Bending stator module and magnetically-driven conveying system

Abstract

The present application discloses a bending stator module and a magnetically-driven conveying system. The bending stator module comprises a bending stator; the bending stator comprises a bending stator body and a bending armature winding arranged on the bending stator body; the bending armature winding comprises an avoiding portion and an arc-shaped bending portion; the avoiding portion comprises a first end portion, a second end portion, and a first inner side surface and a first outer side surface which are located between the first end portion and the second end portion; the arc-shaped bending portion comprises a second inner side surface and a second outer side surface; the first end portion is used for being assembled with a linear armature winding of a linear stator module; the first inner side surface is connected to the second inner side surface; the second end portion is used for being assembled with the arc-shaped bending portion; and in a direction from the first end portion to the second end portion, the first inner side surface obliquely extends towards the first outer side surface. In this way, a large spacing can always be maintained between a third recess wall of a rotor and the first outer side surface of the bending armature winding, thereby avoiding damage of the bending armature winding due to the third slot wall colliding with the first inner side surface.

Description

Cornering stator module and magnetic drive conveying system

[0001] This application claims priority to the patent application submitted to the State Intellectual Property Office of China on September 1, 2023, with application number 202311122438.2 and invention name "Curving stator module and magnetic drive conveying system". Technical Field

[0002] The present application relates to the field of magnetic drive technology, and in particular to a cornering stator module and a magnetic drive conveying system. Background Art

[0003] In a magnetic drive conveying system driven by magnetic force, an arc-shaped bending stator module is usually provided at the bend of the conveying device, and the mover realizes reversal through the bending stator module.

[0004] However, when the mover passes through the turning stator module, the mover is likely to cause motion interference and collision with the turning armature winding of the turning stator module, thereby causing damage to the turning armature winding.

[0005] Summary of the Invention

[0006] The present application provides a bending stator module and a magnetic drive conveying system, so that a large distance can always be maintained between the third slot wall of the mover and the first outer side surface of the bending armature winding, thereby preventing the third slot wall from colliding with the first inner side surface and causing damage to the bending armature winding.

[0007] In the first aspect, the present application provides a bending stator module for driving a mover to move along the extension direction of the bending stator module, the bending stator module including a bending stator, the bending stator including: a bending stator body; a bending armature winding, arranged on the bending stator body, the bending armature winding including a avoidance portion and an arc-shaped bending portion, the avoidance portion and the arc-shaped bending portion are arranged along the extension direction of the bending armature winding, the avoidance portion includes a first end portion, a second end portion, and a first inner side surface and a first inner side surface located between the first end portion and the second end portion. An outer surface, the arc-shaped bend portion includes a second inner surface and a second outer surface, the first end portion is used to be spliced ​​with the linear armature winding of the linear stator module, the first inner surface is connected to the second inner surface, and the second end portion is used to be spliced ​​with the arc-shaped bend portion; wherein, the arc profile of the second inner surface has a first center, and the first inner surface extends from the first end portion toward the direction close to the second end portion and toward the direction close to the first outer surface, so that the distance between the first inner surface and the first center portion along the width direction of the first end portion gradually increases.

[0008] In the second aspect, the present application also provides a magnetic drive conveying system, including a mover, a linear stator module and a bending stator module, the bending stator module and the linear stator module are spliced ​​to form a conveying device, and the conveying device is used to drive the mover to move along the extension direction of the conveying device; wherein, the linear stator module includes a linear stator and a linear guide rail, the linear stator includes a linear stator body and a linear armature winding, the linear stator body is spliced ​​with the bending stator body, the linear armature winding is spliced ​​with the avoidance part of the bending armature winding, and the linear guide rail is spliced ​​with the bending guide rail.

[0009] On the third aspect, the present application also provides a magnetic drive conveying system, including a mover, a linear stator module and a bending stator module, the bending stator module and the linear stator module are spliced ​​to form a conveying device, and the conveying device is used to drive the mover to move along the extension direction of the conveying device; wherein, the linear stator module includes a linear stator and a linear guide rail, the linear stator includes a linear stator body and a linear armature winding, the linear stator body is spliced ​​with the bending stator body, the linear armature winding is spliced ​​with the avoidance part of the bending armature winding, and the linear guide rail is spliced ​​with the bending guide rail.

[0010] The beneficial effects of the present application are as follows: by setting an avoidance portion, when the curved armature winding and the linear armature winding are spliced, the avoidance portion is located between the arc-shaped curved portion and the linear armature winding, and the avoidance portion can transition between the arc-shaped curved portion and the linear armature winding to realize the splicing of the curved curved portion and the linear armature winding, and the first inner side surface of the avoidance portion extends from the first end portion toward the direction close to the second end portion, and obliquely toward the direction close to the first outer side surface, so that the first inner side surface "shrinks inward" from the first end portion toward the direction close to the second end portion, so that the distance between the first center of the first inner side surface and the second inner side surface along the width direction of the first end portion gradually increases, so that the mover can have a transition buffer process when moving along the avoidance portion, and in the process of the mover moving along the avoidance portion, as the bending amplitude of the mover increases, the third slot wall and the first outer side surface can also always maintain a large distance, thereby preventing the third slot wall from colliding with the first inner side surface and causing damage to the curved armature winding. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative work.

[0012] FIG1 is a schematic structural diagram of a turning stator module in a first perspective according to an embodiment of the present application;

[0013] FIG2 is a schematic structural diagram of a turning stator module in a second viewing angle according to an embodiment of the present application;

[0014] FIG3 is a schematic structural diagram of a turning stator module in one embodiment of the present application from a third viewing angle;

[0015] FIG4 is a schematic structural diagram of a curved stator module and a straight stator module in the related art from a third perspective;

[0016] FIG5 is a schematic structural diagram of a curved stator module and a straight stator module in one embodiment of the present application from a third perspective;

[0017] FIG6 is a schematic diagram of the arrangement of coils in one embodiment of the present application;

[0018] FIG7 is a schematic diagram of the arrangement of coils in another embodiment of the present application;

[0019] FIG8 is a schematic structural diagram of a mover and a cornering stator module in one embodiment of the present application;

[0020] FIG9 is a schematic structural diagram of a mover and a cornering stator module in one embodiment of the present application from a fourth perspective;

[0021] FIG10 is a schematic structural diagram of a turning stator module in one embodiment of the present application from a third perspective;

[0022] FIG11 is a schematic structural diagram of a turning stator module in another embodiment of the present application from a third perspective;

[0023] 12 to 16 are schematic diagrams showing the movement process of the roller passing through the first straight segment, the arc-shaped conveying segment, and the second straight segment in sequence in one embodiment of the present application;

[0024] FIG17 is a schematic structural diagram of a magnetic drive conveying system according to an embodiment of the present application;

[0025] FIG18 is a schematic structural diagram of a mover in one embodiment of the present application.

