Magnetic drive conveying system

Abstract

The present application discloses a magnetic drive conveying system, comprising: a first conveying module comprising a plurality of first track stators; a second conveying module comprising a switching stator and a second track stator, wherein the switching stator has a confluence end, a first diversion end, and a second diversion end and comprises a first conveying track and a second conveying track, the first conveying track is located between the confluence end and the first diversion end and comprises a first armature winding, and the second conveying track is located between the confluence end and the second diversion end and comprises a second armature winding; a rotor module provided with a permanent magnet array, wherein the rotor module moves along the first conveying track when the permanent magnet array is magnetically coupled to the first armature winding, and the rotor module moves along the second conveying track when the permanent magnet array is magnetically coupled to the second armature winding; and a docking module comprising a transfer assembly and a third track stator, wherein the transfer assembly drives the third track stator to be connected to the first track stators, the second track stator or the switching stator. The magnetic drive conveying system in the embodiments of the present application has high conveying efficiency.

Description

Magnetic drive conveying system

[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 202410141203.6 and invention name “Magnetic Drive Conveying System”. Technical Field

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

[0003] The magnetic drive conveying system in the related art is usually provided with a mover and a stator, and the mover can move relative to the stator to realize the conveyance of objects.

[0004] Magnetic conveying systems typically use docking modules to transfer workpieces from one line to another, enabling continuous process flow. In certain process scenarios, when workpieces on a single line are loaded with different types of workpieces, these workpieces must be sorted and then transported to the next process using a re-docking module. Existing workpiece sorting systems require additional external actuators for sorting, which takes up additional space. Summary of the Invention

[0005] The purpose of the present application is to provide a magnetic drive conveying system, which has the advantage of high conveying efficiency.

[0006] In order to achieve the above-mentioned objectives, an embodiment of the present application proposes a magnetic drive conveying system, comprising: a first conveying module, comprising a plurality of first track stators; a second conveying module, comprising a switching stator and at least one second track stator, the switching stator having at least a converging end, a first diverging end and a second diverging end, the switching stator and at least one second track stator cooperating to form at least one conveying line body, the switching stator comprising a first conveying track and a second conveying track, the first conveying track being located between the converging end and the first diverging end and comprising a first armature winding, the second conveying track being located between the converging end and the second diverging end and comprising a second armature winding; a mover module, provided with a permanent magnet array, the mover module moving along the first conveying track when the permanent magnet array is magnetically coupled with the first armature winding, and the mover module moving along the second conveying track when the permanent magnet array is magnetically coupled with the second armature winding; a connecting module, comprising a transfer assembly and a third track stator, the transfer assembly being used to drive the third track stator to move between the first conveying module and the second conveying module to connect with the first track stator, the second track stator or the switching stator.

[0007] The conveying module of the magnetic drive conveying system of the present application can realize the reversal of the movable module between different conveying line bodies by setting a switching stator. There is no need to set up an additional connecting mechanism in a single module to realize the reversal of the movable module. Therefore, the reversing speed of the movable module on the second conveying module is fast and the reversing accuracy is high, and the conveying efficiency is high. In addition, the magnetic drive conveying system can realize the conveying of the movable module between different areas by setting a connecting module and a third track stator, which can avoid the first conveying module and the second conveying module from being larger in size, and by driving the third track stator between the first conveying module and the second conveying module through the connecting module, the conveying speed of the movable module between different areas is faster. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] 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.

[0009] FIG1 is a schematic structural diagram of a magnetic drive conveying system according to an embodiment of the present application;

[0010] FIG2a is a second structural diagram of the magnetic drive conveying system according to an embodiment of the present application;

[0011] FIG2 b is a third structural diagram of the magnetic drive conveying system according to an embodiment of the present application;

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

[0013] FIG4 is a schematic structural diagram of a mover module of a magnetic drive conveying system according to an embodiment of the present application;

[0014] FIG5 is a schematic structural diagram of a second track stator of a magnetic drive conveying system according to an embodiment of the present application;

[0015] FIG6 is a schematic structural diagram of a base of a magnetic drive conveying system according to an embodiment of the present application;

[0016] FIG7 is a schematic diagram of a switching stator of a magnetic drive conveying system according to an embodiment of the present application;

[0017] FIG8 is a second structural schematic diagram of a switching stator of a magnetic drive conveying system according to an embodiment of the present application;

[0018] FIG9 is a schematic diagram showing one of the connections of adjacent switching stators according to an embodiment of the present application;

