Movable element and hybrid conveyor line equipped with same

Abstract

The present application provides a mover and a hybrid conveyor line including the same. The mover is used in at least a magnetic conveyor line and a hybrid conveyor line, and is movably attached to the magnetic conveyor line or the hybrid conveyor line, the magnetic conveyor line including a first armature winding, and the hybrid conveyor line including a first drive mechanism. The mover includes a mover body including a first permanent magnet array, the first permanent magnet array including two first permanent magnets spaced apart, the two first permanent magnets and the first armature winding driving the mover body to move along the magnetic conveyor line in the form of current excitation, and a driven assembly connected to the mover body and operably connected to the first drive mechanism for driving the mover body to move along the magnetic conveyor line or the hybrid conveyor line. The technical solution provided by the present application can effectively reduce the overall layout cost of the conveyor line.

Description

[Technical Field]

[0001] This application is 1. Priority of the patent application filed with the State Intellectual Property Office of China on September 30, 2022, bearing application number 202211219655.9 and titled "Mover and hybrid conveying line"; 2. Priority of the patent application filed with the State Intellectual Property Office of China on September 21, 2022, bearing application number 202222504907.4 and the invention title "Mover and conveyor device"; 3. Priority is claimed to the patent application filed with the State Intellectual Property Office of China on September 30, 2022, bearing application number 202211211003.0 and titled "Auxiliary Conveyor Line and Hybrid Conveyor Line."

[0002] The present application relates to the technical field of conveying devices, and more particularly to a mover and a hybrid conveyor line including the same. [Background technology]

[0003] In the related art, the conveying line generally includes a moving element for conveying materials, and in some high-precision and high-speed transport environments, magnetic conveying is generally adopted, that is, the moving element moves on a stator (i.e., a guide rail) by magnetic force driving force. In the transport section where the conveying precision requirement is low and there is no conveying speed control requirement, the use of a magnetic conveyor line still increases the operating cost. Summary of the Invention [Problem to be solved by the invention]

[0004] The present application provides a mover and a hybrid conveyor line including the mover, which can effectively reduce the layout cost of the entire conveyor line. [Means for solving the problem]

[0005] According to one aspect of the present application, there is provided a mover for use in at least a magnetic conveyor line and a hybrid conveyor line, the mover being movably mounted on the magnetic conveyor line or the hybrid conveyor line. The magnetic conveyor line includes a first armature winding, and the hybrid conveyor line includes a first drive mechanism. The mover includes: a mover body including a first permanent magnet array, the first permanent magnet array including two first permanent magnets spaced apart, the two first permanent magnets and the first armature winding driving the mover body to move along the magnetic conveyor line in a form of current excitation; and a driven assembly connected to the mover body and operably connected to the first drive mechanism, for driving the mover body to move along the magnetic conveyor line or the hybrid conveyor line.

[0006] Furthermore, the mover body includes a connection portion connected to both the first permanent magnet array and the driven assembly, with the driven assembly and the first permanent magnet array located on opposite sides of the connection portion.

[0007] Furthermore, the transmission method between the driven assembly and the first driving mechanism is at least one of friction transmission, magnetic attraction transmission, and fixed contact transmission.

[0008] Furthermore, the transmission method between the driven assembly and the first drive mechanism is friction transmission, and the driven assembly includes a fixed structure connected to the mover body, a friction structure for contacting the first drive mechanism to generate frictional resistance, and a tension structure located between the fixed structure and the friction structure, connected to the fixed structure and the friction structure, and for pressing the friction structure against the first drive mechanism.

[0009] Furthermore, the friction structure includes a friction block for abutting against the first drive mechanism to generate frictional resistance, and a fixed block fixedly connected to the friction block, the orthogonal projection of which covers the friction block, and the friction block is provided on a surface of the fixed block away from the tension structure, and the tension structure includes a guide rod having one end movably connected to the fixed structure and the other end fixedly connected to the fixed block, and an elastic member sleeved on the guide rod, one end abutting against the fixed block, and the other end abutting against the fixed structure.

[0010] Furthermore, the friction block is made of at least one of rubber and resin.

[0011] Furthermore, the driven assemblies include two groups, the two groups of driven assemblies being located on opposite sides of the mover body, and two first permanent magnets spaced apart from each other being located between the two groups of driven assemblies.

[0012] Further, the first drive mechanism includes a second armature winding, and the driven assembly includes a second permanent magnet array, the second permanent magnet array including at least one second permanent magnet, and the second permanent magnet and the second armature winding drive the mover body to move along the magnetic conveyor line or the hybrid conveyor line in the form of current excitation.

[0013] Furthermore, the mover further includes a first sliding assembly provided on the mover body and movably attached to the magnetic conveyor line, and a second sliding assembly provided on the driven assembly and spaced apart from the first sliding assembly for movably attached to the hybrid conveyor line, or alternatively, the mover includes a first sliding assembly provided on the mover body and movably attached to the magnetic conveyor line and spaced apart from the driven assembly.

[0014] Furthermore, the mover further includes a distance sensing device connected to the mover body for detecting the moving position of the mover.

[0015] Furthermore, the mover body has an accommodating groove, which extends along a first predetermined direction and penetrates both ends of the mover body, and the accommodating groove extends along a second predetermined direction, and a notch is formed on one side of the mover for the armature winding to enter and exit the accommodating groove, the second predetermined direction is perpendicular to the first predetermined direction, the accommodating groove includes a first groove wall, a second groove wall, and a third groove wall, the third groove wall is disposed opposite to the notch, and the first groove wall and the second groove wall are disposed opposite to each other, , located on both sides of the third groove wall, the first permanent magnet includes a first magnetic steel group provided on the first groove wall and a second magnetic steel group provided on the second groove wall, the second magnetic steel group and the first magnetic steel group are arranged opposite each other with a gap between them, both the first magnetic steel group and the second magnetic steel group include at least one magnet module arranged along a first preset direction, the magnet module and the mover body are detachably connected, and the magnet module includes a plurality of sub-magnets arranged along the first preset direction.

[0016] Furthermore, there is a one-to-one correspondence between the permanent magnets in the second magnetic steel group and the permanent magnets in the first magnetic steel group, and the magnetization direction of the permanent magnets in the second magnetic steel group matches the magnetization direction of the corresponding permanent magnets in the first magnetic steel group.

[0017] Furthermore, one or more sub-magnets of the magnet module are arranged in a Halbach array, the magnet module includes a mounting frame, the mounting frame and the mover body are detachably connected, and the multiple sub-magnets are provided adjacent to the mounting frame or spaced apart from each other on the mounting frame.

[0018] Furthermore, the magnet module includes a first sub-magnet, a second sub-magnet, a third sub-magnet, and a fourth sub-magnet arranged along a first preset direction.

[0019] The magnetization direction of the first sub-magnet is along a third preset direction, which is perpendicular to the first preset direction and the second preset direction; the magnetization direction of the second sub-magnet is along a fourth preset direction, which is parallel to the first preset direction; the magnetization direction of the third sub-magnet is along a fifth preset direction, which is opposite to the third preset direction; and the magnetization direction of the fourth sub-magnet is along a sixth preset direction, which is opposite to the fourth preset direction.

[0020] Furthermore, the multiple magnet modules in the first magnetic steel group include at least one first magnet module or / and at least one second magnet module, and the first sub-magnet, second sub-magnet, third sub-magnet, and fourth sub-magnet in the first magnet module are arranged in order along a first preset direction, and the second sub-magnet, first sub-magnet, fourth sub-magnet, and third sub-magnet in the second magnet module are all arranged in order along the first preset direction.

[0021] Furthermore, in the first magnetic steel group, the magnetization direction of the permanent magnet located at the first end of the first magnetic steel group is along a third preset direction, and the magnetization direction of the permanent magnet located at the second end of the first magnetic steel group is along a fifth preset direction.

[0022] Furthermore, in the first magnetic steel group, the magnetization direction of the permanent magnet located at the first end of the first magnetic steel group is along the first preset direction, and the magnetization direction of the permanent magnet located at the second end of the first magnetic steel group is along the fourth preset direction, and the magnetization direction of the permanent magnet located at the second end of the first magnetic steel group is along the sixth preset direction.

[0023] Furthermore, the multiple permanent magnets in the magnet module are arranged in a Halbach array, and the magnetic field is strengthened on the side of the first magnetic steel group closer to the second magnetic steel group, and the magnetic field is strengthened on the side of the second magnetic steel group closer to the first magnetic steel group.

[0024] According to another aspect of the present application, there is provided a hybrid conveyor line including a magnetic conveyor line, an auxiliary conveyor line, and the mover provided above. The mover is movably attached to the magnetic conveyor line or the auxiliary conveyor line, the magnetic conveyor line including a first armature winding and a first guide rail, a first permanent magnet array cooperating with the first armature winding to drive the mover to move along the first guide rail, the auxiliary conveyor line including a first drive mechanism and a second guide rail, and a driven assembly cooperating with the first drive mechanism to drive the mover to move along the second guide rail.

[0025] Furthermore, when a plurality of movers are provided, each of which includes a buffer member, and when the plurality of movers are all attached to a magnetic conveyor line or an auxiliary conveyor line, the buffer members are provided on opposite sides of the mover body along the moving direction of the mover.

[0026] Furthermore, the hybrid conveyor line has at least one arc section, in which the first guide rail and the second guide rail are arranged not to be collinear.

[0027] Furthermore, the first drive mechanism includes a transport member and a joint structure, the transport member and the joint structure are operably connected to move at least a portion of the joint structure along the guide direction of the second guide rail, and the joint structure is connected to the mover to move the mover along the second guide rail. The auxiliary conveyor line includes a position sensing assembly, the position sensing assembly including a plurality of position sensors and a controller electrically connected to the plurality of position sensors, the plurality of position sensors are arranged in sequence along the second guide rail to detect position information of the mover and output the position information to the controller, and the controller is used to adjust the drive speed of the first drive mechanism relative to the mover in accordance with the position information.

[0028] Furthermore, the position sensor includes a signal transmitter and a signal receiver, one of which is provided on one side of the second guide rail and the other is connected to the mover, or both of which are provided on the second guide rail, and the signal receiver outputs position information of the mover to the controller when it receives a change in the signal transmitted by the signal transmitter.

[0029] Furthermore, the position sensor includes at least one of a magnetic grating sensor, a diffraction grating sensor, an infrared sensor, a color sensor, and a Hall sensor.

[0030] Furthermore, the first driving mechanism includes at least one of a friction conveying structure, a fixed conveying structure, and a magnetic conveying structure. When the first driving mechanism includes a friction conveying structure, the joint structure includes a synchronous belt whose conveying direction is parallel to the guide direction of the second guide rail, the conveying member includes two synchronous pulleys spaced apart and a support structure for supporting the synchronous belt, the synchronous belt is sleeved around the two synchronous pulleys, the support structure is located between the two synchronous pulleys and within the range surrounded by the two synchronous pulleys and the synchronous belt, and the support structure extends along the conveying direction of the synchronous belt.

[0031] Furthermore, the support structure includes a hard support plate and a soft support plate, which are stacked in a direction perpendicular to the surface of the synchronous belt, and the soft support plate is located between the hard support plate and the synchronous belt, and is used to support the part of the synchronous belt that moves the mover.

[0032] Furthermore, the support structure further includes at least two transition members, which are provided between the flexible support plate and the synchronous belt and located at both ends of the flexible support plate near the synchronous pulley.

[0033] Furthermore, the first driving mechanism includes at least one of a friction conveying structure, a fixed conveying structure, and a magnetic conveying structure, and when the first driving mechanism includes a friction conveying structure, the joining structure includes a synchronous belt whose conveying direction is parallel to the guide direction of the second guide rail, the conveying member includes a plurality of synchronous pulleys arranged at intervals, and the synchronous belt is sleeved around the synchronous pulleys.

[0034] Furthermore, the magnetic conveyor line and the auxiliary conveyor line are arranged in order along the second guide rail and joined together, and the mover moves on the magnetic conveyor line and the auxiliary conveyor line along the second guide rail.

[0035] Furthermore, the first driving mechanism includes a joint structure that realizes joining by friction transmission, a joint structure that realizes joining by fixed transmission, or a joint structure that realizes joining by magnetic attraction.

[0036] Furthermore, the mover includes a mover body, a fixed structure which is a driven assembly fixed to the mover body, and a friction structure which includes a guide rod and an elastic member, one end of the guide rod is movably connected to the fixed structure and the other end is fixedly connected to the friction structure, the friction structure is used to contact the synchronous belt to generate friction force, and the elastic member is sleeved around the guide rod and located between the fixed structure and the friction structure.

[0037] Furthermore, the fixing structure has a mounting surface close to the synchronous belt, and the friction structure has a friction surface close to the synchronous belt, the synchronous belt has an inner contact surface and an outer contact surface, and the inner contact surface comes into contact with the synchronous pulley, generating frictional resistance between the synchronous belt and the synchronous pulley, the outer contact surface and the mounting surface are arranged opposite each other, and the friction structure comes into contact with the outer contact surface, and along the extension and contraction direction of the elastic member, the distance between the mounting surface and the inner contact surface is L1, the distance between the mounting surface and the outer contact surface is L2, and the distance between the mounting surface and the friction surface is L3, satisfying the conditional formula L1>L3>L2.

[0038] Furthermore, there are a plurality of groups of magnetic conveyor lines and a plurality of groups of auxiliary conveyor lines, and the magnetic conveyor lines and the auxiliary conveyor lines are alternately arranged in order along the second guide rail.

[0039] Furthermore, the mover includes a slider slidably connected to the second guide rail or the first guide rail, and when the auxiliary conveyor line is connected to the magnetic conveyor line, the second guide rail is connected to the first guide rail, and the slider can move between the second guide rail and the first guide rail.

[0040] Furthermore, the hybrid conveyor line includes docking assemblies provided in at least two groups, one docking assembly connecting the tail of the magnetic conveyor line and the head of the auxiliary conveyor line, the other docking assembly connecting the head of the magnetic conveyor line and the tail of the auxiliary conveyor line, and a mover movably connected to the magnetic conveyor line and the auxiliary conveyor line along the second guide rail.

[0041] The magnetic conveyor lines are provided in multiple groups, and the auxiliary conveyor lines are provided in multiple groups, one of which functions as a return section, and the multiple groups of magnetic conveyor lines and the multiple groups of auxiliary conveyor lines are arranged alternately in sequence along the second guide rail to form a conveying section, and one docking assembly connects the tail section of the conveying section to the head of the return section, and the other docking assembly connects the head of the return section to the tail section of the conveying section.