[0026] Figures: 10, bending stator module; 20, bending stator; 21, stator body; 22, bending armature winding; 221, avoidance portion; 221a, first end portion; 221b, second end portion; 221c, first inner side surface; 221d, first outer side surface; 222, arc-shaped bending portion; 222a, second inner side surface; 222b, second outer side surface; 223, coupling surface; 224, coupling end; 225, connecting end; 226, coil; 23, bending guide rail; 231, arc-shaped conveying section; 231a, arc-shaped inner side surface; 231b, arc-shaped outer side surface; 231b1, first outer arc surface; 231b2, second outer arc surface; 23 1b3, third outer arc surface; 232, first straight segment; 233, second straight segment; 30, mover; 31, first roller; 32, second roller; 33, third roller; 34, fourth roller; 35, base; 351, accommodating groove; 351a, first groove wall; 351b, second groove wall; 351c, third groove wall; 352, notch; 36, permanent magnet; 40, linear stator module; 41, linear stator; 411, linear armature winding; 412, linear guide; 51, first connecting line; 52, second connecting line. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0028] The present application provides a turning stator module and a magnetic drive conveying system to solve the problem in the related art that when the mover passes through the turning stator module to turn, the mover is prone to motion interference and collision with the turning armature winding of the turning stator module, thereby causing damage to the turning armature winding.

[0029] In the first aspect, the present application provides a turning stator module 10, as shown in Figures 1 and 2. The turning stator module 10 is used to drive a mover 30 (as shown in Figure 8) to move along the extension direction of the turning stator module 10. The turning stator module 10 can be spliced ​​with the straight stator module 40 (as shown in Figure 17) in the magnetic drive conveying system, and the turning stator module 10 is arranged at the turning part of the magnetic drive conveying system. When the mover 30 moves along the magnetic drive conveying system to the turning stator module 10, the turning stator module 10 is used to realize the turning direction change of the mover 30 during the transportation process. It can be understood that the mover 30 is a device for carrying the objects to be transported in the magnetic drive conveying system. The mover 30 is a magnetically powered mover. When working, the mover 30 can be placed on the turning stator module 10. The turning stator module 10 can provide magnetic power for the mover 30 to drive the mover 30 to move along the extension direction of the turning stator module 10.

[0030] Specifically, as shown in Figures 2 and 3, the turning stator module 10 includes a turning stator 20, and the turning stator 20 includes a stator body 21 and a turning armature winding 22, and the turning armature winding 22 is arranged on the stator body 21. It can be understood that the stator body 21 is used to provide support for the turning armature winding 22, and the turning armature winding 22 has a coil 226 (as shown in Figure 6). The coil 226 generates a magnetic field when energized. The permanent magnet 36 on the mover 30 (as shown in Figure 8) generates a driving force under the current excitation of the coil 226, pushing the entire mover 30 to move along the extension direction of the turning stator module 10, thereby realizing the transportation of the object to be transported; the specific working principle of the magnetic power drive has long been disclosed in the relevant technology and will not be elaborated in this application.

[0031] More specifically, the bending armature winding 22 includes an avoidance portion 221 and an arc-shaped bending portion 222. The avoidance portion 221 and the arc-shaped bending portion 222 are arranged along the extension direction of the bending armature winding 22. The avoidance portion 221 includes a first end 221a, a second end 221b, and a first inner side surface 221c and a first outer side surface 221d located between the first end 221a and the second end 221b. The arc-shaped bending portion 222 includes a second inner side surface 222a and a second outer side surface 222b. The first end 221a is used to splice with the linear armature winding 411 of the linear stator module 40, the first inner side surface 221c is connected to the second inner side surface 222a, and the second end 221b is used to splice with the arc-shaped bending portion 222.

[0032] Among them, the arc-shaped contour of the second inner side surface 222a has a first center O1, and the first inner side surface 221c extends obliquely from the first end 221a toward the direction close to the second end 221b and toward the direction close to the first outer side surface 221d, so that the distance between the first inner side surface 221c and the first center O1 along the width direction of the first end 221a gradually increases.

[0033] It can be understood that, as shown in FIG8 , when the mover 30 moves along the curved armature winding 22, the third slot wall 351c of the mover 30 (as shown in FIG8 ) is arranged opposite to the inner side surface of the curved armature winding 22. Compared with the related art in which the curved armature winding 22 is directly spliced ​​with the straight armature winding 411 (as shown in FIG4 ), and in order to facilitate the splicing of the curved armature winding 22 with the straight armature winding 411, the two ends of the inner side surface of the curved armature winding 22 are usually designed to be aligned with the inner side surface of the curved armature winding 22. The extension direction of the linear armature winding 411 is the same as or similar to the straight extension direction. Taking the perspective shown in Figure 8 as an example, when the mover 30 moves to the right near the end of the bending armature winding 22, as the bending amplitude of the mover 30 becomes larger, the distance between the right end of the third slot wall 351c and the inner side surface of the bending armature winding 22 will become smaller and smaller, causing the third slot wall 351c to easily interfere with the bending armature winding 22 and collide with it, thereby causing damage to the bending armature winding 22.

[0034] In the present application, by providing the avoidance portion 221, as shown in FIG5, when the curved armature winding 22 is spliced ​​with the linear armature winding 411, the avoidance portion 221 is located between the arc-shaped curved curved portion 222 and the linear armature winding 411, and the avoidance portion 221 can transition between the arc-shaped curved curved portion 222 and the linear armature winding 411 to achieve the splicing of the arc-shaped curved portion 222 and the linear armature winding 411, and the first inner side surface 221c of the avoidance portion 221 is inclined from the first end 221a to the direction close to the second end 221b, and to the direction close to the first outer side surface 221d, so that the first inner side surface 221c is inclined from the first end 221a to the direction close to the second end 221b, and to the direction close to the first outer side surface 221d, so that the first inner side surface 221c is inclined from the first end 221c to the direction close to the second end 221d. The portion 221a is "retracted" toward the second end portion 221b, so that the distance between the first inner side surface 221c and the first center O1 of the second inner side surface 222a along the width direction of the first end portion 221a gradually increases, so that the mover 30 can have a transition buffer process when moving along the avoidance portion 221, and taking the perspective shown in Figure 8 as an example, in the process of the mover 30 moving to the right along the avoidance portion 221, as the turning amplitude of the mover 30 becomes larger, the third slot wall 351c and the first outer side surface 221d can also always maintain a large distance, thereby preventing the third slot wall 351c from colliding with the first inner side surface 221c and causing damage to the armature winding 22 during the turning.

[0035] As shown in Figure 3, in one embodiment, the first inner side surface 221c can be an inclined plane, so that as the first end 221a approaches the second end 221b, the distance between the first inner side surface 221c and the first center O1 of the second inner side surface 222a along the width direction of the first end 221a always maintains an increasing trend, so that even if the bending amplitude of the mover 30 becomes larger, the third groove wall 351c and the first outer side surface 221d can always maintain a large distance.

[0036] As shown in FIG5 , in other embodiments, the first inner side surface 221 c is a concave curved surface to make the transition process of the mover 30 along the transition portion smoother and more stable. Furthermore, the contour of the first inner side surface 221 c can completely or partially overlap with the circle containing the arc-shaped contour of the second inner side surface 222 a. That is, on a plane perpendicular to the axis of the second inner side surface 222 a, the projection of the first inner side surface 221 c completely or partially overlaps with the projection of the second inner side surface 222 a. Of course, in other embodiments, the first inner side surface 221 c can also have other shapes, such as a sawtooth shape or a wavy shape.