[0019] FIG10 is a second schematic diagram of the connection of adjacent switching stators according to an embodiment of the present application;

[0020] FIG11 is a third schematic diagram of the connection of adjacent switching stators according to an embodiment of the present application;

[0021] FIG12 is a fourth schematic diagram of the connection of adjacent switching stators according to an embodiment of the present application;

[0022] FIG13 is a fifth schematic diagram of the connection of adjacent switching stators according to an embodiment of the present application;

[0023] FIG14 is a sixth schematic diagram of the connection of adjacent switching stators according to an embodiment of the present application;

[0024] FIG15 is a seventh schematic diagram of the connection of adjacent switching stators according to an embodiment of the present application;

[0025] FIG16 is an eighth schematic diagram of the connection of adjacent switching stators according to an embodiment of the present application;

[0026] FIG17 is a ninth schematic diagram of the connection of adjacent switching stators according to an embodiment of the present application;

[0027] FIG18 is a tenth schematic diagram of the connection of adjacent switching stators according to an embodiment of the present application;

[0028] FIG19 is an eleventh schematic diagram of the connection of adjacent switching stators according to an embodiment of the present application;

[0029] FIG20 is a twelfth schematic diagram of the connection of adjacent switching stators according to an embodiment of the present application;

[0030] FIG21 is a thirteenth schematic diagram of the connection of adjacent switching stators according to an embodiment of the present application;

[0031] FIG22 is a fourteenth schematic diagram of the connection of adjacent switching stators according to an embodiment of the present application;

[0032] FIG23 is a fifteenth schematic diagram of the connection of adjacent switching stators according to an embodiment of the present application;

[0033] FIG24 is the sixteenth connection diagram of adjacent switching stators according to an embodiment of the present application.

[0034] Description of the accompanying drawings: Switching stator 1, mover module 2, magnetic drive conveying system 3, first track stator 4, coil assembly 5, permanent magnet array 6, bracket 20, first conveying module 21, second conveying module 22, base plate 22a, second track stator 23, third track stator 24, transfer assembly 25, docking module 26, tray 27, baffle 28, avoidance gap 28a, roller 29, base 100, confluence end 101, first diversion end 102, second diversion end 103, third diversion end 104, socket slot 105, sub-base 106, weight reduction slot 107, first conveying track 200, first armature winding 210, second conveying track 300, second armature winding 310, first chute 411, second chute 421, first telescopic member 430, second telescopic member 440, third telescopic member 470, The first sliding member 610, the second sliding member 620, the third conveying track 700, the third armature winding 710, the third chute 730, the fourth telescopic member 731, the first conveying line body 810, the second conveying line body 820, the third conveying line body 830, the fourth conveying line body 840, the first sub-line body 850, and the second sub-line body 860. The realization of the purpose, functional features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. 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] The magnetic drive conveying system 3 according to an embodiment of the present application is described below with reference to the accompanying drawings.

[0040] As shown in FIG. 1 to FIG. 4 , the magnetic drive conveying system 3 of the embodiment of the present application includes a first conveying module 21 , a second conveying module 22 , a mover module 2 and a docking module 26 .

[0041] The first conveying module 21 includes multiple first track stators 4, the second conveying module 22 includes a switching stator 1 and at least one second track stator 23, the switching stator 1 has at least a converging end 101, a first branch end 102 and a second branch end 103, the switching stator 1 and at least one second track stator 23 cooperate to form at least one conveying line body, the switching stator 1 includes a first conveying track 200 and a second conveying track 300, the first conveying track 200 is located between the converging end 101 and the first branch end 102 and includes a first armature winding 210, the second conveying track 300 is located between the converging end 101 and the second branch end 103 and includes a second armature winding 310.

[0042] The mover module 2 is provided with a permanent magnet array 6. When the permanent magnet array 6 is magnetically coupled with the first armature winding 210, the first armature winding 210 drives the mover module 2 to move along the first conveying track 200; when the permanent magnet array 6 is magnetically coupled with the second armature winding 310, the second armature winding 310 drives the mover module 2 to move along the second conveying track 300.

[0043] The connecting module 26 includes a transfer assembly 25 and a third track stator 24 . The transfer assembly 25 is used to drive the third track stator 24 to move between the first conveying module 21 and the second conveying module 22 to connect with the first track stator 4 , the second track stator 23 or the switching stator 1 .

