Movable element and magnetic drive transport system equipped therewith

Abstract

This application discloses a movable element and a magnetic drive transport system equipped therewith, the movable element (2) having a first surface (10a) and a second surface (10b) facing each other, the first surface (10a) facing the stator of the magnetic drive transport system and the second surface (10b) facing away from the stator of the magnetic drive transport system, a first permanent magnet array (6) installed on the first surface (10a), and a telescopically mounted component on the substrate (10) in an extended state In this case, the movable element (2) includes an expandable guide member (7) that protrudes beyond the first surface (10a) and whose size when extended is larger than the size when contracted, the size when contracted, the size when extended, the size when extended, the size when contracted, the size when extended, the size when contracted, and a first roller (900) that is rotatably mounted on the substrate (10), protrudes beyond the first surface (10a), has a rotation axis perpendicular to the direction of movement of the movable element, and is parallel to the first surface (10a) and the second surface (10b). When the movable element (2) of the embodiment of this application is used in a magnetic drive transport system, the direction of the movable element (2) can be changed by changing the expandable state of the expandable guide member (7), thereby simplifying the structure of the magnetic drive transport system and reducing the volume of the magnetic drive transport system.

Description

Technical Field

[0001] (Cross - reference to related applications) This application claims the priority of a Chinese patent application with the application number CN202410139391.9 and the title "Mover and Magnetic Drive Conveying System Comprising the Same", which was filed with the Chinese Patent Office on January 31, 2024, and all of its contents are incorporated herein by reference.

[0002] This application relates to the technical field of conveying devices, and particularly to a mover and a magnetic drive conveying system comprising the same.

Background Art

[0003] When realizing the conveyance of workpieces by magnetic levitation technology, it has characteristics such as high conveyance speed, low maintenance cost, and high flexibility, and is becoming increasingly popular among customers. In the application scenarios of magnetic levitation conveyance lines, the branching of a single guide rail or the confluence of multiple guide rails often occurs.

[0004] In related technologies, the direction change of the mover is realized by installing a deflection device on the side surface of the mover. As a result, the magnetic drive conveying system has a complex structure and a large volume.

Summary of the Invention

Problems to be Solved by the Invention

[0005] The object of this application is to provide a mover and a magnetic drive conveying system comprising the same, which, when used in a magnetic drive conveying system, can simplify the structure of the magnetic drive conveying system and reduce the volume of the magnetic drive conveying system by changing the expansion and contraction state of the telescopic guide member to realize the direction change of the mover.

Means for Solving the Problems

[0006] To achieve the above object, an embodiment of the first aspect of this application is A movable element used in a magnetic drive transport system, A substrate having a first surface and a second surface that are positioned opposite each other, wherein the first surface faces the stator of a magnetic drive transport system and the second surface faces away from the stator of the magnetic drive transport system, The first permanent magnet array installed on the first surface, An expandable guide member is installed on the substrate in an expandable and contractible manner, and when in the extended state, it protrudes beyond the first surface, and the size of the protrusion beyond the first surface when in the extended state is larger than the size of the protrusion beyond the first surface when in the contracted state. The present invention provides a movable element including a first roller that is rotatably mounted on the substrate, protrudes beyond the first surface, and whose axis of rotation is perpendicular to the direction of movement of the movable element and parallel to the first and second surfaces.

[0007] An embodiment of the second aspect of this application is, A movable element described in the first embodiment of this application, We propose a magnetically driven transport system that includes a stator including rails, the rails including armature windings, the armature windings being magnetically coupled to the first permanent magnet array when energized, thereby driving the movable element to move along the rails. [Effects of the Invention]

[0008] In the movable element of the magnetic drive transport system of this application, an extendable guide member is installed. When the extendable guide member is in the extended state, it is inserted into the sliding groove of the stator of the magnetic drive transport system, fixing the relative position between the movable element and the stator and preventing the movable element from detaching from the stator. When the extendable guide member is in the retracted state, it can move away from the sliding groove of the stator of the magnetic drive transport system, allowing the direction of the movable element to be changed. Therefore, there is no need to install an additional deflection device, further simplifying the structure of the magnetic drive transport system and reducing the volume of the magnetic drive transport system. [Brief explanation of the drawing]

[0009] To more clearly describe the embodiments of this application or the technical solutions in the prior art, the drawings that may be used to describe the embodiments or the prior art are briefly described below. Clearly, the drawings described below represent only a limited number of embodiments of this application, and those skilled in the art can derive other drawings based on the structures shown in these drawings without requiring any creative effort. [Figure 1] This is a schematic diagram of the structure of the conveying device according to an embodiment of this application. [Figure 2] This is the first schematic diagram of the structure of the movable element in the embodiment of this application. [Figure 3] This is a schematic diagram (2) of the structure of the movable element in the embodiment of this application. [Figure 4] This is an exploded view of the movable part of the embodiment of this application. [Figure 5] This is the first cross-sectional view of the movable element of the embodiment of this application. [Figure 6] This is a second cross-sectional view of the movable element of the embodiment of this application. [Figure 7] This is a cross-sectional view of the substrate of the movable element according to an embodiment of this application. [Figure 8] This is a schematic diagram of the structure of the extendable guide member of the movable part according to an embodiment of this application. [Figure 9] This is a schematic diagram of the structure of the expandable portion of the expandable guide member of the movable element according to the embodiment of this application. [Figure 10] This is the first schematic diagram of the structure of the rail conversion stator according to the embodiment of this application. [Figure 11] This is a schematic diagram (part 2) of the structure of the rail conversion stator in the embodiment of this application. [Figure 12] This is the third schematic diagram of the structure of the rail conversion stator in the embodiment of this application.

[0010] (Explanation of symbols) 1 Rail conversion stator, 2 Movable element, 3 Magnetic drive transport system, 6 First permanent magnet array, 7 Telescopic guide member, 10 Substrate, 10a First surface, 10b Second surface, 10c Third surface, 13 First mounting cavity, 13a First cavity, 13b Second cavity, 1311 First sub-cavity, 1312 Second sub-cavity, 14 First opening, 15 Second opening, 16 Second mounting cavity, 17 Third opening, 18 Fourth opening, 19 Weight reduction groove, 100 Base, 101 Confluence end, 102 First branch end, 103 Second branch end, 104 Third branch end, 200 First transport rail, 210 First armature winding, 300 Second transport rail, 310 Second armature winding, 410 First guide member, 411 First sliding groove, 412 413 First stopper step, 420 First contact step, 420 Second guide member, 421 Second sliding groove, 422 Second stopper step, 423 Second contact step, 430 First telescopic member, 440 Second telescopic member, 610 First telescopic guide member, 620 Second telescopic guide member, 630 Mounting part, 631 Mounting base, 632 Guide shaft, 633 First positioning structure, 640 Telescopic part, 641 Restricting segment, 642 Guide segment, 643 Second positioning structure, 700 Third transport rail, 710 Third armature winding, 720 Third guide member, 721 Third stopper step, 722 Third contact step, 730 Third sliding groove, 731 Third telescopic member, 900 First roller The objectives, functional features, and advantages of this application will be further described with reference to the drawings, along with examples. [Modes for carrying out the invention]

[0011] To further clarify the purpose, technical solution, and advantages of this application, embodiments of this application will be described in more detail below with reference to the drawings.

[0012] In the following description, when the drawings are referred to, unless otherwise specified, the same numerals attached to different drawings refer to the same or similar components. The embodiments described in the following exemplary embodiments do not mean all embodiments that conform to the present application. Rather, these are merely examples of devices and methods that conform to the aspects of the present application, as detailed in the appended claims.