[0042] By applying the technical solution of the present application, in addition to being used on a magnetic conveyor line, the mover can also be conveyed on a non-magnetic conveyor line through a driven assembly and a driving mechanism using other transmission methods. In conveyor lines with low conveying precision and no conveying speed requirements, the magnetic conveyor line can be replaced with a non-magnetic conveyor line, and the mover in the embodiment of the present application can continue to be used for transportation, thereby reducing the overall layout cost of the conveyor line. [Brief explanation of the drawings]

[0043] The drawings in the specification that form a part of this application are provided to facilitate a better understanding of the application, and the exemplary embodiments and descriptions thereof are used to explain the application and are not intended to unduly limit the application.

[0044] [Figure 1] FIG. 1 shows a schematic structural diagram of an assembled mover and magnetic conveyor line provided by one embodiment of the present application. [Figure 2] FIG. 2 shows a schematic structural diagram of an assembled mover and hybrid conveyor line provided by one embodiment of the present application. [Figure 3] FIG. 3 shows a schematic structural diagram of a mover provided according to one embodiment of the present application. [Figure 4] FIG. 4 shows a schematic structural diagram of a mover from a first perspective provided by another embodiment of the present application. [Figure 5] FIG. 5 shows a schematic structural diagram of a mover provided according to yet another embodiment of the present application. [Figure 6] FIG. 6 shows a schematic structural view of a mover from a first viewpoint provided by yet another embodiment of the present application. [Figure 7] FIG. 7 shows a schematic structural view of a mover from a second viewpoint provided by yet another embodiment of the present application. [Figure 8] FIG. 8 shows a schematic structural diagram of a mover from a second viewpoint provided by another embodiment of the present application. [Figure 9]FIG. 9 shows a schematic structural diagram of a first magnetic steel group of a mover provided by another embodiment of the present application. [Figure 10] FIG. 10 shows a schematic structural diagram of a first magnetic steel group of a mover provided by another embodiment of the present application. [Figure 11] FIG. 11 shows a schematic structural diagram of a first magnetic steel group of a mover provided according to another embodiment of the present application. [Figure 12] FIG. 12 shows a schematic structural diagram of a first magnetic steel group of a mover provided according to another embodiment of the present application. [Figure 13] FIG. 13 shows a schematic diagram of the first magnetic steel group and the second magnetic steel group of the mover on the mover body provided by another embodiment of the present application. [Figure 14] FIG. 14 shows a schematic structural diagram of an assembled hybrid conveyor line with multiple movers provided by one embodiment of the present application. [Figure 15] FIG. 15 is an enlarged structural schematic diagram of C in FIG. [Figure 16] FIG. 16 shows a schematic structural diagram of an assembled hybrid conveyor line with multiple movers provided by another embodiment of the present application. [Figure 17] FIG. 17 is an enlarged structural schematic diagram of D in FIG. [Figure 18] FIG. 18 shows a schematic structural diagram of a hybrid conveyor line provided by one embodiment of the present application. [Figure 19] FIG. 19 shows a schematic diagram of the overall structure of the auxiliary conveyor line of the hybrid conveyor line provided by one embodiment of the present application. [Figure 20] FIG. 20 shows a schematic structural diagram of the hybrid conveyor line provided by one embodiment of the present application, in which the auxiliary conveyor line and the magnetic conveyor line are assembled. [Figure 21] FIG. 21 is a schematic structural diagram of another type of hybrid conveyor line that combines an auxiliary conveyor line and a magnetic conveyor line provided by an embodiment of the present application. [Figure 22]FIG. 22 shows a schematic structural diagram of a friction conveying structure (including two synchronous pulleys) of a hybrid conveyor line provided by one embodiment of the present application. [Figure 23] FIG. 23 is a schematic structural diagram of a friction conveying structure (including multiple synchronous pulleys) of a hybrid conveyor line provided by one embodiment of the present application. [Figure 24] FIG. 24 shows a schematic structural diagram of a mover of a hybrid conveyor line provided by one embodiment of the present application. [Figure 25] FIG. 25 shows a simplified schematic diagram of a combined mover and friction conveying structure of a hybrid conveyor line provided by one embodiment of the present application. [Figure 26] FIG. 26 shows a schematic structural diagram of another type of hybrid conveyor line that combines an auxiliary conveyor line and a magnetic conveyor line provided by an embodiment of the present application. [Figure 27] FIG. 27 is a schematic structural diagram of a hybrid conveyor line provided by an embodiment of the present application, in which the auxiliary conveyor line and the magnetic conveyor line are located on the same horizontal mounting table. [Figure 28] FIG. 28 shows a schematic structural diagram of a docking assembly of a hybrid conveyor line provided by one embodiment of the present application. [Figure 29] FIG. 29 shows a schematic structural diagram of the hybrid conveyor line provided by one embodiment of the present application, in which the auxiliary conveyor line and the magnetic conveyor line are located on the same vertical mounting table. [Figure 30] FIG. 30 shows a schematic structural diagram of a hybrid conveyor line (the conveying section includes an auxiliary conveyor line and a magnetic conveyor line) provided by one embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0045] The technical solutions in the embodiments of the present application are clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the present application or its application or use. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present application.

[0046] In the related art, in some high-precision, high-speed conveying environments, it is common to use a magnetic conveyor line for conveyance, that is, a mover moves on a stator (i.e., a guide rail) by magnetic force, but the installation cost of the magnetic conveyor line is also high. In some sections of the conveying line, only the conveying function is required, but the requirements for conveying precision and speed are low. If a magnetic conveyor line is used for conveying (especially in long, straight conveying sections where conveying precision and speed are not required), the purchase cost of the entire conveying line will be relatively high.

[0047] In consideration of the above, in a first aspect, referring to FIGS. 1 to 30 , the present application provides a mover 43 used in at least a magnetic conveyor line 41 and a hybrid conveyor line 40, the mover 43 being movably attached to the magnetic conveyor line 41 or the hybrid conveyor line 40, the magnetic conveyor line 41 including a first armature winding 411, and the hybrid conveyor line 40 including a first drive mechanism 421. It can be understood that the magnetic conveyor line 41 may be a magnetic conveyor line 41 formed by connecting multiple stators, and the first armature winding 411 and the mover 43 drive the mover 43 in the form of current excitation, and the hybrid conveyor line 40 can drive the mover by two or more types of power. Furthermore, the embodiments of the present application do not limit the specific structure of the hybrid conveyor line 40. For example, the hybrid conveyor line 40 can utilize magnetic force in combination with other transmission methods, such as magnetic force in combination with friction transmission, magnetic force in combination with fixed contact transmission, etc. As another example, the drive methods of the hybrid conveyor line 40 may all be magnetic force drive, but the mover 43 can be driven to move using different magnetic drive methods, such as current excitation or traveling wave magnetic field, which act together or independently.

[0048] 1 to 6, the mover 43 includes a mover body 10 including a first permanent magnet array 11, wherein the first permanent magnet array 11 includes two first permanent magnets 111 spaced apart, and the two first permanent magnets 111 and a first armature winding 411 drive the mover body 10 to move along the magnetic conveyor line 41 in the form of current excitation, and a driven assembly 20 connected to the mover body 10 and operably connected to a first drive mechanism 421 for driving the mover body 10 to move along the magnetic conveyor line 41 or the hybrid conveyor line 40.

[0049] Specifically, on the magnetic conveyor line 41, when current is applied to the first armature winding 411, the first armature winding 411 generates a changing magnetic field. The magnetic fields generated by the first permanent magnet array 11 of the mover body 10 and the first armature winding 411 interact to generate a driving force, thereby moving the entire mover 43 along the extending direction of the magnetic conveyor line 41. On the hybrid conveyor line 40, the driven assembly 20 of the mover 43 moves the entire mover along the extending direction of the hybrid conveyor line 40 through transmission by the first driving mechanism 421. The embodiment of the present application does not particularly limit the number of first permanent magnet arrays 11, and for example, the number of first permanent magnet arrays 11 may be one pair or multiple pairs. The embodiment of the present application does not limit the specific structure of the first driving mechanism 421, and specific transmission methods of the driven assembly 20 and the first driving mechanism 421 will be described in detail below.

[0050] It should be noted that the embodiment of the present application allows the mover 43 to be applied to different types of conveying lines by disposing the driven assembly 20. In addition to being used in the magnetic conveyor line 41, the mover 43 in the embodiment of the present application may also be used for conveying on the hybrid conveyor line 40 with other transmission methods via the driven assembly 20 and the first drive mechanism 421. It can be seen that the disposition of the driven assembly 20 diversifies the conveying method of the mover 43, which on the one hand allows the mover 43 to be applied to different conveyor lines and increases the versatility of the mover 43, and on the other hand, the versatility of the driven assembly 20 makes it possible to reduce the arrangement cost of the entire conveyor line.

[0051] In addition, in the conveyor line, the driven assembly 20 can be driven and moved by the first driving mechanism 421 to move the mover body 10. For the mover body 10, the driven assembly 20 may be used as a driving member for moving the mover body 10.

[0052] 1, 3 and 4, the mover body 10 may further include a first back plate 14, a connecting plate 16 and a second back plate 15, which are connected in order or integrally formed, and the first back plate 14 and the second back plate 15 are arranged opposite each other with a gap between them, and two first permanent magnets 111 are provided on the opposing faces of the first back plate 14 and the second back plate 15, respectively, which are close to each other. There is an installation gap between the two first permanent magnets 111 for placing the first armature winding 411. That is, when the mover 43 is arranged in combination with the magnetic conveyor line 41, the two first permanent magnets are provided on both sides of the first armature winding 411. When the first armature winding 411 is energized, the first armature winding 411 generates a changing magnetic field, and the magnetic field and the first permanent magnets are coupled with each other to generate a relative force for driving the mover body 10 to move on the magnetic conveyor line. Furthermore, the first back plate 14 and the second back plate 15 can provide a mounting base for the two first permanent magnets 111, which can prevent the first permanent magnets 111 from shifting and ensure that the mover 43 operates stably on the magnetic conveyor line 41.

[0053] 1 and 4, when the arrangement position of the first armature winding 411 is perpendicular to the horizontal plane, the two first permanent magnets 111 of the mover 43 are arranged facing each other in the vertical direction, and at this time, material can be placed and transported on the surface of the connecting plate 16 that is distant from the two first permanent magnets. As shown in FIG. 3, when the arrangement position of the magnetic conveyor line 41 is parallel to the horizontal plane, the two first permanent magnets 111 of the mover 43 are arranged facing each other in the horizontal direction, and it can be seen that at this time, material can be placed and transported on the surface of the first back plate 14 / second back plate 15 that is distant from the first permanent magnets.

[0054] Referring to Figures 1, 3, and 4, in some embodiments of the present application, the mover body 10 includes a connection portion 12 that is connected to both the first permanent magnet array 11 and the driven assembly 20, and the driven assembly 20 and the first permanent magnet array 11 are located on opposite sides of the connection portion 12.

[0055] Since the first permanent magnet array 11 and the driven assembly 20 are respectively provided on opposite sides of the connection portion 12, it can be understood that the first armature winding 411 cooperating with the first permanent magnet array 11 and the first drive structure 421 cooperating with the driven assembly 20 should also be respectively attached to opposite sides of the connection portion 12. Furthermore, it can be understood that the movement path of the first permanent magnet array 11 driven by the first armature winding 411 and the movement path of the driven assembly 20 driven by the first drive mechanism 421 are not on the same line. In other words, the arrangement of the driven assembly 20 does not interfere with the movement of the mover body 10 driven by the first permanent magnet array 11. The driven assembly 20 can also drive the mover 43 in more driving ways while ensuring smooth movement of the mover body 10.

[0056] Furthermore, when the magnetic conveyor line 41 or the hybrid conveyor line 40 has an arc section 44 (as shown in FIG. 14 ), the mover 43 needs to turn at the arc section 44 of the conveyor line. Because the driven assembly 20 and the first permanent magnet array 11 are provided on opposite sides of the connection section 12, the turning angles / radii of the mover 43 when turning are different. Depending on the requirements of the actual working conditions, the motion form of the mover 43 at the arc section 44 can be selected, that is, whether the mover 43 is driven by the first permanent magnet array 11 or the driven assembly 20 when turning can be selected depending on the requirements of the working conditions. In some embodiments, if the driven assembly 20 and the first drive mechanism 421 have a more stable combined structure than the first permanent magnet array 11 and the first armature winding 411, the driven assembly 20 can have a longer moving stroke or a larger turning angle in the arc portion 44 to ensure stability of the movement of the mover 43 in the arc portion 44, and in some embodiments, the driven assembly 20 can have a shorter moving stroke or a smaller turning angle so that the mover 43 can have a higher moving speed in the arc portion 44, and in some embodiments, the mover 43 cooperates with only one of the first armature winding 411 and the first drive mechanism 421 in the arc portion 44, so it can be understood that the arrangement costs of the conveying line body can be reduced. In some embodiments, if the driven assembly 20 and first drive mechanism 421 have lower layout costs than the first permanent magnet array 11 and first armature winding 411, it can be understood that in the straight or arcuate section 44, only the driven assembly 20 that is power-transmittingly connected to the first drive mechanism 421 may be provided in order to reduce the layout costs of the entire conveyor line.

[0057] In some embodiments of the present application, the transmission manner between the driven assembly 20 and the first driving mechanism 421 is at least one of friction transmission, magnetic attraction transmission, and fixed contact transmission. It is understood that the driven assembly 20 and the first driving mechanism 421 can be transmitted in one of the above three transmission manners or a combination thereof.

