Track conversion stator and magnetic drive conveying system comprising same

Abstract

A track conversion stator (1) and a magnetic drive conveying system (3) comprising same. The track conversion stator is provided with a merging end (101), a first diverting end (102), and a second diverting end (103), and comprises: a base (100); a first conveying track (200) arranged on the base and located between the merging end and the first diverting end, the first conveying track comprising a first armature winding (210), and the first armature winding being used for driving a rotor (2) to move between the merging end and the first diverting end; a second conveying track (300) arranged on the base and located between the merging end and the second diverting end, the second conveying track comprising a second armature winding (310), and the second armature winding being used for driving the rotor to move between the merging end and the second diverting end; and a reversing structure, which is arranged on the base and acts on the rotor in a contact or non-contact mode to guide the rotor to move from the merging end to the first conveying track or guide the rotor to move from the merging end to the second conveying track. The track conversion stator can achieve diverting and merging, and achieve high conveying efficiency.

Description

Track conversion stator and magnetic drive conveying system having the same

[0001] This application claims priority to a patent application filed with the State Intellectual Property Office of China on January 31, 2024, with application number 202410140129.6 and invention name “Orbital conversion stator and magnetically driven conveying system having the same”. Technical Field

[0002] The present application relates to the technical field of magnetic levitation transportation, and in particular to a track conversion stator and a magnetic drive transportation system having the same. Background Art

[0003] Magnetic levitation technology, which enables workpiece transportation, is gaining popularity with customers due to its high conveying speed, low maintenance costs, and high flexibility. Magnetic levitation conveyor line applications often involve the diversion of a single rail or the merging of multiple rails.

[0004] In related technologies, a separate transfer mechanism, such as a turntable or transverse platform, is first docked with the output workpiece guide rail. Once the workpiece is moved onto the transfer mechanism, the transfer mechanism turns or moves to dock with the input workpiece guide rail, transferring the workpiece from the output guide rail to the input guide rail. During this process, the transfer mechanism needs to dock with both the output and input guide rails separately, resulting in a slow docking speed, which significantly affects the conveyor line's efficiency. Summary of the Invention

[0005] The purpose of the present application is to provide a track conversion stator, which can not only realize the diversion of a single guide rail and the merging of multiple guide rails, but also has the advantage of high transportation efficiency.

[0006] In order to achieve the above-mentioned objectives, the first aspect embodiment of the present application provides a track conversion stator for a magnetically driven conveying system, the track conversion stator having a converging end, a first diverging end and a second diverging end, the track conversion stator comprising: a base; a first conveying track, arranged on the base and located between the converging end and the first diverging end, the first conveying track comprising a first armature winding, the first armature winding being used to drive the mover of the magnetically driven conveying system to move between the converging end and the first diverging end; a second conveying track, arranged on the base and located between the converging end and the second diverging end, the second conveying track comprising a second armature winding, the second armature winding being used to drive the mover to move between the converging end and the second diverging end; a reversing structure, arranged on the base, acting on the mover in a manner of contacting or not contacting the mover, so as to guide the mover to move from the converging end to the first conveying track, or to guide the mover to move from the converging end to the second conveying track.

[0007] In the second aspect embodiment of the present application, a magnetic drive conveying system is proposed, comprising: a track conversion stator according to the first aspect embodiment of the present application; a mover, provided with a permanent magnet array and a telescopic universal wheel, the telescopic universal wheel being telescopic relative to the mover, and the reversing structure guides the mover to move from the confluence end to the first conveying track, or guides the mover to move from the confluence end to the second conveying track by adjusting the telescopic state of the telescopic universal wheel; wherein, when the first armature winding is energized, it is magnetically coupled with the permanent magnet array to drive the mover to move between the confluence end and the first diversion end; when the second armature winding is energized, it is magnetically coupled with the permanent magnet array to drive the mover to move between the confluence end and the second diversion end.

[0008] By applying a track conversion stator in a magnetic drive conveying system, the present application can not only realize the diversion of a single guide rail or the merging of multiple guide rails, but also eliminate the need for a separate transfer mechanism, eliminating the docking step of the transfer mechanism during each merging or diversion, and improving the conveying efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] 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 ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0010] FIG1 is a schematic structural diagram of a magnetic drive conveying system according to an embodiment of the present application;

[0011] FIG2 is a partial enlarged schematic diagram of area A in FIG1 ;

[0012] FIG3 is a second structural diagram of the magnetic drive conveying system according to an embodiment of the present application;

[0013] FIG4 is a partial enlarged schematic diagram of area B in FIG3 ;

[0014] FIG5 is a schematic diagram of the structure of the track conversion stator according to an embodiment of the present application;

[0015] FIG6 a is a second structural schematic diagram of the track conversion stator according to an embodiment of the present application;

[0016] FIG6 b is a third structural diagram of the track conversion stator according to an embodiment of the present application;

[0017] FIG7 is a fourth structural diagram of the track conversion stator according to an embodiment of the present application;

[0018] FIG8 is a fifth structural diagram of the track conversion stator according to an embodiment of the present application;

[0019] FIG9 is a sixth structural diagram of the track conversion stator according to an embodiment of the present application;

[0020] FIG10 is a seventh structural diagram of the track conversion stator according to an embodiment of the present application;

[0021] FIG11 is an eighth structural diagram of the track conversion stator according to an embodiment of the present application;

[0022] FIG12 is a schematic diagram showing the structure of the junction of the first conveying track and the second conveying track of the track conversion stator according to an embodiment of the present application;

[0023] FIG13 is a second structural schematic diagram of the junction of the first conveying track and the second conveying track of the track conversion stator according to an embodiment of the present application;

[0024] FIG14 is a schematic diagram showing the structure of the first conveying track, the second conveying track and the third conveying track of the track conversion stator according to an embodiment of the present application;

[0025] FIG15 is a second structural schematic diagram of the first conveying track, the second conveying track, and the third conveying track of the track conversion stator according to an embodiment of the present application;

[0026] FIG16 is a third structural schematic diagram of the first conveying track, the second conveying track, and the third conveying track of the track conversion stator according to an embodiment of the present application;

[0027] FIG17 is a schematic diagram showing the structure of the first conveying track, the second conveying track and the fourth conveying track of the track conversion stator according to an embodiment of the present application;

[0028] FIG18 is a second structural schematic diagram of the first conveying track, the second conveying track, and the fourth conveying track of the track conversion stator according to an embodiment of the present application;

[0029] FIG19 is a third structural schematic diagram of the first conveying track, the second conveying track, and the fourth conveying track of the track conversion stator according to an embodiment of the present application;

[0030] FIG20 is a fourth structural schematic diagram of the first conveying track, the second conveying track, and the fourth conveying track of the track conversion stator according to an embodiment of the present application;

[0031] FIG21 is a fifth structural diagram of the first conveying track, the second conveying track, and the fourth conveying track of the track conversion stator according to an embodiment of the present application;

[0032] FIG22 is a schematic structural diagram of a mover according to an embodiment of the present application;

[0033] Figure 23 is a schematic structural diagram of two orbit conversion stators spliced ​​together in an embodiment of the present application.

[0034] Description of the accompanying drawings: Track conversion stator 1, mover 2, magnetic drive conveying system 3, track stator 4, conveying track 5, permanent magnet array 6, base 100, confluence end 101, first diversion end 102, second diversion end 103, third diversion end 104, first conveying track 200, first splicing surface 201, first splicing protrusion 202, first armature winding 210, first cylindrical coil 211, first coil 212, first connecting coil 214, inner arc edge 220, outer arc edge 230, second conveying track 300, second splicing surface 301, second splicing protrusion 302, second armature winding 310, second cylindrical coil 311, second coil 312, second connecting coil 314, First guide member 410, first slide groove 411, first shoulder 412, second guide member 420, second slide groove 421, second shoulder 422, second shoulder 423, first telescopic member 430, second telescopic member 440, third guide member 460, third slide groove 461, third shoulder 462, third shoulder 463, third conveying track 500, first sub-armature winding 510, second sub-armature winding 520, third coil 530, first sub-segment 531, second sub-segment 532, first sliding member 610, second sliding member 620, fourth conveying track 700, fourth armature winding 710, dividing line L. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of this application clearer, the following part will further describe the embodiments of this application in detail with reference to the accompanying drawings.

[0036] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application, as detailed in the appended claims.

[0037] In the description of this application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances. In addition, in the description of this application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the relevant listed items.

[0039] A magnetically driven conveying system usually includes a mover and a stator. One of the mover and the stator is provided with a coil, and the other is provided with a permanent magnet. A traveling wave magnetic field is generated by exciting the coil with current. The traveling wave magnetic field is magnetically coupled with the permanent magnet to realize the movement of the mover relative to the stator, and the transmission function is realized by arranging a carrier on the mover.

[0040] In the application scenarios of magnetic drive conveying systems, it often involves the situation of a single guide rail being split or multiple guide rails being merged. In the related art, a separate transfer mechanism is set up, such as a turntable, a transverse platform and other transfer mechanisms. The transfer mechanism first docks with the guide rail of the output workpiece. After the workpiece moves to the transfer mechanism, the transfer mechanism turns or moves to dock with the guide rail of the input workpiece to transfer the workpiece from the output guide rail to the input guide rail. In this process, the transfer mechanism needs to dock with the output guide rail and the input guide rail respectively. The docking accuracy requirements are high and the docking speed is slow, which greatly affects the conveying efficiency of the conveyor line.

[0041] As shown in FIG. 1 and FIG. 3 , the magnetic drive conveying system 3 of the embodiment of the present application includes a mover 2 and a track conversion stator 1 .

[0042] By applying the track conversion stator 1 in the magnetic drive conveying system 3, the present application can not only realize the diversion of a single guide rail or the merging of multiple guide rails, but also eliminate the need for a separate transfer mechanism, eliminating the docking step of the transfer mechanism during each merging or diversion, and improving the conveying efficiency.

[0043] In addition, as shown in Figures 1 and 3, the magnetic drive conveying system 3 also includes at least one of a linear stator and an arcuate stator. The linear stator extends along a straight line, and the arcuate stator extends along an arc. The linear stator includes a linear integrated circuit board, and the arcuate stator includes an arcuate integrated circuit board.

[0044] The embodiment of the present application does not limit the connection method of the track conversion stator 1. For example, the converging end 101 can be connected to the converging end 101 of a straight stator, an arc-shaped stator, another track conversion stator 1, the first diversion end 102 or the second diversion end 103. Similarly, the diversion end can also be connected to the converging end 101 of a straight stator, an arc-shaped stator, another track conversion stator 1, the first diversion end 102 or the second diversion end 103.

[0045] The track conversion stator 1 according to an embodiment of the present application is described below with reference to the accompanying drawings.

[0046] As shown in Figures 1 to 6b, the track switching stator 1 of the embodiment of the present application is used in a magnetic drive conveying system 3. The track switching stator 1 has a converging end 101, a first diverging end 102, and a second diverging end 103. The track switching stator 1 includes a base 100, a first conveying track 200, a second conveying track 300, and a reversing structure.

[0047] The first conveying track 200 is disposed on the base 100 and is located between the converging end 101 and the first diverging end 102. The first conveying track 200 includes a first armature winding 210, which is used to drive the mover 2 of the magnetic drive conveying system 3 to move between the converging end 101 and the first diverging end 102. The second conveying track 300 is disposed on the base 100 and is located between the converging end 101 and the second diverging end 103. The second conveying track 300 includes a second armature winding 310, which is used to drive the mover 2 to move between the converging end 101 and the second diverging end 103. The reversing structure is disposed on the base 100 and is located adjacent to the converging end 101. It acts on the mover 2 in a contacting or non-contacting manner, thereby guiding the mover 2 from the converging end 101 to the first conveying track 200, or from the converging end 101 to the second conveying track 300.

[0048] Specifically, as shown in Figures 1, 3, and 22, a permanent magnet array 6 is provided on the side of the mover 2 facing the track conversion stator 1. For example, the mover 2 is located above the track conversion stator 1, and the permanent magnet array 6 is provided on the lower surface of the mover 2. The permanent magnet array 6 moves under the action of current excitation of the first armature winding 210 (or the second armature winding 310).

[0049] The track conversion stator 1 of the embodiment of the present application can be used to support the first conveying track 200, the second conveying track 300 and the reversing structure by setting a base 100, so as to fix the relative positions between the first conveying track 200, the second conveying track 300 and the reversing structure to ensure conveying stability.

[0050] The mover 2 has a permanent magnet array 6. When the mover 2 runs on the first conveyor track 200, the first armature winding 210 is periodically energized in phase sequence, magnetically coupling between the permanent magnet array 6 and the first armature winding 210, and the mover 2 is driven to move from the first branch end 102 to the converging end 101, or from the converging end 101 to the first branch end 102. By changing the phase sequence energization direction of the first armature winding 210, the direction of the driving force applied to the mover 2 can be changed, thereby changing the direction of movement of the mover 2.

[0051] When the mover 2 runs on the second conveying track 300, the second armature winding 310 is energized in a periodic phase sequence, magnetically coupling the permanent magnet array 6 with the second armature winding 310, and the mover 2 is driven to move from the second branching end 103 to the merging end 101, or from the merging end 101 to the second branching end 103. By changing the phase sequence energization direction of the second armature winding 310, the direction of the driving force applied to the mover 2 can be changed, thereby changing the direction of movement of the mover 2.

[0052] The permanent magnet array 6 generates a constant magnetic field around the mover 2. By controlling the current direction and current magnitude of the first armature winding 210 and the second armature winding 310, the first armature winding 210 and the second armature winding 310 can generate a changing traveling wave magnetic field. The changing traveling wave magnetic field interacts with the constant magnetic field of the permanent magnet array 6 to drive the mover 2 to move; by controlling the change of the traveling wave magnetic field, the moving direction of the mover 2 is controlled, thereby realizing the single guide rail diversion from the merging end 101 to the diversion end or the merging of multiple guide rails from the diversion end to the merging end 101.

