc-shaped base frame, an inner arc-shaped guide rail holder and an inner arc-shaped guide rail are provided on the inner side of the arc-shaped base frame, the outer arc-shaped guide rail holder is connected to the outer arc-shaped guide rail, the inner arc-shaped guide rail holder is connected to the inner arc-shaped guide rail, and a circular arc magnetic scale is bonded to the top of the inner arc-shaped guide rail.

[0014] Preferably, the linear structure of the stator portion includes a linear base frame, a linear winding holder, a linear winding frame, a linear back iron and a linear winding frame, the linear winding frame is connected to the linear winding frame groove portion via an outer protrusion, the linear back iron is placed between the linear winding frame and the linear winding frame, the linear winding frame protrusion is connected to the linear winding holder groove portion and is connected via bolts, and the linear winding holder and the linear base frame are connected via bolts;

[0015] A second coil is provided on the linear winding frame, an outer linear guide holder and an outer linear guide are provided on the outer side of the linear base frame, an inner linear guide holder and an inner linear guide are provided on the inner side of the linear base frame, the outer linear guide holder is connected to the outer linear guide, the inner linear guide holder is connected to the inner linear guide, and a magnetic scale is bonded to the top of the inner linear guide.

[0016] Preferably, the outer arc-shaped guide rail retainer is provided with an outer arc-shaped suspension support and an arc-shaped suspension guide rail, the outer linear retainer is provided with an outer linear suspension support and an outer linear suspension guide rail, the outer arc-shaped suspension support and the outer linear suspension support are connected to the arc-shaped suspension guide rail and the outer linear suspension guide rail at the top, respectively, the inner linear retainer is provided with an inner suspension support and an inner suspension guide rail, and the inner suspension support is connected to the inner suspension guide rail.

[0017] Preferably, the first coil and the second coil are both encapsulated with epoxy resin.

[0018] Therefore, compared with the existing technology, this utility model patent has the following beneficial effects:

[0019] (1) The hybrid magnetic levitation magnetic drive annular device consists of two parts: suspension and drive, which effectively combines the magnetic drive system with the magnetic levitation system. The magnetic levitation part adopts hybrid magnetic levitation, which is different from the electromagnetic suspension system, which has high energy consumption and generates a lot of heat during continuous operation, and the permanent magnetic suspension system has low power consumption, high control difficulty, poor system stability, and large vibration of the suspension platform. The hybrid magnetic levitation system has low overall power consumption and good stability. The air gap is constant and can be suspended by controlling the current. The permanent magnet is used to provide the suspension force at the equilibrium position, and the electromagnet is used to maintain suspension and resist external disturbances.

[0020] (2) The driving part adopts a ring-shaped driving system designed based on the principle of linear magnetic drive system, in which the stator is composed of an arc structure and a straight line structure. The combination of the two structures can not only realize the direct drive device to make reciprocating motion along the arc and straight line within a specific angle, but also retain the advantages of high positioning accuracy, high sensitivity, fast response speed, etc., and has the advantage of flexible transmission.

[0021] (3) The drive system composed of the inner and outer slide rails and the inner and outer suspension rails at the top and the mover is fixed by arc and linear support structures to form a circular motion system. This structure can select linear guide rail segments of any length according to production needs to form circular guide rail type circular assembly lines and circular production lines of various specifications and sizes. The structure of the hybrid magnetic levitation magnetic drive circular conveyor device is determined to be a circular symmetrical structure. This mechanical structure is compact, easy to assemble, and easy to combine with the magnetic levitation platform to realize magnetic levitation transmission.

[0022] (4) The drive coil adopts an ironless design. There is no attraction between the mover and the stator, so there is no need to pay attention to the attraction between the mover and the stator during assembly, making it easy to assemble. The overall mass is smaller and there is no cogging effect, so it can achieve more stable operation and higher precision. The lack of an iron core can achieve a larger acceleration conversion range. In order to increase the thrust, a back iron is added to the back of the winding to increase the magnetic flux return path of the device and improve the thrust density of the drive system.

[0023] (5) The permanent magnets in the drive part serve as movers, resulting in more stable operation, higher efficiency and energy saving, and a simpler and better mechanical structure. Furthermore, the permanent magnets use a Halbach magnet array. The air gap magnetic field of the Halbach magnet array is more sinusoidally distributed, has less harmonic content, and has an enhanced unilateral magnetic field effect. The magnetic drive system using the Halbach array has the advantages of better combined magnetic effect, better sinusoidal air gap magnetic flux density distribution, and better sinusoidal back electromotive force. The fixed pulley on the mover can also protect the permanent magnets.