[0044] On the one hand, the present application sets the switching stator 1 on the second conveying module 22, and the switching stator 1 includes a first conveying track 200 and a second conveying track 300, so that the movable module 2 can realize the switching between the first conveying track 200 and the second conveying track 300 at the switching stator 1, thereby realizing the lane merging. This lane merging can be used for the classification of workpiece types in certain scenarios, thereby avoiding the additional installation of external execution devices at the place where the lanes are to be merged. The present application realizes the lane merging on the basis of transportation by connecting the switching stator 1 to different conveying lines, thereby avoiding the additional installation of external execution devices, thereby reducing the space occupied by the equipment.

[0045] Secondly, the present application also provides a docking module 26, which includes a transfer assembly 25 and a third track stator 24. The third track stator 24 is used to move between the first conveying module 21 and the second conveying module 22 to connect with the first track stator 4, the second track stator 23, or the switching stator 1. It can be understood that after the second conveying module 22 completes the separation and merging of different types of workpieces, the docking module 26 transports the mover module 2 to the first conveying module 21, thereby performing the next process on the first conveying module 21.

[0046] It should be noted that the above is only an exemplary embodiment, and the second conveying module 22 can be used for lane merging. Other process scenarios suitable for lane merging should be within the scope of protection of this application. For example, the above exemplary embodiment describes that the mover module 2 on the second conveying module 22 is conveyed to the first conveying module 21 after lane merging. Alternatively, in some other embodiments, the mover module 2 on the first conveying module 21 can also be conveyed to the second conveying module 22, and then the second conveying module 22 performs the lane merging work.

[0047] Specifically, the first track stator 4 can be a straight stator or an arc-shaped stator. That is, all of the first track stators 4 can be straight stators, all of the first track stators 4 can be arc-shaped stators, or some of the first track stators 4 can be straight stators and some can be arc-shaped stators. The first track stator 4 can also be a switching stator 1. In this case, the switching stator 1 of the first conveying module 21 can be connected to other first track stators 4.

[0048] In the present application, there is no limitation on the construction method of the first conveying module 21 and the second conveying module 22, wherein the construction method of the conveying line body of the first conveying module 21 and the second conveying module 22 can be the same, for example, the arrangement method of the first track stator 4 and the second track stator 23 is the same, in which case the first track stator 4 and the second track stator 23 are connected to different switching stators; or, the construction method of the conveying line body of the first conveying module 21 and the second conveying module 22 can be different, for example, the arrangement method of the first track stator 4 and the second track stator 23 is different, or the connection method of the first track stator 4 and the second track stator 23 is different, or the number of the first track stator 4 and the second track stator 23 is different.

[0049] Since the mover module 2 is provided with a permanent magnet array 6, the permanent magnet array 6 can generate a constant magnetic field. The first armature winding 210 generates a changing traveling wave magnetic field by periodically changing the current direction and current magnitude. Similarly, the second armature winding 310 generates a changing traveling wave magnetic field by periodically changing the current direction and current magnitude. Therefore, when the permanent magnet array 6 is magnetically coupled with the first armature winding 210, the mover module 2 moves along the first conveying track 200. When the permanent magnet array 6 is magnetically coupled with the second armature winding 310, the mover module 2 moves along the second conveying track 300.

[0050] The confluence end 101, the first diversion end 102 and the second diversion end 103 of the switching stator 1 can be connected to different second track stators 23, and at least one of the confluence end 101, the first diversion end 102 and the second diversion end 103 can also be connected to the third track stator 24. The second conveying module 22 of the embodiment of the present application is capable of realizing the reversing of the mover module 2 between different conveying line bodies by setting the switching stator 1. There is no need to set up an additional external actuator in a single module to realize the reversing of the mover module 2. Therefore, the reversing speed of the mover module 2 on the second conveying module 22 is fast and the reversing accuracy is high.

[0051] Of course, it can be understood that when the first conveying module 21 of the embodiment of the present application includes a switching stator 1, the first conveying module 21 can also realize the reversing of the movable module 2 between different conveying line bodies by switching the stator 1. There is no need to set up an additional connecting mechanism in a single module to realize the reversing of the movable module 2. Therefore, the reversing speed of the movable module 2 on the first conveying module 21 is fast and the reversing accuracy is high, and the conveying efficiency is high.

[0052] The transfer assembly 25 of the present application can drive the third rail stator 24 to perform horizontal, vertical, or rotational motion. For example, the transfer assembly 25 can include at least one of a linear motor, a rotary motor, a pneumatic drive, and a hydraulic drive. Furthermore, the third rail stator 24 can be a linear stator, an arc-shaped stator, or a switching stator 1.