[0013] In the description of this specification, terms such as "first" and "second" are used solely for the purpose of explanation and should not be construed as indicating or suggesting relative importance. A person skilled in the art can understand what meanings these terms have in this specification according to their respective contexts. Furthermore, in the description of the present application, unless otherwise specified, "a plurality" shall refer to two or more. "And / or" represents the relationship of related objects and means that two relationships can exist. For example, A and / or B indicates the possibility of three relationships: only A, both A and B, or only B. The symbol " / " usually indicates that there is an "or" relationship between the objects before and after.

[0014] Unless otherwise defined, all technical terms and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the art of the present application. The terms used in this specification are for the sole purpose of explaining specific embodiments and do not limit the present application. The "and / or" used in this specification includes any combination and all combinations of one or more related items.

[0015] As shown in FIG. 1, the magnetic drive conveyance system 3 generally includes a mover 2 and a stator. Among the mover 2 and the stator, a coil is provided on one of them, and a permanent magnet is provided on the other. By exciting a coil current, a traveling wave magnetic field is generated, and by magnetically coupling the traveling wave magnetic field to the permanent magnet, the mover 2 is made to move relative to the stator. Furthermore, by mounting a conveyance member on the mover 2, a conveyance function is realized.

[0016] In application scenarios for the magnetic drive transport system 3, it is common for a single guide rail to branch or for multiple guide rails to merge. In conventional technology, a separate relay means such as a turntable or translational platform is installed. The relay means first docks with the guide rail from which the workpiece is unloaded. Once the workpiece has moved to the relay means, the relay means steers or moves to dock with the guide rail from which the workpiece is loaded, transferring the workpiece from the unloading guide rail to the loading guide rail. In this process, the relay means must dock with and cooperate with both the unloading and loading guide rails, resulting in high docking accuracy requirements, relatively slow docking speeds, and a significant impact on the transport efficiency of the transport line.

[0017] In some other technologies, the direction of the movable element 2 is changed by providing a deflection device on the side of the movable element 2. As a result, the magnetic drive transport system 3 becomes structurally complex, has a relatively large volume, and occupies a large amount of space.

[0018] The movable element 2 of the magnetic drive transport system 3 of this application is equipped with an extendable and retractable guide member 7. When the extendable guide member 7 is in the extended state, it is inserted into the sliding groove of the stator of the magnetic drive transport system 3, fixing the relative position between the movable element 2 and the stator, and preventing the movable element 2 from detaching from the stator. When the extendable guide member 7 is in the retracted state, it can move away from the sliding groove of the stator of the magnetic drive transport system 3, at which point the direction of the movable element 2 can be changed. Therefore, there is no need to install an additional deflection device, the structure of the magnetic drive transport system 3 is further simplified, and the volume of the magnetic drive transport system 3 is reduced.

[0019] The movable element 2 according to the embodiment of this application will be described below with reference to the drawings.

[0020] As shown in Figures 2 to 6, the movable element 2 according to the embodiment of this application is used in a magnetic drive transport system 3, and the movable element 2 includes a substrate 10, a first permanent magnet array 6, an expandable guide member 7, and a first roller 900.

[0021] The substrate 10 has a first surface 10a and a second surface 10b that are installed opposite to each other. The first surface 10a faces the stator of the magnetic drive transport system 3, and the second surface 10b faces away from the stator of the magnetic drive transport system 3. The first permanent magnet array 6 is installed on the first surface 10a.

[0022] The first surface 10a is used to provide a mounting base for installing the first permanent magnet array 6, and the second surface 10b is typically used for carrying articles.

[0023] The stator has an armature winding, and the first permanent magnet array 6 may be a permanent magnet. When the movable element 2 moves on the stator, the armature winding is periodically energized in phase order, and the first permanent magnet array 6 and the armature winding are magnetically coupled, driving the movable element 2 to move along the stator. Here, by simply changing the direction of phase-order energization of the armature winding, the direction of the driving force acting on the movable element 2 can be changed, thereby changing the direction of movement of the movable element 2.

[0024] The first permanent magnet array 6 generates a constant magnetic field around the movable element 2. By controlling the direction and magnitude of the current in the armature winding, the armature winding can generate a changing traveling wave magnetic field. This changing traveling wave magnetic field interacts with the constant magnetic field of the first permanent magnet array 6, driving the movable element 2 to move. By controlling the change in the traveling wave magnetic field, the direction of movement of the movable element 2 is controlled, thereby achieving a change in the direction of the movable element 2.

[0025] Because the first permanent magnet array 6 is installed on the first surface 10a, the distance between the first surface 10a and the stator is relatively short. This increases the driving force generated by the magnetic coupling between the first permanent magnet array 6 and the armature windings of the stator, thereby improving the operational stability of the movable element 2 and increasing its moving speed.

[0026] Furthermore, the expandable guide member 7 is installed on the substrate 10 so as to be expandable and contractible. The expansion and contraction direction of the expandable guide member 7 is the thickness direction of the substrate 10, and the expansion and contraction direction of the expandable guide member 7 may be perpendicular to the first surface 10a and the second surface 10b, and the first surface 10a and the second surface 10b are parallel to each other. When the expandable guide member 7 is in the extended state, it protrudes beyond the first surface 10a, and the size by which the expandable guide member 7 protrudes beyond the first surface 10a when in the extended state is larger than the size by which the expandable guide member 7 protrudes beyond the first surface 10a when in the contracted state.

[0027] Furthermore, when the telescopic guide member 7 is in the contracted state, it can protrude beyond the first surface 10a. In other words, in addition to the telescopic guide member 7 protruding beyond the first surface 10a, the telescopic guide member 7 is released from its engagement with the sliding groove of the stator, and therefore no longer receives guidance from the sliding groove of the stator. Alternatively, the telescopic guide member 7 does not need to protrude beyond the first surface 10a in order to stably release its engagement with the sliding groove of the stator.

[0028] Here, when the telescopic guide member 7 is in the extended state, it is inserted into the sliding groove of the stator, allowing the movable element 2 to move along the extension direction of the sliding groove of the stator. When the telescopic guide member 7 is in the retracted state, it can detach from the sliding groove of the stator, changing the direction of movement of the movable element 2.

[0029] Furthermore, the first roller 900 is rotatably mounted on the substrate 10 and protrudes beyond the first surface 10a, and the axis of rotation of the first roller 900 is perpendicular to the direction of movement of the movable element 2 and parallel to the first surface 10a and the second surface 10b.

[0030] For example, the first roller 900 is located outside the sliding groove of the stator and can contact the outer surface of the stator. On the one hand, as the movable element 2 moves along the stator, the first roller 900 provides support to the movable element 2, ensuring that the base plate 10 of the movable element 2 and the stator are spaced apart and that this spacing is stable, and that the base plate 10 of the movable element 2 and the stator do not move closer or further apart relative to each other. On the other hand, it can reduce the relative frictional force between the movable element 2 and the stator, increase the moving speed of the movable element 2, and improve operational stability.