[0024] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a structural schematic diagram of an embodiment of a hybrid magnetic levitation magnetic drive type annular conveying device of the present utility model;

[0026] Figure 2 This is a top view of an embodiment of a hybrid magnetic levitation magnetic drive type annular conveying device of the present utility model;

[0027] Figure 3 This is an isometric view of the mover portion of an embodiment of a hybrid magnetic levitation magnetic drive type annular transmission device of the present utility model;

[0028] Figure 4 This is a side view of the mover portion of an embodiment of a hybrid magnetic levitation magnetic drive type annular transmission device of the present utility model;

[0029] Figure 5This is an exploded structural diagram of a guide coil assembly of an embodiment of a hybrid magnetic levitation magnetic drive type annular conveying device of the present invention;

[0030] Figure 6 This is a schematic diagram of the arc structure of an embodiment of a hybrid magnetic levitation magnetic drive type annular conveying device of the utility model;

[0031] Figure 7 This is a schematic diagram of the linear structure of an embodiment of a hybrid magnetic levitation magnetic drive type annular conveying device of the present utility model;

[0032] Figure 8 This is a schematic diagram of the exploded structure of an embodiment of a hybrid magnetic levitation magnetic drive type annular conveying device of the utility model;

[0033] Reference numerals

[0034] 1. Stator; 2. Mover; 21. Suspension coil assembly; 22. Guide coil assembly; 201. U-shaped connector; 202. Pulley; 203. Pulley sleeve; 204. Nut; 205. Bolt; 206. Permanent magnet frame; 207. Magnetic scale holder; 208. Suspension magnet connector; 209. Suspension coil; 210. Magnetic yoke; 211. Second permanent magnet; 212. Magnetic scale reading head; 213. First permanent magnet; 214. Fixing bracket; 215. First displacement sensor bracket; 216. First displacement sensor; 217. Suspension connecting plate; 218. First guide coil; 219. Second guide coil; 220. Second displacement sensor bracket; 221. Second displacement sensor; 222. Third permanent magnet; 223. Fourth permanent magnet; 3. Linear structure; 301. Linear base; 302. Linear winding holder; 303 304, linear back iron; 305, linear winding frame; 306, second coil; 307, outer linear guide retainer; 308, inner linear guide retainer; 309, outer linear guide; 310, inner linear guide; 311, magnetic scale; 312, outer linear suspension guide support; 313, outer linear suspension guide; 314, inner suspension support; 315, inner suspension guide; 4, arc structure ;401, arc-shaped base frame; 402, arc-shaped winding holder; 403, arc-shaped winding frame; 404, arc-shaped winding frame; 405, arc-shaped back iron; 406, outer arc-shaped guide rail holder; 407, inner arc-shaped guide rail holder; 408, outer arc-shaped guide rail; 409, inner arc-shaped guide rail; 410, first coil; 411, arc-shaped suspension support; 412, arc-shaped suspension guide rail; 413, circular arc magnetic scale; 5, fixed base plate. DETAILED DESCRIPTION

[0035] The technical solution of the present utility model is further described below through the accompanying drawings and embodiments.

[0036] Unless otherwise defined, the technical or scientific terms used in this utility model shall have the usual meanings understood by persons of ordinary skill in the field to which this utility model belongs. The words "first", "second" and similar terms used in this utility model do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0037] Example

[0038] See also Figure 1-Figure 2 The utility model provides a hybrid magnetic levitation magnetic-driven annular conveying device, comprising a stator part 1 and a mover part 2, wherein the mover part 2 can levitate and slide back and forth on the guide rail of the stator part 1. The stator part 1 comprises an arc structure 4, a straight structure 3 and a fixed base plate 5, the bottom end of the arc structure 4 and the bottom end of the straight structure 3 are bolted to the fixed base plate 5, and the arc structure 4 and the straight structure 3 are symmetrically spliced into an annular structure. The driving system composed of the inner and outer guide rails fixed by the arc-shaped and straight support structures and the inner and outer suspended guide rails at the top and the mover forms a circulating motion system. This structure can select linear guide rail segments of any length according to production needs to form annular guide rail-type circulating assembly lines and circulating production lines of various specifications and sizes. The stator of the hybrid magnetic levitation magnetic-driven annular conveying device is determined to be an annular symmetrical structure. This mechanical structure is compact, easy to assemble, and convenient to combine with a magnetic levitation platform to realize magnetic levitation transmission.