[0053] The embodiment of the present application does not limit the extension direction of the first conveying track 200 and the second conveying track 300. For example, the first conveying track 200 and the second conveying track 300 are both for straight-line conveying; or, one of the first conveying track 200 and the second conveying track 300 is for straight-line conveying and the other is for curved conveying (such as conveying along an arc line); or, both the first conveying track 200 and the second conveying track 300 are for curved conveying. On the other hand, the embodiment of the present application does not limit the angle between the first conveying track 200 and the second conveying track 300 at adjacent forks. For example, the angle between the extension direction of the first diverter end 102 in the first conveying track 200 at the adjacent fork and the extension direction of the second diverter end 103 in the second conveying track 300 at the adjacent fork can be at least one of 30°, 45°, 60°, 75°, and 90°.

[0054] In addition, under normal circumstances, the mover 2 has a limiting structure, which can be a unidirectional limiting structure with a single fixed rotation direction or movement direction such as a roller or a slider, or a multidirectional limiting structure with an unspecified movement direction such as a universal wheel.

[0055] During the magnetic coupling process between the stator and the mover 2, for a unidirectional limiting structure (such as a roller that can only move in one direction), the driving force of the armature winding alone may not be able to drive the mover 2 to change the conveying direction (such as the driving force of the armature winding is set at an angle to the movement direction of the mover 2. At this time, the driving force of the armature winding may not be able to drive the mover 2 to change the conveying direction); for a multi-directional limiting structure (such as a universal wheel), although the driving force of the armature winding alone is sufficient to drive the mover 2 to change the conveying direction, since the direction of the driving force of the armature winding has an angle with the original preset trajectory of the mover 2, the driving force of the armature winding can make the mover 2 change the conveying direction, and then there may be a situation where the mover 2 deviates from the preset motion trajectory.

[0056] The track conversion stator 1 of the present application is provided with a reversing structure, and the reversing structure is provided near the confluence end 101, and the reversing structure acts on the mover 2 in a manner of contacting or not contacting the mover 2 to guide the mover 2 to move from the confluence end 101 to the first conveying track 200, or guide the mover 2 to move from the confluence end 101 to the second conveying track 300.

[0057] For the unidirectional limiting structure, the commutation structure provides additional driving force for the mover 2 to cooperate with the driving force of the armature winding to drive the mover 2 to change the conveying direction; for the multi-directional limiting structure, the commutation structure can assist the mover 2 in changing the conveying direction, thereby achieving the effect of the mover 2 maintaining movement along the preset motion trajectory.

[0058] It can be seen from this that the track conversion stator 1 in the embodiment of the present application adopts the armature winding drive as the main drive and the commutation structure as the auxiliary drive to drive the mover 2 to change the conveying direction, so that the mover 2 is subjected to a greater commutation driving force in the process of changing the conveying direction; and the track conversion stator 1 in the embodiment of the present application can not only drive the mover 2 to change the conveying direction, but also is suitable for movers 2 with different limiting structures, has a wide range of applicable scenarios, and can also ensure that the motion trajectory of the mover 2 is in line with expectations, reducing the possibility of the mover 2 derailing, and greatly improving the reliability of commutation.

[0059] In some embodiments, the first conveying track 200 is a first integrated circuit board, and the second conveying track 300 is a second integrated circuit board. The first integrated circuit board and the second integrated circuit board are separate structures or integrated structures.

[0060] The first armature winding 210 can be integrated into a first integrated circuit board (IC) by printing, and the second armature winding 310 can be integrated into a second IC by printing. In some embodiments, the first and second ICs are PCB windings. Various electrical components are integrated onto the first and second ICs. By transmitting control signals and electrical energy to the first and second ICs, the first IC controls the on / off switching of the first armature winding 210, and the second IC controls the on / off switching of the second armature winding 310.

[0061] When the first integrated circuit board and the second integrated circuit board are constructed as an integrated structure, the first integrated circuit board and the second integrated circuit board are simultaneously disassembled and assembled onto the base 100, which can reduce the disassembly and assembly steps and improve the installation efficiency. In addition, during transportation, the first integrated circuit board and the second integrated circuit board are easy to store.

[0062] When the first integrated circuit board and the second integrated circuit board are constructed as separate structures, if the first integrated circuit board is damaged, only the first integrated circuit board needs to be replaced, without replacing the second integrated circuit board. Similarly, if the second integrated circuit board is damaged, only the second integrated circuit board needs to be replaced, without replacing the first integrated circuit board, which can reduce subsequent maintenance costs. Furthermore, during installation, the first and second integrated circuit boards can more easily adapt to the shape of the base 100, reducing installation difficulty. It is also understandable that, taking FIG. 12 as an example, the outer shape of the first integrated circuit board is generally arc-shaped, and the outer shape of the second integrated circuit board is generally linear. The first integrated circuit board can be regarded as an arc-shaped integrated circuit board taken from an arc-shaped stator (such as the arc-shaped stator in FIG. 1 ), and the second integrated circuit board can be regarded as a linear integrated circuit board taken from a linear stator (such as the linear stator in FIG. 1 ). Thus, the first and second integrated circuit boards are combined from existing products, thereby reducing development, design, and manufacturing costs, improving the universality of the integrated circuit boards, and facilitating the production of the track switching stator 1. Furthermore, by selecting integrated circuit boards from stators of different specifications and by splicing and combining the integrated circuit boards from stators of different specifications, track conversion stators 1 of various specifications can be formed, thereby improving the structural diversity of the track conversion stator 1 .

[0063] As shown in Figures 6a to 10, the first conveying track 200 and the second conveying track 300 are separately arranged, and the orthographic projection of the first armature winding 210 on the base 100 and the orthographic projection of the second armature winding 310 on the base 100 do not overlap, or the orthographic projection of the first armature winding 210 on the base 100 and the orthographic projection of the second armature winding 310 on the base 100 partially overlap.

[0064] When the orthographic projection of the first armature winding 210 on the base 100 and the orthographic projection of the second armature winding 310 on the base 100 do not overlap, the overall volume of the first conveying track 200 and the second conveying track 300 can be reduced, thereby saving costs.

[0065] When the orthographic projection of the first armature winding 210 on the base 100 and the orthographic projection of the second armature winding 310 on the base 100 partially overlap, the overlapping area of ​​the orthographic projection of the first armature winding 210 on the base 100 and the orthographic projection of the second armature winding 310 on the base 100 can be adjacent to the confluence end 101. When the mover 2 is near the confluence end 101, if the first armature winding 210 is energized, the mover 2 can be driven by the first armature winding 210 and have a tendency to move along the first conveying track 200. If the second armature winding 310 is energized, the mover 2 can be driven by the second armature winding 310 and have a tendency to move along the second conveying track 300, which facilitates the mover 2 to change the conveying direction. Moreover, for the overlapping area of ​​the orthographic projection of the first armature winding 210 on the base 100 and the orthographic projection of the second armature winding 310 on the base 100, by energizing the first armature winding 210 and the second armature winding 310 at the same time, the mover 2 can be subjected to a greater driving force; and since the overlapping area of ​​the orthographic projection of the first armature winding 210 on the base 100 and the orthographic projection of the second armature winding 310 on the base 100 can be adjacent to the confluence end 101, the mover can be subjected to a greater driving force adjacent to the confluence end 101, thereby making it possible for the mover 2 to make turns or run in a straight line more smoothly at the fork, and also to increase the speed of the mover 2 at the fork or run in a straight line, thereby improving the conveying efficiency.

[0066] Furthermore, the layout of the first conveying track 200 and the second conveying track 300 can also be selected according to the shape of the track conversion stator 1. For example, when the orthographic projection of the first armature winding 210 on the base 100 and the orthographic projection of the second armature winding 310 on the base 100 do not overlap, the first armature winding 210 or the second armature winding 310 can be independently controlled to be energized, so that the switching of the mover 2 between the first conveying track 200 and the second conveying track 300 is smoother. For example, in some applicable scenarios, the first armature winding 210 is first controlled to be energized so that the mover 2 runs from the first diversion end 102 to the confluence end 101, and then the second armature winding 310 is controlled to be energized so that the mover 2 runs from the confluence end 10 1 runs to the second branch end 103, thereby improving the switching smoothness of the mover 2; for example, in other embodiments, due to external factors, such as the angle between the first conveying track 200 and the second conveying track 300 at the adjacent bifurcation is too large, resulting in the mover 2 on the track conversion stator 1 being relatively unsmooth in switching between the first conveying track 200 and the second conveying track 300. In this case, by arranging the orthographic projection of the first armature winding 210 on the base 100 and the orthographic projection of the second armature winding 310 on the base 100 to partially overlap, the mover is subjected to a greater driving force at the confluence end 101, thereby improving the switching smoothness of the mover 2 between the first conveying track 200 and the second conveying track 300.

[0067] In combination with the above, on the one hand, by splicing and combining integrated circuit boards (i.e., armature windings) of different specifications, the shape setting structure of the track conversion stator 1 is diversified, the shape of the track conversion stator 1 is more diverse, and there are more applicable scenarios; on the other hand, by arranging the relative position relationship between the first armature winding 210 and the second armature winding 310, the smoothness of the commutation of the mover 2 on the track conversion stator 1 is improved.

[0068] As shown in Figures 6a-10, when the orthographic projections of the first armature winding 210 and the second armature winding 310 on the base 100 do not overlap, the upper surface of the first conveyor track 200 and the upper surface of the second conveyor track 300 lie in the same plane. This ensures that the spacing between the first and second conveyor tracks 200, 300, and the mover 2 remains constant when the mover 2 switches between the first and second conveyor tracks 200, 300, and is less likely to experience problems such as jamming and jolting. Furthermore, with the armature windings arranged identically and the current flowing through them being equal, the mover 2 receives substantially the same driving force on both the first and second conveyor tracks 200, 300, thereby improving the smoothness of the mover 2's movement and ensuring stable conveying.

[0069] The first conveying track 200 and the second conveying track 300 abut against each other, for example, one end of the first conveying track 200 and the side of the second conveying track 300 abut against each other, or the side of the first conveying track 200 and one end of the second conveying track 300 abut against each other, or the side of the first conveying track 200 and the side of the second conveying track 300 abut against each other, or one end of the first conveying track 200 and one end of the second conveying track 300 abut against each other. The gap at the connection between the first conveying track 200 and the second conveying track 300 is small, so that the mover is still subjected to a relatively stable driving force at the joint; the smaller joint is conducive to reducing the dust accumulation rate, and foreign matter is not easy to appear between the first conveying track 200 and the second conveying track 300, thereby preventing foreign matter from falling into the joint between the first conveying track 200 and the second conveying track 300, thereby increasing the service life of the track conversion stator 1.

[0070] As shown in Figures 6a to 10, the centerline of the first conveyor track 200 is an arc that bulges toward the second conveyor track 300. The first conveyor track 200 has an inner arc edge 220 and an outer arc edge 230 in its width direction. A dividing line L is defined between the first conveyor track 200 and the second conveyor track 300. The setting of the dividing line L satisfies any of the following conditions:

[0071] Method 1: As shown in Figures 6a and 6b , the dividing line L is perpendicular to the converging end 101 and passes through the intersection of the outer arc edge 230 and the second conveying track 300. Furthermore, it is understood that the inner arc edge 220 and the first diverting end 102 have an intersection. As shown in Figure 6b , the intersection of the inner arc edge 220 and the first diverting end 102 can be located on the dividing line L; or, as shown in Figure 6a , the intersection of the inner arc edge 220 and the first diverting end 102 can be offset from the dividing line L.

[0072] Method 2: As shown in FIG. 7 , the dividing line L is perpendicular to the merging end 101 and passes through the end point of the merging end 101 close to the first conveying track 200 .

[0073] Method 3: As shown in FIG10 , the dividing line L is the curve where the outer arc edge 230 is located.

[0074] Method 4: As shown in FIG. 9 , the dividing line L passes through the intersection of the outer arc edge 230 and the second conveying track 300 , and the end point of the merging end 101 close to the first conveying track 200 .

[0075] Method 5: As shown in FIG. 8 , the dividing line L passes through the intersection of the outer arc edge 230 and the second conveying track 300 , and the end point of the merging end 101 away from the first conveying track 200 .

[0076] For example, the center line of the second conveying track 300 may be a straight line, or the center line of the second conveying track 300 may be an arc line protruding toward the first conveying track 200 .

[0077] It can be understood that the dividing line L in the embodiment of the present application can refer to the contour line formed by the sides of the first conveying track 200 and the second conveying track 300 being spliced ​​with each other; and since the first integrated circuit board and the second integrated circuit board are split structures, the first conveying track 200 and the second conveying track 300 can be spliced ​​in a variety of ways by selecting the first conveying track 200 and the second conveying track 300 with different shape contours, thereby making the setting method between the first conveying track 200 and the second conveying track 300 more diverse, so that the track conversion stator 1 can meet the usage requirements of different scenarios.

[0078] Furthermore, in other embodiments, when the orthographic projection of the first armature winding 210 on the base 100 and the orthographic projection of the second armature winding 310 on the base 100 partially overlap, a portion of the first armature winding 210 is located between the second armature winding 310 and the base 100, or a portion of the second armature winding 310 is located between the first armature winding 210 and the base 100.

[0079] That is, part of the first conveying track 200 and part of the second conveying track 300 are stacked in the thickness direction of the base 100. In this way, the orthographic projection of the first armature winding 210 on the base 100 and the orthographic projection of the second armature winding 310 on the base 100 can be overlapped. On the one hand, by arranging the orthographic projection of the first armature winding 210 on the base 100 and the orthographic projection of the second armature winding 310 on the base 100 to partially overlap, the track conversion stator 1 in the embodiment of the present application has a smaller volume, reduces the occupied space of the track conversion stator 1, and miniaturizes the structure of the track conversion stator 1; on the other hand, in the embodiment of the present application, part of the first conveying track 200 and part of the second conveying track 300 are stacked in the thickness direction of the base 100, thereby allowing the mover 2 to be subjected to a larger driving force when it is in the area where the orthographic projections overlap.

[0080] The centerline of the first conveying track 200 is an arc that bulges toward the second conveying track 300. The first conveying track 200 has an inner arc edge 220 and an outer arc edge 230 in its width direction. The orthographic projection of the first armature winding 210 on the base 100 and the orthographic projection of the second armature winding 310 on the base 100 have a first boundary and a second boundary. The first boundary and the second boundary are arranged in any of the following ways:

[0081] Method 1: The first boundary is perpendicular to the confluence end 101 and passes through the intersection of the outer arc edge 230 and the second conveying track 300, and the second boundary is the curve where the outer arc edge 230 is located;

[0082] Mode 2: The first boundary is perpendicular to the merging end 101 and passes through the end point of the merging end 101 close to the first conveying track 200 , and the second boundary is the curve where the outer arc edge 230 is located.

