Stator device, magnetic drive conveying line and stereoscopic storage system

Abstract

This application relates to the field of magnetic drive conveying technology, and in particular to a stator device, a magnetic drive conveyor line, and an automated storage system. The stator device is used to drive the movement of a mover assembly. The stator device includes at least one stator assembly, which includes a support frame and multiple independently arranged stator modules. The multiple stator modules are connected to the support frame and are distributed in multiple groups along both a first and a second horizontal direction, with the first and second directions intersecting. The electrical conductors of each stator module can drive the mover assembly to move along the first direction and also drive the mover assembly to move along the second direction. In the embodiments of this application, the stator modules can adjust their assembled shape according to the actual movement trajectory requirements of the mover assembly. The arrangement of the stator modules can be arranged according to the preset movement path of the mover assembly. The stator device, by splicing multiple stator modules onto the support frame, adapts to different preset movement paths of the mover, thus exhibiting high adaptability.

Description

Technical Field

[0001] This application relates to the field of magnetic drive conveying technology, and in particular to a stator device, a magnetic drive conveying line, and an automated storage system. Background Technology

[0002] Magnetic drive conveyor lines are intelligent multi-moving conveyor systems based on the principle of linear motors. This system mainly consists of electrical conductors and moving magnets. The traveling wave magnetic field generated by the motor coils drives the moving magnets, achieving magnetic drive conveying. Each moving unit does not require a dragging cable, can be independently controlled, and can adapt to the cycle time of different production stations, improving the flexibility of the production line. In practical applications, due to the different arrangements of the workstations, the moving units need to perform turning movements during transport to reach the next workstation. Different movement paths of the moving units often require different magnetic drive conveyor lines.

[0003] Among related technologies, magnetic drive conveyor lines have poor adaptability. Summary of the Invention

[0004] This application aims to at least solve one of the technical problems existing in the prior art. To this end, this application proposes a stator device, a magnetic drive conveyor line, and an automated storage system, which can solve the problem of poor adaptability of the magnetic drive conveyor line.

[0005] A stator device according to a first aspect embodiment of the present application is used to drive a drive assembly to move, the stator device comprising: at least one of the stator assemblies, the stator assemblies comprising: support; Multiple independently configured stator modules, each stator module comprising a stator body and an electrical conductor, wherein the electrical conductor is mounted on the stator body; The stator modules are connected to the bracket and are distributed in multiple groups along both the first and second horizontal directions. The first and second directions are arranged intersectingly. The electrical conductors of each stator module can drive the mover assembly to move along the first direction and drive the mover assembly to move along the second direction. Any multiple adjacent stator modules arranged along the first or second direction can form a drive line that drives the mover assembly to move.

[0006] The stator device according to the embodiments of this application has at least the following beneficial effects: In this embodiment, the stator assembly includes multiple independently configured stator modules connected to a support. The stator modules can adjust their assembly shape according to the actual movement trajectory requirements of the mover assembly. The multiple stator modules are mounted on the support according to a defined shape, thus forming the movement trajectory of the mover assembly, enabling it to smoothly reach the next workstation. The stator modules form drive lines in a first and second direction, allowing the mover assembly to move along these drive lines. Any stator module forming a drive line can also drive the mover assembly to change direction, switching to another intersecting drive line, resulting in flexible movement direction changes for the mover assembly. Furthermore, the stator modules can be arranged according to a preset movement path of the mover assembly, ensuring that the actual movement path of the mover assembly accurately matches the preset path. The stator device, with multiple stator modules spliced ​​onto the support, adapts to different preset movement paths of the mover, exhibiting high adaptability.

[0007] According to some embodiments of this application, the electrical conductor includes a first sub-part extending along a first direction and a second sub-part extending along a second direction, and the first sub-part and the second sub-part are arranged in a cross shape.

[0008] According to some embodiments of this application, the stator module further includes a position sensor disposed within the stator body and configured to detect the position of the mover assembly; the stator body includes a support frame, the first sub-part and the second sub-part are both connected to the support frame, the support frame divides the internal space of the stator body into multiple mounting cavities, and at least one of the mounting cavities contains the position sensor.

[0009] According to some embodiments of this application, the bracket includes a base; The bracket further includes a first mounting base connected to the base, and the first mounting base is connected to the adjacent corners of the four adjacent stator modules. And / or, the bracket further includes a second mounting base connected to the base, the second mounting base being connected to adjacent corners of two adjacently disposed stator modules; And / or, the bracket further includes a third mounting base connected to the base, the third mounting base being connected to a corner of a single stator module.