[0037] Continuing to refer to FIG3 , in some embodiments of the present application, the width of the avoidance portion 221 gradually decreases from the first end portion 221a to the second end portion 221b. It should be noted that the width of the avoidance portion 221 refers to the distance between the first inner side surface 221c and the first outer side surface 221d. In the embodiment of the present application, the width of the avoidance portion 221 gradually decreases, so that the first inner side surface 221c can be designed to extend from the first end portion 221a to the direction close to the second end portion 221b and to the direction close to the first outer side surface 221d without changing the shape of the first outer side surface 221d; in addition, the width of the second end portion 221b can be made smaller than that of the first end portion 221c. 4 and 5 , it can be seen that the radius of the second inner side surface 222a of the arc-shaped bending portion 222 can be increased on the basis of keeping the position of the first circle center O1 of the second inner side surface 222a unchanged, thereby increasing the arc length of the arc profile of the second inner side surface 222a, so that the arc-shaped bending portion 222 can be used for a longer mover 30 to perform bending and direction change, thereby increasing the universality of the bending armature winding 22.

[0038] In some embodiments of the present application, the width of the first end 221a is equal to the width of the linear armature winding 411 spliced ​​with the avoidance portion 221, or / and the width of the arc-shaped bend portion 222 is the same as the width of the second end 221b, so that the splicing of the avoidance portion 221 and the linear armature winding 411 and the splicing of the avoidance portion 221 and the arc-shaped bend portion 222 are more convenient and smooth. The width of the arc-shaped bend portion 222 refers to the distance between the second inner side surface 222a and the second outer side surface 222b. It should also be noted that only the width of the first end 221a may be equal to the width of the linear armature winding 411 spliced ​​with the avoidance portion 221, or only the width of the arc-shaped bend portion 222 may be the same as the width of the second end 221b, or the width of the first end 221a may be equal to the width of the linear armature winding 411 spliced ​​with the avoidance portion 221, and the width of the arc-shaped bend portion 222 may be the same as the width of the second end 221b.

[0039] Continuing to refer to Figure 3, in some embodiments of the present application, the first outer side surface 221d is connected to the second outer side surface 222b, and when the linear armature winding 411 is spliced ​​with the transition portion, the first outer side surface 221d is connected to the outer side surface of the linear armature winding 411, so that the splicing point between the transition portion and the linear armature winding 411 will not form a step-like structure due to uneven splicing, and the splicing point between the transition portion and the arc-shaped bending portion 222 will not form a step-like structure due to uneven splicing, so that the magnetic field formed by the coil 226 on the bending armature winding 22 is more evenly distributed.

[0040] In some embodiments of the present application, two avoidance portions 221 are provided, and the two avoidance portions 221 are respectively located at the two ends of the arc-shaped turning portion 222. It is understood that when there is only one avoidance portion 221, the first end 221a of the avoidance portion 221 can be spliced ​​with one linear track, the second end 221b of the avoidance portion 221 can be spliced ​​with the first end of the arc-shaped turning portion 222, and the first end of the arc-shaped turning portion 222 can be spliced ​​with another linear track; when there are two avoidance portions 221, the two avoidance portions 221 can be spliced ​​with the two linear tracks respectively.

[0041] Continuing to refer to Figure 3, in some embodiments of the present application, the arc-shaped contour of the second outer side surface 222b has a second center O2, and the first center O1 coincides with the second center O2, that is, on a plane perpendicular to the axial line of the second inner side surface 222a and the second outer side surface 222b, the center of the projection of the second inner side surface 222a coincides with the center of the projection of the second outer side surface 222b, so that the circle where the arc contour of the second inner side surface 222a is located and the circle where the arc contour of the second outer side surface 222b is located are concentric circles, so that the width of the arc-shaped bend portion 222 is the same at all locations, so that the shape of the arc-shaped bend portion 222 is more regular, the overall force of the arc-shaped bend portion 222 is more uniform, and it is easy to process and manufacture, which can reduce production costs.

[0042] Continuing with FIG. 3 , in some embodiments of the present application, the stator body 21 has an axis of symmetry AA, with the first center O1 and the second center O2 both located along an extension of the axis of symmetry AA. The curved armature winding 22 is symmetrically arranged about the axis of symmetry AA. It will be appreciated that the curved armature winding 22 and the stator body 21 both have an axisymmetric structure about the axis of symmetry AA. This ensures more uniform stress distribution across the stator body 21 and the curved armature winding 22, facilitates manufacturing, and reduces production costs.

[0043] As shown in Figures 6 and 7 , in some embodiments of the present application, the bending stator 20 includes multiple coil windings arranged along the extension direction of the bending armature winding 22. It will be appreciated that periodic energization of the multiple coil windings generates a varying magnetic field at different positions of the bending armature winding 22. This magnetic field is used to couple with the permanent magnets 36 on the mover 30, thereby driving the mover 30 to move on the bending stator module 10.

[0044] Among them, the avoidance portion 221 and the arc-shaped bending portion 222 both have coil windings, so that the mover 30 will receive the electromagnetic driving force provided by the coil windings during the movement along the avoidance portion 221 and the arc-shaped bending portion 222, making the commutation process of the mover 30 more stable, easier to control and with higher movement accuracy.

[0045] As shown in FIG6 , in one embodiment of the present application, each coil winding includes a U-phase coil, a V-phase coil, and a W-phase coil arranged sequentially along the extension direction of the curved armature winding 22. It is understood that the U-phase coil, the V-phase coil, and the W-phase coil in each coil winding are arranged in the same layer, and the U-phase coil, the V-phase coil, and the W-phase coil are different types of coils 226 in the coil winding, and the U-phase coil, the V-phase coil, and the W-phase coil can form a three-phase coil winding.

[0046] The avoidance portion 221 can be integrally formed with the curved bend portion 222. The curved stator 20 can also include a circuit board, with all coil windings disposed on a single circuit board. This improves the connection strength between the avoidance portion 221 and the curved bend portion 222 and reduces the number of circuit boards, thereby saving costs. The circuit board can be a single-sided board, a double-sided board, or a multi-layer board, and can be a printed circuit board. The coils 226 in the coil windings can be formed on the circuit board by printing.

[0047] In other embodiments, the turning stator 20 may also include a first circuit board located in the avoidance portion 221 and a second circuit board located in the curved turning portion 222, wherein the coil winding of the avoidance portion 221 is located on the first circuit board, and the coil winding of the curved turning portion 222 is located on the second circuit board. It is understandable that the coil winding of the avoidance portion 221 and the coil winding on the curved turning portion 222 are respectively located on the first circuit board and the second circuit board, which can prevent the coil winding of the avoidance portion 221 and the coil winding on the curved turning portion 222 from interfering with each other. It should also be noted that in this embodiment, the avoidance portion 221 can be integrally formed with the curved turning portion 222, or the avoidance portion 221 and the curved turning portion 222 can be formed separately and then spliced; the first circuit board and the second circuit board can be connected by electrical connection methods such as pin connection, adapter plate connection, socket connection, and wire connection.

[0048] As shown in Figure 7, in another embodiment of the present application, the first coil winding among the multiple coil windings is arranged adjacent to the second coil winding, the first coil winding includes a first U-phase coil, a first V-phase coil and a first W-phase coil, and the second coil winding includes a second U-phase coil, a second V-phase coil and a second W-phase coil.

[0049] The first U-phase coil, the first W-phase coil, and the second V-phase coil are located on the same layer and arranged sequentially. The first V-phase coil, the second U-phase coil, and the second W-phase coil are located on the same layer and arranged sequentially. It should be noted that the first coil winding and the second coil winding are located on different layers, and the first coil winding can be located on the layer above or below the second coil winding.