[0083] It should be noted that the first boundary refers to: in the overlapping area of ​​the orthographic projection of the first armature winding 210 on the base 100 and the orthographic projection of the second armature winding 310 on the base 100, when the first conveying track 200 is orthographically projected onto the second conveying track 300, the second conveying track 300 is cut based on the original boundary, and the second boundary refers to: in the overlapping area of ​​the orthographic projection of the first armature winding 210 on the base 100 and the orthographic projection of the second armature winding 310 on the base 100, when the second conveying track 300 is orthographically projected onto the first conveying track 200, the first conveying track 200 is cut based on the original boundary.

[0084] In this way, the first conveying track 200 and the second conveying track 300 can be combined in different ways, and the specifications of the first conveying track 200 and the second conveying track 300 are not limited. The range of options is wider, which is conducive to use in different usage scenarios.

[0085] As shown in Figures 5 and 11, the first conveying track 200 has a first splicing surface 201, which is connected between the upper surface and the lower surface of the first conveying track 200. The first splicing surface 201 is provided with a first splicing protrusion 202, and a portion of the first armature winding 210 is provided on the first splicing protrusion 202. The second conveying track 300 has a second splicing surface 301, which is connected between the upper surface and the lower surface of the second conveying track 300. The second splicing surface 301 is provided with a second splicing protrusion 302, and a portion of the second armature winding 310 is provided on the second splicing protrusion 302. Part of the first splicing protrusion 202 is located between the second splicing protrusion 302 and the base 100, or part of the second splicing protrusion 302 is located between the first splicing protrusion 202 and the base 100.

[0086] For example, the first joint surface 201 and the second joint surface 301 may abut against each other, or the first joint surface 201 and the second joint surface 301 may be spaced apart.

[0087] That is, the first splicing protrusion 202 and the second splicing protrusion 302 are stacked in the thickness direction of the base 100. In this way, not only can the projection of the first armature winding 210 and the projection of the second armature winding 310 partially overlap, but it is also beneficial to ensure that the upper surface of the first conveying track 200 and the upper surface of the second conveying track 300 are located in the same plane, and the adjacent armature windings are spliced ​​together by the splicing protrusions. At the joint, the armature windings are still ensured to have current excitation to the mover 2 to drive the mover 2 to operate, thereby improving the operating accuracy of the mover. As a result, when the mover 2 is switching between the first conveying track 200 and the second conveying track 300, it is less likely to experience problems such as jamming and bumping, and the mover 2 moves smoothly, thereby ensuring conveying stability.

[0088] Furthermore, referring to Figures 6a to 11, a dividing line L is defined between the first conveyor track 200 and the second conveyor track 300. At the dividing line L, the first splicing surface 201 and the second splicing surface 301 are positioned opposite each other, and the first splicing protrusion 202 and the second splicing protrusion 302 are spliced ​​together. Thus, at the joint between the first conveyor track 200 and the second conveyor track 300, the armature winding is still ensured to excite the mover 2 with current to drive the mover 2. When the mover 2 switches direction between the first conveyor track 200 and the second conveyor track 300, the mover 2 is less likely to experience problems such as jamming or jolting, and the mover 2 moves smoothly, thereby ensuring conveying stability.

[0089] The converging end 101 is provided with a first splicing protrusion 202 or a second splicing protrusion 302 , and one of the first diverging end 102 and the second diverging end 103 is provided with a first splicing protrusion 202 , and the other is provided with a second splicing protrusion 302 .

[0090] For example, when the confluence end 101 has a first splicing protrusion 202, the stator connected to the confluence end 101 has a second splicing protrusion 302. When the confluence end 101 has a second splicing protrusion 302, the stator connected to the confluence end 101 has a first splicing protrusion 202, ensuring that at the joint between the confluence end 101 and other stators, there is still an armature winding to excite the mover 2 with current to drive the mover to operate. The mover 2 is not prone to problems such as jamming and bumping near the confluence end 101, and the mover 2 moves smoothly, thereby ensuring the stability of transportation.

[0091] Similarly, the mover 2 is not prone to problems such as jamming and bumping near the first branch end 102 and the second branch end 103. The mover 2 moves smoothly, thereby ensuring the stability of transportation. The specific structure refers to the splicing method of the above-mentioned confluence end 101 and will not be repeated here.

[0092] As shown in Figures 5 and 12, the above-mentioned first armature winding 210 includes a plurality of first cylindrical coils 211, the central axis of the first cylindrical coils 211 is perpendicular to the base 100, and the plurality of first cylindrical coils 211 are arranged in an array along the width direction of the first conveying track 200 and the extension direction of the first conveying track 200.

[0093] For example, one end of the first cylindrical coil 211 is the N pole, and the other end of the first cylindrical coil 211 is the S pole. By changing the current direction of the first cylindrical coil 211, the magnetic field direction of the first cylindrical coil 211 can be changed. In the width direction of the first conveying track 200, the magnetic field direction of the first cylindrical coils 211 in the same row is the same.

[0094] In this way, the driving force of the first armature winding 210 on the mover 2 is more uniform in the width direction of the first conveying track 200, which can improve the stability of the mover 2 moving on the first conveying track 200 and also has the advantages of smart layout and low cost.

[0095] The second armature winding 310 includes a plurality of second cylindrical coils 311 , the central axis of which is perpendicular to the base 100 , and the plurality of second cylindrical coils 311 are arranged in a row along the width direction and the extension direction of the second conveying track 300 .

[0096] For example, one end of the second cylindrical coil 311 is the N pole, and the other end of the second cylindrical coil 311 is the S pole. By changing the current direction of the second cylindrical coil 311, the magnetic field direction of the second cylindrical coil 311 can be changed. In the width direction of the second conveying track 300, the magnetic field direction of the second cylindrical coils 311 in the same row is the same.

[0097] In this way, the driving force of the second armature winding 310 on the mover 2 is more uniform in the width direction of the second conveying track 300, which can improve the stability of the mover 2 moving on the second conveying track 300 and also has the advantages of smart layout and low cost.

[0098] In the embodiment of the present application, a changing traveling wave magnetic field is formed by periodically exciting multiple rows of cylindrical coils to drive the mover to operate. The relevant driving principle will not be described in detail here.

[0099] For example, in some embodiments of the present application, the first armature winding 210 includes a plurality of first cylindrical coils 211, the central axis of the first cylindrical coil 211 is perpendicular to the base 100, and the plurality of first cylindrical coils 211 are arranged in an array along the width direction of the first conveying track 200 and the extension direction of the first conveying track 200, and the second armature winding 310 includes a plurality of second cylindrical coils 311, the central axis of the second cylindrical coil 311 is perpendicular to the base 100, and the plurality of second cylindrical coils 311 are arranged in a row along the width direction of the second conveying track 300 and the extension direction of the second conveying track 300. At this time, the first conveying track 200 and the second conveying track 300 can be set separately or as a whole.

[0100] As shown in Figures 5 and 13, the above-mentioned first armature winding 210 includes a plurality of first coils 212, which are arranged at intervals along the extension direction of the first conveying track 200, and the length direction of the first coils 212 is perpendicular to the extension direction of the first conveying track 200 and the thickness direction of the first conveying track 200.

[0101] The second armature winding 310 includes a plurality of second coils 312 , which are spaced apart along the extension direction of the second conveying track 300 . The length direction of the second coils 312 is perpendicular to the extension direction and the thickness direction of the second conveying track 300 .

[0102] It should be noted that, as shown in FIG. 15 , the center line of the first conveying track 200 may be an arc line protruding toward the second conveying track 300 , and the plurality of first coils 212 are arranged at an angle in an arc shape.

[0103] For example, in some embodiments of the present application, the first armature winding 210 includes a plurality of first coils 212, which are arranged at intervals along the extension direction of the first conveying track 200, and the length direction of the first coil 212 is perpendicular to the extension direction of the first conveying track 200 and the thickness direction of the first conveying track 200, so as to drive the mover 2 to move along the first conveying track 200, and the second armature winding 310 includes a plurality of second coils 312, which are arranged at intervals along the extension direction of the second conveying track 300, and the length direction of the second coil 312 is perpendicular to the extension direction of the second conveying track 300 and the thickness direction of the second conveying track 300, so as to drive the mover 2 to move along the second conveying track 300. At this time, the first conveying track 200 and the second conveying track 300 can be set separately or integrally.

[0104] By periodically exciting the plurality of first coils 212 or the plurality of second coils 312 , a changing traveling wave magnetic field is formed to drive the mover 2 to operate. The relevant driving principle will not be described in detail here.

[0105] As shown in Figures 13 and 14 , the centerline of the first conveyor track 200 is an arc convex toward the second conveyor track 300, while the centerline of the second conveyor track 300 is a straight line. The first armature winding 210 includes a plurality of first coils 212 spaced apart along the extension direction of the first conveyor track 200, with the length direction of the first coils 212 perpendicular to the centerline of the first conveyor track 200. The second armature winding 310 includes a plurality of second coils 312 spaced apart along the extension direction of the second conveyor track 300, with the length direction of the second coils 312 perpendicular to the extension direction of the second conveyor track 300 and the thickness direction of the second conveyor track 300. In this case, the plurality of first coils 212 are arranged in a straight line.

[0106] That is, the angle between the length direction of the first coil 212 and the length direction of the second coil 312 is fixed, so that the first integrated circuit board and the second integrated circuit board are constructed into an integrated structure.

[0107] By periodically exciting the plurality of first coils 212 or the plurality of second coils 312 , a changing traveling wave magnetic field is formed to drive the mover to operate. The relevant driving principle will not be described in detail here.

[0108] As shown in FIG. 16 , the plurality of second coils 312 include at least one second bent coil. The second bent coils are symmetrically arranged about the center line of the second conveying track 300 , and the second bent coil protrudes toward the second diversion end 103 .

[0109] In this way, while ensuring that the driving force applied by the second coil 312 to the mover 2 is about the center line of the second conveying track 300, the driving force applied by the single second coil 312 to the mover 2 is increased, which is conducive to improving the smoothness of the movement of the mover 2 from the confluence end 101 to the second diversion end 103.

[0110] The plurality of first coils 212 include at least one first bent coil. The first bent coils are symmetrically arranged about the center line of the first conveying track 200 , and the first bent coils protrude toward the first diversion end 102 .

[0111] In this way, while ensuring that the driving force applied by the first coil 212 to the mover 2 is symmetrical about the center line of the first conveying track 200, the driving force applied by the single first coil 212 to the mover 2 is increased, which is conducive to improving the smoothness of the movement of the mover 2 from the confluence end 101 to the first diversion end 102.

[0112] Of course, those skilled in the art will appreciate that the first bent coil may also protrude toward the confluence end 101 . In addition, the protruding portion of the first bent coil may be configured as an arc-shaped transition or a sharp-angle transition.

[0113] As shown in Figure 13, the above-mentioned first integrated circuit board and the second integrated circuit board are an integrated structure, the multiple first coils 212 include at least one first connecting coil 214, the multiple second coils 312 include at least one second connecting coil 314, the number of first connecting coils 214 is the same as the number of second connecting coils 314, and the first connecting coils 214 and the second connecting coils 314 are arranged in a one-to-one correspondence as an integrated coil structure.

[0114] In this way, during the movement of the mover 2 from the confluence end 101 to the first diverging end 102, the first connecting coil 214 can apply a driving force to the mover 2 in advance, facilitating the turning of the mover 2 and improving the smoothness of the movement of the mover 2 on the first conveying track 200. It can be understood that since the first connecting coil 214 and the second connecting coil 314 are energized synchronously, the mover 2 is subjected to driving forces in two directions. This driving force can cause the mover 2 to run along the first conveying track 200 or the second conveying track 300. At this time, by adjusting the commutation structure, the mover 2 can run along the first conveying track 200 or the second conveying track 300 under the action of the commutation structure, thereby improving the commutation efficiency of the track conversion stator 1 and improving the conveying efficiency of the mover 2.

[0115] Furthermore, referring to Figures 5 and 14 , in some other embodiments, the first integrated circuit board and the second integrated circuit board are integrally formed. The first armature winding 210 extends to the second conveyor track 300 , and a portion of the plurality of second coils 312 is disposed on one side of the first armature winding 210 in the direction in which the second conveyor track 300 extends. Another portion of the plurality of second coils 312 is disposed on the other side of the first armature winding 210 in the direction in which the second conveyor track 300 extends.

[0116] In this way, during the movement of the mover 2 from the confluence end 101 to the first diversion end 102, the part of the first armature winding 210 extending to the second conveying track 300 can apply driving force to the mover 2 in advance, facilitate the turning of the mover 2, and improve the smoothness of the movement of the mover 2 on the first conveying track 200.

[0117] The above-mentioned first armature winding 210 includes at least one first three-phase winding, and the first three-phase winding includes three first coils 212. The three first coils 212 of the first three-phase winding are respectively the U phase, W phase and V phase of the first three-phase winding. The U phase and W phase of the first three-phase winding are arranged on the same layer and the V phase is on the same layer or different layer as the U phase and W phase.

[0118] Among them, when the V phase is in the same layer as the U phase and the W phase, the U phase, V phase and W phase of the first three-phase winding are at the same distance from the base 100 in the thickness direction of the base 100; when the V phase is in different layers from the U phase and the W phase, the U phase and W phase of the first three-phase winding are at the same distance from the base 100 in the thickness direction of the base 100, the distance between the V phase and the base 100 in the thickness direction of the base 100 is not equal to the distance between the U phase and the W phase and the base 100 in the thickness direction of the base 100, the V phase is closer to the base 100 than the U phase and the W phase, or the V phase is farther away from the base 100 than the U phase and the W phase.

[0119] The second armature winding 310 includes at least one second three-phase winding, and the second three-phase winding includes three second coils 312. The three second coils 312 of the second three-phase winding are respectively the U phase, W phase and V phase of the second three-phase winding. The U phase and W phase of the second three-phase winding are arranged on the same layer and the V phase is on the same layer or different layer as the U phase and W phase.