[0010] According to some embodiments of this application, the stator module further includes a first track and a second track disposed on the stator body. The first track extends along the first direction, and the second track extends along the second direction. The first track and the second track are connected. The first tracks of adjacent stator modules are interconnected, and the second tracks of adjacent stator modules are interconnected. The first track and the second track are used to cooperate with the rolling elements of the mover assembly to guide the mover assembly.

[0011] According to some embodiments of this application, the stator body has a working surface, the working surface is provided with a first mounting groove and a second mounting groove that are interconnected, the first mounting groove extends along a first direction, the second mounting groove extends along a second direction, the first track is at least partially disposed in the first mounting groove, and the second track is at least partially disposed in the second mounting groove. Alternatively, the stator body has a working surface, and the first track and the second track are configured as grooves on the working surface.

[0012] According to some embodiments of this application, the stator module further includes a connecting track disposed on the stator body, the connecting track including a first connecting segment, a second connecting segment, a third connecting segment and a fourth connecting segment that are interconnected, the first connecting segment and the second connecting segment extending along a first direction, and the third connecting segment and the fourth connecting segment extending along a second direction; The stator body has a first side edge and a second side edge that are disposed opposite to each other, the first side edge extending along the first direction and the second side edge extending along the second direction; The first connecting segment extends to the nearest second side edge, the second connecting segment is connected to the first track, the third connecting segment extends to the nearest first side edge, and the fourth connecting segment is connected to the second track.

[0013] According to some embodiments of this application, the stator body has a first side edge and a second side edge that are disposed opposite to each other. The first side edge extends along a first direction, and the second side edge extends along a second direction. The first track is spaced apart from the first side edge, and the second track is spaced apart from the second side edge. The stator body is provided with a mounting structure in the area between the first track and the nearest first side edge, and / or the stator body is provided with a mounting structure in the area between the second track and the nearest second side edge, and the stator body is connected to the bracket through the mounting structure.

[0014] According to some embodiments of this application, the area between the first track and the nearest first side edge is a first region, the area between the second track and the nearest second side edge is a second region, and the mounting structure is located in the overlapping area of ​​the first region and the second region.

[0015] According to some embodiments of this application, the stator body is configured as a rectangle, and the stator body has a first side edge and a second side edge that are disposed opposite to each other. The first side edge extends along a first direction, and the second side edge extends along a second direction. The first direction and the second direction are arranged orthogonally.

[0016] According to some embodiments of this application, a mounting structure is provided at the corner region of the stator body, and the stator body is connected to the bracket through the mounting structure. And / or, the number of stator assemblies is multiple, the multiple stator assemblies are arranged at intervals in the vertical direction, and the stator device further includes a support member, the support member being respectively connected to the mounting structure and the bracket of two adjacent stator assemblies.

[0017] According to some embodiments of this application, each of the stator modules is detachably connected to the corresponding bracket.

[0018] This application also provides a magnetic drive conveyor line, comprising: Stator equipment of any of the above; A mover assembly is disposed above the stator module and is capable of moving under the drive of the magnetic force generated by the electrical conductor.

[0019] According to some embodiments of this application, the moving part component includes: Support plate; A permanent magnet is installed at the bottom of the support plate; A rolling element is installed at the bottom of the bearing plate and supported on the top surface of the stator module. The rolling element is a bullseye bearing.

[0020] This application also provides an automated storage and retrieval system, including: Support components; A plurality of magnetic drive conveyor lines, wherein the plurality of magnetic drive conveyor lines are arranged at intervals in the vertical direction, and the support member is installed on two adjacent magnetic drive conveyor lines in the vertical direction so that the corresponding magnetic drive conveyor lines are relatively fixed. A lifting device is used to carry the moving part assembly so that the moving part assembly can move vertically from one of the stators to the other stator.

[0021] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0022] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of a magnetic drive conveyor line in one embodiment of this application; Figure 2 This is a bottom view of the stator module in one embodiment of this application; Figure 3 This is an exploded view of the stator assembly in one embodiment of this application; Figure 4 This is a schematic diagram of the stator module in one embodiment of this application; Figure 5 This is a schematic diagram of the assembly of the position sensor and the top cover in one embodiment of this application; Figure 6 for Figure 5 A magnified view of a portion at position A in the middle; Figure 7 This is a schematic diagram of the structure of the moving component in one embodiment of this application.