[0039] Figure 3-Figure 5In the embodiment, the mover portion 2 includes two U-shaped connectors 201, pulleys 202, a magnetic scale holder 207, a permanent magnet frame 206, a suspension coil assembly 21, and a guide coil assembly 22. The pulleys are connected to the U-shaped connectors 201 via bolts 205, nuts 204, and pulley sleeves 203. Four pulleys 202 are arranged front and rear, and are normally supported on the guide rails. The bottoms of the two U-shaped connectors 201 are bolted to the permanent magnet frame 206. The permanent magnet frame 206 contains a first permanent magnet 213 and uses a Halbach magnet array to generate a sinusoidal distributed magnetic field. Furthermore, the magnetic scale holder 207 is bolted to the tops of the two U-shaped connectors 201. In the drive section, the permanent magnet serves as the mover, eliminating the need for complex control methods, resulting in more stable operation, higher efficiency, and greater energy conservation. Furthermore, the mechanical structure is simpler and more efficient. The permanent magnet adopts the Halbach magnet array. The air gap magnetic field of the Halbach magnet array tends to be more sinusoidal, has less harmonic content, and has the effect of enhancing the unilateral magnetic field. The magnetic drive system using the Halbach array has the advantages of better combined magnetic effect, better sinusoidal air gap magnetic flux density distribution and better sinusoidal back electromotive force.

[0040] The suspension coil assembly 21 includes a suspension magnet connector 208, a first displacement sensor bracket 215, a magnetic yoke 210, an iron core, a suspension coil 209, and a second permanent magnet 211;

[0041] The guide coil assembly 22 includes a suspension connection plate 217, a second displacement sensor bracket 220, a third permanent magnet 222, a first guide coil 218, a fourth permanent magnet 223, a second guide coil 219, and an iron core;

[0042] The suspension connection plate 217 is threadedly connected to the suspension magnet connector 208 and the magnetic yoke 210. The suspension magnet connector 208 is bolted to the magnetic scale holder 207 and the first displacement sensor bracket 215. The first displacement sensor bracket 215 is provided with a first displacement sensor 216. The magnetic yoke 210 is provided with an iron core surrounding the suspension coil 209. The suspension connection plate 217 is provided with an iron core surrounding the first guide coil 218 above and below, and with an iron core surrounding the second guide coil 219 on the left and right sides. The suspension coil 209, the guide coil, and the suspension coil 209 maintain suspension and resist external disturbances. The z-axis direction is the driving direction and is therefore not restricted. The rotational freedom along the z-axis is restricted by the suspension coil 209. The freedom along the y-axis is restricted by the suspension coils 209 on both sides. The freedom along the y-axis is restricted by the second guide coil 219. The freedom along the x-axis is restricted by the first guide coil 218, and the freedom along the x-axis is restricted by the suspension coil 209. A second displacement sensor 221 is mounted on the second displacement sensor bracket 220 .

[0043] Bolts connect the fixed bracket 214 and magnetic scale reading head 212 to the side of the permanent magnet frame 206. The top of the magnetic scale retainer 207 is connected to the suspension magnet connector 208 via M3 bolts. A second permanent magnet 211, made of NdFeB55, is mounted on the suspension magnet connector 208 and adhesively bonded to the yoke 210. The second permanent magnet 211 and two suspension coils 209 on the same side form a mixed magnetic unit. A third permanent magnet 222 is placed in the upper and lower grooves of the suspension connecting plate 217, while a fourth permanent magnet 223 is placed in the left and right grooves. A single third permanent magnet 222 forms a mixed magnetic unit with a single first guide coil 218, while a single fourth permanent magnet 223 forms a mixed magnetic unit with a single second guide coil 219. This constitutes the mover portion 2, which is used for suspended motion in a magnetic field.

[0044] Figure 6-Figure 8 In the figure, the stator portion 1 is an annularly symmetrical structure and can be divided into an arcuate structure 4 and a linear structure 3 according to its shape. Only one end of the annularly symmetrical structure is illustrated. The fixed base plate 5 of the stator portion 1 is bolted to the arcuate base frame 401 and the linear base frame 301. The arcuate structure 4 of the stator portion 1 includes an arcuate base frame 401, an arcuate winding retainer 402, an arcuate back iron 405, an arcuate winding frame 403, and an arcuate winding frame 404, which are coaxially connected. The arcuate winding frame 404 is connected to the groove of the arcuate winding frame 403 via an outer protrusion. The arcuate back iron 405 is positioned between the arcuate winding frame 404 and the arcuate winding frame 403. The protrusion of the arcuate winding frame 403 is connected to the groove of the arcuate winding retainer 402 and is bolted together. The arcuate winding retainer 402 and the arcuate base frame 401 are also bolted together.