[0058] The driven assembly 20 and the first driving mechanism 421 can be driven in various ways, allowing the mover 43 to be applied to different types of conveying lines. For example, as shown in Figures 2 and 4, taking the driven assembly 20 and first driving mechanism 421 that use friction transmission as an example, the first driving mechanism 421 may include a motor and a synchronous belt, and the driven assembly 20 may be provided with a friction block 221, where the motor is used to move the synchronous belt and the friction block 221 in the driven assembly 20 works in friction with the synchronous belt, so that the movement of the synchronous belt moves the friction block 221 and moves the mover 43. As another example, taking the driven assembly 20 and first driving mechanism 421 (as shown in FIG. 17) using magnetic attraction transmission as an example, the driven assembly 20 may be provided with a permanent magnet, and the first driving mechanism 421 has a traveling wave magnetic field, with the peaks of the permanent magnet and the traveling wave magnetic field coupled to each other, and the movement of the peaks of the traveling wave magnetic field generates an electromagnetic thrust to move the permanent magnet on the driven assembly 20 and drive the driven assembly 20 and the mover body 10. Alternatively, the first driving mechanism 421 may further include a three-phase AC coil, which is energized to couple with the permanent magnet through current excitation and generate a driving force to drive the driven assembly 20 and the mover body 10. As another example, taking the driven assembly 20 and the first driving mechanism 421 with fixed contact transmission as an example, the first driving mechanism 421 may include a rotating disk and a plurality of conveying blocks rotatably arranged symmetrically around the axis of the rotating disk, where the rotating disk rotates around the axis to move the conveying blocks, and the driven assembly 20 is provided with a shift fork, and when the shift fork moves to the friction disk, the rotation of the friction disk causes the conveying blocks to abut against the shift fork and cooperate with it, and the shift fork moves with the rotation of the conveying block 42, thereby moving the mover 43.As another example, taking the driven assembly 20 and first driving mechanism 421 with fixed contact transmission as an example, the first driving mechanism 421 may include a motor and a rack, the driven assembly 20 may be provided with a toothed groove or a gear, the motor may move the rack, and the toothed groove or gear of the driven assembly 20 may engage with the rack, thereby allowing the rack to move the mover 43. Alternatively, the first driving mechanism 421 may further include a rack and a locking groove, and the driven assembly 20 may be provided with a buckle, the buckle is inserted into the locking groove, and the buckle moves the locking groove via the motor, thereby moving the driven assembly 20 and the mover body 10.

[0059] 2 to 4, in some embodiments of the present application, the transmission method between the driven assembly 20 and the first driving mechanism 421 is friction transmission. The driven assembly 20 includes a fixed structure 21 connected to the mover body 10, a friction structure 22 that abuts against the first driving mechanism 421 to generate frictional resistance, and a tension structure 23 that is located between the fixed structure 21 and the friction structure 22, is connected to the fixed structure 21 and the friction structure 22, and presses the friction structure 22 against the first driving mechanism 421.

[0060] Furthermore, when the driven assembly 20 is drivably connected to the first driving mechanism 421, the tension structure 23 between the fixed structure 21 and the friction structure 22 is compressed, generating an elastic force between the fixed structure 21 and the friction structure 22, causing the friction structure 22 to abut more closely against the first driving mechanism 421. When the first driving mechanism 421 moves, frictional resistance is generated between the friction structure 22 and the first driving mechanism 421, thereby allowing the first driving mechanism 421 to drive the driven assembly 20 and the movable member body 10 to move on the hybrid conveyor line 40.

[0061] Specifically, the fixed structure 21 is fixedly connected to the movable body 10. This makes the positional relationship between the driven assembly 20 and the movable body 10 more stable when the driven assembly 20 moves the movable body 43. The embodiments of the present application do not limit the connection method between the fixed structure 21 and the movable body 10. Specific connection methods between the fixed structure 21 and the movable body 10 include, but are not limited to, screw connection, engagement connection, integral molding, etc.

[0062] 4, the friction structure 22 includes a friction block 221 and a fixed block 222. The friction block 221 is used to abut against the first driving mechanism 421 to generate friction resistance, and the fixed block 222 is fixedly connected to the friction block 221, and the orthogonal projection of the fixed block 222 on the friction block 221 covers the friction block 221, and the friction block 221 is provided on a surface of the fixed block 222 away from the tension structure 23.

[0063] It should be understood that the embodiments of the present application do not limit the specific material of the friction block 221. The friction block 221 may be made of at least one of rubber and resin, or a mixture of rubber and resin. Furthermore, rubber and resin materials have a higher friction coefficient, which makes the friction transmission between the friction block 221 and the first drive mechanism 421 more stable. Furthermore, rubber and resin materials have better elasticity and shock absorption, which can extend the service life of the friction block 221.

[0064] It can be understood that the friction block 221 has a friction surface 2211 that contacts the first drive mechanism 421, and the connection portion between the friction surface 2211 and its peripheral surface may be set as an arc surface to prevent the friction structure 22 from being scratched and damaging the first drive mechanism 421.

[0065] Furthermore, the fixed block 222 is fixedly connected to the friction block 221 and provides a mounting base for the friction block 221. The embodiment of the present application does not limit the connection method between the fixed block 222 and the friction block 221, and the connection method may be at least one of a screw connection, an adhesive connection, and an engagement connection. During the friction transmission process between the friction block 221 and the first driving mechanism 421, along the moving direction of the mover 43, the front end of the friction block 221 along the moving direction is frictionally connected with the first driving mechanism 421 first, and then the rear end of the friction block 221 along the moving direction is frictionally connected with the first driving mechanism 421. In the embodiment of the present application, the orthogonal projection of the fixed block 222 on the friction block 221 covers the friction block 221, so that the fixed block 222 completely covers the friction block 221 when the friction block 221 is in frictional contact with the first driving mechanism 421. It can be seen that this allows the elastic force of the friction block 221 to be more evenly distributed on the fixed block 222, preventing the friction block 221 from being deformed during long-term use and further extending the service life of the friction block 221.

[0066] It can be understood that when the magnetic conveyor line 41 or the hybrid conveyor line 40 has an arc section 44 (as shown in FIG. 14 ), the mover 43 needs to turn at the arc section 44 of the conveyor line. Because the friction block 221 and the first permanent magnet array 11 are spaced apart, the turning angles / radii of the two are different when turning. Depending on the requirements of the actual working conditions, the movement form of the mover 43 at the arc section 44 can be selected, that is, whether the mover 43 is driven by the first permanent magnet array 11 or the friction block 221 when turning can be selected depending on the requirements of the working conditions. In this embodiment, selecting the driving method by the first permanent magnet array 11 or the friction block 221 at the arc section 44 is similar to the method of selecting the driving method by the first permanent magnet array 11 or the driven assembly 20 at the arc section 44 described above, and therefore will not be described again in this embodiment.

[0067] 2 to 4, the tension structure 23 includes a guide rod 231 and an elastic member 232. One end of the guide rod 231 is movably connected to the fixed structure 21, and the other end of the guide rod 231 is fixedly connected to the fixed block 222. The elastic member 232 is sleeved on the guide rod 231, and one end of the elastic member 232 is fixedly connected to the fixed block, and the other end of the elastic member 232 abuts against the fixed structure 21. The embodiments of the present application do not limit the specific type of the elastic member 232. For example, the elastic member 232 may be an elastic piece, a spring, or a Bourdon tube.

[0068] In some embodiments, the fixed structure 21 is provided with a guide hole through which the guide rod 231 passes, so that the guide rod 231 can move within the guide hole along the expansion and contraction direction of the elastic member 232. Furthermore, if the elastic member 232 is a spring, for example, the guide rod 231 can move relatively within the guide hole, and when the friction block 221 and the first driving mechanism 421 are frictionally transmitted, the spring is compressed and deformed to press the friction block 232 against the first driving mechanism 421. To avoid deviations in the movement direction and position of the spring, the embodiments of the present application provide the guide rod 231 between the fixed structure 21 and the friction structure 22, and the spring is fitted into the guide rod 231, so that the spring can expand and contract only along the axial direction of the guide rod 231 and is prevented from deviating in other directions. Taking the process of increasing the compression state of the spring as an example, when the guide rod 231 moves relative to the fixed structure 21 during the process of further increasing the compression state of the spring, the spring is further compressed, and the elastic force of the spring acts on the fixed structure 21 and the fixed block 222, pressing the friction block 221 against the first driving mechanism 421. The embodiments of the present application do not limit the manufacturing material of the guide rod 231. For example, the manufacturing material of the guide rod 231 may be metal, wood, hard plastic, etc.

[0069] 5 , in some embodiments of the present application, the driven assemblies 20 include two groups, and the two groups of driven assemblies 20 are located on opposite sides of the mover body 10, and two first permanent magnets 111 spaced apart are located between the two groups of driven assemblies 20. The embodiments of the present application do not limit the specific transmission methods of the two groups of driven assemblies 20. The two groups of driven assemblies 20 may use the same transmission method or different transmission methods, and the transmission methods of the two groups of driven assemblies 20 may be at least one of friction transmission, magnetic attraction transmission, and fixed contact transmission. Furthermore, if the two groups of driven assemblies 20 have the same transmission method, for example, the two groups of driven assemblies 20 may have the same or different arrangement structures. For example, if the transmission methods of the two groups of driven assemblies are both friction drive, the manufacturing material of the friction blocks 221 of one group of driven assemblies 20 may be rubber, and the manufacturing material of the friction blocks 221 of the other group of driven assemblies 20 may be resin. As another example, if the transmission method of the two groups of driven assemblies 20 is both magnetic attraction, the driven assembly 20 of one group may be operably connected to the first drive mechanism 421 via a traveling wave magnetic field, and the driven assembly 20 of the other group may be operably connected to the first drive mechanism 421 via a three-phase armature winding.

[0070] It can be seen that the two groups of driven assemblies 20 are located on opposite sides of the mover body 10, which makes the mover 43 more stable during operation. At the same time, both of the two groups of driven assemblies 20 may be operatively connected to the first driving mechanism 421. As a result, the mover 43 has two groups of driven assemblies 20, which is equivalent to having two driving forces, and therefore the transport efficiency of the mover 43 is higher than that of a single group of driven assemblies 20.

[0071] Furthermore, the two groups of driven assemblies 20 are provided on opposite sides of the mover body 10, respectively, and the driven assembly 20 provided on one side of the mover body 10 is called the first driven assembly 25, and the driven assembly 20 provided on the other side of the mover body 10 is called the second driven assembly 26. That is, the first driven assembly 25 is provided at a distance from the first permanent magnet array 11, and the second driven assembly 26 is provided at a distance from both the first driven assembly 25 and the first permanent magnet array 11. When the magnetic conveyor line 41 or the hybrid conveyor line 40 has an arc section 44, the mover 43 needs to turn at the arc section 44 of the conveying line. Since two groups of driven assemblies 20 are provided on opposite sides of the mover body 10, the first permanent magnet array 11, the first driven assembly 25 and the second driven assembly 26 have different turning angles / radii when turning, so that the mover 43 can select its motion form at the arc section 44 according to the actual working conditions, that is, whether the mover 43 is driven by the first permanent magnet array 11, the first driven assembly 25 or the second driven assembly 26 when turning according to the working requirements. In the embodiment of the present application, the method for selecting the motion form of the first driven assembly 25 in the arc portion 44 is the same as the method for selecting the motion form of the driven assembly 20 in the arc portion 44 (as shown in FIG. 14) described above, and the method for selecting the motion form of the second driven assembly 26 in the arc portion 44 is the same as the method for selecting the motion form of the driven assembly 20 in the arc portion 44 described above, and will not be described again here.

[0072] 5, in some embodiments, driven assemblies 20 are provided on opposite sides of the mover body 10, and at the same time, sliding blocks 17 with sliding grooves 171 may also be provided on both sides of the mover body 10, and the sliding grooves 171 in the sliding blocks 17 can cooperate with the third guide rails 46 on the conveying line (as shown in FIG. 1) to guide the mover 43 so that it moves along the extending direction of the conveying line. The mover 43 may be mounted on the third guide rails 46 of the conveying line via the sliding grooves 171, whereby the sliding blocks 17 play a role in supporting the mover 43.

[0073] 6 and 7, in some embodiments of the present application, the mover 43 further includes a first sliding assembly 31 and a second sliding assembly 32. The first sliding assembly 31 is provided on the mover body 10 and is movably attached to the magnetic conveyor line 41, and the second sliding assembly 32 is provided on the driven assembly 20, is spaced apart from the first sliding assembly 31, and is movably attached on the hybrid conveyor line 40.

[0074] It can be understood that the first sliding assembly 31 and the second sliding assembly 32 serve to support, guide, and limit the movement of the mover 43, thereby stabilizing the mover 43 during operation. The hybrid conveyor line 40 or the magnetic conveyor line 41 may include a third guide rail 46, and the first sliding assembly 31 and the second sliding assembly 32 cooperate with the third guide rail 46 at different positions and can move along the third guide rail, serving to guide the movement of the mover 43.

[0075] Furthermore, when the magnetic conveyor line 41 or the hybrid conveyor line 40 has an arc section 44 (as shown in FIG. 14 ), the mover 43 needs to turn at the arc section 44 of the conveyor line. Because the first sliding assembly 31 and the second sliding assembly 32 directly cooperate with the guide rail and are provided on both sides of the first permanent magnet array 11, the first sliding assembly 31 and the second sliding assembly 32 have different turning angles / radii when turning, and the motion form of the mover 43 at the arc section 44 can be selected according to the requirements of the actual working conditions, that is, whether the mover 43 is moved by the first sliding assembly 31 or the second sliding assembly 32 when turning can be selected according to the requirements of the working conditions. The selection of the first sliding assembly 31 and / or the second sliding assembly 32 is similar to the method of selecting whether the mover 43 is driven by the first permanent magnet array 11 or the driven assembly 20 when bending, as described above, and will not be described again here.

[0076] The embodiments of the present application are not limited to specific types of the first sliding assembly 31 and the second sliding assembly 32, and the first sliding assembly 31 may have the same or different arrangement structures. For example, as shown in FIG. 5 , the first sliding assembly 31 and / or the second sliding assembly 32 may include a slider having a sliding groove for accommodating the third guide rail 46, and the slider can be moved along the third guide rail 46 when the mover 43 moves. As another example, as shown in FIG. 7 , the first sliding assembly 31 and / or the second sliding assembly 32 may include a sliding roller that rolls along the third guide rail 46, and the sliding roller can be driven to roll along the third guide rail 46 when the mover 43 moves. Of course, the first sliding assembly 31 and / or the second sliding assembly 32 may simultaneously include a slider having a sliding groove and a sliding roller, and when the mover 43 moves, the slider moves along the third guide rail 46 and the sliding roller rolls along the third guide rail 46. As yet another example, the first sliding assembly 31 and / or the second sliding assembly 32 may include a slider with a ball, and when the mover 43 moves, the ball can be driven to roll on the third guide rail 46, causing the slider to move along the third guide rail 46.

[0077] In some embodiments, the mover 43 includes a first sliding assembly 31 mounted on the mover body 10, movably attached to the magnetic conveyor line 41, and spaced apart from the driven assembly 20. The first sliding assembly 31 in the embodiments of the present application is the same as the first sliding assembly 31 described above, and therefore will not be described again here.