[0050] As shown in FIG8 , in some embodiments of the present application, the bending armature winding 22 has a coupling surface 223 for being arranged opposite to the permanent magnet 36 of the mover 30 , and the coupling surface 223 is located between the inner side surface of the bending armature winding 22 and the outer side surface of the bending armature winding 22 .

[0051] The coupling surface 223 can be set horizontally, that is, the coupling surface 223 is parallel to the horizontal plane. It should be noted that compared to the related art in which the coupling surface 223 is set vertically, so that the mover 30 can only bend on the outer circle of the bending armature winding 22 when turning, resulting in a smaller conveying diversity of the bending stator module 10, in the embodiment of the present application, by setting the coupling surface 223 of the bending armature winding 22 horizontally, the mover 30 can bend on the outer circle of the bending armature winding 22 along the first arc surface when turning, or can bend on the outer circle of the bending armature winding 22 along the second arc surface when turning, which can improve the conveying diversity of the bending stator module 10. Of course, in other embodiments, the coupling surface 223 can also be set vertically.

[0052] Continuing with FIG8 , in some embodiments of the present application, the bending armature winding 22 has a coupling end 224 for coupling with the permanent magnet 36 of the mover 30 and a connecting end 225 for connecting to the body of the bending stator 20. The coupling end 224 has a first inner side surface 221c and a second inner side surface 222a, and the connecting end 225 has a first outer side surface 221d and a second outer side surface 222b. It is understood that the connecting end 225 of the bending armature winding 22 is connected to the stator body 21. When the bending armature winding 22 drives the mover 30, the coupling end 224 is inserted into the receiving slot 351 of the mover 30 containing the permanent magnet 36 (as shown in FIG18 ) and couples with the permanent magnet 36, allowing the mover 30 to achieve inner-circuit bending along the coupling end 224, thereby improving the conveying diversity of the bending stator module 10.

[0053] As shown in Figures 8 to 10, in some embodiments of the present application, the bending stator module 10 further includes a bending guide rail 23. The bending guide rail 23 is disposed to the side of the bending armature winding 22 and is connected to the main body of the bending stator 20. The bending guide rail 23 extends in the same direction as the bending armature winding 22. The bending guide rail 23 is used to allow the rollers of the mover 30 to roll. It is understood that the bending guide rail 23 is used to provide a limited guide for the mover 30. The rollers of the mover 30 can track along the bending guide rail 23, allowing the mover 30 to move stably along the bending stator module 10 under the drive of the bending armature winding 22.

[0054] It should also be noted that when there is a bending guide rail 23, the bending stator module 10 can control the motion trajectory of the mover 30 in two ways. The first way is to control the motion trajectory of the mover 30 by the power input provided by the bending armature winding 22 to the mover 30; the second way is to use the guidance of the bending guide rail 23 to control the motion trajectory of the mover 30. Therefore, in theory, the shape of the bending guide rail 23 can also be designed to prevent the mover 30 from colliding with the bending armature winding 22 when turning. However, The curved guide rail 23 is usually a non-standard part, which is more troublesome to process and has a high processing cost. A curved guide rail 23 of one width model can only adapt to a mover 30 of one length specification, and has poor universality. In the present application, the curved armature winding 22 is designed to prevent the mover 30 from colliding with the curved armature winding 22 when bending. There is no need to change the width model and position of the curved guide rail 23, and the curved armature winding 22 can adapt to movers 30 of various specifications, thereby improving the universality of the curved stator module 10.

[0055] In one embodiment of the present application, the coupling surface 223 and the bending guide rail 23 are arranged horizontally, and the bending guide rail 23 is located below the bending armature winding 22; or, the coupling surface 223 and the bending guide rail 23 are arranged horizontally, and the bending guide rail 23 is located above or below the stator body 21; or, the coupling surface 223 and the bending guide rail 23 are arranged vertically, and the bending guide rail 23 is located at the connection end 225.

[0056] Continuing to refer to FIG. 10 , in some embodiments of the present application, the curved guide rail 23 includes a curved conveying section 231 , which is positioned opposite to the curved curved portion 222 , and has a curved inner side surface 231 a and a curved outer side surface 231 b .

[0057] In one embodiment, the arcuate profile of the arcuate inner side surface 231a has a third center O3, the arcuate profile of the arcuate outer side surface 231b has a fourth center O4, and the first center O1, the second center O2, the third center O3 and the fourth center O4 all coincide. It can be understood that in this embodiment, the curvature of the curved conveying section 231 is the same at all locations, the curved contour of the curved inner side surface 231a is part of a circle, the curved contour of the curved outer side surface 231b is part of another circle, and the circle where the curved contour of the second inner side surface 222a is located, the circle where the curved contour of the second outer side surface 222b is located, the circle where the curved contour of the curved inner side surface 231a is located, and the circle where the curved contour of the curved outer side surface 231b is located are concentric circles, so that the distances between the curved outer side surface 231b and the curved inner side surface 231a are the same at all locations, that is, the width of the curved conveying section 231 is the same at all locations, so that the roller can turn and change direction more smoothly along the curved conveying section 231.

[0058] As shown in Figure 11, in another embodiment, the arc-shaped contour of the arc-shaped inner surface 231a has a fifth center O5, and the arc-shaped outer surface 231b includes a first outer arc surface 231b1, a second outer arc surface 231b2 and a third outer arc surface 231b3 arranged and connected in sequence along the extension direction of the curved guide rail 23, the arc-shaped contour of the first outer arc surface 231b1 has a sixth center O6, the arc-shaped contour of the second outer arc surface 231b2 has a seventh center O7, and the arc-shaped contour of the third outer arc surface 231b3 has an eighth center O8. The fifth center O5 and the seventh center O7 both coincide with the first center O1 and the second center O2, and the sixth center O6 and the eighth center O8 are both staggered with the first center O1. It can be understood that in this embodiment, the circle where the arc profile of the first outer arc surface 231b1 is located, the circle where the arc profile of the second outer arc surface 231b2 is located, and the circle where the arc profile of the third outer arc surface 231b3 is located are all non-concentric circles, which makes the distance between the first outer arc surface 231b1 and the arc inner side surface 231a, and the distance between the third outer arc surface 231b3 and the arc inner side surface 231a different from the distance between the second outer arc surface 231b2 and the arc inner side surface 231a.

[0059] In one embodiment, the first outer arc surface 231b1 is tangent to the second outer arc surface 231b2, and the third outer arc surface 231b3 is tangent to the second outer arc surface 231b2, so that the roller can turn more smoothly along the first outer arc surface 231b1, the second outer arc surface 231b2 and the third outer arc surface 231b3.

[0060] It should also be noted that, in other embodiments, only the first outer arc surface 231b1 may be tangent to the second outer arc surface 231b2, or only the third outer arc surface 231b3 may be tangent to the second outer arc surface 231b2.

[0061] 10 and 11 , the curved guide rail 23 further includes a first straight segment 232 and a second straight segment 233. The first straight segment 232, the curved conveying segment 231, and the second straight segment 233 are sequentially arranged and connected along the extension direction of the curved guide rail 23. The first straight segment 232 and / or the second straight segment 233 are positioned opposite the avoidance portion 221. The first straight segment 232 and the second straight segment 233 are configured to be respectively connected to the linear guide rail 412 (as shown in FIG. 17 ) of the linear stator module 40. It should be noted that when the curved armature winding 22 includes one avoidance portion 221, one of the first straight segment 232 and the second straight segment 233 is positioned opposite the avoidance portion 221. When the curved armature winding 22 includes two avoidance portions 221, the first straight segment 232 and the second straight segment 233 are positioned opposite the two avoidance portions 221, respectively.