[0120] Among them, when the V phase is in the same layer as the U phase and the W phase, the U phase, V phase and W phase of the second three-phase winding are at the same distance from the base 100 in the thickness direction of the base 100; when the V phase is in a different layer from the U phase and the W phase, the U phase and W phase of the second three-phase winding are at the same distance from the base 100 in the thickness direction of the base 100, the distance between the V phase and the base 100 in the thickness direction of the base 100 is not equal to the distance between the U phase and the W phase and the base 100 in the thickness direction of the base 100, the V phase is closer to the base 100 than the U phase and the W phase, or the V phase is farther away from the base 100 than the U phase and the W phase.

[0121] For example, there are multiple first three-phase windings, and for two adjacent first three-phase windings, the U phase and W phase of one first three-phase winding are arranged on the same layer with the V phase of another first three-phase winding, thereby reducing the overall size of the multiple first three-phase windings in the thickness direction of the first conveying track 200; similarly, there are multiple second three-phase windings, and for two adjacent second three-phase windings, the U phase and W phase of one second three-phase winding are arranged on the same layer with the V phase of another second three-phase winding, thereby reducing the overall size of the multiple second three-phase windings in the thickness direction of the second conveying track 300.

[0122] In this way, the size of each first three-phase winding in the extension direction of the first conveying track 200 can be reduced, so that more first three-phase windings can be arranged on the first conveying track 200, thereby increasing the driving force exerted on the mover 2 on the first conveying track 200, thereby increasing the moving speed of the mover 2 on the first conveying track 200, thereby improving the smoothness of the mover 2 moving from the converging end 101 to the first diverging end 102;

[0123] Similarly, the size of each second three-phase winding in the extension direction of the second conveying track 300 can be reduced, so that more second three-phase windings can be arranged on the second conveying track 300, thereby increasing the driving force received by the mover 2 on the second conveying track 300, thereby increasing the moving speed of the mover 2 on the second conveying track 300, thereby improving the smoothness of the mover 2 moving from the confluence end 101 to the second diversion end 103.

[0124] As shown in Figures 14-15, in some embodiments, the above-mentioned track conversion stator 1 also includes a third conveying track 500, which is arranged on the base 100. The third conveying track 500 is located between the confluence end 101 and the first conveying track 200, and between the confluence end 101 and the second conveying track 300. The third conveying track 500 includes a third armature winding, and the third armature winding has a first driving force and a second driving force on the mover 2. The driving direction of the first driving force on the mover 2 is parallel or approximately parallel to the driving direction of the first armature winding 210 on the mover 2, and the driving direction of the second driving force on the mover 2 is parallel or approximately parallel to the driving direction of the second armature winding 310 on the mover 2.

[0125] In this way, the mover 2 will pass through the third conveying track 500 when moving from the confluence end 101 to the first diverging end 102. The third conveying track 500 can provide a driving force for the mover 2 to move toward the first diverging end 102, driving the mover 2 to turn in advance, so as to facilitate the mover 2 to move toward the first conveying track 200.

[0126] When the mover 2 moves from the confluence end 101 to the second diverging end 103 , it will pass through the third conveying track 500 . The third conveying track 500 can provide the mover 2 with a driving force to move toward the second diverging end 103 , thereby facilitating the mover 2 to move toward the second conveying track 300 .

[0127] Furthermore, as shown in Figure 14 , the third armature winding can independently apply the first or second driving force to the mover. For example, the third armature winding includes a first sub-armature winding 510 and a second sub-armature winding 520. It can be seen that by independently energizing the first sub-armature winding 510, the first driving force is applied to the mover 2, and by independently energizing the second sub-armature winding 520, the second driving force is applied to the mover 2.

[0128] In other embodiments, the third armature winding simultaneously applies the first and second driving forces to the mover 2. As shown in Figure 14, the third armature winding may include a first sub-armature winding 510 and a second sub-armature winding 520. By simultaneously energizing the first and second sub-armature windings 510, 520, the first and second driving forces are simultaneously applied to the mover 2. Under the action of the first and second driving forces, the mover 2 is guided by the reversing structure and transported to the first conveying track 200 or the second conveying track 300.

[0129] In some other embodiments, as shown in FIG15 , the third armature winding includes a plurality of third coils 530 . After the third coils 530 are energized by current, they apply a driving force to the mover 2 . Since the third coils 530 include a first sub-segment 531 and a second sub-segment 532 connected to each other, the first sub-segment 531 is adjacent to the first armature winding 210 , and the second sub-segment 532 is adjacent to the second armature winding 310 , the driving force applied by the third coils to the mover 2 can be decomposed into a first driving force and a second driving force. By energizing the third coils, the first driving force and the second driving force are indirectly applied to the mover 2 simultaneously. Under the action of the first driving force and the second driving force, the mover 2 is guided by the commutation structure and transported to the first conveying track 200 or the second conveying track 300 .

[0130] As shown in FIG14 , in some embodiments, the third armature winding includes a first sub-armature winding 510 and a second sub-armature winding 520. The coils of the first sub-armature winding 510 are arranged in the same manner as the coils of the first armature winding 210 and are used to apply a first driving force to the mover 2. The coils of the second sub-armature winding 520 are arranged in the same manner as the coils of the second armature winding 310 and are used to apply a second driving force to the mover 2.

[0131] For example, the second sub-armature winding 520 may be located on a side of the first sub-armature winding 510 facing away from the merging end 101 .

[0132] By setting the first sub-armature winding 510, when the mover 2 moves from the converging end 101 to the first diverging end 102, the first sub-armature winding 510 can provide a driving force for the mover 2 to move toward the first diverging end 102, thereby driving the mover 2 to turn in advance and facilitating the mover 2 to move toward the first conveying track 200.

[0133] Through the setting of the second sub-armature winding 520, when the mover 2 moves from the confluence end 101 to the second branch end 103, the second sub-armature winding 520 can provide the mover 2 with a driving force to move toward the second branch end 103, thereby facilitating the mover 2 to move toward the second conveying track 300.

[0134] As shown in FIG15 , the third armature winding includes a plurality of third coils 530 , which are spaced apart. Each third coil 530 includes a first subsegment 531 and a second subsegment 532 connected to each other. The first subsegment 531 is adjacent to the first armature winding 210 , and the second subsegment 532 is adjacent to the second armature winding 310 .

[0135] Among them, the arrangement of the first sub-segment 531 is the same as the arrangement of the coils of the first armature winding 210, and is used to apply a first driving force to the mover 2; the arrangement of the second sub-segment 532 is the same as the arrangement of the coils of the second armature winding 310, and is used to apply a second driving force to the mover 2.

[0136] That is to say, each third coil 530 can provide both a first driving force and a second driving force to the mover 2 .

[0137] By setting the first sub-segment 531, when the mover 2 moves from the confluence end 101 to the first diverging end 102, the first sub-segment 531 can provide a driving force for the mover 2 to move toward the first diverging end 102, thereby driving the mover 2 to turn in advance and facilitating the mover 2 to move toward the first conveying track 200.

[0138] Through the setting of the second sub-segment 532, when the mover 2 moves from the confluence end 101 to the second divergence end 103, the second sub-segment 532 can provide the mover 2 with a driving force to move toward the second divergence end 103, thereby facilitating the mover 2 to move toward the second conveying track 300.

[0139] When the mover 2 is driven by the third coil 530 , since the mover 2 is simultaneously subjected to the first driving force and the second driving force, the mover 2 can be subjected to a greater driving force, thereby improving the transmission efficiency of the mover 2 .

[0140] The first conveying track 200 is the first integrated circuit board, the second conveying track 300 is the second integrated circuit board, and the third conveying track 500 is the third integrated circuit board. The first integrated circuit board, the second integrated circuit board and the third integrated circuit board are separate structures or integrated structures.

[0141] The first armature winding 210 can be integrated into the first integrated circuit board by printing, the second armature winding 310 can be integrated into the second integrated circuit board by printing, and the third armature winding can be integrated into the third integrated circuit board by printing.

[0142] When the first integrated circuit board, the second integrated circuit board and the third integrated circuit board are constructed as an integrated structure, the first integrated circuit board, the second integrated circuit board and the third integrated circuit board are simultaneously disassembled and assembled onto the base 100, which can reduce the disassembly and assembly steps and improve production efficiency. In addition, during transportation, the first integrated circuit board, the second integrated circuit board and the third integrated circuit board are easy to store, and the first integrated circuit board, the second integrated circuit board and the third integrated circuit board can be molded at one time, which is convenient for processing and manufacturing.

[0143] When the first, second, and third integrated circuit boards are constructed as separate structures, if the first integrated circuit board is damaged, only the first integrated circuit board needs to be replaced, without having to replace the second and third integrated circuit boards. If the second integrated circuit board is damaged, only the second integrated circuit board needs to be replaced, without having to replace the first and third integrated circuit boards, which can reduce subsequent maintenance costs. Similarly, if the third integrated circuit board is damaged, only the third integrated circuit board needs to be replaced, without having to replace the first and second integrated circuit boards, which can reduce subsequent maintenance costs. In addition, during installation, the first, second, and third integrated circuit boards can more easily adapt to the shape of the base 100, reducing installation difficulty.

[0144] The detailed beneficial effects of the first integrated circuit board, the second integrated circuit board and the third integrated circuit board in this embodiment being a separate structure or an integrated structure have been explained above when describing the first integrated circuit board and the second integrated circuit board as a separate structure or an integrated structure, and are only briefly described here.

[0145] The first conveying track 200 includes multiple layers of first armature windings 210 stacked along the thickness of the first conveying track 200. This allows the magnetic fields of the multiple layers of first armature windings 210 to overlap, increasing the driving force exerted by the first conveying track 200 on the mover 2 and facilitating smoother movement of the mover 2 between the first diverging end 102 and the merging end 101.

[0146] The second conveying track 300 includes multiple layers of second armature windings 310 stacked along the thickness of the second conveying track 300. This allows the magnetic fields of the multiple layers of second armature windings 310 to overlap, increasing the driving force exerted by the second conveying track 300 on the mover 2 and ensuring smoother movement of the mover 2 between the second diverging end 103 and the merging end 101.

[0147] The base 100 has a mounting slot, within which the first and second conveyor rails 200 and 300 are disposed. This reduces the combined dimensions of the base 100, the first and second conveyor rails 200, and 300 in the thickness direction of the base 100, thereby reducing the dimensions of the track switching stator 1 in the thickness direction of the base 100, facilitating a slimmer design for the track switching stator 1. Furthermore, the mounting slots secure the relative positions of the first and second conveyor rails 200 and 300 relative to the base 100, thereby enhancing the structural stability of the track switching stator 1.

[0148] As shown in FIG. 5 and FIG. 22 , the reversing structure includes a first guide member 410 and a second guide member 420 .

[0149] The first guide member 410 defines a first chute 411, or the first guide member 410 and the first conveying track 200 jointly define the first chute 411. A first telescopic member 430 is disposed within the first chute 411 and is located adjacent to the confluence end 101. The second guide member 420 defines a second chute 421, or the second guide member 420 and the second conveying track 300 jointly define the second chute 421. A second telescopic member 440 is disposed within the second chute 421 and is located adjacent to the confluence end 101.

[0150] The mover 2 is provided with a first sliding member 610 and a second sliding member 620. The first sliding member 610 and the second sliding member 620 can be telescopic universal wheels, that is, the first sliding member 610 and the second sliding member 620 can be telescopically arranged relative to the mover. When the mover 2 moves along the first conveying track 200, the first sliding member 610 can be slidably arranged in the first slide groove 411. When the mover 2 moves along the second conveying track 300, the second sliding member 620 can be slidably arranged in the second slide groove 421. The telescopic universal wheel described in the embodiment of the present application can be both telescopic and retractable relative to the mover 2 and can rotate about an axis. The telescopic direction of the telescopic universal wheel is parallel to the extension direction of the axis.

[0151] By setting a first slide groove 411, which cooperates with the first sliding member 610 of the mover 2, when the mover 2 moves along the first conveying track 200, the first slide groove 411 can limit and guide the mover 2 through the first sliding member 610; by setting a second slide groove 421, which cooperates with the second sliding member 620 of the mover 2, when the mover 2 moves along the second conveying track 300, the second slide groove 421 can limit and guide the mover 2 through the second sliding member 620.

[0152] When the mover 2 moves from the confluence end 101 to the first diversion end 102, the first telescopic member 430 remains in a retracted state (such as sinking toward the bottom of the first slide groove 411), and the second telescopic member 440 remains in an extended state (such as rising away from the bottom of the second slide groove 421) to lead the second sliding member 620 out of the second slide groove 421; when the mover 2 moves from the confluence end 101 to the second diversion end 103, the second telescopic member 440 remains in a retracted state, and the first telescopic member 430 remains in an extended state to lead the first sliding member 610 out of the first slide groove 411.

[0153] That is to say, when the mover 2 moves from the confluence end 101 to the first diversion end 102, since the second sliding member 620 is led out of the second slide groove 421, the first sliding member 610 still remains in the first slide groove 411, so the mover 2 can be limited and guided by the first slide groove 411 at this time; when the mover 2 moves from the confluence end 101 to the second diversion end 103, since the first sliding member 610 is led out of the first slide groove 411, the second sliding member 620 still remains in the second slide groove 421, so the mover 2 can be limited and guided by the second slide groove 421 at this time.

[0154] It can be seen from this that the first telescopic member 430, the second telescopic member 440, the first slide groove 411 and the second slide groove 421 cooperate with each other to assist in adjusting the moving direction of the mover 2, and compared to applying force to the mover 2 in a non-contact manner, the first telescopic member 430 and the second telescopic member 440 both apply force to the mover 2 in a contact manner, and the reliability of the movement of the mover 2 is higher.

[0155] The first sliding member 610 and the second sliding member 620 in the embodiment of the present application are further described. With respect to the first sliding member 610, when the first telescopic member 430 remains in a retracted state, there is no interaction force between the first sliding member 610 and the first telescopic member 430. The first sliding member 610 can be in rolling connection with the groove wall of the first chute 411 to ensure that the mover 2 is stably limited and guided by the first chute 411; when the first telescopic member 430 remains in an extended state, the first sliding member 610 abuts against the first telescopic member 430; when the first sliding member 610 is outside the first chute 411, the mover 2 is no longer limited and guided by the first chute 411. In summary, the first sliding member 610 and the second sliding member 620 have telescopic and self-rotating functions. Furthermore, taking the first slider 610 as an example, the telescopic function refers to the ability of the first slider 610 to extend and retract relative to the mover 2, and the rotational function refers to the ability of the first slider 610 to roll with the walls of the first chute 411 when in contact with the walls. This is done to reduce friction between the two and increase the service life of the first slider 610. Furthermore, during rotation, the first slider 610 has a rotation axis, extending parallel to the direction of extension and retraction of the first slider 610, thereby improving the stability of the reversing operation of the mover 2. The same applies to the second slider 620.