[0031] In some embodiments of this application, as shown in Figures 2 to 6, the substrate 10 has at least one first roller 900 and at least one telescopic guide member 7 on each side in its width direction, that is, the substrate 10 has one or more first rollers 900 on each side in its width direction, and the substrate 10 has one or more telescopic guide members 7 on each side in its width direction. Here, the width direction of the substrate 10, the thickness direction of the substrate 10, and the direction of movement of the substrate 10 are perpendicular to each other. The number of first rollers 900 on both sides of the width direction of the substrate 10 is the same, and the number of telescopic guide members 7 on both sides of the width direction of the substrate 10 is the same. By installing multiple first rollers 900 on both sides of the width direction of the substrate 10, a uniform force is applied to both sides of the width direction of the movable element 2, deflection of the movable element 2 is avoided, and stability of movement is ensured. By installing multiple telescopic guide members 7 on both sides of the width direction of the substrate 10, the versatility of steering of the movable element 2 is improved, for example, the telescopic guide member 7 on either side expands or contracts depending on the operating conditions. Preferably, the first roller 900 and the telescopic guide member 7 are installed symmetrically on both sides of the base plate 10 in the width direction. This further improves the operational stability and steering stability of the movable element 2.

[0032] In some embodiments of this application, as shown in Figures 2 to 8, the substrate 10 is provided with a first mounting cavity 13 and a first opening 14, the first opening 14 being provided on the first surface 10a and communicating with the first mounting cavity 13, and the expandable guide member 7 being provided on the first mounting cavity 13 and protruding beyond the first surface 10a through the first opening 14.

[0033] The provision of the first mounting cavity 13 allows the telescopic guide member 7 to be mounted within the first mounting cavity 13. When the telescopic guide member 7 is in the contracted state, it can be completely housed within the first mounting cavity 13. At this time, since the telescopic guide member 7 does not protrude beyond the first surface 10a, the possibility of the telescopic guide member 7 and the stator becoming jammed when the movable element 2 changes direction is reduced, making direction changes easier. Furthermore, opening the first mounting cavity 13 improves the mounting stability of the telescopic guide member 7, ensures that the telescopic guide member 7 extends and retracts more smoothly, and provides some protection for the telescopic guide member 7 from external impacts.

[0034] The provision of the first opening 14 allows the telescopic guide member 7 to protrude beyond the first surface 10a through the first opening 14, thereby allowing the telescopic guide member 7 to be inserted into the sliding groove of the stator, moving the movable element 2 along the extension direction of the sliding groove and reducing the possibility of the movable element 2 detaching from the stator.

[0035] Furthermore, as shown in Figures 4 to 8, the substrate 10 is provided with a second opening 15, which is located on the second surface 10b. The first mounting cavity 13 includes a first cavity 13a and a second cavity 13b, the first cavity 13a communicating with the first opening 14, and the second cavity 13b communicating between the first cavity 13a and the second opening 15, with the cross-sectional area of ​​the orthographic projection of the second cavity 13b onto the first surface 10a being larger than the cross-sectional area of ​​the orthographic projection of the first cavity 13a onto the first surface 10a.

[0036] Here, the telescopic guide member 7 includes a mounting portion 630 and a telescopic portion 640, the telescopic portion 640 being retractably connected to the mounting portion 630, the mounting portion 630 being located within the second cavity 13b and connected to the inner wall of the second cavity 13b, and when the telescopic guide member 7 is in the extended state, the telescopic portion 640 passes through the first cavity 13a and protrudes from the first opening 14 beyond the first surface 10a.

[0037] Specifically, the telescopic guide member 7 may be installed in the first mounting cavity 13 via the second opening 15. When the mounting portion 630 abuts against the bottom wall of the second cavity 13b, the telescopic guide member 7 and the base plate 10 are properly installed, and the installation of the telescopic guide member 7 becomes easier. By connecting the mounting portion 630 to the inner wall of the second cavity 13b, separation of the telescopic guide member 7 and the base plate 10 can be prevented, and during the process of the movable element 2 moving, the telescopic guide member 7 can be reliably fitted into the sliding groove of the stator to guide the movable element 2 and prevent the movable element 2 from detaching from the stator.

[0038] The provision of the telescopic portion 640 allows it to extend and retract relative to the mounting portion 630, meaning the mounting portion 630 can guide the telescopic portion 640. When no force is applied to the telescopic portion 640, the telescopic guide member 7 can maintain its extended state, and the telescopic portion 640 is inserted into the sliding groove of the stator, moving the movable member 2 in the extending direction of the sliding groove of the stator. When the telescopic portion 640 receives force, it is retracted into the first mounting cavity 13, the telescopic guide member 7 switches to a contracted state, and the telescopic portion 640 disengages from the sliding groove of the stator, thereby changing the direction of the movable member 2 relative to the stator and allowing the movable member 2 to move in a different direction.

[0039] Furthermore, as shown in Figures 4 to 8, the second cavity 13b includes the first subcavity 1311 and the second subcavity 1312. The first subcavity 1311 and the first cavity 13a are in communication, and the second subcavity 1312 is in communication with the first subcavity 1311 and the second opening 15, and the orthographic projection cross-sectional area of ​​the second subcavity 1312 onto the first surface 10a is larger than the orthographic projection cross-sectional area of ​​the first subcavity 1311 onto the first surface 10a.

[0040] Here, the mounting section 630 includes a mounting base 631 and a guide shaft 632, and the telescopic section 640 is telescopically connected to the guide shaft 632, and the mounting base 631 is located in the second subcavity 1312 and connected to the bottom wall of the second subcavity 1312. For example, the mounting base 631 and the bottom wall of the second subcavity 1312 may be connected by screw fasteners (screws or bolts), or the mounting base 631 and the bottom wall of the second subcavity 1312 may be riveted together by rivets. The guide shaft 632 is located in the first subcavity 1311 and abuts against the bottom wall of the first subcavity 1311.

[0041] In this way, when the mounting portion 630 contacts the bottom wall of the second subcavity 1312, the telescopic guide member 7 and the base plate 10 are properly installed. By connecting the mounting base 631 to the bottom wall of the second subcavity 1312, separation of the telescopic guide member 7 and the base plate 10 can be prevented, and as the movable element 2 moves, the telescopic guide member 7 is securely fitted into the sliding groove of the stator, guiding the movable element 2 and preventing the movable element 2 from detaching from the stator.

[0042] The guide shaft 632 allows for the movement of the expandable section 640 to be guided, and a larger displacement space for the expandable section 640 is secured in the axial direction of the guide shaft 632. The orthographic projection cross-sectional area of ​​the guide shaft 632 onto the first surface 10a is smaller than the orthographic projection cross-sectional area of ​​the mounting base 631 onto the first surface 10a. Therefore, it is possible to reduce costs while ensuring stable mounting.

[0043] In some embodiments of this application, the guide shaft 632 is a linear bearing, the inner ring surface of the linear bearing is power-driven to the extension portion 640, or the guide shaft 632 includes a bushing and a linear bearing, the outer ring surface of the linear bearing is connected to the inner ring surface of the bushing, and the inner ring surface of the linear bearing is power-driven to the extension portion 640.

[0044] In this way, the configuration of the guide shaft 632 becomes more diverse, which broadens the range of choices for the guide shaft 632, expands the range of application for the movable element 2, and is advantageous for application in various scenes.

[0045] The guide shaft 632 includes a linear bearing in which balls can be positioned on the inner circumferential surface of the guide shaft 632, thereby enabling relative movement between the telescopic section 640 and the guide shaft 632, where movement is possible between the telescopic section 640 and the guide shaft 632 along the circumferential and axial directions of the guide shaft 632.

[0046] The telescopic guide member 7 can move along the axial direction of the guide shaft 632 between the telescopic section 640 and the guide shaft 632, thereby switching between an extended state and a retracted state, and changing the direction of the movable element 2.

[0047] When the telescopic portion 640 is inserted into the sliding groove of the stator, friction may occur between the telescopic portion 640 and the groove wall of the sliding groove when it is inserted into the sliding groove. By allowing the telescopic portion 640 and the guide shaft 632 to rotate along the circumferential direction of the guide shaft 632, the frictional force between the telescopic portion 640 and the groove wall of the sliding groove is reduced, extending the service life of the telescopic guide member 7, which in turn slows down the movement speed of the movable element 2 and makes the movement of the movable element 2 more stable.