[0062] In one embodiment of the present application, the inner side surface of the first straight line segment 232 is a plane tangent to the arc-shaped inner side surface 231a, the inner side surface of the second straight line segment 233 is a plane tangent to the arc-shaped inner side surface 231a, the outer side surface of the first straight line segment 232 is a plane tangent to the first outer arc surface 231b1, and the outer side surface of the second straight line segment 233 is a plane tangent to the third outer arc surface 231b3.

[0063] It can be understood that the first straight segment 232 and the second straight segment 233 both extend in a straight line, and the extension direction of the linear guide rail 412 spliced ​​with the curved guide rail 23 depends on the extension direction of the curved guide rail 23. More specifically, when there is a first straight segment 232, the extension direction of the linear guide rail 412 spliced ​​with the first straight segment 232 is the same as the extension direction of the first straight segment 232. When there is a second straight segment 233, the extension direction of the linear guide rail 412 spliced ​​with the first straight segment 232 is the same as the extension direction of the first straight segment 232. The roller can still continue the linear conveying state in the first straight segment 232 and the second straight segment 233, so that the mover 30 in the first straight segment 232 The second straight segment 233 can still continue the straight conveying state, and the entire turning and reversing process of the mover 30 occurs in the arc conveying segment 231, so that the turning and reversing process of the mover 30 can be completed in the turning stator module 10. The mover 30 does not need to pass through the joint of the turning guide rail 23 and the linear guide rail 412 during the turning and reversing process, so that the reversing process of the mover 30 is more stable, easier to control and has higher movement accuracy.

[0064] It should also be noted that, in other embodiments, only the inner side surface of the first straight segment 232 may be a plane tangent to the curved inner side surface 231a. In other embodiments, only the inner side surface of the second straight segment 233 may be a plane tangent to the curved inner side surface 231a. In other embodiments, the inner side surface of the first straight segment 232 may be a plane tangent to the curved inner side surface 231a, and the inner side surface of the second straight segment 233 may be a plane tangent to the curved inner side surface 231a. In other embodiments, only the outer side surface of the first straight segment 232 may be a plane tangent to the first outer curved surface 231b1. In other embodiments, only the outer side surface of the second straight segment 233 may be a plane tangent to the third outer curved surface 231b3. In other embodiments, the outer side surface of the first straight segment 232 may be a plane tangent to the first outer curved surface 231b1, and the outer side surface of the second straight segment 233 may be a plane tangent to the third outer curved surface 231b3. In other embodiments, the inner side surface of the first straight segment 232 may be a plane tangent to the curved inner side surface 231a, and the outer side surface of the first straight segment 232 may be a plane tangent to the first outer curved surface 231b1. In other embodiments, the inner side surface of the first straight segment 232 may be a plane tangent to the curved inner side surface 231a, and the outer side surface of the second straight segment 233 may be a plane tangent to the third outer curved surface 231b3. In other embodiments, the outer side surface of the first straight segment 232 may be a plane tangent to the first outer curved surface 231b1, and the inner side surface of the second straight segment 233 may be a plane tangent to the curved inner side surface 231a. In other embodiments, the inner side surface of the second straight segment 233 may be a plane tangent to the curved inner side surface 231a, and the outer side surface of the second straight segment 233 may be a plane tangent to the third outer curved surface 231b3. In other embodiments, the inner side surface of the first straight segment 232 may be a plane tangent to the arcuate inner side surface 231a, the inner side surface of the second straight segment 233 may be a plane tangent to the arcuate inner side surface 231a, and the outer side surface of the first straight segment 232 may be a plane tangent to the first outer curved surface 231b1. In other embodiments, the inner side surface of the first straight segment 232 may be a plane tangent to the arcuate inner side surface 231a, the inner side surface of the second straight segment 233 may be a plane tangent to the third outer curved surface 231b3. In other embodiments, the inner side surface of the first straight segment 232 may be a plane tangent to the arcuate inner side surface 231a, the outer side surface of the first straight segment 232 may be a plane tangent to the first outer curved surface 231b1, and the outer side surface of the second straight segment 233 may be a plane tangent to the third outer curved surface 231b3.In other embodiments, the inner side surface of the second straight line segment 233 can be set as a plane tangent to the arc-shaped inner side surface 231a, the outer side surface of the first straight line segment 232 can be set as a plane tangent to the first outer arc surface 231b1, and the outer side surface of the second straight line segment 233 can be set as a plane tangent to the third outer arc surface 231b3.

[0065] As shown in Figures 9 and 12, in some embodiments of the present application, the mover 30 includes a first roller 31, a second roller 32, a third roller 33 and a fourth roller 34. The first roller 31 and the second roller 32 are used to be arranged on the outer side of the bending guide rail 23, and are arranged at intervals along the extension direction of the bending guide rail 23; the third roller 33 and the fourth roller 34 are used to be arranged on the inner side of the bending guide rail 23, and are arranged at intervals along the extension direction of the bending guide rail 23.

[0066] The distance between the first roller 31 and the second roller 32 is smaller than the distance between the third roller 33 and the fourth roller 34. It can be understood that the third roller 33 and the fourth roller 34 are used to roll along the arc-shaped inner side surface 231a of the curved guide rail 23. Since the curvature of the arc-shaped inner side surface 231a is the same at all locations, The third roller 33 and the fourth roller 34 can always maintain contact with the arc-shaped inner surface 231a, and the first roller 31 and the second roller 32 are used to roll along the arc-shaped outer surface 231b of the bending guide rail 23. By setting the distance between the first roller 31 and the second roller 32 to be smaller, it is possible to ensure that at least one of the first roller 31 and the second roller 32 is in contact with the arc-shaped outer surface 231b when the first roller 31 and the second roller 32 roll on the first outer arc surface 231b1, the second outer arc surface 231b2 and the third outer arc surface 231b3, so that at least three rollers are in contact with the bending guide rail 23 to form a stable triangular structure. Moreover, since the distance between the third roller 33 and the fourth roller 34 is larger, the three rollers can form an acute-angled triangle with stronger stability, so that the mover 30 is more stable and smooth when moving along the bending guide rail 23.

[0067] It should also be noted that, in other embodiments of the present application, the number of rollers may also be 1, 2, 3, 5 or other numbers, and all rollers may also be located on the inner side or outer side of the bending guide rail 23; when rollers are provided on both the inner side and the outer side of the bending guide rail 23, the number of rollers located on the inner side of the bending guide rail 23 may be the same as or different from the number of rollers located on the outer side of the bending guide rail 23, for example, the number of rollers located on the inner side of the bending guide rail 23 is 2, and the number of rollers located on the outer side of the bending guide rail 23 is 1.

[0068] As shown in FIG. 12 to FIG. 16 , FIG. 12 to FIG. 16 illustrate the movement process of the roller passing through the first straight segment 232 , the arc-shaped conveying segment 231 and the second straight segment 233 in sequence.