[0023] Figure label: 100. Stator assembly; 200. Stator component; 300. Bracket; 310. Base; 310a. Corner point; 311. First connecting rod; 312. Second connecting rod; 320. Leg; 330. First mounting base; 340. Second mounting base; 350. Third mounting base; 400. Stator module; 400a. First drive line; 400b. Second drive line; 410. Stator body; 410a. Mounting cavity; 410b. Working surface; 410c. First mounting groove; 410d. Second mounting groove; 410e. First side edge; 410f. Two side edges; 410g, mounting structure; 411, support frame; 412, top cover; 413, bottom cover; 420, electrical conductor; 421, first sub-section; 422, second sub-section; 430, position sensor; 440, first track; 440a, first area; 450, second track; 450a, second area; 460, connecting track; 461, first connecting section; 462, second connecting section; 463, third connecting section; 464, fourth connecting section; 500, moving part assembly; 510, bearing plate; 520, permanent magnet; 530, rolling element. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0025] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0026] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0027] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0028] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0029] In related technologies, on planar magnetic drive conveyor lines, a single stator assembly typically applies magnetic force to a mover assembly to achieve the mover assembly's movement along a preset trajectory. Depending on the transportation scenario or route, multiple different stator assemblies are required to drive the mover assembly. For example, in situations with a short transportation path and limited installation space, a smaller stator assembly is needed. In situations with a long transportation path, a larger stator assembly is required to cover the path. Stator assemblies can only be adapted to a single scenario, and different stator assemblies need to be manufactured individually, resulting in low adaptability of magnetic drive conveyor lines.

[0030] The stator assembly 200 of this application embodiment includes a plurality of independently configured stator modules 400. The stator modules 400 are mounted on the bracket 300, and the plurality of stator modules 400 are arranged along a first direction and a second direction, and can be freely combined to form different drive lines, thereby adapting to a variety of usage scenarios and having high adaptability.

[0031] This application provides a stator device; please refer to [link / reference]. Figure 1 The stator assembly is used to drive the rotor assembly 500 to move. The stator assembly includes at least one stator assembly 200. The stator assembly 200 includes a bracket 300 and multiple independently arranged stator modules 400. An independently arranged stator module 400 can refer to a single stator module 400 being manufactured separately and connected to the bracket 300 by splicing. Each stator module 400 includes a stator body 410 and an electrical conductor 420, with the electrical conductor 420 mounted on the stator body 410.

[0032] Multiple stator modules 400 are connected to the bracket 300 and are distributed in multiple groups along both the first and second horizontal directions, with the first and second directions intersecting. The angle between the first and second directions can be a right angle or other angles. For ease of explanation, the multiple stator modules 400 arranged along the first direction are referred to as a row, and the multiple stator modules 400 arranged along the second direction are referred to as a column. For example, Figure 1 The multiple stator modules 400 are arranged in four rows and four columns.

[0033] Each stator module 400's electrical conductor 420 can drive the mover assembly 500 to move along a first direction and a second direction. The mover assembly 500 can move along either the first or the second direction on its corresponding stator module 400, the specific direction of movement selected based on the mover assembly 500's trajectory. Any plurality of adjacent stator modules 400 arranged along the first or second direction can form a drive line for moving the mover assembly 500. For ease of explanation, the drive line formed by any plurality of adjacent stator modules 400 arranged along the first direction is referred to as the first drive line 400a, and the drive line formed by any plurality of adjacent stator modules 400 arranged along the second direction is referred to as the second drive line 400b. For example... Figure 1The first drive line 400a, shown in the dashed box, consists of four stator modules 400 arranged along a first direction, and the second drive line 400b, shown in the other dashed box, consists of four stator modules 400 arranged along a second direction. The first drive line 400a can also consist of two or three stator modules 400 arranged along the first direction, and the second drive line 400b can also consist of two or three stator modules 400 arranged along the second direction. The mover assembly 500 can achieve steering on the stator modules 400 that form both the first drive line 400a and the second drive line 400b. For example, multiple stator modules 400 are formed with at least one first drive line 400a and at least one second drive line 400b. When a second drive line 400b is connected to each end of the first drive line 400a along a first direction, the mover assembly 500 can move along a second direction under the drive of one of the second drive lines 400b, then turn via the first drive line 400a, thereby moving along the first direction under the drive of the first drive line 400a, and then turn via the drive line of the other second drive line 400b, thereby moving along the second direction under the drive of the other second drive line 400b. The embodiments of this application do not limit the number of first drive lines 400a and second drive lines 400b; the number of first drive lines 400a and second drive lines 400b can both be two, or as shown in the example. Figure 1 As shown, there are four first drive lines 400a and four second drive lines 400b.

[0034] For example, the first direction is as follows Figure 1 The direction indicated by the middle arrow R1, the second direction is as follows Figure 2 The direction indicated by the middle arrow R2.