[0053] In addition, the magnetic drive conveying system 3 may include multiple docking modules 26, each docking module 26 is connected to a third track stator 24, and the structure of the third track stators 24 can be the same, for example, multiple third track stators 24 are all linear stators or arc stators. The structure of the third track stators 24 can also be different, for example, some of the multiple third track stators 24 are linear stators and the other part are arc stators.

[0054] The magnetic drive conveying system 3 is provided by setting a first conveying module 21 and a second conveying module 22. The first conveying module 21 and the second conveying module 22 are spaced apart. For example, the first conveying module 21 and the second conveying module 22 are spaced apart in the horizontal direction, or spaced apart in the vertical direction. The first conveying module 21 and the second conveying module 22 are located in different areas in space. The transfer component 25 drives the third track stator 24 to connect with the first conveying module 21 or the second conveying module 22.

[0055] For example, when the mover module 2 moves from the first conveying module 21 to the second conveying module 22, the transfer assembly 25 first drives the third track stator 24 to connect with the first conveying module 21, then the mover module 2 moves from the first conveying module 21 to the third track stator 24, and finally the transfer assembly 25 drives the third track stator 24 to connect with the second conveying module 22, and the mover module 2 moves from the third track stator 24 to the second conveying module 22;

[0056] When the mover module 2 moves from the second conveying module 22 to the first conveying module 21, the transfer component 25 first drives the third track stator 24 to connect with the second conveying module 22, and then the mover module 2 moves from the second conveying module 22 to the third track stator 24. Finally, the transfer component 25 drives the third track stator 24 to connect with the first conveying module 21, and the mover module 2 moves from the third track stator 24 to the first conveying module 21.

[0057] By setting up the transfer component 25 and the third track stator 24, the movable module 2 can be transported between different areas, which can avoid the first conveying module 21 and the second conveying module 22 from being larger in size, and the third track stator 24 is driven between the first conveying module 21 and the second conveying module 22 by the transfer component 25, so that the movable module 2 can be transported faster between different areas.

[0058] In some embodiments of the present application, as shown in FIG1 , FIG2 b and FIG4 , a tray 27 is connected to the upper side of the mover module 2, and the tray 27 covers the mover module 2 in its orthographic projection toward the mover module 2. The tray 27 can be used to carry objects to be transported, such as workpieces. Since the orthographic projection of the tray 27 toward the mover module 2 covers the mover module 2, that is, the tray 27 has a larger carrying area than the mover module 2, the tray 27 can carry objects to be transported of a larger volume, or the tray 27 can carry a larger number of objects to be transported, thereby improving the transport efficiency of the magnetic drive transport system 3.

[0059] Baffles 28 are provided on opposite sides of the conveyor line in the width direction. In the height direction of the conveyor line, the baffles 28 are at least higher than the lower surface of the tray 27, and are used to limit the movement stroke of the tray 27 in the width direction of the conveyor line.

[0060] In the present application, there is no limitation on the connection method between the tray 27 and the mover module 2, wherein the tray 27 and the mover module 2 can be constructed as an integral structure, for example, the tray 27 and the mover module 2 are welded or injection molded into one; or, the tray 27 and the mover module 2 can be constructed as a split structure, for example, the tray 27 is detachably connected to the mover module 2 by means of snap connection, threaded connection, etc.

[0061] That is, in the width direction of the conveyor line body, the baffle 28 is located on opposite sides of the pallet 27, and in the height direction of the conveyor line body, the upper side surface of the baffle 28 is higher than the lower surface of the pallet 27, wherein the upper side surface of the baffle 28 can be higher than the upper surface of the pallet 27, and the baffle 28 completely covers the side surface of the pallet 27, or the upper side surface of the baffle 28 can be lower than the upper surface of the pallet 27, and the baffle 28 covers a portion of the side surface of the pallet 27.

[0062] During the movement of the mover module 2 along the conveyor line, in the width direction of the conveyor line, when the mover module 2 has a tendency to deviate from the preset trajectory, the side surface of the tray 27 in the width direction will come into contact with the baffle 28, and the baffle 28 will limit the tray 27, thereby ensuring that the mover module 2 moves along the preset trajectory and improving the stability of the movement of the mover module 2.

[0063] In some embodiments of the present application, as shown in Figures 1 and 2b, the baffle 28 is provided with a roller 29, which is rotatable relative to the baffle 28, and the rotation axis of the roller 29 extends along the width direction of the conveyor line body. The roller 29 is used to contact the lower surface of the tray 27.