[0069] As shown in Figure 12, in one embodiment of the present application, the inner side surface of the first straight segment 232 and the first outer arc surface 231b1 have a first tangent point. When the first tangent point and the axis of the fourth roller 34 are located in the same plane, the contact position of the third roller 33 and the bending guide rail 23 is the connection between the first straight segment 232 and the linear guide rail 412, so that when the mover 30 moves along the first straight segment 232, it is ensured that one of the third roller 33 and the fourth roller 34 is in contact with the inner side surface of the first straight segment 232, thereby improving the stability of the mover 30 when moving along the first straight segment 232.

[0070] As shown in Figure 14, when the first roller 31 and the second roller 32 are in contact with the second outer arc surface 231b2, the outer contours of the first roller 31 and the second roller 32 are tangent to the second outer arc surface 231b2, and the outer contours of the third roller 33 and the fourth roller 34 are tangent to the arc inner surface 231a, so that when the mover 30 moves along the part corresponding to the second outer arc surface 231b2 on the bending guide rail 23, the four rollers are ensured to be in contact with the part corresponding to the second outer arc surface 231b2 on the bending guide rail 23, so as to improve the stability of the mover 30 when turning.

[0071] As shown in Figure 16, the inner side surface of the second straight segment 233 and the third outer arc surface 231b3 have a second tangent point. When the second tangent point and the axis of the third roller 33 are in the same plane, the contact position of the fourth roller 34 and the bending guide rail 23 is the connection between the second straight segment 233 and the linear guide rail 412, so that when the mover 30 moves along the second straight segment 233, one of the third roller 33 and the fourth roller 34 is in contact with the inner side surface of the second straight segment 233, thereby improving the stability of the mover 30 when moving along the second straight segment 233.

[0072] In one embodiment of the present application, as shown in Figure 12, the first connecting line 51 passes through the axis of the third roller 33 and the axis of the fourth roller 34, and the second connecting line 52 forms an angle of 40 degrees with the first connecting line 51. The second connecting line 52 is tangent to the outer contour of the second roller 32.

[0073] In one embodiment of the present application, the spacing between the first roller 31 and the second roller 32 can be 40 mm to 60 mm, and preferably 55 mm. Of course, the spacing between the first roller 31 and the second roller 32 can also be other values, such as 40 mm, 45 mm, 50 mm, or 60 mm. The spacing between the third roller 33 and the fourth roller 34 can be 60.1 mm to 70 mm, and preferably 64.24 mm. Of course, the spacing between the third roller 33 and the fourth roller 34 can also be other values, such as 60.1 mm, 62 mm, 65 mm, 68 mm, or 70 mm. The radii of the first roller 31, the second roller 32, the third roller 33 and the fourth roller 34 may be the same or different. The radii of the first roller 31, the second roller 32, the third roller 33 and the fourth roller 34 may be 30 mm-40 mm. The radii of the first roller 31, the second roller 32, the third roller 33 and the fourth roller 34 may preferably be 34 mm. Of course, the radii of the first roller 31, the second roller 32, the third roller 33 and the fourth roller 34 may also be other values, such as 30 mm, 32 mm, 35 mm, 38 mm or 40 mm.

[0074] As shown in Figure 14, the distance between the inner side surface of the first straight segment 232 and the outer side surface of the first straight segment 232, and the distance between the inner side surface of the second straight segment 233 and the outer side surface of the second straight segment 233 are both L1, that is, the width of the first straight segment 232 and the width of the second straight segment 233 are both L1; the distance between the arc-shaped inner side surface 231a and the second outer arc surface 231b2 is L2, and the width of the bending section of the portion corresponding to the second outer arc surface 231b2 on the bending guide rail 23 is L2.

[0075] In one embodiment, L1>L2. It can be understood that the spacing between the first roller 31 and the third roller 33, and the spacing between the second roller 32 and the fourth roller 34 generally depend on the width of the linear guide 412, so that when the mover 30 moves along the linear guide 412, the four rollers are in contact with the linear guide 412, and the width of the linear guide 412 spliced ​​with the first straight segment 232 will be the same as the width of the first straight segment 232, and the width of the linear guide 412 spliced ​​with the second straight segment 233 will be the same as the width of the second straight segment 233. Therefore, taking the case where the mover 30 moves along the first straight segment 232 as an example, the four rollers will also be in contact with the first straight segment 232. In this embodiment, by Setting L1>L2 can prevent the roller from getting stuck due to L2 being too large when the mover 30 moves to the part corresponding to the second outer arc surface 231b2 on the curved guide rail 23, thereby ensuring the smooth movement of the mover 30; in addition, since L1 and L2 are not equal, the outer side surface of the first straight line segment 232 and the outer side surface of the second straight line segment 233 cannot be directly tangent to the second outer arc surface 231b2. By setting the first outer arc surface 231b1 to achieve the transition between the outer side surface of the first straight line segment 232 and the second outer arc surface 231b2, and setting the third outer arc surface 231b3 to achieve the transition between the outer side surface of the second straight line segment 233 and the second outer arc surface 231b2, the mover 30 can be made to move more smoothly.

[0076] In another embodiment, L1=L2, so that when the mover 30 moves to the part of the bending guide rail 23 corresponding to the second outer arc surface 231b2, the four rollers can all contact the part of the bending guide rail 23 corresponding to the second outer arc surface 231b2, which can make the movement of the mover 30 more stable.

[0077] Secondly, the present application also provides a magnetically driven conveying system, as shown in Figure 17, the magnetically driven conveying system includes a mover 30, a linear stator module 40 and a bending stator module 10 as in any of the above embodiments. The bending stator module 10 and the linear stator module 40 are spliced ​​together to form a conveying device, which is used to drive the mover 30 to move along the extension direction of the conveying device.

[0078] The linear stator module 40 includes a linear stator 41 , which includes a linear stator body and a linear armature winding 411 . The linear stator body is spliced ​​with the body of the curved stator 20 , and the linear armature winding 411 is spliced ​​with the avoidance portion 221 of the curved armature winding 22 .

[0079] In one embodiment of the present application, the linear stator module 40 further includes a linear guide rail 412 , which is spliced ​​with the curved guide rail 23 .

[0080] As shown in Figures 8 and 18, in one embodiment of the present application, the mover 30 includes a base 35, the base 35 has a receiving groove 351, the receiving groove 351 extends along a first preset direction to pass through both ends of the base 35, and the receiving groove 351 extends along a second preset direction to form a slot 352 on one side of the base 35 for the linear armature winding 411 and the curved armature winding 22 to enter and exit the receiving groove 351, and the second preset direction is perpendicular to the first preset direction; the receiving groove 351 includes a first slot wall 351a, a second slot wall 351b and a third slot wall 351c, the third slot wall 351c is arranged opposite to the slot 352, the first slot wall 351a and the second slot wall 351b are arranged opposite to each other, and are respectively located on both sides of the third slot wall 351c.

[0081] In which, permanent magnets 36 are arranged on the first slot wall 351a and / or the second slot wall 351b. When the mover 30 is located in the linear stator module 40, the permanent magnet 36 is arranged opposite to the linear armature winding 411; when the mover 30 is located in the curved stator module 10, the permanent magnet 36 is arranged opposite to the curved armature winding 22.