[0078] In this embodiment, it can be understood that the first permanent magnet array 11 on the mover body 10 and the first armature winding 411 interact with each other in the form of current excitation, the first sliding assembly 31 on the mover body 10 moves the mover 43 along the guide rail by an interaction force (i.e., magnetic driving), and the driven assembly 20 is operatively connected to the first driving mechanism 421 and moves the mover 43 along the guide rail as the first driving mechanism 421 is driven. Furthermore, if the magnetic conveyor line 41 or the hybrid conveyor line 40 has an arc portion 44, the mover 43 needs to bend at the arc portion 44 of the conveyor line. Since the first sliding assembly 31 and the second sliding assembly 32 are spaced apart, the first sliding assembly 31 and the second sliding assembly 32 have different turning angles / radii when turning, and the movement mode of the mover 43 in the arc section 44 can be selected according to the requirements of the actual working conditions, that is, whether the mover 43 is driven by the first sliding assembly 31 or the driven assembly 20 when turning can be selected according to the requirements of the working conditions. In this embodiment, the method of selecting whether the mover 43 is driven by the first sliding assembly 31 or the driven assembly 20 is the same as the method of selecting whether the mover 43 is driven by the first permanent magnet array 11 or the driven assembly 20 when turning described above, and will not be described again here.

[0079] Continuing to refer to FIGS. 6-7 , in some embodiments of the present application, the first drive mechanism 421 includes a second armature winding (not shown), the driven assembly 20 includes a second permanent magnet array 24, the second permanent magnet array 24 includes at least one second permanent magnet 241, and the second permanent magnet 241 and the second armature winding drive the mover body 10 to move along the magnetic force conveyor line 41 or the hybrid conveyor line 40 in the form of current excitation.

[0080] When the driven assembly 20 and the first driving mechanism 421 transmit power through magnetic attraction, the second permanent magnet array 24 in the driven assembly 20 and the second armature winding in the first driving mechanism 421 are coupled to drive the mover body 10 to move along the magnetic conveyor line 41 or the hybrid conveyor line 40. The number of second permanent magnets 241 may be one or more.

[0081] Taking the example of generating a traveling wave magnetic field by the first armature winding 411, an electromagnetic thrust force is generated by the movement of the peak of the traveling wave magnetic field, which drives the movement of the second permanent magnet array 24 and moves the driven assembly 20 and the mover body 10. Taking the example of the first armature winding 411 as a three-phase AC coil, the three-phase AC coil is energized and generates a driving force by an excitation current, which moves the second permanent magnet array 24 and moves the driven assembly 20 and the mover body 10.

[0082] Furthermore, in some embodiments of the present application, the mover 43 further includes a distance sensing device (not shown), which is connected to the mover body 10 and cooperates with the magnetic conveyor line 41 or the hybrid conveyor line 40 to detect the movement position of the mover 43.

[0083] The distance sensor can detect the moving position of the mover 43, and the moving speed of the mover 43 can be calculated based on the moving time and moving distance of the mover 43. The embodiments of the present application do not particularly limit the type of the position sensor or the location of the position sensor. For example, a reflective strip is provided on the magnetic conveyor line 41 or the hybrid conveyor line 40. The distance sensor is an infrared sensor, which emits infrared rays and determines the initial position of the mover 43 from the infrared rays reflected by the reflective strip. After the mover 43 has moved a certain distance, the infrared sensor can obtain the moving distance of the mover 43. As another example, the distance sensor is an ultrasonic sensor, which emits ultrasonic waves and determines the initial position of the mover 43 from the ultrasonic waves reflected by the reflective strip. After the mover 43 has moved a certain distance, the ultrasonic sensor can obtain the moving distance of the mover 43.

[0084] The present application provides a mover and a hybrid conveyor line to solve the problem that, in a hybrid conveyor line driven by magnetic force, when the mover needs to withstand a larger load, the mover needs to be replaced to accommodate a different load.

[0085] As shown in FIGS. 8 and 18, the present application provides a mover 43 including a mover body 10 and a first magnetic steel group 1111.

[0086] The mover body 10 has an accommodating groove 13, which extends along a first predetermined direction AA and penetrates both ends of the mover body 10. The accommodating groove 13 extends along a second predetermined direction BB, and a notch 131 is formed on one side of the mover body 10 for the armature winding 411 to enter and exit the accommodating groove 13. The second predetermined direction BB is perpendicular to the first predetermined direction AA. The accommodating groove 13 includes a first groove wall 132, a second groove wall 133, and a third groove wall 134. The third groove wall 134 is disposed opposite the notch 131, the first groove wall 132 is disposed opposite the second groove wall 133, and are respectively located on both sides of the third groove wall 134, the first magnetic steel group 1111 is provided on the first groove wall 132, and includes at least one magnet module arranged along a first preset direction AA, the magnet module and the mover body 10 are detachably connected, and the magnet module includes a plurality of sub-magnets arranged along the first preset direction AA.

[0087] The mover 43 is used to place the transported object, and the mover 43 is a magnetic mover 43. Referring to FIG. 18, during operation, the mover 43 may be placed on the magnetic conveyor line 41. Taking FIG. 18 as an example, the first preset direction AA is parallel to the length direction of the magnetic conveyor line 41, and the second preset direction BB is parallel to the width direction of the magnetic conveyor line 41.

[0088] The magnetic conveyor line 41 has a first armature winding 411. The first armature winding 411 is inserted into the receiving groove 13 through the notch 131 along the second predetermined direction BB. The first armature winding 411 has a coil (not shown). When energized, the coil generates a magnetic field, and the first magnetic steel group 1111 of the mover 43 generates a driving force through current excitation of the coil, causing the entire mover 43 to move along the extension direction of the first armature winding 411, thereby transporting the transported object. The specific operating principle of the magnetic conveyor line 41 has long been published in the related art and will not be described again here.

[0089] Furthermore, while the current in the coil remains constant, the stronger the magnetic field generated by the first magnetic steel group 1111, the stronger the magnetic force of the first magnetic steel group 1111. When the coil is energized, the mover 43 can obtain a greater driving force and withstand a greater load. In this embodiment, the magnet modules are removably mounted on the first groove wall 132, and the magnetic force of the first magnetic steel group 1111 is changed by changing the number of magnet modules in the first magnetic steel group 1111. When the mover 43 needs to withstand a greater load, the magnetic force of the first magnetic steel group 1111 can be increased simply by increasing the number of magnet modules, thereby improving the load-bearing capacity of the mover 43 and eliminating the need to replace the mover 43 to accommodate different loads.

[0090] The magnet modules may be detachably connected to the mover body 10 by a connection method such as a screw connection, a mating connection, an adhesive connection, etc. The number of magnet modules in the first magnetic steel group 1111 may be one, two, or more, and the number of magnet modules may be selected according to the load requirements of the mover 43.

[0091] In one embodiment of the present application, the sub-magnets of the magnet module are arranged in a Halbach array. A Halbach array is a magnet structure that can generate a stronger magnetic field using a smaller number of sub-magnets. The magnetic field lines are concentrated on one side of the magnet and weakened on the other side of the magnet. This increases the strength of the magnetic field generated by the magnet module without changing the number of sub-magnets in the magnet module, resulting in a more ideal unidirectional magnetic field. The specific principles of the Halbach array have long been disclosed in the related art and will not be described in detail herein. It is understood that the side of the Halbach array with dense magnetic field lines should be positioned closer to the coil so that the mover 43 can obtain a greater driving force.

[0092] 8 and 18 , in one embodiment of the present application, the magnet module further includes a mounting frame 1113. The mounting frame 1113 is detachably connected to the mover body 10. The detachable connection between the mounting frame 1113 and the mover body 10 can be achieved by at least one of, but not limited to, a screw connection, an adhesive connection, and an engagement connection. The sub-magnets in the magnet module are attached to the mounting frame 1113, which facilitates the attachment of the sub-magnets to the mover body 10 and aligns the sub-magnets attached to the mover body 10 in the first predetermined direction AA, thereby providing the magnet module with a more uniform and stable magnetic field. To prevent the sub-magnets from falling off the mounting frame 1113 during movement of the mover 43, the sub-magnets may be fixed to the mounting frame 1113. Alternatively, the sub-magnets may be detachably connected to the mounting frame 1113 according to actual needs.

[0093] In some embodiments, the sub-magnet is a powerful magnet and has a strong magnetic field. To avoid magnetic leakage or adverse effects on electronic components due to the strong magnetic field, the mounting frame 1113 may be made of a material that is difficult to magnetize. For example, the mounting frame 1113 may be made of a material such as stainless steel, aluminum, or copper, and can also isolate the strong magnetic field while ensuring stable mounting of the sub-magnet.

[0094] The embodiments of the present application do not limit the arrangement of the sub-magnets mounted on the mounting frame 1113. For example, the mounting frame 1113 may be provided with mounting grooves 11131 corresponding to each sub-magnet, and two adjacent sub-magnets may be spaced apart and mounted in the corresponding mounting grooves 11131, preventing the sub-magnets from moving and simultaneously positioning the sub-magnets for mounting; alternatively, the mounting frame 1113 may be provided with mounting grooves 11131, and two adjacent sub-magnets may be mounted adjacent to each other in the mounting grooves 1113.

[0095] 9, in some embodiments of the present application, the magnet module includes a first sub-magnet 1114, a second sub-magnet 1115, a third sub-magnet 1116, and a fourth sub-magnet 1117 arranged along a first preset direction AA. It can be understood that if the number of sub-magnets in a magnet module is too small, the magnetic force of each magnet module will be small, and if the magnetic force of the mover 43 needs to be increased, more magnet modules will need to be installed, which will increase the working strength; and if the number of sub-magnets in a magnet module is too small, it will be difficult to arrange the sub-magnets in the magnet module to form a Halbach array.

[0096] In some embodiments, the first sub-magnet 1114, the second sub-magnet 1115, the third sub-magnet 1116, and the fourth sub-magnet 1117 are all normal magnets / strong magnets, and their arrangement may be NSNS or SNSN.

[0097] Further, still referring to FIG. 9 , the magnetization direction of the first sub-magnet 1114 is along a third preset direction X, the third preset direction X being perpendicular to the first preset direction AA and the second preset direction BB; the magnetization direction of the second sub-magnet 1115 is along a fourth preset direction Y, and the fourth preset direction Y is parallel to the first preset direction AA; the magnetization direction of the third sub-magnet 1116 is along a fifth preset direction −X, the fifth preset direction −X being opposite to the third preset direction X; The magnetization direction of the fourth sub-magnet 1117 is along a sixth preset direction −Y, which is opposite to the fourth preset direction Y. The first sub-magnet 1114, the second sub-magnet 1115, the third sub-magnet 1116, and the fourth sub-magnet 1117 are typically arranged in a Halbeck array. The first sub-magnet 1114 and the third sub-magnet 1116 are primary magnets, and the second sub-magnet 1115 and the fourth sub-magnet 1117 are secondary magnets. Alternatively, the first sub-magnet 1114 and the third sub-magnet 1116 are both normal magnets / strong magnets. The second sub-magnet 1115 and the fourth sub-magnet 1117 are both Halbeck magnets, and the second sub-magnet 1115 and the fourth sub-magnet 1117 can affect the magnetic field distribution of at least the first sub-magnet 1114 and the third sub-magnet 1116, thereby having denser magnetic field lines on the side of the magnet module closer to the first armature winding 411. For example, when the first armature winding 411 is inserted into the accommodating groove 13, the third preset direction X is the direction from the first sub-magnet 1114 to the first armature winding 411. The magnetic pole of the first sub-magnet 1114 on the side closer to the first armature winding 411 is a north pole, and the magnetic pole of the third sub-magnet 1116 on the side closer to the first armature winding 411 is a south pole.

[0098] 9 , in some embodiments of the present application, the first magnetic steel group 1111 includes a plurality of magnet modules, and the plurality of magnet modules in the first magnetic steel group 1111 are arranged along a first preset direction AA and are respectively detachably connected to the mover body 10. It can be understood that each magnet module is independently connected to the mover body 10, that is, each magnet module can be independently attached to and detached from the mover body 10.

[0099] In one embodiment of the present application, the plurality of magnet modules in the first magnetic steel group 1111 includes at least one first magnet module 1118 or / and at least one second magnet module 1119 . The first sub-magnet 1114, the second sub-magnet 1115, the third sub-magnet 1116, and the fourth sub-magnet 1117 in the first magnet module 1118 are arranged in sequence along a first preset direction AA, and the second sub-magnet 1115, the first sub-magnet 1114, the fourth sub-magnet 1117, and the third sub-magnet 1116 in the second magnet module 1119 are all arranged in sequence along the first preset direction AA.

[0100] Furthermore, if the multiple magnet modules of the first magnetic steel group 1111 include a first magnet module 1118, the number of first magnet modules 1118 may be one, two, or more, and if the multiple magnet modules of the first magnetic steel group 1111 include a second magnet module 1119, the number of second magnet modules 1119 may be one, two, or more. For example, if the magnetic pole of the first sub-magnet 1114 closest to the first armature winding 411 is a north pole, the magnetic pole of the third sub-magnet 1116 closest to the first armature winding 411 is a south pole, and H represents the second sub-magnet 1115 and the fourth sub-magnet 1117, the sub-magnets in the first magnet module 1118 are arranged in an NHSH format, and the sub-magnets in the second magnet module 1119 are arranged in an HNHS format, so that the sub-magnets in both the first magnet module 1118 and the second magnet module 1119 can be arranged in a Halbach array. In addition, the first magnet module 1118 and the second magnet module 1119 may be combined with each other, thereby improving the structural diversity of the first magnetic steel group 1111 in the mover 43, and changing the number of first magnet modules 1118 and / or second magnet modules 1119 changes the load-bearing range of the mover 43.

[0101] Furthermore, when the multiple magnet modules of the first magnetic steel group 1111 include at least one first magnet module 1118 and at least one second magnet module 1119, the first magnet module 1118 and the second magnet module 1119 may be closely arranged in sequence or may be spaced apart from each other.

[0102] As shown in FIG. 10 , when the plurality of magnet modules of the first magnetic steel group 1111 include a plurality of first magnet modules 1118 and a plurality of second magnet modules 1119, the plurality of first magnet modules 1118 and / or the plurality of second magnet modules 1119 may be arranged consecutively, for example, the arrangement manner of the plurality of first magnet modules 1118 may be NHSH / NHSH, or the arrangement manner of the plurality of first magnet modules 1118 may be HNHS / HNHS.

[0103] Of course, as shown in FIG. 11, the first magnet modules 1118 and the second magnet modules 1119 may be alternately arranged, for example, in an NHSH / HNHS / NHSH arrangement.

[0104] In one embodiment of the present application, as shown in FIG. 12 , in the first magnetic steel group 1111, the magnetization direction of the sub-magnet located at the first end of the first magnetic steel group 1111 is along the third preset direction X, and the magnetization direction of the sub-magnet located at the second end of the first magnetic steel group 1111 is along the fifth preset direction −X, so that the magnetic poles of the two sub-magnets located at both ends of the first magnetic steel group 1111 on the sides closer to the first armature winding 411 are N and S poles, respectively, thereby forming a closed loop of magnetic field lines.