[0064] Specifically, there is a gap between the roller 29 and the mover module 2. In the width direction of the conveyor line, the opposite sides of the tray 27 exceed the opposite sides of the mover module 2, and the roller 29 contacts the lower surface of the part of the tray 27 that exceeds the mover module 2.

[0065] For example, each baffle 28 is equipped with multiple rollers 29, and the multiple rollers 29 are arranged at intervals along the extension direction of the conveyor line body. The mover module 2 contacts different rollers 29 when it moves relative to the conveyor line body; or, each baffle 28 is equipped with a roller 29, and the roller 29 is constructed in the form of a conveyor belt. The mover module 2 is always in contact with the roller 29 when it moves relative to the conveyor line body.

[0066] During the movement of the mover module 2 along the extension direction of the conveyor line, on the basis of the mover module 2 supporting the tray 27, the roller 29 can also play the role of supporting the tray 27. The load capacity of the tray 27 is stronger, and since there is rolling friction between the roller 29 and the tray 27, the friction force between the roller 29 and the tray 27 is relatively small, and the movement speed of the mover module 2 is fast, so as to ensure that the mover module 2 has a higher conveying efficiency.

[0067] In other embodiments of the present application, the tray 27 is provided with a roller 29, which is rotatable relative to the tray 27. The rotation axis of the roller 29 extends along the width direction of the conveyor line body. A protrusion (not shown in the figure) is provided on the side of the baffle 28 facing the mover module 2, and the roller 29 is in contact with the protrusion, specifically, the roller 29 is in contact with the upper surface of the protrusion.

[0068] Specifically, there is a gap between the roller 29 and the mover module 2. In the width direction of the conveyor line, the opposite sides of the tray 27 exceed the opposite sides of the mover module 2. The roller 29 is arranged on the part of the tray 27 that exceeds the mover module 2.

[0069] Among them, in the width direction of the conveyor line body, multiple rollers 29 are installed on each of the opposite sides of the tray 27, and the multiple rollers 29 are arranged at intervals along the extension direction of the conveyor line body. In the process of the mover module 2 moving along the extension direction of the conveyor line body, on the basis of the mover module 2 supporting the tray 27, the protrusion can also play the role of supporting the tray 27 through the roller 29. The load capacity of the tray 27 is stronger, and since there is rolling friction between the roller 29 and the protrusion, the friction force between the roller 29 and the protrusion is relatively small, and the movement speed of the mover module 2 is fast, so as to ensure that the mover module 2 has a higher conveying efficiency.

[0070] In some embodiments of the present application, as shown in Figures 1 and 2b, a pick-and-place opening is defined between the baffles 28 on opposite sides of the width direction of the conveyor line body. The pick-and-place opening is located on the side of the mover module 2 facing away from the conveyor line body. The mover module 2 is placed between the baffles 28 or taken out from between the baffles 28 through the pick-and-place opening.

[0071] For example, as shown in Figure 2a, the second conveying module 22 can be provided with a substrate 22a, and the baffle 28 is installed on the upper surface of the substrate 22a. The baffle 28 and the substrate 22a can be constructed as an integrated structure, and the baffle 28 and the substrate 22a can be processed by stamping, extrusion, etc., or the baffle 28 and the substrate 22a can be constructed as a split structure, and the baffle 28 and the substrate 22a can be connected by threaded fasteners (bolts or screws, etc.), clamping, riveting, etc.

[0072] Specifically, the access opening is located on the side of the baffle 28 away from the base plate 22a, and the mover module 2 can be placed on or taken out of the conveyor line body in the vertical direction through the access opening. In this way, the number of mover modules 2 on the conveyor line body can be adjusted in a timely manner according to the conveying needs, that is, the number of mover modules 2 can be increased or decreased, thereby reducing the complexity of the structure while ensuring the conveying efficiency.

[0073] In addition, the switching stator 1 and multiple second track stators 23 can be installed on the upper surface of the substrate 22a, and the switching stator 1 and the second track stators 23 are also located between the baffles 28 on opposite sides of the width direction of the conveyor line body. The switching stator 1 and the second track stator 23 can also be placed on the substrate 22a or taken out from the substrate 22a through the opening for taking and placing to realize the layout of the conveyor line body, facilitate timely adjustment of the layout of the conveyor line body, and facilitate disassembly and assembly.