[0048] If the guide shaft 632 is a linear bearing, the linear bearing is fixedly connected to the mounting base 631. For example, the linear bearing and the mounting base 631 can be molded as a single unit, making it easy to process and providing high structural strength. Alternatively, the linear bearing is interference-fitted to the first subcavity 1311. In this case, the linear bearing and the mounting base 631 can be installed separately. Thus, if one of the linear bearing or the mounting base 631 is damaged, the other does not need to be replaced, reducing maintenance costs. Alternatively, the linear bearing is clamped between the mounting base 631 and the bottom wall of the first subcavity 1311. In other words, the mounting base 631 and the bottom wall of the first subcavity 1311 apply clamping force to the linear bearing from both axial ends, fixing the position of the linear bearing. In this way, after removing the mounting base 631, the linear bearing can also be easily removed, improving the convenience of removing the movable element 2 and making subsequent maintenance easier.

[0049] If the guide shaft 632 includes a bushing and a linear bearing, the linear bearing is interference-fitted to the bushing, fixing the relative position between the linear bearing and the bushing.

[0050] Here, the bushing may be fixedly connected to the mounting base 631. For example, the bushing and the mounting base 631 can be molded as a single unit, which is easy to process and has high structural strength. Alternatively, the bushing can be interference-fitted to the first subcavity 1311, in which case the bushing and the mounting base 631 can be installed separately. In this way, if one of the bushing or the mounting base 631 is damaged, the other does not need to be replaced, reducing maintenance costs. Alternatively, the bushing can be sandwiched between the mounting base 631 and the bottom wall of the first subcavity 1311. That is, the mounting base 631 and the bottom wall of the first subcavity 1311 apply a clamping force to the bushing from both axial ends, fixing the position of the bushing. In this way, after removing the mounting base 631, the removal of the bushing is also easy, improving the convenience of removing the movable element 2 and facilitating subsequent maintenance.

[0051] In some embodiments of this application, as shown in Figures 5, 6 and 9, the telescopic section 640 includes a limiting segment 641 and a guide segment 642, the limiting segment 641 being inserted into a guide shaft 632 and abutting against the bottom wall of the second cavity 13b, and the guide segment 642 being connected to the limiting segment 641. When the telescopic guide member 7 is in the extended state, the guide segment 642 protrudes from the first opening 14 beyond the first surface 10a.

[0052] For example, the outer contour of the cross-section of the limiting segment 641 is circular, and the outer contour of the cross-section of the guide segment 642 is also circular. In this way, the installation of the expandable section 640 is simplified, and it is not necessary to install the expandable section 640 and the guide shaft 632 at a specific angle.

[0053] By dividing the telescopic section 640 into a limiting segment 641 and a guide segment 642, the limiting segment 641 can abut against the bottom wall of the second cavity 13b, limiting the maximum displacement stroke between the telescopic section 640 and the guide shaft 632 and the substrate 10, thereby preventing the telescopic section 640 from separating from the guide shaft 632 and the substrate 10. Since the guide segment 642 can move freely within the first opening 14, it becomes easy to extend the telescopic section 640 from the first surface 10a and insert it into the sliding groove of the stator, enabling the movement of the movable element 2 to be guided by the stator. Furthermore, the telescopic section 640 can be disengaged from the sliding groove of the stator, allowing the movable element 2 to be steered.

[0054] The limiting segment 641 described above includes a linear bearing, the outer ring surface of which contacts the inner ring surface of the guide shaft 632, and the limiting segment 641 is slidable relative to the guide shaft 632. Here, the limiting segment 641 may be a linear bearing as a whole, or it may be a linear bearing in part.

[0055] By making at least a portion of the limiting segment 641 a linear bearing, the balls of the linear bearing may be located on the outer ring surface of the limiting segment 641. This enables relative movement between the limiting segment 641 and the guide shaft 632. Here, the limiting segment 641 and the guide shaft 632 are movable along the circumferential and axial directions of the guide shaft 632.

[0056] The ability of the limiting segment 641 and the guide shaft 632 to move along the axial direction of the guide shaft 632 allows the telescopic guide member 7 to be switched between an extended state and a retracted state, thereby enabling a change in the direction of the movable element 2 in the rail conversion stator 1.

[0057] When the expandable portion 640 is inserted into the sliding groove of the stator, friction may occur between the expandable portion 640 and the groove wall of the sliding groove when it is inserted into the sliding groove. By allowing the limiting segment 641 and the guide shaft 632 to rotate along the circumferential direction of the guide shaft 632, the frictional force between the expandable portion 640 and the groove wall of the sliding groove is reduced, extending the service life of the expandable guide member 7, which in turn slows down the movement speed of the movable element 2 and makes the movement of the movable element 2 more stable.

[0058] Furthermore, the expandable guide member 7 further includes an elastic member (not shown), where the elastic member may be an elastically deformable component such as a spring. The elastic member is located within the guide shaft 632, with one end of the elastic member in contact with the limiting segment 641 and the other end of the elastic member in contact with the guide shaft 632 or the mounting base 631. The elastic member has elasticity such that, when compressed, it drives the expandable portion 640 to protrude beyond the first surface 10a.

[0059] For example, a stopper step (not shown) is provided on the inner wall of the guide shaft 632, with one end of the elastic member in contact with the limiting segment 641 and the other end of the elastic member in contact with the stopper step of the guide shaft 632. Alternatively, one end of the elastic member in contact with the limiting segment 641 and the other end of the elastic member in contact with the mounting base 631.

[0060] When the telescopic guide member 7 is in the extended state, that is, when the limiting segment 641 contacts the bottom wall of the second cavity 13b, the elastic member is also in a compressed state (i.e., the length of the elastic member at this time remains shorter than the length of the elastic member in its natural state). Since the elastic member applies an elastic force to the telescopic portion 640, when the telescopic portion 640 is not subjected to an external force, the telescopic guide member 7 can stably maintain the extended state and prevent the movable element 2 from detaching from the stator.

[0061] The presence of an elastic member ensures that the telescopic guide member 7 remains extended when the movable element 2 is not subjected to external force, thereby preventing the telescopic guide member 7 from being extended under natural conditions and thus preventing the telescopic section 640 from unexpectedly contracting. Furthermore, if the movable element 2 is subjected to external force and the telescopic guide member 7 is in a contracted state, the elastic force drives the telescopic guide member 7 to immediately return to the extended state once the external force is removed. In this way, except during the process when the movable element 2 changes direction, the telescopic section 640 can be reliably inserted into the sliding groove of the stator, reducing the possibility of the movable element 2 detaching from the stator and improving the movement stability of the movable element 2.

[0062] Furthermore, as shown in Figures 5-6 and 9, a first positioning structure 633 is provided on the end face of the mounting base 631 facing the guide shaft 632, and a second positioning structure 643 is provided on the end face of the limiting segment 641 facing the mounting base 631. The elastic member is connected at one end to the first positioning structure 633 and at the other end to the second positioning structure 643.

[0063] The first positioning structure 633 allows the relative position between the mounting base 631 and the elastic member to be fixed, and the second positioning structure 643 allows the relative position between the limiting segment 641 and the elastic member to be fixed, that is, the relative position between the expandable portion 640 and the elastic member to be fixed. The inner wall of the guide shaft 632 limits the deflection stroke of the elastic member, ensuring that the deformation, deflection, and displacement of the elastic member do not exceed expectations, so that the force exerted by the elastic member on the expandable portion 640 is as expected, and so that the expandable portion returns to its original position effectively and quickly.