[0156] As shown in FIG. 5 and FIG. 22 , the reversing structure includes a first guide member 410 and a second guide member 420 .

[0157] The first guide member 410 defines a first chute 411, or the first guide member 410 and the first conveying track 200 jointly define the first chute 411. A first telescopic member 430 is disposed within the first chute 411 and is located adjacent to the confluence end 101. The second guide member 420 defines a second chute 421, or the second guide member 420 and the second conveying track 300 jointly define the second chute 421. A second telescopic member 440 is disposed within the second chute 421 and is located adjacent to the confluence end 101.

[0158] Among them, the mover 2 is provided with a first sliding member 610 and a second sliding member 620. When the mover 2 moves along the first conveying track 200, the first sliding member 610 can be slidably arranged in the first sliding groove 411. When the mover 2 moves along the second conveying track 300, the second sliding member 620 can be slidably arranged in the second sliding groove 421.

[0159] By setting a first slide groove 411, which cooperates with the first sliding member 610 of the mover 2, when the mover 2 moves along the first conveying track 200, the first slide groove 411 can limit and guide the mover 2 through the first sliding member 610; by setting a second slide groove 421, which cooperates with the second sliding member 620 of the mover 2, when the mover 2 moves along the second conveying track 300, the second slide groove 421 can limit and guide the mover 2 through the second sliding member 620.

[0160] At least one of the first chute 411 and the second chute 421 is provided with an electromagnetic reversing driving component, and the electromagnetic reversing driving component is adjacent to the confluence end 101 .

[0161] Among them, the side of the mover 2 is provided with a commutation permanent magnet magnetically coupled with the electromagnetic commutation drive component, which is magnetically coupled with the commutation permanent magnet when the electromagnetic commutation drive component is energized. By changing the current direction of the electromagnetic commutation drive component, a magnetic attraction force or a magnetic repulsion force is generated between the electromagnetic commutation drive component and the commutation permanent magnet to drive the mover 2 to move from the confluence end 101 to the first diversion end 102, or to drive the mover 2 to move from the confluence end 101 to the second diversion end 103.

[0162] It can be seen from this that the electromagnetic reversing drive can assist in adjusting the moving direction of the mover 2, and since the electromagnetic reversing drive is located on the side of the mover 2, the magnetic field of the electromagnetic reversing drive will not affect the magnetic coupling between the permanent magnet array 6 of the mover 2 and the first armature winding 210 and the second armature winding 310 under the influence of the permanent magnet array 6 below the mover 2.

[0163] Of course, those skilled in the art will appreciate that the reversing structure may be provided with an electromagnetic reversing drive component, a first telescopic component 430 and a second telescopic component 440 at the same time.

[0164] 5 and 22 , the first guide 410 is located on a side of the first conveying track 200 away from the second conveying track 300 in the width direction. The second guide 420 is located on a side of the second conveying track 300 away from the first conveying track 200 in the width direction.

[0165] In this way, the distance between the first guide member 410 and the second conveying rail 300 is relatively far and they are separated by the first conveying rail 200. There will be no interference between the first guide member 410 and the second conveying rail 300, which not only facilitates the disassembly and assembly of the second conveying rail 300, but also does not need to avoid the second conveying rail 300 when the first guide member 410 limits the first sliding member 610. The movement of the mover 2 on the first conveying rail 200 is smoother.

[0166] The distance between the second guide member 420 and the first conveying rail 200 is relatively far and they are separated by the second conveying rail 300. There will be no interference between the second guide member 420 and the first conveying rail 200, which not only facilitates the disassembly and assembly of the first conveying rail 200, but also does not need to avoid the first conveying rail 200 when the second guide member 420 limits the second sliding member 620. The movement of the mover 2 on the second conveying rail 300 is smoother.

[0167] As shown in Figures 5 and 22, the above-mentioned first guide member 410 includes a first shoulder 412, which is arranged on the base 100 and located on the side of the first conveying track 200 away from the second conveying track 300 in the width direction. The first shoulder 412 and the first conveying track 200 jointly define a first slide groove 411.

[0168] By providing the first stop shoulder 412 , when the first sliding member 610 is located in the first sliding groove 411 , the maximum distance that the first sliding member 610 can move away from the second conveying track 300 in the width direction of the first conveying track 200 can be limited, thereby preventing the mover 2 from leaving the first conveying track 200 .

[0169] Since the first shoulder 412 and the first conveying track 200 jointly define the first slide groove 411, the first conveying track 200 not only drives the mover 2 to move, but also limits the mover 2 in the width direction of the first conveying track 200. Therefore, the first conveying track 200 is reused, which reduces the number of parts, reduces the structural complexity, reduces the cost, and improves production efficiency.

[0170] The second guide member 420 includes a second shoulder 422 . The second shoulder 422 is disposed on the base 100 and located on a side of the second conveying track 300 away from the first conveying track 200 in the width direction. The second shoulder 422 and the second conveying track 300 together define a second sliding groove 421 .

[0171] By providing the second stop shoulder 422 , when the second sliding member 620 is located in the second slide groove 421 , the maximum distance that the second sliding member 620 can move away from the first conveying track 200 in the width direction of the second conveying track 300 can be limited, thereby preventing the mover 2 from leaving the second conveying track 300 .

[0172] Since the second shoulder 422 and the second conveying track 300 jointly define the second slide groove 421, the second conveying track 300 not only drives the mover 2 to move, but also limits the mover 2 in the width direction of the second conveying track 300. Therefore, the second conveying track 300 is reused, the number of parts is reduced, the structural complexity is reduced, the cost is reduced, and the production efficiency is improved.

[0173] In other embodiments, the above-mentioned first guide member 410 includes a first shoulder 412 and a first shoulder support. The first shoulder 412 is arranged on the base 100 and is located on the side of the first conveying rail 200 away from the second conveying rail 300 in the width direction. The first shoulder support is located between the first shoulder 412 and the first conveying rail 200. The first shoulder 412 and the first shoulder support jointly define the first slide groove 411.

[0174] By providing the first stop shoulder 412 , when the first sliding member 610 is located in the first sliding groove 411 , the maximum distance that the first sliding member 610 can move away from the second conveying track 300 in the width direction of the first conveying track 200 can be limited, thereby preventing the mover 2 from leaving the first conveying track 200 .

[0175] By setting the first shoulder, when the first sliding member 610 is located in the first slide groove 411, the first sliding member 610 and the first conveying track 200 can be separated, thereby avoiding surface friction contact between the first sliding member 610 and the first conveying track 200, thereby improving the service life of the first conveying track 200 and better protecting the first integrated circuit board in the first conveying track 200.

[0176] As shown in Figures 5 and 22, the second guide member 420 includes a second shoulder 422 and a second shoulder 423. The second shoulder 422 is arranged on the base 100 and is located on the side of the second conveying track 300 away from the first conveying track 200 in the width direction. The second shoulder 423 is located between the second shoulder 422 and the second conveying track 300. The second shoulder 422 and the second shoulder 423 jointly define the second slide groove 421.

[0177] By providing the second stop shoulder 422 , when the second sliding member 620 is located in the second slide groove 421 , the maximum distance that the second sliding member 620 can move away from the first conveying track 200 in the width direction of the second conveying track 300 can be limited, thereby preventing the mover 2 from leaving the second conveying track 300 .

[0178] By setting the second shoulder 423, when the second sliding member 620 is located in the second slide groove 421, the second sliding member 620 and the second conveying rail 300 can be separated, avoiding surface friction contact between the second sliding member 620 and the second conveying rail 300, thereby improving the service life of the second conveying rail 300 and better protecting the second integrated circuit board in the second conveying rail 300.

[0179] As shown in Figures 5 and 22, the centerline of the first conveying track 200 is an arc that bulges toward the second conveying track 300, while the centerline of the second conveying track 300 is a straight line. The track conversion stator 1 also includes a third guide member 460. The third guide member 460 is disposed on the base 100 and is located on a side of the second conveying track 300 that is close to the first conveying track 200 in the width direction. The third guide member 460 defines a third chute 461, or the third guide member 460 and the second conveying track 300 jointly define the third chute 461. When the mover 2 moves along the second conveying track 300, the first sliding member 610 is slidably disposed in the third chute 461.

[0180] By setting the third slide groove 461, the first sliding member 610 can travel in the width direction of the second conveying track 300, and when the mover 2 moves along the second conveying track 300, the mover 2 is limited on both sides of the width direction of the second conveying track 300, and the relative position between the mover 2 and the second conveying track 300 is more stable.

[0181] In addition, the third guide member 460 and the first conveying track 200 are spaced apart in the extension direction of the second conveying track 300, which can avoid the setting of the third guide member 460 affecting the layout of the first conveying track 200 and ensure the convenience of disassembly and assembly of the first conveying track 200.

[0182] In addition, since the center line of the first conveying track 200 is an arc protruding toward the second conveying track 300, when the mover 2 moves along the first conveying track 200, the radius corresponding to the moving trajectory of the first sliding member 610 and the radius corresponding to the moving trajectory of the second sliding member 620 are not the same. Therefore, in order to reduce the risk of the mover 2 getting stuck, the side of the first conveying track 200 close to the second conveying track 300 is not provided with a slide groove. That is to say, when the mover 2 moves along the first conveying track 200, it is only necessary to limit the first sliding member 610, and there is no need to limit the second sliding member 620.

[0183] 5 and 22 , the third guide member 460 includes a third shoulder 462 , which is disposed on the base 100 and located on a side of the second conveying track 300 close to the first conveying track 200 in the width direction. The third shoulder 462 and the second conveying track 300 jointly define a third slide groove 461 .

[0184] By setting the third shoulder 462 , when the first sliding member 610 is located in the third slide groove 461 , the maximum distance that the first sliding member 610 can move in the width direction of the second conveying track 300 toward the first conveying track 200 can be limited, thereby preventing the mover 2 from leaving the second conveying track 300 .

[0185] Since the third shoulder 462 and the second conveying track 300 jointly define the third slide groove 461, the second conveying track 300 not only drives the mover 2 to move, but also limits the mover 2 in the width direction of the second conveying track 300. Therefore, the second conveying track 300 is reused, the number of parts is reduced, the structural complexity is reduced, the cost is reduced, and the production efficiency is improved.

[0186] As shown in Figures 5 and 22, the above-mentioned third guide member 460 includes a third shoulder 462 and a third shoulder 463. The third shoulder 462 is arranged on the base 100 and is located on the side of the second conveying rail 300 close to the first conveying rail 200 in the width direction. The third shoulder 463 is located between the third shoulder 462 and the second conveying rail 300. The third shoulder 462 and the third shoulder 463 jointly define the third slide groove 461.

[0187] By setting the third shoulder 462 , when the first sliding member 610 is located in the third slide groove 461 , the maximum distance that the first sliding member 610 can move in the width direction of the second conveying track 300 toward the first conveying track 200 can be limited, thereby preventing the mover 2 from leaving the second conveying track 300 .

[0188] By providing the third shoulder 463 , when the first sliding member 610 is located in the third sliding groove 461 , the first sliding member 610 and the second conveying track 300 can be separated, thereby avoiding frictional contact between the first sliding member 610 and the second conveying track 300 and reducing the probability of damage to the second conveying track 300.

[0189] In some embodiments of the present application, the first guide member 410, the second guide member 420, the third guide member 460, and the base 100 are constructed as an integrated structure. In this way, the connection strength between the first guide member 410, the second guide member 420, the third guide member 460 and the base 100 is high, and they can be molded in one step, which is convenient for production.

[0190] The arrangement of the track conversion stator 1 is at least one of the following:

[0191] Method 1: A first limiter is provided on the inner wall of the first chute 411 , and the first limiter is close to at least one of the converging end 101 and the first diverging end 102 , for limiting the displacement stroke of the mover 2 in the depth direction of the first chute 411 .

[0192] For example, the length of the first stopper can be the same as the length of the first chute 411, or the first stopper can be divided into two parts, one part is arranged near the confluence end 101, and the other part is arranged near the first divergence end 102. By providing the first stopper, it is possible to prevent the side of the mover 2 near the first chute 411 from jumping at the confluence end 101 or the first divergence end 102, that is, to prevent jumping at the junction of the track conversion stator 1 and the other track stators 4 of the magnetic drive conveying system 3.

[0193] Method 2: A second limiter is provided on the inner wall of the second chute 421 , and the second limiter is close to at least one of the converging end 101 and the second diverging end 103 , for limiting the displacement stroke of the mover 2 in the depth direction of the second chute 421 .

[0194] For example, the length of the second stopper can be the same as the length of the second chute 421, or the second stopper can be divided into two parts, one part is arranged near the confluence end 101, and the other part is arranged near the second divergence end 103. By providing the second stopper, it is possible to prevent the side of the mover 2 near the second chute 421 from jumping at the confluence end 101 or the second divergence end 103, that is, to prevent jumping at the intersection of the track conversion stator 1 and the other track stators 4 of the magnetic drive conveying system 3.

[0195] Method three: a third limiter is provided on the inner wall of the third chute 461 , and the third limiter is close to the converging end 101 and the second diverging end 103 , for limiting the displacement stroke of the mover 2 in the depth direction of the third chute 461 .

[0196] For example, the length of the third stopper can be the same as the length of the third chute 461, or the third stopper can be divided into two parts, one part is arranged near the confluence end 101, and the other part is arranged near the second divergence end 103. By providing the third stopper, it is possible to prevent the side of the mover 2 near the third chute 461 from bouncing at the confluence end 101 or the second divergence end 103, that is, to prevent bouncing at the junction of the track conversion stator 1 and the other track stators 4 of the magnetic drive conveying system 3.

[0197] In some embodiments of the present application, a first limiting groove and a second limiting groove may be provided on two opposite side surfaces of the mover 2. When the mover 2 moves along the first conveying track 200, the first limiting member is inserted into the first limiting groove; when the mover 2 moves along the second conveying track 300, the second limiting member is inserted into the second limiting groove, and the third limiting member is inserted into the first limiting groove.