[0105] 12 , in the first magnetic steel group 1111, the magnetization direction of the sub-magnets located at the first end of the first magnetic steel group 1111 is along the fourth preset direction Y, and the magnetization direction of the sub-magnets located at the second end of the first magnetic steel group 1118 is along the sixth preset direction -Y, along the first preset direction AA. That is, the magnetic poles at both ends of the first magnetic steel group 1111 along the first preset direction AA become a north pole and a south pole, respectively, thereby forming a closed loop of magnetic flux lines.

[0106] 13 , in one embodiment of the present application, the mover 43 further includes a second magnetic steel group 1112. The second magnetic steel group 1112 is provided on the second groove wall 133 and is arranged opposite to the first magnetic steel group 1111 with a gap therebetween. The second magnetic steel group 1112 includes at least one magnet module, and the sub-magnets of the second magnetic steel group 1112 correspond one-to-one to the sub-magnets in the first magnetic steel group 1111, and the magnetization direction of the sub-magnets in the second magnetic steel group 1112 matches the magnetization direction of the corresponding sub-magnets in the first magnetic steel group 1111.

[0107] When the first armature winding 411 is inserted into the accommodating groove 13, the first armature winding 411 is located between the first magnetic steel group 1111 and the second magnetic steel group 1112, and it can be seen that by arranging two rows of sub-magnet arrays opposite each other on both sides of the first armature winding 411, the magnetic force of the mover 43 can be further increased without changing the volume of the mover 43.

[0108] Furthermore, the magnetic field is strengthened on the side of the first magnetic steel group 1111 closer to the second magnetic steel group 1112, and the magnetic field is strengthened on the side of the second magnetic steel group 1112 closer to the first magnetic steel group 1111. When the first armature winding 411 is inserted into the accommodating groove 13, the side of the first magnetic steel group 1111 closer to the second magnetic steel group 1112 is the side facing the first armature winding 411 of the first magnetic steel group 1111, and the side of the second magnetic steel group 1112 closer to the first magnetic steel group 1111 is the side facing the first armature winding 411 of the second magnetic steel group 1112. The Halbach array has the property of concentrating magnetic flux density on one side (i.e., magnetic field strengthening), In the embodiment of the present application, the side of the first magnetic steel group 1111 where the magnetic field is strengthened is the side of the first magnetic steel group 1111 facing the first armature winding 411, and the side of the second magnetic steel group 1112 where the magnetic field is strengthened is the side of the second magnetic steel group 1112 facing the first armature winding 411. When current is applied to the coil, it can be seen that the mover 43 can obtain a greater driving force, and the load-bearing capacity of the mover 43 can be further improved.

[0109] 14 to 30, the present application provides a hybrid conveyor line 40 including a magnetic conveyor line 41, an auxiliary conveyor line 42, and a mover 43 according to any one of the above embodiments. The mover 43 is movably attached to the magnetic conveyor line 41 or the auxiliary conveyor line 42, the magnetic conveyor line 41 including a first armature winding 411 and a first guide rail 412, the first permanent magnet array 11 cooperating with the first armature winding 411 to drive the mover 43 to move along the first guide rail 412, the auxiliary conveyor line 42 including a first drive mechanism 421 and a second guide rail 422, and the driven assembly 20 cooperating with the first drive mechanism 421 to drive the mover 43 to move along the second guide rail 422.

[0110] In addition, in the embodiment of the present application, by disposing the driven assembly 20 on the mover 43, the mover 43 can be applied to different types of conveying lines. In particular, for some sections of a conveying line that have low conveying accuracy requirements and no conveying speed requirements, the section of the conveying line can be replaced with the hybrid conveyor line 40, thereby reducing the installation cost of the entire conveying line.

[0111] Referring to FIG. 14, in some embodiments, the extension direction of the magnetic conveyor line 41 may be the same as the extension direction of the auxiliary conveyor line 42, or the extension direction of the magnetic conveyor line 41 may be different from the extension direction of the auxiliary conveyor line 42.

[0112] Specifically, as shown in FIG. 15, the mover 43 may include a sliding assembly cooperating with the first guide rail 412 or the second guide rail 422, where the sliding assembly is used to move along the first guide rail 412 or the second guide rail 422, and the first guide rail 412 or the second guide rail 422 is used to guide and limit the movement path of the mover 43 so that the mover 43 can move along the extension direction of the first guide rail 412 or the second guide rail 422, thereby avoiding negative situations such as derailment of the mover 43 during operation.

[0113] Further, referring to FIG. 14, in some embodiments of the present application, a plurality of movers 43 are provided, and each mover 43 includes a buffer member 33 (as shown in FIG. 5). When the plurality of movers 43 are all attached to the magnetic conveyor line 41 or the auxiliary conveyor line 42, the buffer members 33 are provided on opposite sides of the mover body 10 along the moving direction of the mover 43.

[0114] On the magnetic conveyor line 41 or auxiliary conveyor line 42, each mover 43 moves independently of all other movers 43. To reduce the adverse effects of accidental collisions between multiple movers 43 traveling on the same conveyor line 2, the buffer members 33 of two adjacent movers 43 provided in this embodiment come into contact first, and the buffer members 33 deform first to absorb the energy of the impact and reduce the impact force, thereby protecting the movers 43 and the materials being transported on them. The buffer members 33 can be made of elastic, strong materials such as rubber, resin, or plastic.

[0115] Further, referring to Figures 14-17, in some embodiments of the present application, the hybrid conveyor line 40 has at least one arc portion 44, in which the first guide rail 412 and the second guide rail 422 are not collinear.

[0116] Furthermore, when the mover 43 moves on the hybrid conveyor line 40 and the hybrid conveyor line 40 has an arc section 44, the mover 43 needs to turn at the arc section 44 of the conveyor line. Because the first guide rail 412 and the second guide rail 422 are not on the same straight line, the first guide rail 412 and the second guide rail 422 have different turning angles / radii when turning. Therefore, the movement form of the mover 43 at the arc section 44 can be selected according to the requirements of the actual working conditions, that is, whether the mover 43 is guided by the first guide rail 412 or the second guide rail 422 when turning can be selected according to the requirements of the working conditions. In some embodiments, when the driven assembly 20 and the first driving mechanism 421 (i.e., the mover 43 moves in the second guide rail 422) have a more stable combined structure than the first permanent magnet array 11 and the first armature winding 411 (i.e., the mover 43 moves in the first guide rail 412), in order to ensure the stability of the movement of the mover 43 in the arc section 44, the second guide rail 422 can have a longer movement stroke or a larger deflection angle in the arc section 44, and It can be understood that in some embodiments, the second guide rail 422 can have a shorter movement stroke or a smaller deflection angle so that the mover 43 can have a higher movement speed in the arc section 44, and in some embodiments, the mover 43 cooperates with only one of the first armature winding 411 and the first drive mechanism 421 in the arc section 44, i.e., the mover 43 moves on only one of the first guide rail 412 and the second guide rail 422, thereby reducing the layout cost of the conveyor line body. It can be understood that in some embodiments, if the layout cost of the driven assembly 20 and the first drive mechanism 421 is lower than that of the first permanent magnet array 11 and the first armature winding 411, only the driven assembly 20 that is power-transmittingly connected to the first drive mechanism 421 may be provided in the straight section or the arc section 44 to reduce the layout cost of the entire conveyor line.

[0117] With the development of manufacturing automation, magnetic conveyor lines are increasingly used in the conveying link of product processing and manufacturing to realize the transfer of semi-finished products between different processing stations.

[0118] Magnetic conveyor lines have features such as fast transport speed, high positioning accuracy, and flexible takt time (the moving speed of the movers that transport semi-finished products on the magnetic conveyor line can be set according to the time cycle requirements of the takt time), which are considered to be very important in product transport links. However, the cost of magnetic conveyor lines is high, and using magnetic conveyor lines for the entire production line would make the deployment cost of the production line too high.

[0119] 19 and 20, in order to solve the above problems, an embodiment of the present application provides an auxiliary conveyor line 42 and a hybrid conveyor line 40. The hybrid conveyor line 40 includes a magnetic conveyor line 41, an auxiliary conveyor line 42, and a mover 43. The auxiliary conveyor line 42 is used to cooperate with the magnetic conveyor line 41, and both can drive the movement of the mover 43. The installation cost of the auxiliary conveyor line 42 is low, while the installation cost of the magnetic conveyor line 41 is higher. When installing an actual production line, the auxiliary conveyor line 42 can be used in the return process, process links that do not require high positioning accuracy and conveying speed, and the magnetic conveyor line 41 can be used in process links that require high conveying accuracy and conveying speed. The auxiliary conveyor line 42 and the magnetic conveyor line 41 can be combined to form a hybrid conveyor line 40, which can reduce the installation cost of the production line while ensuring the flexibility and efficiency of the production line.

[0120] 19 to 21, the auxiliary conveyor line 42 may include a second guide rail 422, a first drive mechanism 421, and a position sensing assembly 423, and the mover 43 may include a slider 34. The second guide rail 422 typically extends along a straight line, and the slider 34 and the second guide rail 422 form a linear guide rail, with the slider 34 being movable along the extension direction of the second guide rail 422, and the second guide rail 422 guiding and restricting the movement path of the mover 43. This embodiment does not limit the arrangement of the auxiliary conveyor line 42, and the auxiliary conveyor line 42 may be arranged as a straight conveyor line or a curved conveyor line such as an arc-shaped conveyor line.

[0121] The embodiments of the present application are not intended to limit the specific arrangement structure of the slider 34. The slider 34 can cooperate with the second guide rail 422 in various types of structures to achieve movement on the second guide rail 422. For example, the slider 34 may include a slider having a sliding groove for accommodating the second guide rail 422. When the mover 43 moves, the slider can move along the second guide rail 422. As another example, the slider 34 may be a sliding roller for rolling along the second guide rail 422, and when the mover 43 moves, the sliding roller can be driven to roll along the second guide rail 422. Of course, the slider 34 may include both a slider having a sliding groove and a sliding roller, and when the mover 43 moves, the slider moves along the second guide rail 422 and the sliding roller rolls along the second guide rail 422. As yet another example, the slider 34 may be a slider with a ball (i.e., a ball slider), and when the movable element 43 moves, the ball in the ball slider can be driven to roll on the second guide rail 422, thereby moving the ball slider along the second guide rail 422.

[0122] The slider 34 is typically made of quenched and tempered 45 steel, which enhances the slider 34's wear resistance, allowing it to withstand the sliding friction generated by its sliding connection with the second guide rail 422 and thereby extend its service life. The second guide rail 422 is typically made of materials such as bearing steel, carbon steel, and stainless steel, which enhance the strength, hardness, and wear resistance of the second guide rail 422 and extend its service life. Furthermore, the second guide rail 422 is typically manufactured by machining, cold drawing, or the like, which improves the tensile strength of the second guide rail 422 and ensures the smoothness and stability of the sliding connection between the slider 34 and the second guide rail 422.

[0123] Furthermore, the first driving mechanism 421 is used to move the slider 34 along the second guide rail 422 (for example, the second guide rail 422 in FIG. 20 extends along a straight line), and may include a conveying member 4211 and a joint structure 4214, where the conveying member 4211 may include a synchronous pulley 4212, a linear motor, a rotary motor, a screw rod, a rack, etc. The joint structure 4214 may include at least one of a friction conveying structure, a fixed conveying structure, and a magnetic conveying structure, but is not limited thereto in this embodiment.

[0124] The description will begin with an example in which the conveying member 4211 is a synchronous pulley 4212 and the friction conveying structure is a synchronous belt 4215. Referring to Figures 19 to 22, the synchronous pulley 4212 is drivably connected to the synchronous belt 4215 and moves at least a portion of the synchronous belt 4215 along the guide direction S. The synchronous belt 4215 is connected to the mover and moves the mover 43 along the second guide rail 422.

[0125] 22 in conjunction with FIG. 19, the first drive mechanism 421 may include a joint structure 4214 that realizes joint with the friction conveying structure. Specifically, the joint structure 4214 may include a synchronous belt 4215. The conveying structure 4211 includes a synchronous pulley 4212 and a support structure 4213 for supporting the synchronous belt 4215. Two synchronous pulleys 4212 may be provided, the two synchronous pulleys 4212 being spaced apart, the synchronous belt 4215 being sleeved around the two synchronous pulleys 4212, the conveying direction of the synchronous belt 4215 being parallel to the guide direction S of the second guide rail 422, and the synchronous pulleys 4212 rotating the synchronous belt 4215. In some embodiments, connecting teeth may be provided on the circumferential side of the synchronous pulley 4212, and tooth grooves may be provided on the side of the synchronous belt 4215 closer to the synchronous pulley 4212, and as the synchronous pulley 4212 rotates, the connecting teeth are engaged with or disengaged from the tooth grooves, thereby causing the synchronous pulley 4212 to rotate and drive the synchronous belt 4215; at the same time, the engagement and disengagement between the connecting teeth and the tooth grooves makes the synchronous pulley 4212 and the belt 4215 more stably connected, and the synchronous belt 4215 can operate more smoothly.

[0126] The power transmission connection between the synchronous pulley 4212 and the synchronous belt 4215 may be provided with intermeshing transmission teeth, so that the rotation of the synchronous pulley 4212 rotates the synchronous belt 4215. The power transmission connection manner between the synchronous belt 4215 and the synchronous pulley 4212 is not limited by the present application and can be set according to actual needs.

[0127] Furthermore, the first drive mechanism 421 may be located on the same mounting surface as the second guide rail 422 (see FIG. 19 , the synchronous belt 4215 and the second guide rail 422 are mounted on the same horizontal table), and the synchronous belt 4215 may be located on the left or right side (which may also be considered as the front or rear side depending on different perspectives) of the second guide rail 422. In some embodiments, the synchronous belt 4215 may be mounted on the same vertical surface as the second guide rail 422 (e.g., the synchronous belt 4215 is mounted on the same vertical table as the second guide rail 422), and may be located above or below the second guide rail 422. Note that the position of the synchronous belt 4215 relative to the second guide rail 422 is determined by the structure of the mover 43. If space permits, the positional relationship between the synchronous belt 4215 and the second guide rail 422 can be determined by adjusting the structure of the mover 43. The present application does not limit the positional relationship between the synchronous belt 4215 and the second guide rail 422, and can be set according to actual needs.