[0082] It should be noted that the permanent magnet 36 can be set only on the first slot wall 351a or the second slot wall 351b, or the permanent magnet 36 can be set on both the first slot wall 351a and the second slot wall 351b; taking the bending armature winding 22 as an example, when the coupling end 224 of the bending armature winding 22 is inserted into the accommodating slot 351 through the slot 352, the coupling surface 223 of the bending armature winding 22 is arranged opposite to the permanent magnet 36, and the coupling end 224 of the bending armature winding 22 is arranged opposite to the third slot wall 351c. When the bending armature winding 22 has only one coupling surface 223, the permanent magnet 36 is set only on the first slot wall 351a or the second slot wall 351b. When the bending armature winding 22 has two coupling surfaces 223, the permanent magnet 36 is set on both the first slot wall 351a and the second slot wall 351b.

[0083] In one embodiment of the present application, when the mover 30 is located in the linear stator module 40, a gap exists between the third slot wall 351c and the linear armature winding 411. It will be appreciated that the width of the escape portion 221 is greatest at the first end 221a of the escape portion 221, and the width of the first end 221a is the same as the width of the linear armature winding 411. Therefore, when the mover 30 moves to the first end 221a of the escape portion 221, a gap also exists between the third slot wall 351c and the linear armature winding 411. This ensures that when both ends of the mover 30 move to the first end 221a of the escape portion 221, the third slot wall 351c does not collide with the linear armature winding 411.

[0084] In one embodiment of the present application, a first sensor is provided on the mover 30 , and a second sensor is provided on both the linear stator module 40 and the bending stator module 10 . The second sensor is used to cooperate with the first sensor to detect the position of the mover 30 .

[0085] The first sensor may be a magnetic scale or a grating, and the second sensor may be a reading head capable of reading the magnetic scale or the grating; or the first sensor may be a reading head capable of reading the magnetic scale or the grating, and the second sensor may be a magnetic scale or the grating.

[0086] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A bending stator module, characterized in that: Used to drive the mover to move along the extension direction of the bending stator module, the bending stator module includes a bending stator, and the bending stator includes: Bending stator body; A bending armature winding is arranged on the bending stator body, the bending armature winding includes an avoidance portion and an arc-shaped bending portion, the avoidance portion and the arc-shaped bending portion are arranged along the extension direction of the bending armature winding, the avoidance portion includes a first end, a second end, and a first inner side surface and a first outer side surface located between the first end and the second end, the arc-shaped bending portion includes a second inner side surface and a second outer side surface, the first end is used for splicing with the linear armature winding of the linear stator module, the first inner side surface is connected to the second inner side surface, and the second end is used for splicing with the arc-shaped bending portion; Among them, the arc-shaped contour of the second inner side surface has a first center, and the first inner side surface extends obliquely from the first end toward the direction close to the second end and toward the direction close to the first outer side surface, so that the distance between the first inner side surface and the first center along the width direction of the first end gradually increases.

2. The bending stator module according to claim 1, characterized in that: The first inner side surface is an inclined plane.

3. The cornering stator module according to claim 1, characterized in that: The first inner side surface is a concave curved surface.

4. The cornering stator module according to claim 1, characterized in that: The width of the avoidance portion gradually decreases from the first end portion to the second end portion.

5. The cornering stator module according to claim 1, characterized in that: The width of the first end portion is equal to the width of the linear armature winding spliced ​​with the avoidance portion, or / and the width of the arc-shaped bending portion is the same as the width of the second end portion.

6. The cornering stator module according to claim 1, characterized in that: The avoidance portions are provided with two, and the two avoidance portions are respectively located at two ends of the arc-shaped bending portion.

7. The cornering stator module according to claim 1, characterized in that: The arc-shaped contour of the second outer side surface has a second center, and the first center coincides with the second center.

8. The cornering stator module according to claim 1, characterized in that: The bending stator comprises a plurality of coil windings, and the plurality of coil windings are arranged along the extension direction of the bending armature winding; Wherein, both the avoidance portion and the arc-shaped bending portion have the coil winding.

9. The cornering stator module according to claim 8, characterized in that: Each of the coil windings includes a U-phase coil, a V-phase coil and a W-phase coil which are sequentially arranged along the extending direction of the curved armature winding.

10. The bending stator module according to claim 9, characterized in that: The avoidance portion is integrally formed with the arc-shaped bending portion, and the bending stator further comprises a circuit board, and all the coil windings are arranged on one of the circuit boards.

11. The cornering stator module according to claim 9, characterized in that: The turning stator further includes a first circuit board located at the avoidance portion and a second circuit board located at the arc-shaped turning portion. The coil winding of the avoidance portion is located at the first circuit board, and the coil winding of the arc-shaped turning portion is located at the second circuit board.

12. The cornering stator module according to claim 8, characterized in that: A first coil winding and a second coil winding of the plurality of coil windings are arranged adjacent to each other, the first coil winding includes a first U-phase coil, a first V-phase coil and a first W-phase coil, and the second coil winding includes a second U-phase coil, a second V-phase coil and a second W-phase coil; The first U-phase coil, the first W-phase coil and the second V-phase coil are located in the same layer and arranged in sequence, and the first V-phase coil, the second U-phase coil and the second W-phase coil are located in the same layer and arranged in sequence.

13. The cornering stator module according to claim 1, characterized in that: The bending armature winding has a coupling surface for being arranged opposite to the permanent magnet of the mover, the coupling surface is located between the inner side surface of the bending armature winding and the outer side surface of the bending armature winding, and the coupling surface is arranged horizontally.

14. The cornering stator module according to claim 1, characterized in that: The bending armature winding has a coupling end for coupling with the permanent magnet of the mover and a connecting end for connecting with the bending stator body, the coupling end has the first inner side surface and the second inner side surface, and the connecting end has the first outer side surface and the second outer side surface.

15. The cornering stator module according to claim 1, characterized in that: The cornering stator module further comprises: The bending guide rail is arranged on the side of the bending armature winding and connected to the bending stator body. The extension direction of the bending guide rail is the same as the extension direction of the bending armature winding. The bending guide rail is used for the roller of the mover to roll.

16. The cornering stator module according to claim 15, characterized in that: The bending armature winding has a coupling surface for being arranged opposite to the permanent magnet of the mover, and the coupling surface is located between the inner side surface of the bending armature winding and the outer side surface of the bending armature winding; the bending armature winding also has a coupling end for coupling with the permanent magnet of the mover and a connecting end for connecting with the bending stator body, the coupling end has the first inner side surface and the second inner side surface, and the connecting end has the first outer side surface and the second outer side surface; Wherein, the coupling surface and the bending guide rail are arranged horizontally, and the bending guide rail is located below the bending armature winding; or, The coupling surface and the bending guide rail are arranged horizontally, and the bending guide rail is located above or below the bending stator body; or, The coupling surface and the bending guide rail are vertically arranged, and the bending guide rail is located at the connecting end.

17. The cornering stator module according to claim 15, characterized in that: The curved guide rail includes an arc-shaped conveying section, the arc-shaped conveying section is opposite to the arc-shaped curved portion, and the arc-shaped conveying section has an arc-shaped inner side surface and an arc-shaped outer side surface; Among them, the arc-shaped contour of the second inner side surface has a first center, the arc-shaped contour of the second outer side surface has a second center, the arc-shaped contour of the arc-shaped inner side surface has a third center, and the arc-shaped contour of the arc-shaped outer side surface has a fourth center, and the first center, the second center, the third center and the fourth center all coincide.