[0198] In other embodiments of the present application, when the mover 2 moves along the first conveying track 200, the first limit member is located above the first sliding member 610, and the first limit member limits the first sliding member 610 in the depth direction of the first slide groove 411; when the mover 2 moves along the second conveying track 300, the second limit member is located above the second sliding member 620, and the second limit member limits the second sliding member 620 in the depth direction of the second slide groove 421, and the third limit member is located above the first sliding member 610, and the third limit member limits the first sliding member 610 in the depth direction of the third slide groove 461.

[0199] As shown in Figures 2 and 5 , the centerline of the first conveyor track 200 is an arc that bulges toward the second conveyor track 300. The first conveyor track 200 has an inner arc edge 220 and an outer arc edge 230 along its width. The first diverter end 102 is connected to the track stator 4, which includes the conveyor track 5. The width of the first conveyor track 200 is no less than that of the conveyor track 5, and the inner arc edge 220 is further away from the second conveyor track 300 than the conveyor track 5.

[0200] Specifically, the first guide member 410 may not be provided with a first shoulder. After the first shoulder is cancelled, the inner arc edge 220 can be closer to the first shoulder 412. In this way, when the mover 2 moves from the confluence end 101 to the first diversion end 102, the side of the mover 2 close to the inner arc edge 220 is subjected to a greater driving force, the mover 2 has a greater centripetal force, and the reversing of the mover 2 is smoother.

[0201] As shown in Figures 2 and 5 , the width of the first conveying track 200 is the same as that of the conveying track 5. In other words, the outer arc edge 230 is located between the two sides of the width direction of the conveying track 5, and the first conveying track 200 as a whole is translated relative to the conveying track 5 in a direction away from the second diversion end 103.

[0202] In this way, while increasing the centripetal force of the mover 2 when it moves from the confluence end 101 to the first divergence end 102, the width of the first conveying track 200 will not increase. The coil in the first conveying track 200 can adopt the arc coil in the related technology, which is convenient for the production and processing of the first conveying track 200.

[0203] As shown in Figures 4 and 5, the centerline of the first conveying track 200 is an arc that bulges toward the second conveying track 300. The first conveying track 200 has an inner arc edge 220 and an outer arc edge 230 along its width. The first diverter end 102 is connected to a track stator 4, which can be an arc-shaped stator or a linear stator. The track stator 4 includes a conveying track 5. The inner arc edge 220 is flush with the side of the conveying track 5 away from the second diverter end 103, and the outer arc edge 230 is flush with the side of the conveying track 5 near the second diverter end 103.

[0204] In this way, the dimension of one end of the first conveying track 200 adjacent to the first diversion end 102 in the width direction of the first conveying track 200 is the same as the dimension of the end of the track stator 4 in the width direction of the first conveying track 200, and the first conveying track 200 and the track stator 4 are aligned and installed for easy positioning.

[0205] In some embodiments, the width of the converging end 101 is greater than the width of the first diverging end 102 and the width of the second diverging end 103, and the width of the first diverging end 102 is the same as the width of the second diverging end 103. In this way, the converging end 101 has a larger area for arranging the armature winding, which is beneficial for increasing the driving force of the armature winding on the mover 2 near the converging end 101, and facilitating the movement of the mover 2 from the converging end 101 to the first diverging end 102 or the second diverging end 103.

[0206] In other embodiments, the width of the converging end 101, the width of the first diverging end 102, and the width of the second diverging end 103 are the same. In this way, the structure of the track switching stator 1 is more standardized, and it is convenient to connect with the track stator 4 in the related art (such as a straight stator and an arc stator).

[0207] Alternatively, the width of the converging end 101 is smaller than the width of the first diverging end 102 and the width of the second diverging end 103. This can reduce the armature winding area of ​​the converging end 101 and reduce costs. The width of the first diverging end 102 and the width of the second diverging end 103 are the same, which facilitates uniform size and eases manufacturing.

[0208] As shown in Figures 17-21, in some embodiments, the above-mentioned track conversion stator 1 also has a third diversion end 104, and the track conversion stator 1 also includes a fourth conveying track 700. The fourth conveying track 700 is arranged on the base 100 and is located between the confluence end 101 and the third diversion end 104. The fourth conveying track 700 includes a fourth armature winding 710, and the fourth armature winding 710 is used to drive the mover 2 to move between the confluence end 101 and the third diversion end 104.

[0209] In this way, the mover 2 can be diverted from the confluence end 101 to any one of the first diversion end 102, the second diversion end 103 and the third diversion end 104 through the track conversion stator 1, and can be merged from the first diversion end 102, the second diversion end 103 and the third diversion end 104 to the confluence end 101. The track conversion stator 1 can drive the mover 2 in more conveying directions, which is conducive to the application of the track conversion stator 1 to a more complex magnetic drive conveying system 3.

[0210] Furthermore, the first conveying track 200 and the second conveying track 300 have a first angle at the bifurcation, and the second conveying track 300 and the fourth conveying track 700 have a second angle at the bifurcation. The embodiment of the present application does not limit the relative size between the first angle and the second angle. The first angle can be equal to the second angle, or the first angle can be different from the second angle.

[0211] As shown in Figures 17 to 21, the fourth conveying track 700 and the first conveying track 200 are located on opposite sides of the second conveying track 300. The center line of the above-mentioned first conveying track 200 is an arc protruding toward the second conveying track 300. In this way, while ensuring the smoothness of the movement of the mover 2 on the first conveying track 200, the mover 2 can change the moving direction more quickly through the first conveying track 200.

[0212] The center line of the fourth conveying track 700 is an arc protruding toward the second conveying track 300, and the center line of the second conveying track 300 is a straight line. In this way, while ensuring the smoothness of the movement of the mover 2 on the fourth conveying track 700, the mover 2 can change the moving direction more quickly through the fourth conveying track 700.

[0213] The fourth conveying track 700 and the first conveying track 200 are located on opposite sides of the second conveying track 300. For example, the end surface of the first diverging end 102 and the end surface of the third diverging end 104 are parallel to each other, the end surface of the second diverging end 103 and the end surface of the merging end 101 are parallel to each other, and the end surface of the first diverging end 102 and the end surface of the third diverging end 104 are perpendicular to the end surface of the second diverging end 103 and the end surface of the merging end 101.

[0214] In this way, the first conveying track 200 , the second conveying track 300 and the fourth conveying track 700 are arranged without interfering with each other, and the mover 2 can be quickly conveyed to different directions.

[0215] In other embodiments, the first conveying track 200 is a first integrated circuit board, the second conveying track 300 is a second integrated circuit board, and the fourth conveying track 700 is a fourth integrated circuit board. The first integrated circuit board, the second integrated circuit board and the fourth integrated circuit board are separate structures or integrated structures.

[0216] The first armature winding 210 can be integrated into the first integrated circuit board by printing, the second armature winding 310 can be integrated into the second integrated circuit board by printing, and the fourth armature winding 710 can be integrated into the fourth integrated circuit board by printing.

[0217] When the first integrated circuit board, the second integrated circuit board, and the fourth integrated circuit board are constructed as an integrated structure, the first integrated circuit board, the second integrated circuit board, and the fourth integrated circuit board are simultaneously disassembled and assembled onto the base 100, which can reduce the disassembly and assembly steps and improve production efficiency. In addition, during transportation, the first integrated circuit board, the second integrated circuit board, and the fourth integrated circuit board are easy to store, and the first integrated circuit board, the second integrated circuit board, and the fourth integrated circuit board are more convenient to remove from the mold.

[0218] When the first integrated circuit board, the second integrated circuit board, and the fourth integrated circuit board are constructed as a split structure, if the first integrated circuit board is damaged, only the first integrated circuit board needs to be replaced, without replacing the second integrated circuit board and the fourth integrated circuit board. If the second integrated circuit board is damaged, only the second integrated circuit board needs to be replaced, without replacing the first integrated circuit board and the fourth integrated circuit board. Similarly, if the fourth integrated circuit board is damaged, only the fourth integrated circuit board needs to be replaced, without replacing the first integrated circuit board and the second integrated circuit board, which can reduce subsequent maintenance costs. In addition, during installation, the first integrated circuit board, the second integrated circuit board, and the fourth integrated circuit board can be more easily adapted to the shape of the base 100, reducing installation difficulty. The first integrated circuit board, the second integrated circuit board, and the fourth integrated circuit board can be freely disassembled and assembled, making the installation more flexible.

[0219] The specific beneficial effects of the first integrated circuit board, the second integrated circuit board, and the fourth integrated circuit board being a separate structure or an integrated structure have been explained in detail above when describing the first integrated circuit board and the second integrated circuit board as a separate structure or an integrated structure, and will not be repeated here.

[0220] Further, referring to Figures 17 to 21 , in some embodiments, the first armature winding 210 and the fourth armature winding 710 are symmetrically arranged about the centerline of the second conveying track 300. This facilitates the manufacture of the base 100, ensuring that the motion trajectory of the mover 2 on the first armature winding 210 and the motion trajectory of the mover 2 on the second armature winding 310 are symmetrical about the centerline of the second conveying track 300. Furthermore, the symmetrical arrangement of the first armature winding 210 and the fourth armature winding 710 about the centerline of the second conveying track 300 facilitates the manufacture of the first armature winding 210 and the fourth armature winding 710.

[0221] As shown in Figures 17 to 19, the first integrated circuit board and the second integrated circuit board are an integrated structure, and the fourth integrated circuit board is a separate structure from the first integrated circuit board and the second integrated circuit board. This facilitates the assembly and disassembly of the fourth integrated circuit board. On the basis of the track conversion stator 1 formed by the first integrated circuit board and the second integrated circuit board, by adding or removing the fourth integrated circuit board, the conveying path of the track conversion stator 1 is increased or decreased, thereby improving the structural diversity and ease of assembly and disassembly of the track conversion stator 1. Furthermore, for the track conversion stator 1 in Figures 17 to 19, the first integrated circuit board and the second integrated circuit board can also be a separate structure. This is not limited in the embodiments of the present application. The installation structure and internal structure of the first integrated circuit board and the second integrated circuit board can refer to the above.

[0222] Furthermore, as shown in FIG17 , in some embodiments, the first armature winding 210 includes a plurality of first coils 212 spaced apart along the extension direction of the first conveyor track 200 , with the length direction of the first coils 212 being perpendicular to both the extension direction of the first conveyor track 200 and the thickness direction of the first conveyor track 200 . Similarly, because the first armature winding 210 and the fourth armature winding 710 are symmetrically arranged about the centerline of the second conveyor track 300 , the plurality of fourth coils in the fourth armature winding 710 are spaced apart along the extension direction of the fourth conveyor track 700 .

[0223] As shown in FIG. 18 , in some embodiments, the centerline of the first conveying track 200 is an arc convex toward the second conveying track 300, and the plurality of first coils 212 are arranged at an angle along the arc. Similarly, the centerline of the fourth conveying track 700 is an arc convex toward the second conveying track 300, and the plurality of fourth coils in the fourth armature winding 710 are arranged at an angle along the centerline of the fourth conveying track 700, which is an arc convex toward the second conveying track 300.

[0224] As shown in FIG19 , in some embodiments, the first armature winding 210 and the fourth armature winding 710 are symmetrically arranged about the center line of the second conveying track 300. Part of the first coil 212 and part of the second coil 312 are arranged in a one-to-one correspondence to form an integrated coil structure.

[0225] As shown in Figures 20 and 21 , in some embodiments, the first, second, and fourth integrated circuit boards are integrally structured, and the first armature winding 210 and the fourth armature winding 710 are symmetrically arranged about the centerline of the second conveyor track 300. Thus, the coil layout of the first armature winding 210 and the coil layout of the fourth armature winding 710 are identical, simplifying the structure of the track conversion stator 1. Furthermore, the motion trajectory of the mover 2 on the first armature winding 210 and the motion trajectory of the mover 2 on the second armature winding 310 are symmetrical about the centerline of the second conveyor track 300, further facilitating the layout of the magnetic drive conveying system 3.

[0226] Furthermore, as shown in Figure 20, based on the symmetrical arrangement of the first armature winding 210 and the fourth armature winding 710 about the centerline of the second conveyor track 300, portions of the first coil 212, portions of the second coil 312, and portions of the fourth coil are arranged one-to-one to form an integrated structure. When the mover 2 is driven by the coils of the integrated structure described in this paragraph, on the one hand, the mover 2 can be subjected to a greater driving force, thereby improving the conveying efficiency of the mover 2 and making it easier to achieve reversing action; on the other hand, the mover 2 can output to either end at will under the guidance of the reversing structure, simplifying the reversing process of the mover 2.

[0227] As shown in Figure 21, in some embodiments, on the basis of the first armature winding 210 and the fourth armature winding 710 being symmetrically arranged about the center line of the second conveying track 300, part of the first coil 212 and part of the second coil 312 are respectively arranged as an integrated structure, and part of the second coil 312 and part of the fourth coil are respectively arranged as an integrated structure, thereby facilitating the commutation of the mover 2 and receiving a greater driving force during the commutation process.

[0228] As shown in Figures 17 to 21, the extension line of the above-mentioned converging end 101 passes through the center of the first conveying track 200. This is conducive to ensuring that the end face of the first diversion end 102 and the end face of the converging end 101 are perpendicular to each other, and the mover 2 changes its moving direction faster through the first conveying track 200. In addition, the mover 2 is not prone to problems such as deviation and derailment when moving along the first conveying track 200.

[0229] The extension line of the converging end 101 passes through the center of the fourth conveying track 700. This is conducive to ensuring that the end face of the third diversion end 104 and the end face of the converging end 101 are perpendicular to each other. The mover 2 changes its moving direction faster through the second conveying track 300, and the mover 2 is not prone to deviation, derailment, and other problems when moving along the second conveying track 300.

[0230] In some embodiments of the present application, the base 100 is an integrated structure, and the base 100 is provided with an installation groove. The first conveying rail 200, the second conveying rail 300 and the fourth conveying rail 700 are arranged in the same installation groove. At this time, the first conveying rail 200, the second conveying rail 300 and the fourth conveying rail 700 can be constructed as an integrated structure, and the first conveying rail 200, the second conveying rail 300 and the fourth conveying rail 700 can also be constructed as a split structure. In this way, the structural strength of the base 100 is higher and it is convenient for demolding.