[0035] In this embodiment, the stator assembly 200 includes multiple independently configured stator modules 400, which are connected to the bracket 300. The stator modules 400 can adjust their assembly shape according to the actual movement trajectory requirements of the mover assembly 500. The multiple stator modules 400 can be mounted on the bracket 300 according to a defined shape, thereby forming the movement trajectory of the mover assembly 500, enabling the mover assembly 500 to smoothly reach the next workstation. The stator modules 400 form drive lines in a first direction and a second direction, allowing the mover assembly 500 to move along the drive lines. Any stator module 400 forming a drive line can also drive the mover assembly 500 to change direction, switching to another intersecting drive line, making the movement direction of the mover assembly 500 more flexible. Furthermore, the arrangement of the stator modules 400 can be aligned with a preset movement path of the mover assembly 500, ensuring that the actual movement path of the mover assembly 500 accurately matches the preset movement path. The stator device 100 is spliced ​​onto the bracket 300 through multiple stator modules 400 to adapt to different preset motion paths of the mover, and the stator device 100 has high adaptability.

[0036] In one embodiment, please refer to Figure 2 The electrical conductor 420 includes a first sub-part 421 extending along a first direction and a second sub-part 422 extending along a second direction, and the first sub-part 421 and the second sub-part 422 are arranged in a cross shape. The arrangement of the first sub-part 421 and the second sub-part 422 can better adapt to the movement of the mover assembly 500 along the orthogonally arranged first and second directions, and the movement of the mover assembly 500 is relatively smooth.

[0037] It is understood that the embodiments of this application do not limit the arrangement of the electrical conductors 420.

[0038] In one embodiment, please refer to Figure 2 and Figure 5The stator body 410 includes a top cover 412, a bottom cover 413, and a support frame 411. The top cover 412 covers the bottom cover 413, and the support frame 411 is installed in the area enclosed by the top cover 412 and the bottom cover 413. The support frame 411 can be cross-shaped. The stator module 400 also includes a position sensor 430, which is disposed in the area enclosed by the top cover 412 and the bottom cover 413. The position sensor 430 is configured to detect the position of the mover assembly 500. The position sensor 430 can sense the position of the mover assembly 500 in real time, thereby adjusting the movement trajectory of the mover assembly 500. The first sub-part 421 and the second sub-part 422 are both connected to the support frame 411. The support frame 411 divides the internal space of the stator body 410 into multiple mounting cavities 410a, and at least one mounting cavity 410a contains the position sensor 430. For example, the number of position sensors 430 can be multiple. The cross-shaped support frame 411 can divide the interior of the stator body 410 into four mounting cavities 410a. Each mounting cavity 410a is provided with a corresponding position sensor 430. Multiple position sensors 430 can make better use of the space inside the stator body 410 and can increase the detection accuracy of the position sensors 430.

[0039] It is understood that other embodiments of this application do not limit the installation method and installation location of the position sensor 430.

[0040] In one embodiment, please refer to Figure 3 The bracket 300 includes a base 310 and legs 320. The legs 320 are mounted on the bottom of the base 310 and abut against a mounting surface, which can be the ground, to support the base 310. The bracket 300 also includes a first mounting base 330 connected to the base 310. The first mounting base 330 is connected to the adjacent corners of four adjacent stator modules 400. All four corners of the adjacent stator modules 400 are connected to the same first mounting base 330, resulting in a tighter and stronger connection between the stator modules 400.

[0041] In other embodiments, the bracket 300 further includes a second mounting base 340 connected to the base 310, the second mounting base 340 being connected to adjacent corners of two adjacently disposed stator modules 400. The stator modules 400 located at the edges of the stator assembly 200 can be interconnected via the second mounting base 340. The stator modules 400 connected to the second mounting base 340 form part of the outer edge of the corresponding stator assembly 200.

[0042] In other embodiments, the bracket 300 further includes a third mounting base 350 connected to the base 310, the third mounting base 350 being connected to the corner of a single stator module 400. The stator module 400 connected to the third mounting base 350 forms the corner of a corresponding stator assembly 200. The stator module 400 connected to the third mounting base 350 and the stator module 400 connected to the second mounting base 340 form the outer frame of the corresponding stator assembly 200. Exemplarily, the first mounting base 330, the second mounting base 340, and the third mounting base 350 are mounted above the bracket 300, and all three mounting bases are detachably connected to the base 310.

[0043] For example, each of the four corners of the stator module 400 is connected to a support structure. The support structure can be a first mounting base 330, a second mounting base 340, a third mounting base 350, or a fourth mounting base, or a combination of these. For instance, the four stator modules 400 located at the corners of the stator assembly 200 are respectively connected to one third mounting base 350, two second mounting bases 340, and one first mounting base 330. The stator modules 400 located at the edges of the stator assembly 200, excluding the corners, are respectively connected to two second mounting bases 340 and two first mounting bases 330. The stator modules 400 spaced apart from the outer edge of the stator module 400 are connected to four first mounting bases 330.