[0064] Furthermore, as shown in Figures 5-6 and 9, the first positioning structure 633 is at least one of a positioning groove and a positioning column. That is, the first positioning structure 633 may be a positioning groove, in which case the end of the elastic member is inserted into the positioning groove, and the groove wall of the positioning groove restricts the end of the elastic member. Alternatively, the first positioning structure 633 may be a positioning column, in which case the end of the elastic member is fitted into the positioning column, and the positioning column restricts the end of the elastic member. Alternatively, the first positioning structure 633 may include a positioning column and a positioning groove, with the positioning column provided at the bottom of the positioning groove, in which case the end of the elastic member is inserted into the positioning groove and fitted into the positioning column, and the groove wall of the positioning groove and the positioning column jointly restrict the end of the elastic member.

[0065] In this way, the position of the end of the elastic member facing the first positioning structure 633 within the movable element 2 is fixed, displacement of the end of the elastic member facing the first positioning structure 633 is avoided, and the reliability of the return of the expandable guide member 7 by the elastic member can be ensured.

[0066] The second positioning structure 643 is at least one of a positioning groove and a positioning column. That is, the second positioning structure 643 may be a positioning groove, in which case the end of the elastic member is inserted into the positioning groove, and the groove wall of the positioning groove restricts the end of the elastic member. Alternatively, the second positioning structure 643 may be a positioning column, in which case the end of the elastic member is fitted into the positioning column, and the positioning column restricts the end of the elastic member. Alternatively, the second positioning structure 643 may include a positioning column and a positioning groove, with the positioning column provided at the bottom of the positioning groove. In this case, the end of the elastic member is inserted into the positioning groove and fitted into the positioning column, and the groove wall of the positioning groove and the positioning column jointly restrict the end of the elastic member.

[0067] In this way, the position of the end of the elastic member facing the second positioning structure 643 within the movable element 2 is fixed, displacement of the end of the elastic member facing the second positioning structure 643 is avoided, and the reliability of the return of the expandable guide member 7 by the elastic member can be ensured.

[0068] In some embodiments of this application, as shown in Figures 2 to 4, the substrate 10 is provided with a second mounting cavity 16 and a third opening 17, the third opening 17 being provided on the first surface 10a and communicating with the second mounting cavity 16, and the first roller 900 being provided within the second mounting cavity 16 and protruding beyond the first surface 10a through the third opening 17.

[0069] The provision of the second mounting cavity 16 reduces the weight of the substrate 10, while also allowing a portion of the first roller 900 to be housed. This reduces the overall size of the first roller 900 and the substrate 10 in the thickness direction, facilitating the weight reduction and thinning of the movable element 2.

[0070] For example, the substrate 10 may have a fourth opening 18 on its second surface 10b, which communicates with the second mounting cavity 16. The first roller 900 can also protrude beyond the second surface 10b through the fourth opening 18, increasing the volume of the second mounting cavity 16 and allowing it to accommodate more first rollers 900, and consequently increasing the size of the first roller 900 in the thickness direction of the substrate 10. This improves the space utilization rate of the substrate 10, while allowing many different sizes of first rollers 900 to be attached to the movable element 2, expanding the range of first roller 900 models to accommodate various usage scenarios.

[0071] Of course, as those skilled in the art will understand, the substrate 10 may not have a fourth opening 18 on its second surface 10b, that is, the side of the second mounting cavity 16 facing the second surface 10b may be closed. This makes the second surface 10b of the substrate 10 simpler and increases the structural strength of the substrate 10.

[0072] In some embodiments of this application, as shown in Figures 2 to 4, a weight-reducing groove 19 is provided on at least one of the first surface 10a and the second surface 10b. In this way, the weight of the movable element 2 can be reduced, and the production cost of the movable element 2 can be lowered. Furthermore, because the weight of the movable element 2 is reduced, the kinetic inertia of the movable element 2 is reduced. The inertial force that the movable element 2 must overcome when changing direction is relatively small, and therefore the movable element 2 can change direction with the action of a relatively small driving force, the speed of direction change is increased, the smoothness of direction change is improved, and direction change by the movable element 2 becomes simpler.

[0073] In some embodiments of this application, as shown in Figures 2 to 4 and Figures 10 to 12, the substrate 10 has a third surface 10c, which is connected between the first surface 10a and the second surface 10b, and a second permanent magnet array (not shown) is installed on the third surface 10c. Here, the third surface 10c is parallel to the extension direction of the substrate 10.

[0074] Specifically, the rail conversion stator 1 is provided with an electromagnetic direction change drive member, which is located adjacent to the confluence end 101. Here, the electromagnetic direction change drive member is magnetically coupled to the second permanent magnet array and acts on the movable element 2 without contacting it. By changing the direction of the current in the electromagnetic direction change drive member, magnetic attractive or repulsive forces are generated between the electromagnetic direction change drive member and the second permanent magnet array, guiding the movable element 2 to move from the confluence end 101 to the first transport rail 200, or from the confluence end 101 to the second transport rail 300.

[0075] As can be seen from the above, the second permanent magnet array can assist in adjusting the direction of movement of the movable element 2. Furthermore, since the second permanent magnet array is located on the third surface 10c of the movable element 2, and the distance between the third surface 10c and the first permanent magnet array 6 is relatively large, the influence of the magnetic field of the second permanent magnet array on the first permanent magnet array 6 is relatively small. As a result, the influence on the magnetic coupling between the first permanent magnet array 6 of the movable element 2 and the first armature winding 210 and the second armature winding 310 is relatively small, and the stability of the movement of the movable element 2 along the first transport rail 200 and the second transport rail 300 is ensured.

[0076] In some embodiments of this application, the movable element 2 further includes a second roller (not shown) which is rotatably mounted on the substrate 10, and the axis of rotation of the second roller is perpendicular to the first surface 10a and the second surface 10b.

[0077] For example, the substrate 10 has a third surface 10c, which is connected between the first surface 10a and the second surface 10b, and the third surface 10c is parallel to the direction of extension of the substrate 10. The second roller may be attached to the third surface 10c and protrude beyond the third surface 10c.

[0078] Specifically, there may be multiple second rollers, and multiple second rollers may be installed on opposing sides of the substrate 10. When the movable element 2 is located on the rail conversion stator 1, at least one second roller is located in the first sliding groove 411, and the second roller located in the first sliding groove 411 is in contact with the groove wall of the first sliding groove 411. At least one second roller is located in the second sliding groove 421, and the second roller located in the second sliding groove 421 is in contact with the groove wall of the second sliding groove 421. When the movable element 2 is located on the remaining stator of the magnetic drive transport system 3, the second roller is also located in the corresponding sliding groove of the stator and is in contact with the groove wall of the sliding groove.

[0079] By providing the second roller, the displacement space of the movable element 2 in the width direction of the sliding groove can be reduced without impairing the smoothness of the movement of the movable element 2 relative to the stator. Furthermore, the positional stability of the movable element 2 and the stator in the width direction of the stator is improved, making it less likely for eccentricity or force unevenness to occur in the movable element 2, and resulting in more stable movement.

[0080] In some embodiments of this application, as shown in Figure 2, the size by which the telescopic guide member 7 protrudes beyond the first surface 10a when extended is greater than the size by which the first roller 900 protrudes beyond the first surface 10a. In this way, when the telescopic guide member 7 is extended, the first roller 900 can contact the outer surface of the stator, and the telescopic guide member 7 is inserted into the sliding groove of the stator, facilitating cooperation between the movable element 2 and the stator.