[0231] In other embodiments of the present application, the base 100 includes a first base and a second base, which are detachably connected, the first conveying track 200 and the second conveying track 300 are arranged on the first base, and the fourth conveying track 700 is arranged on the second base.

[0232] The first base and the second base may be provided with mounting grooves respectively, the first conveying track 200 and the second conveying track 300 are installed in the mounting groove of the first base, and the fourth conveying track 700 is installed in the mounting groove of the second base.

[0233] When the first base and the second base are installed together, the track conversion stator 1 can divert the mover 2 from the converging end 101 to the first diverting end 102, the second diverting end 103 and the third diverting end 104, and merge the mover 2 from the first diverting end 102, the second diverting end 103 and the third diverting end 104 to the converging end 101;

[0234] When the first base and the second base are separated, the track conversion stator 1 can divert the mover 2 from the converging end 101 to the first diversion end 102 and the second diversion end 103, and merge the mover 2 from the first diversion end 102 and the second diversion end 103 to the converging end 101.

[0235] In this way, the track conversion stator 1 has higher structural flexibility and can be applied to different working conditions.

[0236] In the second aspect, as shown in FIG1 , FIG3 , FIG5 , and FIG22 , an embodiment of the present application provides a magnetic drive conveying system 3 , comprising:

[0237] The track conversion stator 1 as described above;

[0238] The mover 2 is provided with a permanent magnet array 6 and telescopic universal wheels (such as the first sliding member 610 and the second sliding member 620 mentioned above). The telescopic universal wheels are retractable relative to the mover 2. The reversing structure guides the mover 2 from the confluence end 101 to the first conveying track 200, or guides the mover 2 from the confluence end 101 to the second conveying track 300 by adjusting the telescopic state of the telescopic universal wheels.

[0239] When the first armature winding 210 is energized, it is magnetically coupled with the permanent magnet array 6 to drive the mover 2 to move between the confluence end 101 and the first diversion end 102; when the second armature winding 310 is energized, it is magnetically coupled with the permanent magnet array 6 to drive the mover 2 to move between the confluence end 101 and the second diversion end 103.

[0240] The magnetic drive conveying system 3 described in the embodiment of the present application, by applying the track conversion stator 1 in the magnetic drive conveying system 3, can not only realize the diversion of a single guide rail or the merging of multiple guide rails, but also does not require a separate transfer mechanism, eliminating the docking step of the transfer mechanism during each merging or diversion, thereby improving the conveying efficiency.

[0241] Furthermore, the magnetic drive conveying system 3 also includes an arc stator and a linear stator. The arc stator includes an arc integrated circuit board, and the first conveying track 200 is an arc integrated circuit board; the linear stator includes a linear integrated circuit board, and the second conveying track 300 is a linear integrated circuit board.

[0242] It can be understood that, as shown in FIG12, the outer shape of the first conveying track 200 is roughly arc-shaped, and the outer shape of the second conveying track 300 is roughly linear. The first conveying track 200 can be regarded as an arc-shaped integrated circuit board taken from an arc-shaped stator (such as the arc-shaped stator in FIG1), and the second conveying track 300 can be regarded as a linear integrated circuit board taken from a linear stator (such as the linear stator in FIG1). Thus, the first conveying track 200 and the second conveying track 300 are formed by combining existing products, thereby reducing the development, design and manufacturing costs, improving the universality of the integrated circuit board, facilitating the production of the track conversion stator 1, and reducing the cost of the magnetic drive conveying system 3. Moreover, by selecting integrated circuit boards from stators of different specifications and splicing and combining integrated circuit boards from stators of different specifications, a variety of track conversion stators 1 of different specifications are formed, thereby improving the structural diversity of the track conversion stator 1, and thereby improving the conveying diversity of the magnetic drive conveying system 3.

[0243] Furthermore, in some embodiments, in a magnetic drive conveying system 3 , the number of track conversion stators 1 can be multiple, and there are at least two track conversion stators 1 adjacent to each other. For the two adjacent track conversion stators 1 .

[0244] The confluence end 101 of one track conversion stator 1 is spliced ​​with any one of the confluence end 101, the first shunt end 102, and the second shunt end 103 of another track conversion stator 1; or, the first shunt end 102 of one track conversion stator 1 is spliced ​​with any one of the confluence end 101, the first shunt end 102, and the second shunt end 103 of another track conversion stator 1; or, the second shunt end 103 of one track conversion stator 1 is spliced ​​with any one of the confluence end 101, the first shunt end 102, and the second shunt end 103 of another track conversion stator 1.

[0245] As shown in FIG23 , when two track conversion stators 1 are adjacent, the first branch end 102 of one track conversion stator 1 (such as the track conversion stator 1 located at the bottom in FIG23 ) is spliced ​​with the confluence end 101 of the other track conversion stator 1 (such as the track conversion stator 1 located at the top in FIG23 ). In this embodiment of the present application, by providing at least two adjacent track conversion stators 1, the transport diversity and transport efficiency of the magnetic drive transport system 3 are improved.

[0246] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "up", "down", "left", "right", etc. indicate directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. This is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this application. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0247] 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 track conversion stator for a magnetic drive conveying system, characterized in that: The track conversion stator has a converging end (101), a first diverging end (102) and a second diverging end (103), and the track conversion stator includes: base (100); A first conveying track (200) is provided on the base (100) and is located between the converging end (101) and the first diverging end (102); the first conveying track (200) comprises a first armature winding (210); the first armature winding (210) is used to drive a mover (2) of a magnetic drive conveying system to move between the converging end (101) and the first diverging end (102); a second conveying track (300) disposed on the base (100) and located between the converging end (101) and the second diverging end (103); the second conveying track (300) comprising a second armature winding (310); the second armature winding (310) being used to drive the mover (2) to move between the converging end (101) and the second diverging end (103); A reversing structure is provided on the base (100) and acts on the mover (2) in a manner of contacting or not contacting the mover (2) to guide the mover (2) to move from the confluence end (101) to the first conveying track (200), or to guide the mover (2) to move from the confluence end (101) to the second conveying track (300).

2. The track conversion stator according to claim 1, characterized in that: The first conveying track (200) is a first integrated circuit board, the second conveying track (300) is a second integrated circuit board, and the first integrated circuit board and the second integrated circuit board are of separate structures or of integrated structure.

3. The track conversion stator according to claim 2, characterized in that: The first integrated circuit board and the second integrated circuit board are separate structures; The orthographic projection of the first armature winding (210) on the base (100) and the orthographic projection of the second armature winding (310) on the base (100) do not overlap, or the orthographic projection of the first armature winding (210) on the base (100) and the orthographic projection of the second armature winding (310) on the base (100) partially overlap.

4. The track conversion stator according to claim 3, characterized in that: When the orthographic projection of the first armature winding (210) on the base (100) and the orthographic projection of the second armature winding (310) on the base (100) do not overlap, the upper surface of the first conveying track (200) and the upper surface of the second conveying track (300) are located in the same plane, and the first conveying track (200) and the second conveying track (300) abut against each other.

5. The track conversion stator according to claim 4, characterized in that: The center line of the first conveying track (200) is an arc line protruding toward the second conveying track (300), and the first conveying track (200) has an inner arc edge (220) and an outer arc edge (230) in its width direction; A dividing line (L) is provided between the first conveying track (200) and the second conveying track (300), and the setting manner of the dividing line (L) satisfies any one of the following: Mode 1: The dividing line (L) is perpendicular to the merging end (101) and passes through the intersection of the outer arc edge (230) and the second conveying track (300); Mode 2: The dividing line (L) is perpendicular to the merging end (101) and passes through the end point of the merging end (101) close to the first conveying track (200); Mode 3: The dividing line (L) is the curve where the outer arc edge (230) is located; Mode 4: The dividing line (L) passes through the intersection of the outer arc edge (230) and the second conveying track (300), and the end point of the merging end (101) close to the first conveying track (200); Mode 5: The dividing line (L) passes through the intersection of the outer arc edge (230) and the second conveying track (300), and the end point of the merging end (101) away from the first conveying track (200).

6. The track conversion stator according to claim 3, characterized in that: When the orthographic projection of the first armature winding (210) on the base (100) and the orthographic projection of the second armature winding (310) on the base (100) partially overlap, a portion of the first armature winding (210) is located between the second armature winding (310) and the base (100), or a portion of the second armature winding (310) is located between the first armature winding (210) and the base (100).

7. The track switching stator according to claim 6, characterized in that: The center line of the first conveying track (200) is an arc line protruding toward the second conveying track (300), and the first conveying track (200) has an inner arc edge (220) and an outer arc edge (230) in its width direction; An overlapping area of an orthographic projection of the first armature winding (210) on the base (100) and an orthographic projection of the second armature winding (310) on the base (100) has a first boundary and a second boundary, and the first boundary and the second boundary are arranged in any one of the following ways: Mode 1: The first boundary is perpendicular to the confluence end (101) and passes through the intersection of the outer arc edge (230) and the second conveying track (300), and the second boundary is the curve where the outer arc edge (230) is located; Mode 2: The first boundary is perpendicular to the confluence end (101) and passes through the end point of the confluence end (101) close to the first conveying track (200), and the second boundary is the curve where the outer arc edge (230) is located.

8. The track switching stator according to claim 2, characterized in that: The first conveying track (200) has a first splicing surface (201), the first splicing surface (201) is connected between the upper surface and the lower surface of the first conveying track (200), the first splicing surface (201) is provided with a first splicing protrusion (202), and a portion of the first armature winding (210) is provided on the first splicing protrusion (202); The second conveying track (300) has a second splicing surface (301), the second splicing surface (301) is connected between the upper surface and the lower surface of the second conveying track (300), the second splicing surface (301) is provided with a second splicing protrusion (302), and part of the second armature winding (310) is provided on the second splicing protrusion (302); Part of the first splicing protrusion (202) is located between the second splicing protrusion (302) and the base (100), or part of the second splicing protrusion (302) is located between the first splicing protrusion (202) and the base (100).

9. The track switching stator according to claim 8, characterized in that: There is a dividing line (L) between the first conveying track (200) and the second conveying track (300), at which the first splicing surface (201) and the second splicing surface (301) are arranged opposite to each other, and the first splicing protrusion (202) and the second splicing protrusion (302) are spliced together; and / or, The converging end (101) is provided with a first splicing protrusion (202) or a second splicing protrusion (302); one of the first diverging end (102) and the second diverging end (103) is provided with the first splicing protrusion (202), and the other is provided with the second splicing protrusion (302).

10. The track switching stator according to claim 2, characterized in that: The first armature winding (210) comprises a plurality of first cylindrical coils (211), the central axis of the first cylindrical coils (211) is perpendicular to the base (100), and the plurality of first cylindrical coils (211) are arranged in an array along the width direction of the first conveying track (200) and the extension direction of the first conveying track (200); and / or The second armature winding (310) includes a plurality of second cylindrical coils (311), the central axis of the second cylindrical coils (311) is perpendicular to the base (100), and the plurality of second cylindrical coils (311) are arranged in a row along the width direction of the second conveying track (300) and the extension direction of the second conveying track (300).

11. The track switching stator according to claim 2, characterized in that: The first armature winding (210) comprises a plurality of first coils (212), the plurality of first coils (212) being arranged at intervals along the extension direction of the first conveying track (200), the length direction of the first coils (212) being perpendicular to the extension direction of the first conveying track (200) and the thickness direction of the first conveying track (200); and / or The second armature winding (310) includes a plurality of second coils (312), and the plurality of second coils (312) are arranged at intervals along the extension direction of the second conveying track (300), and the length direction of the second coils (312) is perpendicular to the extension direction of the second conveying track (300) and the thickness direction of the second conveying track (300).

12. The track switching stator according to claim 2, characterized in that: The center line of the first conveying track (200) is an arc line protruding toward the second conveying track (300), and the center line of the second conveying track (300) is a straight line; The first armature winding (210) includes a plurality of first coils (212), the plurality of first coils (212) are spaced apart along an extension direction of the first conveying track (200), and the length direction of the first coils (212) is perpendicular to a center line of the first conveying track (200); The second armature winding (310) includes a plurality of second coils (312), and the plurality of second coils (312) are arranged at intervals along the extension direction of the second conveying track (300), and the length direction of the second coils (312) is perpendicular to the extension direction of the second conveying track (300) and the thickness direction of the second conveying track (300).

13. The track switching stator according to claim 11 or 12, characterized in that: The plurality of first coils (212) include at least one first bent coil, the first bent coil being symmetrically arranged about a center line of the first conveying track (200), and the first bent coil protruding toward the first diversion end (102); The plurality of second coils (312) include at least one second bent coil, the second bent coil being symmetrically arranged about the center line of the second conveying track (300), and the second bent coil protruding toward the second shunt end (103).

14. The track switching stator according to claim 11 or 12, characterized in that: The first integrated circuit board and the second integrated circuit board are an integrated structure; The plurality of first coils (212) include at least one first connecting coil (214), the plurality of second coils (312) include at least one second connecting coil (314), the number of the first connecting coils (214) is the same as the number of the second connecting coils (314), and the first connecting coils (214) and the second connecting coils (314) are arranged in a one-to-one correspondence to form an integrated coil structure.

15. The track switching stator according to claim 11 or 12, characterized in that: The first integrated circuit board and the second integrated circuit board are an integrated structure; The first armature winding (210) extends to the second conveying track (300), a portion of the plurality of second coils (312) is arranged on one side of the first armature winding (210) in the extending direction of the second conveying track (300), and another portion of the plurality of second coils (312) is arranged on the other side of the first armature winding (210) in the extending direction of the second conveying track (300).

16. The track switching stator according to claim 11 or 12, characterized in that: The first armature winding (210) includes at least one first three-phase winding, the first three-phase winding includes three first coils (212), the three first coils (212) of the first three-phase winding are respectively the U phase, the W phase and the V phase of the first three-phase winding, the U phase and the W phase of the first three-phase winding are arranged in the same layer, and the V phase is in the same layer or a different layer as the U phase and the W phase; and / or The second armature winding (310) includes at least one second three-phase winding, the second three-phase winding includes three second coils (312), the three second coils (312) of the second three-phase winding are respectively the U phase, the W phase and the V phase of the second three-phase winding, the U phase and the W phase of the second three-phase winding are arranged in the same layer, and the V phase is in the same layer or different layer as the U phase and the W phase.