[0044] In one embodiment, please refer to Figure 3 The base 310 has a frame structure. The base 310 includes multiple first connecting rods 311 and second connecting rods 312. The first connecting rods 311 extend along a first direction, and the second connecting rods 312 extend along a second direction. The first connecting rods 311 and second connecting rods 312 are arranged intersectingly, with each first connecting rod 311 connecting at least one second connecting rod 312. The intersection point of the first connecting rods 311 and second connecting rods 312 is corner point 310a, and the first mounting seat 330, second mounting seat 340, and third mounting seat 350 are all mounted at corresponding positions on corner point 310a. The mounting seats are all mounted on corner point 310a, which allows the base 310 to be stably supported under the mounting seats, reducing the degree of deformation of the base 310. Furthermore, the frame structure of the base 310 reduces the manufacturing cost of the base 310.

[0045] In one embodiment, please refer to Figure 4The stator module 400 also includes a first track 440 and a second track 450 disposed on the stator body 410. The first track 440 extends along a first direction, and the second track 450 extends along a second direction, and the first track 440 and the second track 450 are connected. Both the first track 440 and the second track 450 are disposed above the top cover 412. The first track 440 and the second track 450 can be directly connected or indirectly connected. The first tracks 440 of adjacent stator modules 400 are interconnected, and the second tracks 450 of adjacent stator modules 400 are interconnected. The interconnection between the first tracks 440 of two adjacent stator modules 400 can be direct or indirect, and the interconnection between the second tracks 450 of two adjacent stator modules 400 can be direct or indirect.

[0046] The first track 440 and the second track 450 are used to cooperate with the rolling element 530 of the mover assembly 500 to guide the mover assembly 500. When the stator assembly 200 moves on the first track 440 or the second track 450, the first track 440 and the second track 450 can limit the planar displacement of the mover assembly 500 except in the extension direction, so that the mover assembly 500 can move relatively stably on the stator module 400.

[0047] In some embodiments, the first track 440 and the second track 450 may be solid structures independent of the stator body 410. For example, the first track 440 and the second track 450 may be mounted on the upper surface of the stator body 410. The first track 440 and the second track 450 protrude from the upper surface of the stator body 410 in the vertical direction. Alternatively, the surface of the stator body 410 may have a mounting groove, and the track may be located in the mounting groove, so that the top of the first track 440 and the second track 450 is flush with the top of the stator body 410, and the overall integrity of the stator body 410 and the first track 440 and the second track 450 is good.

[0048] In one embodiment, please refer to Figure 5 and Figure 6The stator body 410 has a working surface 410b, which is the top surface of the stator body 410 and is formed in the top cover 412. The working surface 410b is provided with a first mounting groove 410c and a second mounting groove 410d that communicate with each other. The first mounting groove 410c and the second mounting groove 410d are formed by a downward indentation in the working surface 410b. The first mounting groove 410c extends along a first direction, and the second mounting groove 410d extends along a second direction. A first track 440 is at least partially disposed within the first mounting groove 410c, and a second track 450 is at least partially disposed within the second mounting groove 410d. The first mounting groove 410c and the second mounting groove 410d are used to accommodate the first track 440 and the second track 450, respectively. The groove walls of the first mounting groove 410c and the second mounting groove 410d can also limit the deformation of the first track 440 and the second track 450, thereby increasing the service life of the first track 440 and the second track 450. For example, the tops of the first track 440 and the second track 450 are on the same horizontal plane as the top of the working surface 410b.

[0049] It is understood that other embodiments of this application do not limit whether the working surface 410b is provided with a first mounting groove 410c and a second mounting groove 410d. Exemplarily, the working surface 410b is a complete plane, and the first track 440 and the second track 450 protrude vertically from the top of the working surface 410b.

[0050] In other embodiments, it is understood that other embodiments of this application are not limited to the stator module 400 having independent first rails 440 and second rails 450, but rather use a portion of the structure of the stator body 410 as the first rails 440 and second rails 450. Exemplarily, the stator body 410 has a working surface 410b, and the first rails 440 and second rails 450 are configured as grooves on the working surface 410b.