[0074] Furthermore, in some embodiments, the second track stator 23 that cooperates with the switching stator 1 to form the conveyor line can be at least one of the switching stator 1, a linear stator, and a curved stator. That is, the second track stator 23 can be a linear stator, a curved stator, or a switching stator 1. In other words, all of the multiple second track stators 23 can be linear stators, all of the multiple second track stators 23 can be curved stators, or some of the multiple second track stators 23 can be linear stators, some can be curved stators, and the remaining can be switching stators 1. This increases the diversity of the conveying capabilities of the second conveying module 22.

[0075] In some embodiments of the present application, as shown in Figures 2b, 3, 7 and 8, the switching stator 1 and the three second track stators 23 cooperate to form three conveying line bodies, which are: the first conveying line body 810, the second conveying line body 820 and the third conveying line body 830. The first conveying line body 810, the second conveying line body 820 and the third conveying line body 830 are connected through the switching stator 1. The first conveying line body 810 is connected to the first diversion end 102, the second conveying line body 820 is connected to the second diversion end 103, and the third conveying line body 830 is connected to the confluence end 101. The central axis of the first conveying line body 810 and the central axis of the second conveying line body 820 are arranged non-parallel.

[0076] It can be understood that the first conveyor line 810 and the second conveyor line 820 can be output line bodies, and the third conveyor line 830 can be input line bodies; or, the first conveyor line 810 and the second conveyor line 820 can be input line bodies, and the third conveyor line 830 can be output line bodies.

[0077] In the present application, there is no limitation on the angle between the first conveying line body 810 and the second conveying line body 820. The angle between the first conveying line body 810 and the second conveying line body 820 needs to be greater than 0° and not greater than 90°, so that the rotation angle of the movable module 2 at the connection between the first conveying line body 810 and the second conveying line body 820 is not greater than 90°, and the movement of the movable module 2 is smooth.

[0078] Specifically, please refer to Figures 1 and 2b, the baffle 28 has an avoidance gap 28a, and the avoidance gap 28a is adjacent to the intersection of the first conveyor line body 810, the second conveyor line body 820 and the third conveyor line body 830. When the movable module 2 moves between the first conveyor line body 810, the second conveyor line body 820 and the third conveyor line body 830, the avoidance gap 28a avoids the tray 27.

[0079] The tray 27 is generally a rectangular structure, and the top corners of the tray 27 are arc-shaped transitions to reduce the sharpness of the top corners of the tray 27 to prevent operators from being accidentally injured or equipment from being scratched. Taking the example of the mover module 2 performing the lane-dividing and merging process at the switching stator 1, when the mover module 2 runs from the first conveyor line 810 to the third conveyor line 830, or moves from the second conveyor line 820 to the third conveyor line 830, or moves from the third conveyor line 830 to the first conveyor line 810, or moves from the third conveyor line 830 to the second conveyor line 820, the mover module 2 rotates on the switching stator 1 at the intersection of the three conveyor lines. During the rotation of the mover module 2, There are an inner arc side and an outer arc side, and the inner arc side and the outer arc side are located on opposite sides of the mover module 2 in the width direction of the conveyor line body. The turning radius of the inner arc side is smaller than the turning radius of the outer arc side. Since the top angle of the outer arc side will be offset to the baffle 28 when the mover module 2 rotates, and the baffle 28 is used to limit the mover module 2, the baffle 28 adjacent to the outer arc side needs to have an avoidance gap 28a, and the top angle of the outer arc side passes through the avoidance gap 28a to prevent collision and interference between the tray 27 and the baffle 28, thereby ensuring the smoothness of the movement of the mover module 2.

[0080] Among them, when the baffle 28 is provided with a roller 29, the avoidance gap 28a needs to be located above the roller 29, and the avoidance gap 28a and the roller 29 are spaced apart. The installation of the roller 29 will not be affected by the avoidance gap 28a, thereby ensuring the connection stability between the roller 29 and the baffle 28.

[0081] In some embodiments of the present application, as shown in Figures 1 and 2b, at least one second track stator 23 is an arc-shaped stator, and at least one of the three conveying line bodies includes a first sub-line body 850, a second sub-line body 860 and an arc-shaped stator, and the first sub-line body 850 and the second sub-line body 860 are connected to the two ends of the arc-shaped stator to form a curved track.