[0128] In some embodiments, referring to FIG. 23 , a plurality of synchronous pulleys 4212 are provided, the plurality of synchronous pulleys 4212 are spaced apart, and a synchronous belt 4215 is sleeved around the plurality of synchronous pulleys 4212. The synchronous pulleys 4212 located at both ends of the plurality of synchronous pulleys 4212 function as drive wheels and can supply power to the transmission of the synchronous belt 4215, while the synchronous pulleys 4212 located at intermediate positions function as driven wheels and support the synchronous belt 4215, thereby preventing the synchronous belt 4215 from being deformed due to excessive load and affecting its own rotation. In some embodiments, the synchronous pulley 4212 located at the intermediate position also functions as a drive wheel (the synchronous pulley 4212 located at the intermediate position is driven by a driving force) and can provide power to the transmission of the synchronous belt 4215 in addition to supporting the synchronous belt 4215. Note that the interval between two adjacent synchronous pulleys of the plurality of synchronous pulleys 4212 may be set according to the length of the synchronous belt 4215.

[0129] In some embodiments, the first driving mechanism 421 may include a joint structure 4214 that connects with a fixed conveying structure. For example, one of the joint structure 4214 and the mover 43 may be provided with a gear, and the other may be provided with a rack. The gear and the rack may mesh to linearly move the mover 43 and drive the mover 43 in a transmissive manner along the guide direction S of the second guide rail 422. Alternatively, in some embodiments, the first driving mechanism 421 may include a joint structure 4214 and a belt that connects with a belt conveying system. Specifically, the joint structure 4214 may be a plate chain, which may be provided on the belt and fixedly connected to the mover 43. The movement of the belt drives the movement of the plate chain, which in turn drives the movement of the mover 43, so that the mover 43 is transmissibly moved along the guide direction S of the second guide rail 422. As another example, in some embodiments, the first drive mechanism 421 includes a synchronous belt 4215 and a synchronous pulley 4212, the synchronous belt 4215 has a shift lever that can be fixedly connected to a shift fork, and the mover 43 has a shift fork, and the shift lever is fixedly connected to the shift fork as the synchronous pulley 4212 moves, thereby driving the mover 43 to transmit movement along the guide direction S of the second guide rail 422.

[0130] Furthermore, a synchronous belt 4215 is used to connect the mover 43 so that the mover 43 moves along the guide direction S of the second guide rail 422. The synchronous belt 4215 can be connected to the mover 43 in a friction transmission manner. Specifically, the mover 43 is used to place a semi-finished product and transport the semi-finished product to a corresponding processing station through the positional movement of the mover 43. Referring to FIG. 24 in conjunction with FIG. 19, the mover 43 includes a mover body 10, a fixed structure 21, and a driven assembly 20. The fixed structure 21 is fixedly attached to the mover body 10 by screws so as to be firmly connected to the mover body 10. The slider 34 is slidably engaged with the second guide rail 422 and moves along the guide direction S of the second guide rail 422. The slider 34 is fixedly connected to the mover body 10 so as to be movable along the guide direction S of the second guide rail 422.

[0131] In some embodiments, both the fixed structure 21 and the slider 34 may be attached to the mover body 10 by welding or engagement connection, or the fixed structure 21 and the slider 34 may be integrally cast with the mover body 10 to improve the unity between the fixed structure 21 and the mover body 10. The casting material may be a casting alloy (including cast iron, cast steel, cast non-ferrous alloy, etc.) or a casting plastic (including polystyrene, polyester resin, epoxy resin, etc.).

[0132] 24 in addition to FIG. 19, the fixing structure 21 may be provided in a plate shape, and the plane on which the plate-shaped fixing structure 21 is located is parallel to the belt surface of the synchronous belt 4215. A through hole (not shown) is provided in the fixing structure 21, and the central axis of the through hole is perpendicular to the belt surface of the synchronous belt 4215.

[0133] The driven assembly 20 may include a friction structure 22, a guide rod 231, and an elastic member (not shown), with one end of the guide rod 231 movably inserted into the through hole and the other end fixedly connected to the friction structure 22 by a screw, so that the friction structure 22 is restricted in position by the through hole and can reciprocate along the central axial direction of the through hole (a direction perpendicular to the belt surface of the synchronous belt 4215). To ensure that the friction structure 22 and the guide rod 231 are firmly connected, the guide rod 231 and the friction structure 22 may be fixed by welding or integral molding, but this is not limited herein and can be set according to actual needs.

[0134] A stopper 2311 is provided at one end of the guide rod 231 remote from the friction structure 22 to allow the friction structure 22 to reciprocate along the central axis of the through hole within the length range of the guide rod 231. The stopper 2311 may be a gear ring or a gear head, and prevents the guide rod 231 from deviating from the movement range limited by the through hole of the fixed structure 21.

[0135] Furthermore, the friction structure 22 and the synchronous belt 4215 are frictionally transmitted, and the friction structure 22 is driven by the synchronous belt 4215 to move, which causes the synchronous belt 4215 to move the mover 43 along the guide direction S of the second guide rail 422. The friction transmission method is simple, which can save the cost of the transmission connection between the friction structure 22 and the synchronous belt 4215.

[0136] In order to ensure that the friction force generated between the friction structure 22 and the synchronous belt 4215 is sufficient to allow the synchronous belt 4215 to move the friction structure 22, an elastic member is fitted around the guide rod 231 and positioned between the fixed structure 21 and the friction structure 22. The elastic force of the elastic member is used to ensure the pressure FN transmitted from the friction structure 22 to the synchronous belt 4215. According to the friction force formula f=μ*FN, when the friction coefficient μ is constant, the greater the pressure FN transmitted from the friction structure 22 to the synchronous belt 4215, the greater the friction force f between the friction structure 22 and the synchronous belt 4215.

[0137] In some embodiments, the joining structure 4214 between the mover 43 and the synchronous belt 4215 may include a joining structure 4214 that realizes joining using a fixed conveying method and a joining structure 4214 that realizes joining using a magnetic attraction method, and the working processes and working principles of these two are relatively conventional and will not be described in detail.

[0138] In order to further increase the pressure applied to the belt surface of the synchronous belt 4215 by the friction structure 22, referring to Figure 25, the fixed structure 21 has an attachment surface 211 close to the belt surface of the synchronous belt 4215, the friction structure 22 has a friction surface 2211 close to the synchronous belt 4215, and the synchronous belt 4215 has an inner contact surface 4216 and an outer contact surface 4217 (the inner contact surface 4216 and the outer contact surface 4217 of the synchronous belt 4215 are two opposing surfaces of the belt surface of the synchronous belt 4215, the inner contact surface 4216 is located inside the annular structure surrounded by the synchronous belt 4215, and the outer contact surface 4217 is located outside the annular structure surrounded by the synchronous belt 4215), and the conveying portions of both the inner contact surface 4216 and the outer contact surface 4217 of the synchronous belt 4215 may be parallel to a horizontal plane. The synchronous pulley 4212 contacts the inner contact surface 4216 of the synchronous belt 4215 and rotates the synchronous belt 4215 through friction transmission, and the friction structure 22 contacts the outer contact surface 4217 of the synchronous belt 4215. The friction structure 22 and the outer contact surface 4217 of the synchronous belt 4215 move the friction structure 22 through friction transmission, thereby realizing the positional movement of the mover 43.

[0139] The external contact surface 4217 of the synchronous belt 4215 is arranged corresponding to the mounting surface 211 of the fixed structure 21, and along the extension direction of the central axis of the through hole, the distance between the mounting surface 211 of the fixed structure 21 and the internal contact surface 4216 of the synchronous belt 4215 is L1 mm, the distance between the mounting surface 211 of the fixed structure 21 and the external contact surface 4217 of the synchronous belt 4215 is L2 mm, and the distance between the mounting surface 211 of the fixed structure 21 and the friction surface 2211 of the friction structure 22 is L3 mm, satisfying the conditional expression L1 mm > L3 mm > L2 mm.

[0140] By satisfying the above conditional formula, the friction structure 22 can be tightly fitted onto the outer contact surface 4217 of the synchronous belt 4215, which increases the pressure between the friction structure 22 and the outer contact surface 4217 of the synchronous belt 4215, thereby increasing the friction force between the friction structure 22 and the synchronous belt 4215 and improving the reliability of the friction transmission between the friction structure 22 and the synchronous belt 4215, so that the synchronous belt 4215 moves the friction structure 22.

[0141] In some embodiments, both the inner contact surface 4216 and the outer contact surface 4217 of the synchronous belt 4215 may be perpendicular to a horizontal plane, and the distance between the outer contact surface 4217 and the mounting surface 211 is smaller than the distance between the friction surface 4217 and the mounting surface 211, thereby press-fitting the friction structure 22 into the belt surface of the synchronous belt 4215 and increasing the friction force between them.

[0142] Additionally, with reference to FIG. 22 in conjunction with FIGS. 19 and 25, the conveying member 4211 further includes a support structure 4213 for supporting the synchronous belt 4215 . The support structure 4213 extends along the conveying direction of the synchronous belt 4215, and is located between the two synchronous pulleys 4212. The inner contact surfaces 4216 of the oppositely arranged synchronous belt 4215 are marked as a first inner connection portion 42161 and a second inner connection portion 42162, respectively. The support structure 4213 is located between the two synchronous pulleys 4212 and within the range surrounded by the two synchronous pulleys 4212 and the synchronous belt 4215. The support structure 4213 includes two groups, one group abutting the first inner connection portion 42161 and the other group abutting the second inner connection portion 42162. The support structure 4213 can support the synchronous belt 4215 corresponding to the first inner connection portion 42161 and the second inner connection portion 42162, thereby preventing deformation of the synchronous belt 4215 due to gravity and ensuring smooth rotation of the synchronous belt 4215.

[0143] In some embodiments, depending on the joint position of the mover 43 and the synchronous belt 4215, the mover 43 may be frictionally transmitted with the outer contact surface 4217 of the synchronous belt 4215 corresponding to the first internal connection portion 42161 and the second internal connection portion 42162, respectively, thereby improving the diversity and flexibility of the conveying method of the auxiliary conveyor line 42.

[0144] In some embodiments, the support structure 4213 may include one group, which abuts against the first internal connection portion 42161 (or the second internal connection portion 42162) to support the synchronous belt 4215, and at the same time, the mover 43 can frictionally transmit with the outer contact surface 4217 of the synchronous belt 4215 corresponding to the first internal connection portion 42161 (or the mover 43 can frictionally transmit with the outer contact surface 4217 of the synchronous pulley 4215 corresponding to the second internal connection portion 42162). The position of the support structure 4213 can be set according to actual needs and is not limited in the present application.

[0145] Further, referring to FIG. 22, the support structure 4213 may include a hard support plate 42131 and a soft support plate 42132, and the hard support plate 42131 and the soft support plate 42132 may be stacked in a direction perpendicular to the surface of the synchronous belt 4215, with the soft support plate 42132 positioned between the hard support plate 42131 and the synchronous belt 4215, and the soft support plate 42132 being used to support the part of the synchronous belt 4215 that moves the mover 43.

[0146] The soft support plate 42132 may be made of plastic and is used to contact the synchronous belt 4215 to buffer the load on the mover 43. The hard support plate 42131 may be made of steel and is used to support the synchronous belt 4215, ensuring smooth operation of the synchronous belt 4215. At the same time, the soft support plate 42132 has a smooth surface that contacts the synchronous belt 4215. When a heavy load is applied to the stator, the hard support plate 42131 is used to support the synchronous belt 4215 and ensure the rotation of the synchronous belt 4215. At the same time, the smooth surface of the soft support plate 42132 reduces friction between the synchronous belt 4215 and the soft support plate 42132, thereby increasing the conveying speed of the synchronous belt 4215. When a heavy load is applied to the stator, the soft support plate 42132 can also act as a buffer for the hard support plate 42131.

[0147] Furthermore, the support structure 4213 further includes at least two transition members 42133, which are disposed between the flexible support plate 42132 and the synchronous belt 4215 and serve to tension the synchronous belt 4215. The two transition members 42133 are located at both ends of the flexible support plate 42132 close to the synchronous pulley 4212 and raise the end faces of the synchronous pulley 4215 so that the belt surface of the raised synchronous belt 4215 is parallel to the horizontal plane. At the same time, raising the end faces of the synchronous belt 4215 allows the friction blocks to better abut against the synchronous belt 4215 and increase the friction force between the friction structure 22 and the synchronous belt 4215.

[0148] Furthermore, the arrangement of the transition member 42133 allows the friction structure 22 to be connected to the synchronous belt 4215 in a more stable friction transmission manner, and when the mover 43 transitions from the auxiliary conveyor line 42 to the magnetic conveyor line 41, the arrangement of the transition member 42133 allows the mover 43 to move more stably to the magnetic conveyor line 41.

[0149] 21 in conjunction with FIG. 19 , in order to adjust the moving speed of the mover 43 as needed, the position sensing assembly 423 includes a plurality of position sensors 4231 and a controller (not shown) electrically connected to the plurality of position sensors 4231. The plurality of position sensors 4231 are arranged in order along the guide direction S of the second guide rail 422 and are screw-connected to the second guide rail 422 via a connecting plate, thereby firmly connecting the position sensors 4231 and the auxiliary sensor. In some embodiments, the connection manner between the position sensors 4231 and the second guide rail 422 may be an adhesive connection or an engagement connection, or may be set according to actual needs, but is not limited thereto in the present application.

[0150] When the mover 43 passes the position sensor 4231, the position sensor 4231 can detect position information of the mover 43 (the position information includes the position and speed of the mover 43) and output the position information of the mover 43 to the controller. The controller adjusts the transmission speed of the synchronous belt 4215 according to the received position information of the mover 43, so that the mover 43 and the synchronous belt 4215 are frictionally transmitted, and the movement speed of the mover 43 also changes with changes in the speed of the synchronous belt 4215. The rotation speed of the synchronous pulley 4212 can be adjusted via the controller according to the actual needs of the movement of the mover 43.

[0151] Further, the position sensor 4231 may include a signal transmitter (not shown) and a signal receiver (not shown), where the signal receiver is provided on one side of the second guide rail 422 and can be fixedly connected to the second guide rail 422 with a screw, and the signal transmitter may be attached to the mover 43, where the mover 43 moves along the second guide rail 422 and can trigger the signal transmitter to send a signal, and when the signal receiver receives a change in the signal sent by the signal transmitter, the signal receiver outputs the position information of the mover 43 to the controller.