[0051] In one embodiment, please refer to Figure 4 The stator module 400 also includes a connecting track 460 disposed on the stator body 410. The connecting track 460 includes a first connecting segment 461, a second connecting segment 462, a third connecting segment 463, and a fourth connecting segment 464 that are interconnected. The first connecting segment 461 and the second connecting segment 462 extend along a first direction, and the third connecting segment 463 and the fourth connecting segment 464 extend along a second direction. The connecting track 460 can be a one-piece molded structure. Interconnection means that any one of the first connecting segment 461, the second connecting segment 462, the third connecting segment 463, and the fourth connecting segment 464 is interconnected with the other three structures. The shape of the connecting track 460 is approximately cross-shaped.

[0052] The stator body 410 has a first side edge 410e and a second side edge 410f arranged opposite to each other. The first side edge 410e extends along a first direction, and the second side edge 410f extends along a second direction. The first side edges 410e are spaced apart along the second direction, and the second side edges 410f are spaced apart along the first direction. The second side edges 410f of two adjacent stator modules 400 along the first direction are in contact with each other, and the first side edges 410e of two adjacent stator modules 400 along the second direction are in contact with each other. A first connecting segment 461 extends to the nearest second side edge 410f, a second connecting segment 462 connects to the first track 440, a third connecting segment 463 extends to the nearest first side edge 410e, and a fourth connecting segment 464 connects to the second track 450. The track for supporting the mover assembly 500 is divided into a first track 440, a second track 450, and a connecting track 460. The first track 440 and the second track 450 corresponding to a single stator module 400 are connected by the connecting track 460. The track is assembled by splicing the first track 440, the second track 450, and the connecting track 460, which reduces the manufacturing and assembly precision requirements of the track compared to integral molding. For example, at least a portion of the structure of the first connecting segment 461 and the second connecting segment 462 is located in the first mounting groove 410c, and at least a portion of the structure of the third connecting segment 463 and the fourth connecting segment 464 is located in the second mounting groove 410d.

[0053] In other embodiments, the first track 440, the second track 450, and the connecting track 460 are all detachably mounted to the stator body 410. By changing the length of the first track 440, the spacing of the second tracks 450 on the corresponding stator module 400 can be adjusted, and vice versa. For example, shortening the length of the first track 440 shortens the spacing of the connecting tracks 460 along the first direction, thereby reducing the spacing between the second tracks 450. The spacing between the first track 440 and the second track 450 can be adjusted flexibly, allowing the first track 440, the second track 450, and the connecting track 460 to adapt to various sizes of mover assemblies 500.

[0054] It is understood that other embodiments of this application are not limited to the stator module 400, which also includes a connecting track 460. For example, the first track 440 and the second track 450 are directly connected, and the first track 440 and the second track 450 are integrally formed.

[0055] In one embodiment, please refer to Figure 4A mounting structure 410g is provided on the stator body 410 in the area between the first track 440 and the nearest first side edge 410e. In other embodiments, a mounting structure 410g is provided on the stator body 410 in the area between the second track 450 and the nearest second side edge 410f. The stator body 410 is connected to the bracket 300 through the mounting structure 410g. The mounting structure 410g is located at the boundary of the stator body 410. When the bracket 300 is connected to the mounting structure 410g, the bracket 300 can support the mounting structure 410g. The cantilever distance of the stator body 410 is relatively short. When the stator body 410 is under load, it can improve the stress situation of the stator body 410 and reduce the degree of warping of the first side edge 410e and the second side edge 410f of the stator body 410, thereby making the docking of the tracks between two adjacent stator modules 400 more accurate. For example, the mounting structure 410g has a threaded hole, and the bracket 300 is threadedly connected to the corresponding mounting structure 410g through the threaded hole.

[0056] It is understood that other embodiments of this application do not limit the position of the mounting structure 410g. Exemplarily, the mounting structure 410g may be located on the side of the first track 440 opposite to the first side edge 410e, and / or, the mounting structure 410g may be located on the side of the second track 450 opposite to the second side edge 410f.

[0057] In one embodiment, please refer to Figure 4 The area between the first track 440 and the nearest first side edge 410e is designated as the first region 440a, and the area between the second track 450 and the nearest second side edge 410f is designated as the second region 450a. The mounting structure 410g is located in the overlapping area of ​​the first region 440a and the second region 450a. The first region 440a is connected to the first side edge 410e, and the second region 450a is connected to the second side edge 410f. The overlapping area of ​​the first region 440a and the second region 450a is located in the corner region of the corresponding stator module 400. The mounting structure 410g is positioned as far away from the first track 440 and the second track 450 as possible. When the remaining connecting structures are mounted above the mounting structure 410g, interference of the connecting structures with the movement of the mover assembly 500 can be reduced. Furthermore, the corner location of the mounting structure 410g can further reduce the degree of warping of the first side edge 410e and the second side edge 410f.