18. The cornering stator module according to claim 15, characterized in that: The curved guide rail includes an arc-shaped conveying section, and the portion of the curved armature winding corresponding to the second inner side surface and the second outer side surface is opposite to the arc-shaped conveying section, and the arc-shaped conveying section has an arc-shaped inner side surface and an arc-shaped outer side surface; Among them, the arc contour of the second inner side surface has a first center of circle, the arc contour of the second outer side surface has a second center of circle, the arc contour of the arc inner side surface has a fifth center of circle, the arc outer side surface includes a first outer arc surface, a second outer arc surface and a third outer arc surface which are arranged and connected in sequence along the extension direction of the curved guide rail, the arc contour of the first outer arc surface has a sixth center of circle, the arc contour of the second outer arc surface has a seventh center of circle, and the arc contour of the third outer arc surface has an eighth center of circle, the fifth center of circle and the seventh center of circle both coincide with the first center of circle and the second center of circle, and the sixth center of circle and the eighth center of circle are both offset from the first center of circle.

19. The bending stator module according to claim 18, characterized in that: The first outer arc surface is tangent to the second outer arc surface, or / and the third outer arc surface is tangent to the second outer arc surface.

20. The bending stator module according to claim 18, characterized in that: The curved guide rail further includes a first straight segment and a second straight segment, the first straight segment, the arc-shaped conveying segment and the second straight segment are sequentially arranged and sequentially connected along the extension direction of the curved guide rail, the first straight segment and / or the second straight segment are opposite to the avoidance portion, and the first straight segment and the second straight segment are used to be respectively spliced ​​with the linear guide rail of the linear stator module; Wherein, the inner side surface of the first straight line segment is a plane tangent to the inner side surface of the arc or / and the inner side surface of the second straight line segment is a plane tangent to the inner side surface of the arc; or / and, The outer side surface of the first straight line segment is a plane tangent to the first outer arc surface and / or the outer side surface of the second straight line segment is a plane tangent to the third outer arc surface.

21. The bending stator module according to claim 20, characterized in that: The mover includes a first roller, a second roller, a third roller and a fourth roller, wherein the first roller and the second roller are used to be arranged on the outer side of the bending guide rail and are arranged at intervals along the extension direction of the bending guide rail; the third roller and the fourth roller are used to be arranged on the inner side of the bending guide rail and are arranged at intervals along the extension direction of the bending guide rail; Wherein, the distance between the first roller and the second roller is smaller than the distance between the third roller and the fourth roller.

22. The cornering stator module according to claim 21, characterized in that: The inner side surface of the first straight line segment and the first outer arc surface have a first tangent point. When the first tangent point and the axis line of the fourth roller are located in the same plane, the contact position between the third roller and the curved guide rail is the connection between the first straight line segment and the linear guide rail.

23. The cornering stator module according to claim 21, characterized in that: When the first roller and the second roller are in contact with the second outer arc surface, the outer contours of the first roller and the second roller are tangent to the second outer arc surface, and the outer contours of the third roller and the fourth roller are tangent to the arc inner side surface.

24. The cornering stator module according to claim 21, characterized in that: The inner side surface of the second straight line segment has a second tangent point with the third outer arc surface. When the second tangent point and the axis line of the third roller are located in the same plane, the contact position between the fourth roller and the curved guide rail is the connection between the second straight line segment and the linear guide rail.

25. The cornering stator module according to claim 21, characterized in that: The distance between the inner side surface of the first straight line segment and the outer side surface of the first straight line segment, and the distance between the inner side surface of the second straight line segment and the outer side surface of the second straight line segment are both L1, and the distance between the arc-shaped inner side surface and the second outer arc-shaped surface is L2, L1>L2 or L1=L2.

26. A magnetic drive conveying system, characterized in that: It comprises a mover, a linear stator module and a bending stator module as claimed in any one of claims 1 to 14, wherein the bending stator module and the linear stator module are spliced ​​to form a conveying device, and the conveying device is used to drive the mover to move along the extension direction of the conveying device; Wherein, the linear stator module includes a linear stator, and the linear stator includes a linear stator body and a linear armature winding. The linear stator body is spliced ​​with the curved stator body, and the linear armature winding is spliced ​​with the avoidance part of the curved armature winding.

27. The magnetic drive conveying system according to claim 26, characterized in that: The mover includes a base, the base has a receiving groove, the receiving groove extends along a first preset direction to penetrate through both ends of the base, and the receiving groove extends along a second preset direction to form a notch on one side of the base for the linear armature winding and the curved armature winding to enter and exit the receiving groove, the second preset direction is perpendicular to the first preset direction; the receiving groove includes a first groove wall, a second groove wall and a third groove wall, the third groove wall is arranged opposite to the notch, the first groove wall and the second groove wall are arranged opposite to each other, and are respectively located on both sides of the third groove wall; Wherein, permanent magnets are arranged on the first slot wall and / or the second slot wall, and when the mover is located in the linear stator module, the permanent magnets are arranged opposite to the linear armature windings; when the mover is located in the curved stator module, the permanent magnets are arranged opposite to the curved armature windings.

28. The magnetic drive conveying system according to claim 27, characterized in that: When the mover is located in the linear stator module, there is a gap between the third slot wall and the linear armature winding.

29. The magnetic drive conveying system according to claim 26, characterized in that: The mover is provided with a first sensor, and the straight stator module and the curved stator module are both provided with a second sensor, and the second sensor is used to cooperate with the first sensor to detect the position of the mover.

30. A magnetic drive conveying system, characterized in that: It comprises a mover, a linear stator module and a bending stator module as claimed in any one of claims 15 to 25, wherein the bending stator module and the linear stator module are spliced ​​to form a conveying device, and the conveying device is used to drive the mover to move along the extension direction of the conveying device; Among them, the linear stator module includes a linear stator and a linear guide rail, the linear stator includes a linear stator body and a linear armature winding, the linear stator body is spliced ​​with the curved stator body, the linear armature winding is spliced ​​with the avoidance part of the curved armature winding, and the linear guide rail is spliced ​​with the curved guide rail.

31. The magnetic drive conveying system according to claim 30, characterized in that: The mover includes a base, the base has a receiving groove, the receiving groove extends along a first preset direction to penetrate through both ends of the base, and the receiving groove extends along a second preset direction to form a notch on one side of the base for the linear armature winding and the curved armature winding to enter and exit the receiving groove, the second preset direction is perpendicular to the first preset direction; the receiving groove includes a first groove wall, a second groove wall and a third groove wall, the third groove wall is arranged opposite to the notch, the first groove wall and the second groove wall are arranged opposite to each other, and are respectively located on both sides of the third groove wall; Wherein, permanent magnets are arranged on the first slot wall and / or the second slot wall, and when the mover is located in the linear stator module, the permanent magnets are arranged opposite to the linear armature windings; when the mover is located in the curved stator module, the permanent magnets are arranged opposite to the curved armature windings.

32. The magnetic drive conveying system according to claim 31, characterized in that: When the mover is located in the linear stator module, there is a gap between the third slot wall and the linear armature winding.

33. The magnetic drive conveying system according to claim 30, characterized in that: The mover is provided with a first sensor, and the straight stator module and the curved stator module are both provided with a second sensor, and the second sensor is used to cooperate with the first sensor to detect the position of the mover.

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