[0081] In a second embodiment, as shown in Figure 1, the embodiment of the present application provides a magnetic drive transport system 3 including the above-described movable element 2 and a stator, wherein the stator includes a rail, the rail includes an armature winding, and when energized, the armature winding is magnetically coupled to a first permanent magnet array 6, thereby driving the movable element 2 to move along the rail. Here, the stator may include an arc-shaped stator or a linear stator.

[0082] In the magnetic drive transport system 3 described in the embodiment of this application, by using a movable element 2 in the magnetic drive transport system 3, it is possible to enable a single guide rail to branch or multiple guide rails to merge, and because individual deflection means are not required, the structure of the magnetic drive transport system 3 is simplified and its volume is reduced.

[0083] Furthermore, as shown in Figures 10 to 12, the stator includes a rail conversion stator 1, which has a junction end 101, a first branch end 102, and a second branch end 103, and the rail conversion stator 1 includes a first transport rail 200 and a second transport rail 300, the first transport rail 200 is located between the junction end 101 and the first branch end 102, and the first transport rail 200 includes a first armature winding 210, and the first The armature winding 210 is used to drive the movable element 2 of the magnetic drive transport system 3 to move between the junction end 101 and the first branch end 102, the second transport rail 300 is located between the junction end 101 and the second branch end 103, the second transport rail 300 includes the second armature winding 310, the second armature winding 310 is used to drive the movable element 2 to move between the junction end 101 and the second branch end 103.

[0084] The rail conversion stator 1 allows the movable element 2 to be branched from the junction end 101 to the first branch end 102 and the second branch end 103, or to be rejoined from the first branch end 102 and the second branch end 103 to the junction end 101, thereby enabling a change in the direction of the movable element 2.

[0085] Furthermore, as shown in Figure 2, there are multiple telescopic guide members 7, of which at least one is a first telescopic guide member 610 and at least one is a second telescopic guide member 620. Here, the first telescopic guide member 610 is provided on one side in the width direction of the movable element 2, and the second telescopic guide member 620 is provided on the other side in the width direction of the movable element 2. Note that the width direction of the movable element 2 is perpendicular to the thickness direction of the movable element 2 and the direction of movement of the movable element 2. Furthermore, there may be one or more first telescopic guide members 610. If there are multiple first telescopic guide members 610, the multiple first telescopic guide members 610 are arranged at intervals in the direction of movement of the movable element 2. There may be one or more second telescopic guide members 620. If there are multiple second telescopic guide members 620, the multiple second telescopic guide members 620 are arranged at intervals in the direction of movement of the movable element 2. The number and positions of the multiple first telescopic guide members 610 and the multiple second telescopic guide members 620 may be set in a one-to-one correspondence.

[0086] As shown in Figures 10 to 12, the rail conversion stator 1 further includes a direction changing structure, which includes a first guide member 410 and a second guide member 420.

[0087] The first sliding groove 411 is defined by the first guide member 410, or by both the first guide member 410 and the first transport rail 200. When the movable element 2 moves along the first transport rail 200, the first telescopic guide member 610 is slidably installed in the first sliding groove 411, and a telescopic member 430 that can extend and retract is installed within the first sliding groove 411.

[0088] For example, the first guide member 410 includes a first stopper step 412, and the first sliding groove 411 is defined by both the first stopper step 412 and the first transport rail 200, or the first guide member 410 includes a first stopper step 412 and a first contact step 413, and the first sliding groove 411 is defined by both the first stopper step 412 and the first contact step 413.

[0089] The second sliding groove 421 is defined by the second guide member 420, or by both the second guide member 420 and the second transport rail 300. When the movable element 2 moves along the second transport rail 300, the second telescopic guide member 620 is slidably installed in the second sliding groove 421, and a second telescopic member 440 that can extend and retract is installed within the second sliding groove 421.

[0090] For example, the second guide member 420 includes a second stopper step 422, and the second sliding groove 421 is defined by both the second stopper step 422 and the second transport rail 300, or the second guide member 420 includes a second stopper step 422 and a second contact step 423, and the second sliding groove 421 is defined by both the second stopper step 422 and the second contact step 423.

[0091] By providing a first sliding groove 411 that engages with the first telescopic guide member 610 of the movable element 2, when the movable element 2 moves along the first transport rail 200, the first sliding groove 411 can perform restrictive and guiding functions for the movable element 2 via the first telescopic guide member 610. By providing a second sliding groove 421 that engages with the second telescopic guide member 620 of the movable element 2, when the movable element 2 moves along the second transport rail 300, the second sliding groove 421 can perform restrictive and guiding functions for the movable element 2 via the second telescopic guide member 620.

[0092] In this embodiment, the first expandable member 430 is installed to expand and contract in the depth direction of the first sliding groove 411. When the first expandable member 430 is in a contracted state, the first expandable member 430 descends, and the first expandable guide member 610 is inserted into the first sliding groove 411. When the first expandable member 430 is in an extended state, the first expandable member 430 rises, and the first expandable guide member 610 disengages from the first sliding groove 411. The second expandable member 440 is installed to expand and contract along the depth direction of the second sliding groove 421. When the second expandable member 440 is in a contracted state, the second expandable member 440 descends, and the second expandable guide member 620 is inserted into the second sliding groove 421. When the second expandable member 440 is in an extended state, the second expandable member 440 rises, and the second expandable guide member 620 disengages from the second sliding groove 421. Since the third expandable member 731 is installed to expand and contract along the depth direction of the third sliding groove 730, when the third expandable member 731 is in the contracted state, the third expandable member 731 descends and the second expandable guide member 620 is inserted into the third sliding groove 730, and when the third expandable member 731 is in the extended state, the third expandable member 731 rises and the second expandable guide member 620 disengages from the third sliding groove 730.

[0093] Here, as the movable element 2 moves between the junction end 101 and the first branch end 102, the first telescopic member 430 descends, the first telescopic guide member 610 is in an extended state and inserted into the first sliding groove 411, and the second telescopic member 440 rises, causing the second telescopic guide member 620 to be in a contracted state.

[0094] In this way, the second telescopic guide member 620 can be withdrawn from the second sliding groove 421. Since the second telescopic guide member 620 is withdrawn from the second sliding groove 421, the first telescopic guide member 610 remains held within the first sliding groove 411 at this time. Therefore, the movable element 2 can be restricted and guided by the first sliding groove 411, thereby enabling the movable element 2 to move along the first transport rail 200.

[0095] As the movable element 2 moves between the junction end 101 and the second branch end 103, the second telescopic member 440 descends, the second telescopic guide member 620 is in an extended state and inserted into the second sliding groove 421, and the first telescopic member 430 rises, causing the first telescopic guide member 610 to be in a contracted state.

[0096] In this way, the first telescopic guide member 610 can be removed from the first sliding groove 411. Since the first telescopic guide member 610 is removed from the first sliding groove 411, the second telescopic guide member 620 remains held within the second sliding groove 421. Therefore, at this time, the movable element 2 can be restricted or guided by the second sliding groove 421, thereby enabling the movable element 2 to move along the second transport rail 300.

[0097] The first telescopic member 430, the second telescopic member 440, the first sliding groove 411, and the second sliding groove 421 cooperate with each other to assist in adjusting the direction of movement of the movable element 2. Furthermore, compared to the case where a force is applied to the movable element 2 without contact with it, when the first telescopic member 430 and the second telescopic member 440 both contact the movable element 2 while applying a force to it, the force applied to the movable element 2 is sustained, stable, and accurate, improving the reliability of the movement of the movable element 2 and further increasing the speed of direction change.