17. The track switching stator according to claim 1, characterized in that: Also includes: A third conveying track (500) is arranged on the base (100). The third conveying track (500) is located between the merging end (101) and the first conveying track (200), and between the merging end (101) and the second conveying track (300). The third conveying track (500) includes a third armature winding. The third armature winding exerts a first driving force and a second driving force on the mover (2). The direction of the first driving force is parallel to the driving direction of the first armature winding (210) on the mover (2), and the direction of the second driving force is parallel to the driving direction of the second armature winding (310) on the mover (2).

18. The track switching stator according to claim 17, characterized in that: The third armature winding alone applies the first driving force or the second driving force to the mover (2); or The third armature winding applies the first driving force and the second driving force to the mover (2) simultaneously; or The first driving force and the second driving force are components of the driving force applied by the third armature winding to the mover (2).

19. The track switching stator according to claim 17, characterized in that: The third armature winding includes a first sub-armature winding (510) and a second sub-armature winding (520); The arrangement of the coils of the first sub-armature winding (510) is the same as the arrangement of the coils of the first armature winding (210), and is used to apply the first driving force to the mover (2); The arrangement of the coils of the second sub-armature winding (520) is the same as the arrangement of the coils of the second armature winding (310), and is used to apply the second driving force to the mover (2).

20. The orbit conversion stator according to claim 17, characterized in that: The third armature winding comprises a plurality of third coils (530), the plurality of third coils (530) are arranged at intervals, each of the third coils (530) comprises a first sub-segment (531) and a second sub-segment (532) connected to each other, the first sub-segment (531) being adjacent to the first armature winding (210), and the second sub-segment (532) being adjacent to the second armature winding (310); The arrangement of the first sub-segments (531) is the same as the arrangement of the coils of the first armature winding (210), and is used to apply the first driving force to the mover (2); The arrangement of the second sub-segments (532) is the same as the arrangement of the coils of the second armature winding (310), and is used to apply the second driving force to the mover (2).

21. The orbit conversion stator according to any one of claims 17 to 20, characterized in that: The first conveying track (200) is a first integrated circuit board, the second conveying track (300) is a second integrated circuit board, and the third conveying track (500) is a third integrated circuit board. The first integrated circuit board, the second integrated circuit board, and the third integrated circuit board are of separate structures or of an integrated structure.

22. The orbit conversion stator according to claim 1, characterized in that: The first conveying track (200) comprises multiple layers of the first armature winding (210), and the multiple layers of the first armature winding (210) are stacked along the thickness direction of the first conveying track (200); and / or The second conveying track (300) includes multiple layers of the second armature winding (310), and the multiple layers of the second armature winding (310) are stacked along the thickness direction of the second conveying track (300).

23. The orbit conversion stator according to claim 1, characterized in that: The base (100) has a mounting groove, and the first conveying track (200) and the second conveying track (300) are arranged in the mounting groove.

24. The orbit conversion stator according to claim 1, characterized in that: The commutation structure comprises: A first guide member (410), wherein the first guide member (410) defines a first chute (411), or the first guide member (410) and the first conveying track (200) jointly define the first chute (411), wherein a first telescopic member (430) capable of telescopic movement is provided in the first chute (411), and the first telescopic member (430) is adjacent to the confluence end (101); A second guide member (420), wherein the second guide member (420) defines a second chute (421), or the second guide member (420) and the second conveying track (300) jointly define a second chute (421), wherein a second telescopic member (440) capable of telescopic movement is provided in the second chute (421), and the second telescopic member (440) is adjacent to the confluence end (101); The mover (2) is provided with a first sliding member (610) and a second sliding member (620); when the mover (2) moves along the first conveying track (200), the first sliding member (610) is slidably arranged in the first chute (411); when the mover (2) moves along the second conveying track (300), the second sliding member (620) is slidably arranged in the second chute (421); When the mover (2) moves from the converging end (101) to the first diverging end (102), the first telescopic member (430) remains in a contracted state, and the second telescopic member (440) remains in an extended state to guide the second sliding member (620) out of the second chute (421); When the mover (2) moves from the converging end (101) to the second diverging end (103), the second telescopic member (440) remains in a contracted state, and the first telescopic member (430) remains in an extended state to guide the first sliding member (610) out of the first sliding groove (411).

25. The track switching stator according to claim 1, characterized in that: The commutation structure comprises: A first guide member (410), wherein the first guide member (410) defines a first slide groove (411), or the first guide member (410) and the first conveying track (200) jointly define the first slide groove (411); A second guide member (420), wherein the first guide member (410) defines a second slide groove (421), or the second guide member (420) and the second conveying track (300) jointly define a second slide groove (421); At least one of the first chute (411) and the second chute (421) is provided with an electromagnetic reversing drive component, and the electromagnetic reversing drive component is adjacent to the confluence end (101); The mover (2) is provided with a first sliding member (610) and a second sliding member (620); when the mover (2) moves along the first conveying track (200), the first sliding member (610) can be slidably arranged in the first slide groove (411); when the mover (2) moves along the second conveying track (300), the second sliding member (620) can be slidably arranged in the second slide groove (421).

26. The track switching stator according to claim 24 or 25, characterized in that: The first guide member (410) is located on a side of the first conveying track (200) in a width direction away from the second conveying track (300); The second guide member (420) is located on a side of the second conveying track (300) away from the first conveying track (200) in the width direction.

27. The track switching stator according to claim 26, characterized in that: The first guide member (410) comprises a first stop shoulder (412), the first stop shoulder (412) being arranged on the base (100) and located on a side of the first conveying track (200) in a width direction away from the second conveying track (300), the first stop shoulder (412) and the first conveying track (200) jointly defining the first slide groove (411); and / or The second guide member (420) includes a second shoulder (422), which is arranged on the base (100) and is located on a side of the second conveying track (300) away from the first conveying track (200) in the width direction, and the second shoulder (422) and the second conveying track (300) jointly define the second slide groove (421).

28. The track switching stator according to claim 26, characterized in that: The first guide member (410) includes a first stop shoulder (412) and a first shoulder support, the first stop shoulder (412) is arranged on the base (100) and is located on a side of the first conveying track (200) in a width direction away from the second conveying track (300), the first shoulder support is located between the first stop shoulder (412) and the first conveying track (200), and the first stop shoulder (412) and the first shoulder support jointly define the first slide groove (411); and / or The second guide member (420) includes a second shoulder (422) and a second shoulder (423), wherein the second shoulder (422) is arranged on the base (100) and is located on the side of the second conveying track (300) away from the first conveying track (200) in the width direction, and the second shoulder (423) is located between the second shoulder (422) and the second conveying track (300), and the second shoulder (422) and the second shoulder (423) jointly define the second slide groove (421).

29. The track switching stator according to claim 26, characterized in that: The center line of the first conveying track (200) is an arc line protruding toward the second conveying track (300), and the center line of the second conveying track (300) is a straight line; The commutation structure further includes: a third guide member (460) located on a side of the second conveying track (300) in the width direction close to the first conveying track (200), the third guide member (460) and the first conveying track (200) being spaced apart in the extension direction of the second conveying track (300), the third guide member (460) defining a third chute (461) or the third guide member (460) and the second conveying track (300) jointly defining the third chute (461); When the mover (2) moves along the second conveying track (300), the first sliding member (610) is slidably arranged in the third sliding groove (461).

30. The orbit conversion stator according to claim 29, characterized in that: The third guide member (460) includes a third shoulder (462), which is arranged on the base (100) and located on a side of the second conveying track (300) close to the first conveying track (200) in the width direction of the second conveying track (300), and the third shoulder (462) and the second conveying track (300) jointly define the third slide groove (461).

31. The orbit conversion stator according to claim 29, characterized in that The third guide member (460) includes a third shoulder (462) and a third shoulder (463), wherein the third shoulder (462) is arranged on the base (100) and is located on the side of the second conveying track (300) close to the first conveying track (200) in the width direction, and the third shoulder (463) is located between the third shoulder (462) and the second conveying track (300), and the third shoulder (462) and the third shoulder (463) jointly define the third slide groove (461).

32. The orbit conversion stator according to claim 29, characterized in that The first guide member (410), the second guide member (420), the third guide member (460) and the base (100) are constructed as an integrated structure.

33. The orbit conversion stator according to claim 29, characterized in that The arrangement of the track conversion stator is at least one of the following: Mode 1: A first limiting member is provided on the inner wall of the first chute (411), the first limiting member being close to at least one of the converging end (101) and the first diverging end (102), and being used to limit the displacement stroke of the mover (2) in the depth direction of the first chute (411); Mode 2: A second limiting member is provided on the inner wall of the second chute (421), the second limiting member being close to at least one of the converging end (101) and the second diverging end (103), and being used to limit the displacement stroke of the mover (2) in the depth direction of the second chute (421); Method three: A third limiting member is provided on the inner wall of the third chute (461), and the third limiting member is close to the second diversion end (103) and is used to limit the displacement stroke of the mover (2) in the depth direction of the third chute (461).

34. The orbit conversion stator according to claim 1, characterized in that The center line of the first conveying track (200) is an arc line protruding toward the second conveying track (300), and the first conveying track (200) has an inner arc edge (220) and an outer arc edge (230) in its width direction; The first diversion end (102) is connected to a track stator (4), the track stator (4) includes a conveying track (5), the width of the first conveying track (200) is not less than the width of the conveying track (5), and the inner arc edge (220) is farther away from the second conveying track (300) relative to the conveying track (5).

35. The track switching stator according to claim 34, characterized in that: The width of the first conveying track (200) is the same as the width of the conveying track (5).

36. The track switching stator according to claim 1, characterized in that The center line of the first conveying track (200) is an arc line protruding toward the second conveying track (300), and the first conveying track (200) has an inner arc edge (220) and an outer arc edge (230) in its width direction; The first diverter end (102) is connected to a track stator (4), the track stator (4) includes a conveying track (5), the inner arc edge (220) is flush with the side of the conveying track (5) away from the second diverter end (103), and the outer arc edge (230) is flush with the side of the conveying track (5) close to the second diverter end (103).

37. The orbit conversion stator according to claim 1, characterized in that The width of the converging end (101) is greater than the width of the first diverging end (102) and the width of the second diverging end (103), and the width of the first diverging end (102) and the width of the second diverging end (103) are the same; or The width of the converging end (101), the width of the first diverging end (102), and the width of the second diverging end (103) are the same; or The width of the converging end (101) is smaller than the width of the first diverging end (102) and the width of the second diverging end (103), and the width of the first diverging end (102) is the same as the width of the second diverging end (103).

38. The orbit conversion stator according to claim 1, characterized in that The track conversion stator also has a third shunt end (104); The track conversion stator also includes: A fourth conveying track (700) is provided on the base (100) and is located between the converging end (101) and the third diverging end (104). The fourth conveying track (700) includes a fourth armature winding (710). The fourth armature winding (710) is used to drive the mover (2) to move between the converging end (101) and the third diverging end (104).

39. The orbit conversion stator according to claim 38, characterized in that The fourth conveying track (700) and the first conveying track (200) are located on opposite sides of the second conveying track (300); The center line of the first conveying track (200) is an arc line protruding toward the second conveying track (300), the center line of the fourth conveying track (700) is an arc line protruding toward the second conveying track (300), and the center line of the second conveying track (300) is a straight line.

40. The orbit conversion stator according to claim 39, characterized in that The first conveying track (200) is a first integrated circuit board, the second conveying track (300) is a second integrated circuit board, and the fourth conveying track (700) is a fourth integrated circuit board. The first integrated circuit board, the second integrated circuit board, and the fourth integrated circuit board are of separate structures or of an integrated structure.

41. The orbit conversion stator according to claim 38, characterized in that The first armature winding (210) and the fourth armature winding (710) are symmetrically arranged about a center line of the second conveying track (300).

42. The orbit conversion stator according to claim 38, characterized in that The extension line of the merging end (101) passes through the center of the first conveying track (200); and / or The extension line of the merging end (101) passes through the center of the fourth conveying track (700).

43. The orbit conversion stator according to claim 38, characterized in that The base (100) is an integrated structure; or The base (100) comprises a first base and a second base, the first base and the second base are detachably connected, the first conveying track (200) and the second conveying track (300) are arranged on the first base, and the fourth conveying track (700) is arranged on the second base.

44. A magnetic drive conveying system, characterized in that: include: The orbit conversion stator (1) according to any one of claims 1 to 43; A mover (2) is provided with a permanent magnet array (6) and a telescopic universal wheel, wherein the telescopic universal wheel is telescopic relative to the mover (2), and the reversing structure guides the mover (2) to move from the confluence end (101) to the first conveying track (200), or guides the mover (2) to move from the confluence end (101) to the second conveying track (300) by adjusting the telescopic state of the telescopic universal wheel; Wherein, when the first armature winding (210) is energized, it is magnetically coupled with the permanent magnet array (6) to drive the mover (2) to move between the confluence end (101) and the first divergence end (102); When energized, the second armature winding (310) is magnetically coupled with the permanent magnet array (6) to drive the mover (2) to move between the confluence end (101) and the second divergence end (103).

45. The magnetic drive conveying system according to claim 44, characterized in that The magnetic drive conveying system also includes: The arc-shaped stator comprises an arc-shaped integrated circuit board, and the first conveying track (200) is the arc-shaped integrated circuit board; and / or The linear stator comprises a linear integrated circuit board, and the second conveying track (300) is the linear integrated circuit board.

46. The magnetic drive conveying system according to claim 44, characterized in that The number of the track conversion stators (1) is multiple, at least two of the track conversion stators (1) are adjacent, and the connection mode of the two adjacent track conversion stators (1) is one of the following: Method 1: the converging end (101) of one of the track conversion stators (1) is spliced with any one of the converging end (101), the first diverging end (102), and the second diverging end (103) of another track conversion stator (1); Method 2: The first shunt end (102) of one of the track conversion stators (1) is spliced with any one of the converging end (101), the first shunt end (102), and the second shunt end (103) of the other track conversion stator (1); Method three: the second shunt end (103) of one of the track conversion stators (1) is spliced with any one of the converging end (101), the first shunt end (102), and the second shunt end (103) of the other track conversion stator (1).

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