[0045] To increase thrust, a back iron is added to the back of the winding, thereby increasing the device's magnetic flux return path and boosting the drive system's thrust density. A first coil 410 is placed on the curved winding frame 404 and encapsulated with epoxy resin. Bolts connect the inner and outer curved guide rail retainers 407 and 406 to the curved base frame 401, supporting and connecting the inner and outer curved guide rails 409 and 408. A circular arc magnetic scale 413 is bonded to the top of the inner curved guide rail 409.

[0046] The linear structure 3 of the stator portion 1 comprises a linear base frame 301, a linear winding holder 302, a linear winding frame 303, a linear back iron 304, and a linear winding frame 305, connected from bottom to top. The linear winding frame 305 is connected to the groove of the linear winding frame 303 via an outer protrusion. The linear back iron 304 is positioned between the linear winding frame 305 and the linear winding frame 303. The protrusion of the linear winding frame 303 is connected to the groove of the linear winding holder 302 and bolted together. The linear winding holder 302 is also bolted to the linear base frame 301. A second coil 306 is arranged on the linear winding frame 303 and encapsulated with epoxy resin. The inner and outer sides of the linear base frame 301 are bolted to the inner linear guide holder 308 and the outer linear guide holder 307, respectively, to support and connect the inner linear guide 310 and the outer linear guide 309. A magnetic scale 311 is bonded to the top of the inner linear guide 310. The coil's coreless design eliminates attraction between the mover and stator, making assembly easier without requiring attention to the attractive forces between the mover and stator. The reduced overall mass and lack of cogging ensure more stable operation and higher precision. The absence of an iron core also allows for a wider acceleration range.

[0047] The top ends of the outer curved guide rail retainer 406 and the outer linear guide rail retainer 307 are connected to the curved suspension support 411 and the outer linear suspension guide support 312 using M5 bolts, supporting and connecting the curved suspension guide 412 and the outer linear suspension guide 313. The inner side of the inner linear guide rail retainer 308 is connected to the inner suspension support 314, the top end of which secures the inner suspension guide 315. The stator section 1 primarily provides the alternating electromagnetic field and the guide rail for the movable section 2 to levitate and slide.

[0048] Therefore, the present invention adopts a hybrid magnetic levitation magnetic-driven annular transmission device with the above structure. The force generated by the coupling of the alternating electromagnetic field generated by the armature coil winding and the constant magnetic field generated by the permanent magnet provides power for the drive system, which can realize the suspension movement; by controlling the current of the armature coil winding to change the electromagnetic force of the drive system, the output electromagnetic force of the drive system is controlled, thereby controlling the suspension of the suspension system.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A hybrid magnetic levitation magnetic drive type annular conveyor, characterized by: It includes a stator part and a mover part, which are slidably connected to each other. The stator part includes an arc structure, a straight structure and a fixed base plate. The bottom ends of the arc structure and the straight structure are both connected to the fixed base plate. The arc structure and the straight structure are symmetrically spliced into a ring structure.

2. The hybrid magnetic levitation magnetic drive annular conveyor according to claim 1, characterized in that: The mover part includes two U-shaped connectors, a pulley, a magnetic scale holder, a permanent magnet frame, a suspension connecting plate, a suspension coil assembly and a guide coil assembly. The pulley is connected to the U-shaped connector through bolts and a sleeve. The bottom end of the U-shaped connector is connected to the permanent magnet frame through bolts. The top end of the U-shaped connector is connected to the magnetic scale holder through bolts. The suspension connecting plate is connected to the magnetic scale holder through bolts. The suspension coil assembly is connected to the magnetic scale holder, and the guide coil assembly is connected to the suspension connecting plate.

3. The hybrid magnetic levitation magnetic drive type annular conveyor according to claim 2, characterized in that: The permanent magnet frame is provided with first permanent magnets arranged in sequence, and the first permanent magnets adopt a Halbach magnet array. A magnetic grid reading head and a fixing bracket are provided on the side of the permanent magnet frame, and the fixing bracket is connected to the permanent magnet frame.