[0058] In one embodiment, please refer to Figure 1 and Figure 4The stator body 410 is rectangular. The shape of the stator body 410 can be either square or rectangular. The stator body 410 has a first side edge 410e and a second side edge 410f that are arranged opposite to each other. The first side edge 410e extends along a first direction, and the second side edge extends along a second direction. The first direction and the second direction are arranged orthogonally.

[0059] In the embodiment of this application, the stator body 410 is rectangular, and two adjacent stator modules 400 can be easily spliced ​​and arranged, and the spliced ​​stator assembly 200 has a relatively regular shape.

[0060] It is understood that other embodiments of this application do not limit the shape of the stator body 410.

[0061] In one embodiment, there are multiple stator assemblies 200, which are arranged at intervals in the vertical direction. The stator device 100 also includes support members, which are respectively connected to the mounting structure 410g and the bracket 300 of two adjacent stator assemblies 200. For example, the support member is a rod-shaped structure. The stator device 100 can be used in multi-level transportation scenarios, and the support member can be installed on the mounting structure 410g of the lower-level stator module 400. Each stator module 400 corresponding to the lower-level stator assembly 200 can be equipped with a support member to support the upper stator assembly 200. Compared with the solution where the stator assembly 200 can only be supported by edge support members, the solution of this embodiment has higher connection strength, and the upper stator assembly 200 can be stably supported above the lower stator assembly 200. It is understood that there can be multiple support members. For example, all mounting structures 410g are connected to a support member, or some mounting structures 410g are equipped with support members while others are not.

[0062] In another embodiment, the stator device 100 further includes a lifting assembly located outside the stator assembly 200. The lifting assembly is used to drive the mover assembly 500 to move in the vertical direction so that the mover assembly 500 can move from the lower stator assembly 200 to the upper stator assembly 200.

[0063] In one embodiment, each stator module 400 is detachably connected to a corresponding bracket 300. The stator module 400 can be smoothly installed on the bracket 300, and the shape of the stator assembly 200 can be adjusted according to the preset motion trajectory of the mover assembly 500, further increasing the adaptability of the stator module 400. For example, the stator module 400 and the bracket 300 are threadedly connected.

[0064] This application also provides a magnetically driven conveyor line, including a stator device 100 and a mover assembly 500. The mover assembly 500 is disposed above the stator module 400 and is capable of moving under the drive of the magnetic force generated by the electrical conductor 420.

[0065] In one embodiment, please refer to Figure 7 The mover assembly 500 also includes a support plate 510, permanent magnets 520, and rolling elements 530. The permanent magnets 520 are mounted on the bottom of the support plate 510 and arranged in a cross shape. The rolling elements 530 are mounted on the bottom of the support plate 510 and supported on the top surface of the stator module 400; the rolling elements 530 are bullseye bearings. The mover assembly 500 is supported and moves by rolling bearings, and the rotation process of the bullseye bearings is relatively smooth and stable. For example, there are four rolling elements 530, with each of the four corners of the support plate 510 having a rolling element 530.

[0066] It is understood that other embodiments of this application do not limit the type of the rolling element 530. For example, the rolling element 530 may be a caster wheel.

[0067] This application also provides an automated storage and retrieval system, including support members, magnetic drive conveyor lines, and a lifting device. Multiple magnetic drive conveyor lines are arranged at intervals along a vertical direction, and the support members are installed on two adjacent magnetic drive conveyor lines along the vertical direction to fix the corresponding magnetic drive conveyor lines relative to each other. The lifting device is used to carry the mover assembly 500 so that the mover assembly 500 can move vertically from one of the stator devices 100 to another stator device 100.

[0068] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and all should be covered within the scope of the specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of protection.

Claims

1. A stator apparatus for driving movement of a rotor assembly, characterised in that, include: At least one stator assembly, the stator assembly comprising: support; Multiple independently configured stator modules, each stator module comprising a stator body and an electrical conductor, wherein the electrical conductor is mounted on the stator body; The stator modules are connected to the bracket and are distributed in multiple groups along both the first and second horizontal directions. The first and second directions are arranged intersectingly. The electrical conductors of each stator module can drive the mover assembly to move along the first direction and drive the mover assembly to move along the second direction. Any multiple adjacent stator modules arranged along the first or second direction can form a drive line that drives the mover assembly to move.

2. The stator apparatus of claim 1, wherein, The electrical conductor includes a first sub-section extending along a first direction and a second sub-section extending along a second direction, wherein the first sub-section and the second sub-section are arranged in a cross shape.