[0152] By controlling the rotation speed of the synchronous belt 4215, the moving speed of the mover 43 can be adjusted, and when the mover 43 moves from the magnetic conveyor line 41 to the auxiliary conveyor line 42, the moving speed of the mover 43 can be increased, thereby allowing the mover 43 to move quickly on the auxiliary conveyor line 42, and when the mover 43 moves from the auxiliary conveyor line 42 to the magnetic conveyor line 41, the moving speed of the mover 43 can be decreased, thereby allowing the mover 43 to move more stably from the auxiliary conveyor line 42 to the magnetic conveyor line 41.

[0153] In some embodiments, the signal transmitter may be attached to one side of the second guide rail 422, and the signal receiver is attached to the mover 43, and when the signal receiver receives a change in the signal transmitted by the signal transmitter, the signal receiver outputs position information of the mover 43 to the controller.

[0154] In some embodiments, both the signal transmitter and the signal receiver may also be attached to the second guide rail 422, and when the mover 43 moves along the guide direction S of the second guide rail 422, the signal receiver receives a change in the signal transmitted by the signal transmitter, and outputs position information of the mover 43 to the controller.

[0155] Further, the position sensor 4231 may include a magnetic grid sensor, which may include a magnetic grid for recording a sine wave signal or a square wave signal of a particular power, a magnetic head for reading and writing the sine wave signal or the square wave signal on the magnetic grid and converting the read / written signal into an electrical signal for sending to the controller, and a detection circuit.

[0156] The magnetic head may include a dynamic magnetic head and a static magnetic head, and the distinction between the dynamic magnetic head and the static magnetic head is determined by the method of reading both signals. The dynamic magnetic head includes an output winding, and only when it moves relative to the magnetic grating can the dynamic magnetic head read and write signals on the magnetic grating, and the read and written signals can be converted into electrical signals and sent to the controller. The dynamic magnetic head is attached to the mover 43, and the mover 43 is driven by the synchronous belt 4215 to move along the second guide rail 422, so that the dynamic magnetic head outputs a constant frequency sine wave signal or square wave signal to the controller.

[0157] A static magnetic head has two coils wound around an iron core, which include an excitation winding and an output winding. There is no relative motion between the static magnetic head and the magnetic grid. The static magnetic head is usually composed of several magnetic heads connected in series and is located on one side of the magnetic grid.

[0158] When an AC excitation signal is applied to the excitation winding, two excitation signals in each AC signal cycle generate magnetic flux, saturating the iron core. Because the magnetic resistance of the iron core is very large, the signal flux on the magnetic grid cannot pass through the magnetic head, and the output winding cannot output an induced electromotive force. When the excitation signal crosses zero twice in each AC signal cycle, the iron core does not saturate, and the signal flux on the magnetic grid can pass through the iron core of the output winding, allowing the output winding to output an induced electromotive force.

[0159] At this time, both the static magnetic head as a signal transmitter and the magnetic grating as a signal receiver may be attached to the second guide rail 422, and the mover 43 moves along the guide direction S of the second guide rail 422, so that the static magnetic head reads and writes signals on the magnetic grating and transmits the read and written signals to the controller.

[0160] In some embodiments, the position sensor 4231 may be one or more Hall sensors provided on at least one side of the second guide rail 422. When the mover 43 moves to the Hall sensor, the magnetic field generated by the permanent magnet in the mover 43 distorts the magnetic field of the charge carriers in the Hall sensor. That is, when the mover 43 moves to the Hall sensor, the magnetic flux density of the permanent magnet in the mover 43 exceeds the preset threshold of the Hall sensor, and the sensor detects this magnetic flux density and generates a Hall voltage, that is, detects the distance between the mover 43 and the Hall sensor through the Hall effect, and sends a signal including the distance data to the controller, which controls the conveying speed of the synchronous belt 4215 and thereby controls the moving speed of the mover 43.

[0161] In some embodiments, the position sensor 4231 may include at least one of a diffraction grating sensor, an infrared sensor, a color sensor, and a Hall sensor, and the specific working principle and working process are relatively conventional and will not be described here.

[0162] Furthermore, a second aspect of the present application provides a hybrid conveyor line 40. Referring to Fig. 21, the hybrid conveyor line 40 includes a plurality of sets of magnetic conveyor lines 41 and a plurality of sets of auxiliary conveyor lines 42, which are alternately arranged in sequence along the guide direction S of the second guide rail 422 to form a magnetic conveyor line 41-auxiliary conveyor line 42-magnetic conveyor line 41 conveying structure or an auxiliary conveyor line 42-magnetic conveyor line 41-auxiliary conveyor line 42 conveying structure. Furthermore, the magnetic conveyor lines can be used in processes that require high positioning accuracy and high conveying speed, and the auxiliary conveyor lines 42 can be used in processes that do not require high positioning accuracy and high conveying speed, thereby meeting the conveying speed and accuracy requirements of the mover 43 that conveys the semi-finished products and reducing the deployment costs of the production line.

[0163] Furthermore, to facilitate the connection between the magnetic conveyor line and the auxiliary conveyor line 42, referring to Figure 21 in conjunction with Figure 1, the magnetic conveyor line 41 further includes a first guide rail 412, and when the magnetic conveyor line 41 is connected to the auxiliary conveyor line 42, the second guide rail 422 is connected to the first guide rail 412. Note that the cross section of the second guide rail 422 matches the cross section of the first guide rail 412, allowing a slider to slide on the second guide rail 422 and the first guide rail 412. When the magnetic conveyor lines 41 and the auxiliary conveyor lines 42 are arranged alternately, the slider 34 can move from the magnetic conveyor line 41 to the auxiliary conveyor line 42, or from the auxiliary conveyor line 42 to the magnetic conveyor line 41, ensuring smoother movement in a production line in which the magnetic conveyor lines 41 and the auxiliary conveyor lines 42 are arranged alternately.

[0164] 1 to 21 , the magnetic conveyor line 41 further includes a first armature winding 411. The mover body 10 is connected to the first armature winding 411, and an AC current is supplied to the coil in the first armature winding 411 to change the moving speed of the mover 43 located at a position corresponding to the first armature winding 411. Furthermore, multiple movers 43 are provided on the same first armature winding 411, and the movements of the movers 43 located at different positions can be controlled by controlling the AC currents in the coils located at corresponding positions of the different movers 43. In addition, multiple different movers 43 may also be provided on the auxiliary conveyor line 42 to link with the movements of the multiple different movers 43 on the first armature winding 411, allowing semi-finished products to be transported simultaneously and improving the processing efficiency of the semi-finished products.

[0165] Further, referring to FIG. 26, when the processing station corresponding to the magnetic conveyor line 41 is changed, the corresponding position on the magnetic conveyor line 41 has lower requirements for the positioning accuracy and conveying speed of the semi-finished products, and the synchronous belt 4215 can be extended to the corresponding position on the magnetic conveyor line 41, and at this time, no AC current flows through the coil in the first armature winding 411, and the synchronous belt 4215 can drive the mover on the first guide rail 412 of the magnetic conveyor line 41.

[0166] In some embodiments, referring to FIG. 27, the hybrid conveyor line 40 may further include a docking assembly 45 for connecting the magnetic conveyor line 41 and the auxiliary conveyor line 42 .

[0167] Furthermore, the auxiliary conveyor line 42 is located on one side of the magnetic conveyor line 41 and is parallel to the magnetic conveyor line 41. It can be understood that both the auxiliary conveyor line 42 and the magnetic conveyor line 41 are parallel to the guide direction S of the second guide rail 422. At the same time, in order to facilitate the docking assembly 45 connecting the auxiliary conveyor line 42 and the magnetic conveyor line 41, the extension length of the auxiliary conveyor line 42 along the second guide rail 422 must match the extension length of the auxiliary conveyor line 41 along the second guide rail 422.

[0168] The docking assemblies 45 include two groups, one group of docking assemblies 45 is used to connect the head of the auxiliary conveyor line 42 with the tail of the magnetic conveyor line 41, and the other group of docking assemblies 45 is used to connect the tail of the auxiliary conveyor line 42 with the head of the magnetic conveyor line 41, so that the magnetic conveyor line 41 can be deployed as a conveying link that requires high positioning accuracy of the semi-finished products and high conveying speed of the semi-finished products. The auxiliary conveyor line 42 serves as a return conveyor line, transferring the mover 43 from the tail of the magnetic conveyor line 41 to the head of the magnetic conveyor line 41, so that the mover 43 can transport the semi-finished products to the corresponding working station. In addition, the movers 43 can be reused, and while the magnetic conveyor line 41 is used to improve production efficiency, the auxiliary conveyor line 42 allows the movers 43 to be returned to the magnetic conveyor line, thereby saving the number of semi-finished movers 43 and further reducing the deployment costs of the production line.

[0169] The arrangement of the docking assembly 45 makes it easier to install and connect the hybrid conveyor line 40 consisting of the auxiliary conveyor line 42 and the magnetic conveyor line 41, greatly reducing the installation difficulty and thus greatly improving the applicability of the hybrid conveyor line 40.

[0170] 28 , the docking assembly 45 may include a docking slide rail 451, a docking slider 452, and a docking guide rail 453. The docking slide rail 451 is perpendicular to the second guide rail 422, and the docking slider 452 is slidably mounted on the docking slide rail 451 and is capable of reciprocating motion along the guide direction S of the docking slide rail 451.

[0171] The docking guide rail 453 is fixedly connected to the docking slider 452 by a screw, and the guide direction S of the docking guide rail 453 is perpendicular to the guide direction S of the docking slide rail 451, that is, the docking guide rail 453 is parallel to both the auxiliary conveyor line 42 and the magnetic conveyor line. When the docking assembly 45 is connected to the magnetic conveyor line, the docking guide rail 453 of the docking assembly 45 is joined with the first guide rail 412, and the docking guide rail 453 and the magnetic guide rail are on the same straight line, so the mover 43 is transported from the first guide rail 412 to the docking guide rail 453, and the docking guide rail The docking assembly 45 is connected to the auxiliary conveyor line 42, and the docking guide rail 453 of the docking assembly 45 is connected to the second guide rail 422. The docking guide rail 453 and the second guide rail 422 are on the same straight line, so the mover 43 is transferred from the second guide rail 422 to the docking assembly 453 and from the docking guide rail 453 to the second guide rail 422. By using the docking assembly 45, it is possible to easily switch conveyor lines, and the hybrid conveyor line consisting of a magnetic conveyor line and an auxiliary conveyor line 42 can be applied to more transportation scenarios.

[0172] Further, referring to FIG. 27, the auxiliary conveyor line 42 can be arranged on the same horizontal mounting table as the magnetic conveyor line 41. The auxiliary conveyor line 42 and the magnetic conveyor line 41 are arranged parallel to each other in the horizontal direction. A docking assembly 45 is used to connect the auxiliary conveyor line 42 and the magnetic conveyor line 41. Referring to FIG. 29, the auxiliary conveyor line 42 can be arranged on the same vertical mounting table as the magnetic conveyor line 41. The auxiliary conveyor line 42 and the magnetic conveyor line are arranged parallel to each other in the vertical direction. A docking assembly 45 is used to connect the auxiliary conveyor line 42 and the magnetic conveyor line 41. Thus, the hybrid conveyor line 40 consisting of the auxiliary conveyor line 42 and the magnetic conveyor line 41 may be arranged in different conveying environments to enhance the applicability of the hybrid conveyor line 40.

[0173] In some embodiments, the second guide rail 422 may be curved. When the curved profile is a standard arc shape, the conveying member 4211 may be a friction disk rotating around the central axis of the standard arc shape. The friction disk has a contact surface that contacts the friction surface 2211 of the friction structure 22. The distance between the outer contact surface 4217 and the mounting surface 211 is slightly smaller than the distance between the friction surface 2211 and the mounting surface 211, allowing the friction structure 22 to be tightly fitted to the belt surface of the synchronous belt 4215, thereby increasing the friction force between them. Alternatively, a conveyor belt conforming to the standard arc shape may be provided to convey the mover 43 along the non-standard arc shape. When the curved profile is a non-standard arc shape, friction disks with different diameters may be provided according to the arcs at different positions of the curved profile, or a conveyor belt conforming to the non-standard arc shape may be provided to convey the mover 43 along the non-standard arc shape.

[0174] Further, referring to FIG. 30, the magnetic conveyor lines 41 may be arranged in multiple groups, and the auxiliary conveyor lines 42 may be arranged in multiple groups, with the auxiliary conveyor lines 42 of one group functioning as a return section, and the magnetic conveyor lines 41 of the multiple groups and the auxiliary conveyor lines 42 of the multiple groups being arranged in alternating order along the second guide rail to form a conveying section, with one group of docking assemblies 45 connecting the tail section of the conveying section to the head of the return section, and the other group of docking assemblies 45 connecting the head of the return section to the tail section of the conveying section.

[0175] The conveying section may be used on a product conveying line, with the magnetic conveyor line 41 provided at a position on the product conveying line where the positioning accuracy and speed requirements are high, and the auxiliary conveyor line 42 provided at a position on the product conveying line where the positioning accuracy and speed requirements are low, allowing the magnetic conveyor line and auxiliary conveyor line 42 to be rationally arranged on the product conveying line and reducing the installation costs of the production line.At the return section of the production line, the positioning accuracy and speed requirements of the mover 43 are not high, so the auxiliary conveyor line 42 can be provided, further ensuring the transport accuracy and transport speed of the semi-finished products and reducing the installation costs of the production line.

[0176] Furthermore, in the conveying links for product processing and manufacturing, the magnetic conveyor line 41 and auxiliary conveyor line 42 can be flexibly configured according to the different takt time requirements for transporting semi-finished products at different process links, allowing the entire conveying line to more flexibly meet the various needs of customers. At the same time, the modular configuration of the auxiliary conveyor line 42, magnetic conveyor line 41, and docking assembly 45 improves the convenience of assembling the conveying line while saving installation space.