[0098] In some embodiments of this application, the rail conversion stator 1 further comprises a third branch end 104. The rail conversion stator 1 further comprises a third transport rail 700, which is mounted on a base 100 and located between a junction end 101 and a third branch end 104, and which comprises a third armature winding 710, which is used to drive a movable element 2 to move between the junction end 101 and the third branch end 104.

[0099] Thus, the movable element 2 can branch off from the junction end 101 via the rail conversion stator 1 to any of the first branch end 102, the second branch end 103, and the third branch end 104, and can also rejoin the junction end 101 from the first branch end 102, the second branch end 103, and the third branch end 104. The rail conversion stator 1 can drive in a variety of transport directions for the movable element 2, which is advantageous for applying the rail conversion stator 1 to a more complex magnetic drive transport system 3.

[0100] The above-described direction-changing structure includes a third guide member 720, which defines a third sliding groove 730, or both the third guide member 720 and the third transport rail 700. The third sliding groove 730 communicates with the second sliding groove 421, and a retractable third telescopic member 731 is installed within the third sliding groove 730. When the third telescopic member 731 rises, it contacts the movable element 2 and acts on the movable element 2, guiding the movable element 2 to move from the junction end 101 to the first transport rail 200 or the second transport rail 300.

[0101] For example, the third guide member 720 includes a third stopper step 721, and the third sliding groove 730 is defined by both the third stopper step 721 and the third transport rail 700, or the third guide member 720 includes a third stopper step 721 and a third contact step 722, and the third sliding groove 730 is defined by both the third stopper step 721 and the second contact step 423.

[0102] The following will illustrate, with reference to the drawings, how the direction of the movable element 2 in the rail conversion stator 1 is changed when the rail conversion stator 1 has a third branch end 104.

[0103] As shown in Figure 11, when the movable member 2 is located at the junction end 101, as the movable member 2 moves toward the first branch end 102, the first telescopic member 430 is retracted, and the first telescopic member 430 and the first telescopic guide member 610 do not need to be in contact. As a result, the first telescopic guide member 610 is held within the first sliding groove 411, and the first sliding groove 411 guides or restricts the first telescopic guide member 610, allowing the movable member 2 to move toward the first branch end 102 along the first transport rail 200. Furthermore, the second telescopic member 440 and the third telescopic member 731 are in an extended state, and the second telescopic member 440 is in contact with the second telescopic guide member 620, and by applying a force to the second telescopic guide member 620, the second telescopic guide member 620 is retracted and positioned outside the second sliding groove 421. Since the second telescopic guide member 620 is released from the restriction imposed by the second sliding groove 421, the guiding effect of the second sliding groove 421 on the second telescopic guide member 620 is eliminated, and the movement trajectory of the movable element 2 is not restricted by the second sliding groove 421. In addition, the third telescopic member 731 can extend and apply force to the second telescopic guide member 620, thereby positioning the second telescopic guide member 620 outside the third sliding groove 730 while remaining contracted. This prevents the second telescopic guide member 620 from becoming stuck in the third sliding groove 730 and ensures the smooth movement of the movable element 2.

[0104] As shown in Figure 11, when the movable member 2 is located at the junction end 101, as the movable member 2 moves toward the second branch end 103, the second telescopic member 440 contracts, and the second telescopic member 440 and the second telescopic guide member 620 do not need to be in contact. This holds the second telescopic guide member 620 within the second sliding groove 421, and the second sliding groove 421 guides or restricts the second telescopic guide member 620, allowing the movable member 2 to move toward the second branch end 103 along the second transport rail 300. Furthermore, the first telescopic member 430 and the third telescopic member 731 are in an extended state, and the first telescopic member 430 contacts the first telescopic guide member 610, applying a force to the first telescopic guide member 610 to contract it and position it outside the first sliding groove 411. Since the first telescopic guide member 610 is released from the restriction imposed by the first sliding groove 411, the guiding effect of the first sliding groove 411 on the first telescopic guide member 610 is eliminated, and the movement trajectory of the movable element 2 is not restricted by the first sliding groove 411. In addition, the third telescopic member 731 can extend and apply force to the second telescopic guide member 620, thereby positioning the second telescopic guide member 620 outside the third sliding groove 730 while remaining contracted. This prevents the second telescopic guide member 620 from becoming stuck in the third sliding groove 730 and ensures the smooth movement of the movable element 2.

[0105] As shown in Figure 11, when the movable element 2 is located at the junction end 101, as the movable element 2 moves toward the third branch end 104, the second telescopic member 440 and the third telescopic member 731 contract, and the second telescopic member 440 does not need to contact the second telescopic guide member 620, nor does the third telescopic member 731 need to contact the second telescopic guide member 620. As a result, the second telescopic guide member 620 can slide along the second sliding groove 421 within the third sliding groove 730, and the second sliding groove 421 and the third sliding groove 730 guide or restrict the second telescopic guide member 620. As a result, the movable element 2 can move toward the third branch end 104 along the third transport rail 700. Furthermore, the first telescopic member 430 is in an extended state and is in contact with the first telescopic guide member 610. By applying a force to the first telescopic guide member 610, the first telescopic guide member 610 is retracted and positioned outside the first sliding groove 411. Since the restriction imposed by the first sliding groove 411 is released, the guiding effect of the first sliding groove 411 on the first telescopic guide member 610 is eliminated, and therefore the movement trajectory of the movable element 2 is not restricted by the first sliding groove 411.

[0106] In the drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In this description, directions or positional relationships indicated by terms such as “up,” “down,” “left,” and “right” are based on the directions or positional relationships shown in the drawings and are merely for the purpose of facilitating the description and simplifying the text. They do not indicate or suggest that the devices or elements in question are located in a particular direction or must be configured and operated in a particular direction. Therefore, the terms indicating positional relationships in the drawings are merely illustrative and should not be considered limiting to this specification. Those skilled in the art will be able to understand the specific meaning of the above terms depending on the specific circumstances.

[0107] The foregoing are merely preferred embodiments of this application and do not limit it. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this application should also be included within the scope of protection of this application.

Claims

1. A movable element used in a magnetic drive transport system, A substrate (10) having a first surface (10a) and a second surface (10b) that are positioned opposite each other, wherein the first surface (10a) faces the stator of the magnetic drive transport system and the second surface (10b) faces away from the stator of the magnetic drive transport system, The first permanent magnet array (6) installed on the first surface (10a), An expandable guide member (7) is installed on the substrate (10) so as to be expandable and contractible, and when in the extended state, it protrudes beyond the first surface (10a), and the size of the protrusion beyond the first surface (10a) when in the extended state is larger than the size of the protrusion beyond the first surface (10a) when in the contracted state, A movable element characterized by including a first roller (900) which is rotatably mounted on the substrate (10), protrudes beyond the first surface (10a), and whose axis of rotation is perpendicular to the direction of movement of the movable element and parallel to the first surface (10a) and the second surface (10b).

2. The movable element according to claim 1, wherein the substrate (10) is provided with a first mounting cavity (13) and a first opening (14), the first opening (14) is provided on the first surface (10a) and communicates with the first mounting cavity (13), and the telescopic guide member (7) is installed in the first mounting cavity (13) and protrudes beyond the first surface (10a) through the first opening (14).