3. The stator apparatus of claim 2, wherein, The stator module further includes a position sensor disposed within the stator body and configured to detect the position of the mover assembly. The stator body includes a support frame, to which both the first sub-part and the second sub-part are connected. The support frame divides the internal space of the stator body into multiple mounting cavities, and at least one of the mounting cavities contains the position sensor.

4. The stator apparatus of claim 1, wherein, The bracket includes a base; The bracket further includes a first mounting base connected to the base, and the first mounting base is connected to the adjacent corners of the four adjacent stator modules. And / or, the bracket further includes a second mounting base connected to the base, the second mounting base being connected to adjacent corners of two adjacently arranged stator modules; And / or, the bracket further includes a third mounting base connected to the base, the third mounting base being connected to a corner of a single stator module.

5. The stator device according to claim 1, characterized in that, The stator module further includes a first track and a second track disposed on the stator body. The first track extends along the first direction, and the second track extends along the second direction. The first track and the second track are connected. The first tracks of adjacent stator modules are interconnected, and the second tracks of adjacent stator modules are interconnected. The first track and the second track are used to cooperate with the rolling elements of the mover assembly to guide the mover assembly.

6. The stator apparatus of claim 5, wherein, The stator body has a working surface, and the working surface is provided with a first mounting groove and a second mounting groove that are interconnected. The first mounting groove extends along the first direction, and the second mounting groove extends along the second direction. The first track is at least partially disposed in the first mounting groove, and the second track is at least partially disposed in the second mounting groove. Alternatively, the stator body has a working surface, and the first track and the second track are configured as grooves on the working surface.

7. The stator apparatus of claim 5, wherein, The stator module further includes a connecting track disposed on the stator body. The connecting track includes a first connecting segment, a second connecting segment, a third connecting segment, and a fourth connecting segment that are interconnected. The first connecting segment and the second connecting segment extend along the first direction, and the third connecting segment and the fourth connecting segment extend along the second direction. The stator body has a first side edge and a second side edge that are disposed opposite to each other, the first side edge extending along the first direction and the second side edge extending along the second direction; The first connecting segment extends to the nearest second side edge, the second connecting segment is connected to the first track, the third connecting segment extends to the nearest first side edge, and the fourth connecting segment is connected to the second track.

8. The stator device according to claim 5, characterized in that, The stator body has a first side edge and a second side edge that are arranged opposite to each other. The first side edge extends along a first direction, and the second side edge extends along a second direction. The first track is spaced apart from the first side edge, and the second track is spaced apart from the second side edge. The stator body is provided with a mounting structure in the area between the first track and the nearest first side edge, and / or the stator body is provided with a mounting structure in the area between the second track and the nearest second side edge, and the stator body is connected to the bracket through the mounting structure.

9. The stator device according to claim 8, characterized in that, The area between the first track and the nearest first side edge is a first region, and the area between the second track and the nearest second side edge is a second region. The mounting structure is located in the overlapping area of ​​the first region and the second region.

10. The stator device according to claim 1, characterized in that, The stator body is rectangular and has a first side edge and a second side edge that are opposite to each other. The first side edge extends along the first direction and the second side edge extends along the second direction. The first direction and the second direction are orthogonal.

11. The stator device according to claim 10, characterized in that, The corner area of ​​the stator body is provided with a mounting structure, and the stator body is connected to the bracket through the mounting structure. And / or, the number of stator assemblies is multiple, the multiple stator assemblies are arranged at intervals in the vertical direction, and the stator device further includes a support member, the support member being respectively connected to the mounting structure and the bracket of two adjacent stator assemblies.

12. The stator apparatus of claim 1, wherein, Each of the stator modules is detachably connected to the corresponding bracket.

13. A magnetic drive conveyor line characterized by, include: The stator device as described in any one of claims 1 to 12; A mover assembly is disposed above the stator module, and the mover assembly is capable of moving under the drive of the magnetic force generated by the electrical conductor.

14. The magnetic drive conveyor line according to claim 13, characterized in that, The moving part component includes: Support plate; A permanent magnet is installed at the bottom of the support plate; A rolling element is installed at the bottom of the bearing plate and supported on the top surface of the stator module. The rolling element is a bullseye bearing.

15. A stereoscopic warehouse system characterized by, include: Support components; Multiple magnetic drive conveyor lines as described in claim 13 or 14, wherein the multiple magnetic drive conveyor lines are arranged at intervals in the vertical direction, and the support member is installed on two adjacent magnetic drive conveyor lines in the vertical direction so that the corresponding magnetic drive conveyor lines are relatively fixed. A lifting device is used to carry the moving part assembly so that the moving part assembly can move vertically from one of the stators to the other stator.

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