4. The hybrid magnetic levitation magnetic drive type annular conveyor according to claim 3, characterized in that: The suspension coil assembly includes a suspension magnet connector, a first displacement sensor bracket, a magnetic yoke, an iron core, a suspension coil, and a second permanent magnet; The guide coil assembly includes a suspension connection plate, a second displacement sensor bracket, a third permanent magnet, a first guide coil, a fourth permanent magnet, a second guide coil, and an iron core; The suspension connecting plate is threadedly connected to the suspension magnet connector and the magnetic yoke. The suspension magnet connector is connected to the magnetic scale holder and the first displacement sensor bracket through bolts. The first displacement sensor bracket is provided with a first displacement sensor, and the magnetic yoke is provided with an iron core surrounding the suspension coil. The suspension connecting plate is provided with an iron core surrounding the first guide coil above and below, and the suspension connecting plate is provided with an iron core surrounding the second guide coil on the left and right sides. The second displacement sensor bracket is provided with a second displacement sensor.

5. The hybrid magnetic levitation magnetic drive type annular conveyor according to claim 4, characterized in that: A second permanent magnet is provided between the two magnetic yokes on the outside of the suspension connector. The second permanent magnet is adhesively connected to the magnetic yoke. The second permanent magnet and the two suspension coils on the same side form a mixed magnetic unit. The third permanent magnet is placed in the upper and lower grooves of the suspension connecting plate, and the fourth permanent magnet is placed in the left and right grooves. The single third permanent magnet and the single first guide coil constitute a mixed magnetic unit, and the single fourth permanent magnet and the single second guide coil constitute a mixed magnetic unit.

6. The hybrid magnetic levitation magnetic drive type annular conveyor according to claim 5, characterized in that: The arc-shaped structure of the stator part includes an arc-shaped base frame, an arc-shaped winding holder, an arc-shaped winding frame, an arc-shaped back iron and an arc-shaped winding frame. The arc-shaped winding frame is connected to the arc-shaped winding frame groove portion through an outer protrusion portion. The arc-shaped back iron is placed between the arc-shaped winding frame and the arc-shaped winding frame. The arc-shaped winding frame protrusion portion is connected to the arc-shaped winding holder groove portion and is connected by bolts. The arc-shaped winding holder and the arc-shaped base frame are connected by bolts. A first coil is provided on the arc-shaped winding frame, an outer arc-shaped guide rail holder and an outer arc-shaped guide rail are provided on the outer side of the arc-shaped base frame, an inner arc-shaped guide rail holder and an inner arc-shaped guide rail are provided on the inner side of the arc-shaped base frame, the outer arc-shaped guide rail holder is connected to the outer arc-shaped guide rail, the inner arc-shaped guide rail holder is connected to the inner arc-shaped guide rail, and a circular arc magnetic scale is bonded to the top of the inner arc-shaped guide rail.

7. The hybrid magnetic levitation magnetic drive type annular conveyor according to claim 6, characterized in that: The linear structure of the stator part includes a linear base frame, a linear winding holder, a linear winding frame, a linear back iron and a linear winding frame. The linear winding frame is connected to the groove portion of the linear winding frame through an outer protrusion. The linear back iron is placed between the linear winding frame and the linear winding frame. The protrusion portion of the linear winding frame is connected to the groove portion of the linear winding holder and is connected by bolts. The linear winding holder and the linear base frame are connected by bolts. A second coil is provided on the linear winding frame, an outer linear guide holder and an outer linear guide are provided on the outer side of the linear base frame, an inner linear guide holder and an inner linear guide are provided on the inner side of the linear base frame, the outer linear guide holder is connected to the outer linear guide, the inner linear guide holder is connected to the inner linear guide, and a magnetic scale is bonded to the top of the inner linear guide.

8. The hybrid magnetic levitation magnetic drive type annular conveyor according to claim 7, characterized in that: The outer arc-shaped guide rail retainer is provided with an outer arc-shaped suspension support and an arc-shaped suspension guide rail, the outer linear retainer is provided with an outer linear suspension support and an outer linear suspension guide rail, the outer arc-shaped suspension support and the outer linear suspension support are connected to the arc-shaped suspension guide rail and the outer linear suspension guide rail at the top respectively, the inner linear retainer is provided with an inner suspension support and an inner suspension guide rail, and the inner suspension support is connected to the inner suspension guide rail.

9. The hybrid magnetic levitation magnetic drive type annular conveyor according to claim 8, characterized in that: The first coil and the second coil are both encapsulated with epoxy resin.

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