[0082] That is to say, at least one of the three conveyor line bodies includes a first sub-line body 850, a second sub-line body 860 and an arc-shaped stator, that is, the first conveyor line body 810 may include a first sub-line body 850, a second sub-line body 860 and an arc-shaped stator, or the second conveyor line body 820 may include a first sub-line body 850, a second sub-line body 860 and an arc-shaped stator, or the third conveyor line body 830 may include a first sub-line body 850, a second sub-line body 860 and an arc-shaped stator;

[0083] Alternatively, two of the three conveyor line bodies include a first sub-line body 850, a second sub-line body 860 and an arc-shaped stator, that is, the first conveyor line body 810 and the second conveyor line body 820 may both include the first sub-line body 850, the second sub-line body 860 and the arc-shaped stator, or the first conveyor line body 810 and the third conveyor line body 830 may both include the first sub-line body 850, the second sub-line body 860 and the arc-shaped stator, or the second conveyor line body 820 and the third conveyor line body 830 may both include the first sub-line body 850, the second sub-line body 860 and the arc-shaped stator;

[0084] Alternatively, the three conveyor line bodies all include a first sub-line body 850, a second sub-line body 860 and an arc-shaped stator, that is, the first conveyor line body 810, the second conveyor line body 820 and the third conveyor line body 830 can all include a first sub-line body 850, a second sub-line body 860 and an arc-shaped stator.

[0085] Among them, the side of the baffle 28 of the first sub-line body 850 adjacent to the arc stator connection may also be provided with an avoidance gap 28a, and the side of the baffle 28 of the second sub-line body 860 adjacent to the arc stator connection may also be provided with an avoidance gap 28a. When the movable module 2 rotates on the arc stator, the avoidance gap 28a can be used to avoid the tray 27.

[0086] In some embodiments of the present application, as shown in Figures 2b, 3, 4, 7-8, the first conveying track 200 is provided with a first slide groove 411, the second conveying track 300 is provided with a second slide groove 421, and the movable sub-module 2 has a first sliding member 610 and a second sliding member 620. The first sliding member 610 is slidably provided in the first slide groove 411, and the first sliding member 610 is used to guide the movable sub-module 2 to move along the first conveying track 200; the second sliding member 620 is slidably provided in the second slide groove 421, and the second sliding member 620 is used to guide the movable sub-module 2 to move along the second conveying track 300.

[0087] In this way, the mover module 2 is guided by the first sliding member 610 and the second sliding member 620, assisted by the limiting guidance of the baffles 28 on both sides, so that the transportation of the mover module 2 is more stable, avoiding the mover module 2 from derailing due to sudden power outages, disordered control and other factors, causing damage to external devices or personnel.

[0088] Furthermore, for the first conveying line body 810 connected to the first diversion end 102, it can also include a first slide groove 411, that is, the first conveying rail 200 and the first conveying line body 810 have a continuously arranged first slide groove 411, so that when the movable sub-module 2 runs on the first conveying line body 810, it can also be limited and guided by the first sliding member 610, thereby improving the stability of the movable sub-module 2 running on the first conveying line body 810. Furthermore, when the movable sub-module 2 switches between the first conveying line body 810 and the first conveying rail 200, the first sliding member 610 will always remain in the first slide groove 411 to further improve the stability of the movable sub-module during movement, and the first sliding member 610 is guided by the first slide groove 411 to ensure that the movement trajectory of the movable sub-module 2 meets the requirements.

[0089] Similarly, for the second conveyor line body 820 connected to the second diversion end 103, it can also include a second slide groove 421, that is, the second conveying track 300 and the second conveying line body 820 have a continuously arranged second slide groove 421, so that when the movable sub-module 2 runs on the second conveying line body 820, it can also be limited and guided by the second sliding member 620, thereby improving the stability of the movable sub-module 2 running on the second conveying line body 820. Furthermore, when the movable sub-module 2 switches between the second conveying line body 820 and the second conveying track 300, the second sliding member 620 will always remain in the second slide groove 421 to further improve the stability of the movable sub-module 2 during the movement, and the second sliding member 620 is guided by the second slide groove 421 to ensure that the movement trajectory of the movable sub-module 2 meets the requirements.

[0090] Similarly, for the third conveying line body 830 connected to the confluence end 101, it can include at least one of the first chute 411 and the second chute 421, that is, in some embodiments, the third conveying line body 830 and the first conveying rail 200 have a continuously arranged first chute 411, or, in other embodiments, the third conveying line body 830 and the second conveying rail 300 have a continuously arranged second chute 421; or, in some other embodiments, the third conveying line body 830 and the first conveying rail 200 have a continuously arranged first chute 411, and the third conveying line body 830 and the second conveying rail 300 have a continuously arranged second chute 421, wherein the first chute 411 and the second chute 421 are spaced apart on both sides of the width direction of the third conveying line body 830.