[0177] The above is only a preferred embodiment of the present application, and is not intended to limit the present application. Those skilled in the art can make various modifications and changes to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall fall within the protection scope of the present application. [Explanation of symbols]

[0178] 10: mover body, 11: first permanent magnet array, 111: first permanent magnet, 1111: first magnetic steel group, 1112: second magnetic steel group, 1113: mounting frame, 11131: mounting groove, 1114: first sub-magnet, 1115: second sub-magnet, 1116: third sub-magnet, 1117: fourth sub-magnet, 1118: first magnet module, 1119: second magnet module, 12: connection portion, 13: accommodation groove, 131: notch, 132: first groove wall, 133: second groove wall , 134: third groove wall, 14: first back plate, 15: second back plate, 16: connecting plate, 17: sliding block, 171: sliding groove, 20: driven assembly, 21: fixed structure, 211: mounting surface, 22: friction structure, 221: friction block, 2211: friction surface, 222: fixed block, 23: tension structure, 231: guide rod, 2311: stopper, 232: elastic member, 24: second permanent magnet array, 241: second permanent magnet, 25: first driven assembly assembly, 26: second driven assembly, 31: first sliding assembly, 32: second sliding assembly, 33: buffer member, 34: slider, 40: hybrid conveyor line, 41: magnetic conveyor line, 411: first armature winding, 412: first guide rail, 42: auxiliary conveyor line, 421: first drive mechanism, 4211: conveying member, 4212: synchronous pulley, 4213: support structure, 42131: hard support plate, 42132: soft support plate, 42133: track transition member, 4214: joint structure, 4215: synchronous belt, 4216: internal contact surface, 42161: first internal connection portion, 42162: second internal connection portion, 4217: external contact surface, 422: second guide rail, 423: position sensing assembly, 4231: position sensor, 43: mover, 44: arc portion, 45: docking assembly, 451: docking slide rail, 452: docking slider, 453: docking guide rail, 46: third guide rail, L1: The distance between the mounting surface and the internal contact surface. L2: the distance between the mounting surface and the external contact surface; L3: The distance between the mounting surface and the friction surface. S: Guide direction.

Claims

1. A mover, The mover is used in at least a magnetic conveyor line and a hybrid conveyor line, and is movably attached to the magnetic conveyor line or the hybrid conveyor line, the magnetic conveyor line including a first armature winding, the hybrid conveyor line including a first drive mechanism, and the mover is a mover body including a first permanent magnet array, the first permanent magnet array including two spaced apart first permanent magnets, the two first permanent magnets and the first armature winding driving the mover body to move along the magnetic force conveyor line in a current excitation manner; a driven assembly connected to the mover body and operatively connected to the first drive mechanism for driving the mover body to move along the magnetic conveyor line or the hybrid conveyor line.

2. the mover body includes a connection portion connected to both the first permanent magnet array and the driven assembly, the driven assembly and the first permanent magnet array being located on opposite sides of the connection portion; 2. The mover according to claim 1, wherein the transmission method between the driven assembly and the first driving mechanism is at least one of friction transmission, magnetic attraction transmission, and fixed contact transmission.

3. The transmission system between the driven assembly and the first drive mechanism is friction transmission, and the driven assembly is a fixing structure connected to the mover body; a friction structure that abuts against the first drive mechanism to generate frictional resistance; 2. The mover according to claim 1, further comprising: a tension structure located between the fixed structure and the friction structure, connected to the fixed structure and the friction structure, and configured to press the friction structure against the first drive mechanism.

4. The friction structure comprises: a friction block that comes into contact with the first drive mechanism to generate frictional resistance; a fixed block fixedly connected to the friction block, the orthogonal projection of which covers the friction block, the friction block being provided on a surface of the fixed block away from the tension structure; The tension structure is a guide rod having one end movably connected to the fixed structure and the other end fixedly connected to the fixed block; 4. The mover according to claim 3, further comprising an elastic member sleeved on said guide rod, one end of which abuts against said fixed block and the other end of which abuts against said fixed structure.

5. 5. The mover according to claim 4, wherein the material of the friction block is at least one of rubber and resin.

6. the driven assemblies are included in two groups, the two groups of driven assemblies are located on opposite sides of the mover body, and the two first permanent magnets spaced apart are located between the two groups of driven assemblies; 2. The mover according to claim 1, wherein the first drive mechanism includes a second armature winding, the driven assembly includes a second permanent magnet array, the second permanent magnet array includes at least one second permanent magnet, and the second permanent magnet and the second armature winding drive the mover body to move along the magnetic conveyor line or the hybrid conveyor line under current excitation.

7. The mover is a first sliding assembly provided on the mover body and movably attached to the magnetic conveyor line; a second slide assembly mounted on the driven assembly, spaced apart from the first slide assembly, and movably mounted to the hybrid conveyor line; Alternatively, the mover may be 2. The mover of claim 1, further comprising a first sliding assembly mounted on said mover body, movably attached to said magnetic conveyor line, and spaced from said driven assembly.

8. The mover is The mover according to claim 1 , further comprising a distance sensor connected to the mover body for detecting a moving position of the mover.

9. the armature body has an accommodating groove, the accommodating groove extends along a first predetermined direction and penetrates both ends of the armature body, and the accommodating groove extends along a second predetermined direction, thereby forming a notch on one side of the armature for allowing an armature winding to enter and exit the accommodating groove, the second predetermined direction is perpendicular to the first predetermined direction, the accommodating groove includes a first groove wall, a second groove wall, and a third groove wall, the third groove wall is disposed opposite to the notch, and the first groove wall and the second groove wall are disposed opposite to each other and are respectively located on both sides of the third groove wall; 2. The mover according to claim 1, wherein the first permanent magnet includes a first magnetic steel group provided on the first groove wall and a second magnetic steel group provided on the second groove wall, the second magnetic steel group and the first magnetic steel group are arranged opposite each other with a gap between them, each of the first magnetic steel group and the second magnetic steel group includes at least one magnet module arranged along the first preset direction, the magnet module and the mover body are detachably connected, and the magnet module includes a plurality of sub-magnets arranged along the first preset direction.

10. the permanent magnets in the second magnetic steel group correspond one-to-one to the permanent magnets in the first magnetic steel group, and the magnetization direction of the permanent magnets in the second magnetic steel group matches the magnetization direction of the corresponding permanent magnets in the first magnetic steel group; One or more sub-magnets of the magnet module are arranged in a Halbach array; 10. The mover according to claim 9, wherein the magnet module includes a mounting frame, the mounting frame and the mover body are detachably connected, and the plurality of sub-magnets are disposed adjacent to the mounting frame or spaced apart from the mounting frame.

11. the magnet module includes a first sub-magnet, a second sub-magnet, a third sub-magnet, and a fourth sub-magnet arranged along the first preset direction; Alternatively, the magnetization direction of the first sub-magnet is along a third preset direction, and the third preset direction is perpendicular to the first preset direction and the second preset direction; the magnetization direction of the second sub-magnet is along a fourth preset direction, the fourth preset direction being parallel to the first preset direction; the magnetization direction of the third sub-magnet is along a fifth preset direction, the fifth preset direction being opposite to the third preset direction; 10. The mover according to claim 9, wherein the magnetization direction of the fourth sub-magnet is along a sixth preset direction, and the sixth preset direction is opposite to the fourth preset direction.

12. the plurality of magnet modules in the first magnetic steel group include at least one first magnet module or / and at least one second magnet module; 12. The mover of claim 11, wherein the first sub-magnet, the second sub-magnet, the third sub-magnet, and the fourth sub-magnet in the first magnet module are arranged in sequence along the first preset direction, and the second sub-magnet, the first sub-magnet, the fourth sub-magnet, and the third sub-magnet in the second magnet module are all arranged in sequence along the first preset direction.

13. In the first magnetic steel group, the magnetization direction of the permanent magnet located at a first end of the first magnetic steel group is along a third preset direction, and the magnetization direction of the permanent magnet located at a second end of the first magnetic steel group is along a fifth preset direction; or 12. The mover according to claim 11, wherein, in the first magnetic steel group, the magnetization direction of the permanent magnet located at a first end of the first magnetic steel group along the first predetermined direction is along a fourth predetermined direction, and the magnetization direction of the permanent magnet located at a second end of the first magnetic steel group along a sixth predetermined direction.

14. The permanent magnets in the magnet module are arranged in a Halbach array; 14. The mover according to claim 9, wherein a magnetic field is strengthened on a side of the first magnetic steel group closer to the second magnetic steel group, and a magnetic field is strengthened on a side of the second magnetic steel group closer to the first magnetic steel group.

15. 15. The hybrid conveyor line, comprising: a magnetic conveyor line; an auxiliary conveyor line; and the mover according to any one of claims 1 to 14, wherein the mover is movably attached to the magnetic conveyor line or the auxiliary conveyor line, the magnetic conveyor line including a first armature winding and a first guide rail, the first permanent magnet array cooperating with the first armature winding to drive the mover to move along the first guide rail, the auxiliary conveyor line including a first drive mechanism and a second guide rail, and the driven assembly cooperating with the first drive mechanism to drive the mover to move along the second guide rail.

16. A plurality of the movers are provided, each of the movers includes a buffer member, and when the plurality of movers are all attached to the magnetic conveyor line or the auxiliary conveyor line, the buffer members are provided on opposite sides of the mover body along the moving direction of the mover, or 16. The hybrid conveyor line of claim 15, wherein the hybrid conveyor line has at least one arc portion, and in the arc portion, the first guide rail and the second guide rail are arranged non-collinearly.

17. the first drive mechanism includes a transport member and a joint structure, the transport member is operably connected to the joint structure and moves at least a part of the joint structure along the guide direction of the second guide rail, and the joint structure is connected to the mover and is used to move the mover along the second guide rail; 16. The hybrid conveyor line according to claim 15, wherein the auxiliary conveyor line includes a position sensing assembly, the position sensing assembly including a plurality of position sensors and a controller electrically connected to the plurality of position sensors, the plurality of position sensors being sequentially arranged along the second guide rail and being used to detect position information of the mover and output the position information to the controller, and the controller being used to adjust the drive speed of the first drive mechanism with respect to the mover in accordance with the position information.

18. the position sensor includes a signal transmitter and a signal receiver, one of the signal transmitter and the signal receiver being provided on one side of the second guide rail and the other being connected to the mover, or Both the signal transmitter and the signal receiver are provided on the second guide rail; 18. The hybrid conveyor line according to claim 17, wherein the signal receiver outputs position information of the mover to the controller when receiving a change in the signal transmitted by the signal transmitter.

19. 20. The hybrid conveyor line of claim 18, wherein the position sensor includes at least one of a magnetic grid sensor, a grid sensor, an infrared sensor, a color sensor, and a Hall sensor.

20. The first driving mechanism includes at least one of a friction conveying structure, a fixed conveying structure, and a magnetic conveying structure, and when the first driving mechanism includes the friction conveying structure, the joining structure is: a synchronous belt whose conveying direction is parallel to the guide direction of the second guide rail; The conveying member is two spaced apart synchronized pulleys; 18. The hybrid conveyor line according to claim 17, further comprising: a support structure for supporting the synchronous belt, wherein the synchronous belt is sleeved around the two synchronous pulleys, the support structure is located between the two synchronous pulleys, and is located within a range surrounded by the two synchronous pulleys and the synchronous belt, and the support structure extends along a conveying direction of the synchronous belt.

21. 21. The hybrid conveyor line according to claim 20, wherein the support structure includes a hard support plate and a soft support plate, the hard support plate and the soft support plate are stacked in a direction perpendicular to the surface of the synchronous belt, the soft support plate is located between the hard support plate and the synchronous belt, and the soft support plate is used to support a portion of the synchronous belt that moves the mover.

22. 22. The hybrid conveyor line of claim 21, wherein the support structure further includes at least two transition members, the two transition members being disposed between the flexible support plate and the synchronous belt and located on either side of the flexible support plate near the synchronous pulley.

23. The first driving mechanism includes at least one of a friction conveying structure, a fixed conveying structure, and a magnetic conveying structure, and when the first driving mechanism includes the friction conveying structure, the joining structure is: a synchronous belt whose conveying direction is parallel to the guide direction of the second guide rail; The conveying member is 18. The hybrid conveyor line of claim 17, including a plurality of spaced apart synchronous pulleys, the synchronous belt being sleeved around the periphery of the synchronous pulleys.

24. 24. The hybrid conveyor line according to any one of claims 20 to 23, wherein the magnetic conveyor line and the auxiliary conveyor line are arranged in order along the second guide rail and joined together, and the mover moves in the magnetic conveyor line and the auxiliary conveyor line movably along the second guide rail.

25. 25. The hybrid conveyor line according to claim 24, wherein the first driving mechanism includes a joint structure that realizes joint by friction transmission, a joint structure that realizes joint by fixed transmission, or a joint structure that realizes joint by magnetic attraction.

26. The mover is A mover body, 26. The hybrid conveyor line according to claim 25, further comprising: a fixed structure fixed to the mover body; and a friction structure including a guide rod and an elastic member, one end of the guide rod being movably connected to the fixed structure and the other end being fixedly connected to the friction structure, the friction structure being used to contact the synchronous belt to generate friction force, the elastic member being sleeved around the guide rod, and a driven assembly located between the fixed structure and the friction structure.

27. the fixing structure has a mounting surface close to the synchronous belt, and the friction structure has a friction surface close to the synchronous belt; The synchronous belt has an inner contact surface and an outer contact surface, and the inner contact surface comes into contact with the synchronous pulley, thereby generating frictional resistance between the synchronous belt and the synchronous pulley, and the outer contact surface and the mounting surface are disposed opposite each other, the friction structure contacts the external contact surface; 27. The hybrid conveyor line according to claim 26, wherein a distance between the mounting surface and the inner contact surface in the direction of extension and contraction of the elastic member is defined as L1, a distance between the mounting surface and the outer contact surface is defined as L2, and a distance between the mounting surface and the friction surface is defined as L3, and the conditional formula L1 > L3 > L2 is satisfied.

28. the magnetic conveyor lines are in multiple groups, the auxiliary conveyor lines are in multiple groups, and the magnetic conveyor lines and the auxiliary conveyor lines are alternately arranged along the second guide rail; or the movable element includes a slider slidably connected to the second guide rail or the first guide rail, 25. The hybrid conveyor line of claim 24, wherein when the auxiliary conveyor line is joined with the magnetic conveyor line, the second guide rail is joined with the first guide rail, and the slider is movable between the second guide rail and the first guide rail.

29. 24. The hybrid conveyor line according to any one of claims 17 to 23, characterized in that the hybrid conveyor line includes docking assemblies arranged in at least two groups, one of the docking assemblies connecting the tail of the magnetic conveyor line to the head of the auxiliary conveyor line, and the other of the docking assemblies connecting the head of the magnetic conveyor line to the tail of the auxiliary conveyor line, and the mover is movably connected to the magnetic conveyor line and the auxiliary conveyor line along the second guide rail.

30. 30. The hybrid conveyor line of claim 29, wherein the magnetic conveyor lines are in multiple groups and the auxiliary conveyor lines are in multiple groups, one of the auxiliary conveyor lines functions as a return section, the magnetic conveyor lines of the multiple groups and the auxiliary conveyor lines of the multiple groups are alternately arranged along the second guide rail to form a conveying section, one of the docking assemblies connects the tail of the conveying section to the head of the return section, and another of the docking assemblies connects the head of the return section to the tail of the conveying section.

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