3. The substrate (10) is provided with a second opening (15), the second opening (15) is provided on the second surface (10b), and the first mounting cavity (13) is, A first cavity (13a) communicating with the first opening (14), The present invention includes a second cavity (13b) which is in communication with the first cavity (13a) and the second opening (15), and whose orthographic projection cross-sectional area onto the first surface (10a) is larger than the orthographic projection cross-sectional area of ​​the first cavity (13a) onto the first surface (10a), The movable element according to claim 2, wherein the telescopic guide member (7) includes a mounting portion (630) and a telescopic portion (640), the telescopic portion (640) being retractably connected to the mounting portion (630), the mounting portion (630) being located within the second cavity (13b) and connected to the inner wall of the second cavity (13b), and when the telescopic guide member (7) is in an extended state, the telescopic portion (640) passes through the first cavity (13a) and protrudes from the first opening (14) beyond the first surface (10a).

4. The second cavity (13b) is A first sub-cavity (1311) is in communication with the first cavity (13a), The present invention includes a second subcavity (1312) which is in communication with the first subcavity (1311) and the second opening (15), and whose orthographic projection cross-sectional area onto the first surface (10a) is larger than the orthographic projection cross-sectional area of ​​the first subcavity (1311) onto the first surface (10a), The movable element according to claim 3, wherein the mounting portion (630) includes a mounting base (631) and a guide shaft (632), the telescopic portion (640) is telescopically connected to the guide shaft (632), the mounting base (631) is located within the second subcavity (1312) and connected to the bottom wall of the second subcavity (1312), and the guide shaft (632) is located within the first subcavity (1311) and abuts against the bottom wall of the first subcavity (1311).

5. The guide shaft (632) is a linear bearing, and the inner ring surface of the linear bearing is transmitted to the expandable portion (640), or The movable element according to claim 4, wherein the guide shaft (632) includes a bushing and a linear bearing, the outer ring surface of the linear bearing is connected to the inner ring surface of the bushing, and the inner ring surface of the linear bearing is transmitted to the expandable portion (640).

6. If the guide shaft (632) is a linear bearing, the form of the movable element is: One configuration in which the linear bearing is fixedly connected to the mounting base (631), The linear bearing is compressed into the first subcavity (1311) in a second configuration, and The movable element according to claim 5, characterized in that the linear bearing is sandwiched between the mounting base (631) and the bottom wall of the first subcavity (1311) in at least one of three configurations.

7. When the guide shaft (632) includes a bushing and a linear bearing, the form of the movable element is: The bushing is fixedly connected to the mounting base (631), and the linear bearing is pressure-fitted to the bushing in one configuration. In one configuration, the bushing is interference-fitted into the first subcavity (1311), and the linear bearing is interference-fitted into the bushing. The movable element according to claim 5, characterized in that the bushing is sandwiched between the mounting base (631) and the bottom wall of the first subcavity (1311), and the linear bearing is pressure-fitted to the bushing in at least one of three configurations.

8. The aforementioned expandable portion (640) is A limiting segment (641) is inserted into the guide shaft (632) and abuts against the bottom wall of the second cavity (13b), The movable element according to claim 4, further comprising: a guide segment (642) connected to the limiting segment (641) and protruding beyond the first surface (10a) from the first opening (14) when the telescopic guide member (7) is in an extended state.

9. The movable element according to claim 8, wherein the limiting segment (641) includes a linear bearing, the outer ring surface of the linear bearing contacts the inner ring surface of the guide shaft (632), and the limiting segment (641) is slidable relative to the guide shaft (632).

10. The aforementioned expandable guide member (7) is The movable element according to claim 8, further comprising an elastic member located within the guide shaft (632), with one end abutting against the limiting segment (641) and the other end abutting against the guide shaft (632) or the mounting base (631), wherein the elastic member has elasticity that, when compressed, drives the expandable portion (640) to protrude beyond the first surface (10a).

11. The movable element according to claim 10, wherein a first positioning structure (633) is provided on the end face of the mounting base (631) facing the guide shaft (632), and a second positioning structure (643) is provided on the end face of the limiting segment (641) facing the mounting base (631), and the elastic member is connected at one end to the first positioning structure (633) and at the other end to the second positioning structure (643).

12. The first positioning structure (633) is at least one of a positioning groove and a positioning column, The movable element according to claim 11, characterized in that the second positioning structure (643) is at least one of a positioning groove and a positioning column.

13. The movable element according to claim 1, wherein the substrate (10) is provided with a second mounting cavity (16) and a third opening (17), the third opening (17) is provided on the first surface (10a) and communicates with the second mounting cavity (16), and the first roller (900) is provided in the second mounting cavity (16) and protrudes beyond the first surface (10a) through the third opening (17).

14. The movable element according to claim 1, characterized in that at least one of the first surface (10a) and the second surface (10b) is provided with a weight-reducing groove (19).

15. The movable element according to claim 1, characterized in that the substrate (10) has a third surface (10c), the third surface (10c) is connected between the first surface (10a) and the second surface (10b), and a second permanent magnet array is installed on the third surface (10c).

16. The aforementioned movable element is The movable element according to claim 1, further comprising a second roller rotatably mounted on the substrate (10) and having a rotation axis perpendicular to the first surface (10a) and the second surface (10b).

17. The movable element according to claim 1, characterized in that the size of the telescopic guide member (7) that protrudes beyond the first surface (10a) when it is in an extended state is larger than the size of the first roller (900) that protrudes beyond the first surface (10a).

18. A magnetic drive transport system, A movable element according to any one of claims 1 to 17, A magnetically driven transport system comprising a stator including rails, wherein the rails include armature windings, and the armature windings, when energized, are magnetically coupled to the first permanent magnet array (6), thereby driving the movable element to move along the rails.

19. The stator is, The rail conversion stator (1) includes a rail conversion stator (1) having a junction end (101), a first branch end (102), and a second branch end (103), and the rail conversion stator (1) includes a first transport rail (200) and a second transport rail (300), the first transport rail (200) being located between the junction end (101) and the first branch end (102), the first transport rail (200) including a first armature winding (210), and the first armature winding (210) being the movable part of the magnetic drive transport system The magnetic drive transport system according to claim 18, wherein a second transport rail (300) is used to drive a child to move between the confluence end (101) and the first branch end (102), the second transport rail (300) is located between the confluence end (101) and the second branch end (103), the second transport rail (300) includes a second armature winding (310), and the second armature winding (310) is used to drive the child to move between the confluence end (101) and the second branch end (103).

20. The aforementioned telescopic guide members (7) are numerous, and of the numerous telescopic guide members (7), at least one is a first telescopic guide member (610), and at least one is a second telescopic guide member (620). The rail conversion stator (1) is The system further includes a direction-changing structure comprising a first guide member (410) and a second guide member (420), A first sliding groove (411) is defined by the first guide member (410), or the first sliding groove (411) is defined by both the first guide member (410) and the first transport rail (200), and a first retractable member (430) that can extend and retract is installed in the first sliding groove (411); a second sliding groove (421) is defined by the second guide member (420), or the second sliding groove (421) is defined by both the second guide member (420) and the second transport rail (300), and a second retractable member (440) that can extend and retract is installed in the second sliding groove (421); When the movable member moves between the confluence end (101) and the first branch end (102), the first telescopic member (430) descends, the first telescopic guide member (610) is in an extended state and inserted into the first sliding groove (411), and the second telescopic member (440) rises, causing the second telescopic guide member (620) to contract. The magnetic drive transport system according to claim 19, characterized in that when the movable element moves between the confluence end (101) and the second branch end (103), the second telescopic member (440) descends, the second telescopic guide member (620) is in an extended state and inserted into the second sliding groove (421), and the first telescopic member (430) rises, causing the first telescopic guide member (610) to be in a contracted state.

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