[0091] In the above embodiment, the conveying track and the corresponding conveying line body are provided with a continuously arranged chute, thereby making the movement of the mover module 2 more stable during the diverging and merging process, and improving the stability of the mover module 2 running on the conveying line body.

[0092] 1 and 2 b , the structure of the second conveying module 22 will be described below by taking the lane separation process at the switching stator 1 as an example:

[0093] Since the first conveyor line body 810 and the third conveyor line body 830 are not parallel to each other, the baffle 28 on the side of the first conveyor line body 810 facing away from the third conveyor line body 830 needs to be provided with an avoidance gap 28a, and the baffle 28 on the side of the third conveyor line body 830 facing away from the first conveyor line body 810 needs to be provided with an avoidance gap 28a.

[0094] When the mover module 2 is located at the first conveying line body 810, the first sliding member 610 is located at a side of the mover module 2 adjacent to the third conveying line body 830, and the second sliding member 620 is located at a side of the mover module 2 away from the third conveying line body 830; when the mover module 2 is located at the third conveying line body 830, the first sliding member 610 is located at a side of the mover module 2 adjacent to the first conveying line body 810, and the second sliding member 620 is located at a side of the mover module 2 away from the first conveying line body 810;

[0095] As can be seen, when the movable module 2 moves between the first conveyor line body 810 and the third conveyor line body 830, during the rotation of the movable module 2, the rotation radius of the first sliding member 610 is smaller than the rotation radius of the second sliding member 620, the first sliding member 610 is located on the inner arc side of the movable module 2, and the second sliding member 620 is located on the outer arc side of the movable module 2.

[0096] The maximum distance between the first and second ends of the moving submodule 2 and the first sliding member 610 in the direction of motion is L1, and the size of the avoidance gap 28a is L2, where L1≤L2. The size of the avoidance gap 28a is L2, which means that the size of the avoidance gap 28a along the extension direction of the conveyor line in which it is located is L2.

[0097] Specifically, the mover module 2 has two edges in its moving direction, which are set as a first edge and a second edge. When the mover module 2 moves from the third conveyor line body 830 to the first conveyor line body 810, the first edge enters the first conveyor line body 810 before the second edge; when the mover module 2 moves from the first conveyor line body 810 to the third conveyor line body 830, the second edge enters the third conveyor line body 830 before the first edge.

[0098] When the mover module 2 has only one first sliding member 610, the size L2 of the avoidance gap 28a of the first conveying line body 810 is greater than the distance between the first sliding member 610 and the first edge, and the size L2 of the avoidance gap 28a of the third conveying line body 830 is greater than the distance between the first sliding member 610 and the second edge;

[0099] When the movable submodule 2 is provided with a plurality of first sliding members 610, and the plurality of first sliding members 610 are arranged at intervals along the movement direction of the movable submodule 2, the size L2 of the avoidance gap 28a of the first conveying line body 810 is greater than the distance between the first sliding member 610 closest to the second edge and the first edge, and the size L2 of the avoidance gap 28a of the third conveying line body 830 is greater than the distance between the first sliding member 610 closest to the first edge and the second edge.

[0100] It should be noted that, in some embodiments, the avoidance gap 28a is located at the end of the conveying line body where it is located. At this time, the side of the avoidance gap 28a adjacent to the end of the conveying line body where it is located can also be opened, so that the size of the avoidance gap 28a can be smaller than L1 or not smaller than L1, that is, the size of the avoidance gap 28a located at the end of the conveying line body where it is located will not be restricted by L1.

[0101] In some embodiments of the present application, as shown in Figures 2b, 3, 4, and 7-8, a first telescopic member 430 is provided in the first chute 411 and a second telescopic member 440 is provided in the second chute 421. The first telescopic member 430 and the second telescopic member 440 are disposed adjacent to the confluence end 101. The first sliding member 610 and the second sliding member 620 are telescopically movable relative to the mover module 2.

[0102] Specifically, the first conveyor line 810 and the first conveyor track 200 have a first chute 411 that is continuously arranged, and the second conveyor line 820 and the second conveyor track 300 have a second chute 421 that is continuously arranged. When the mover module 2 moves on the first conveyor line 810 and the first conveyor track 200, the first slider 610 will always remain in the first chute 411, thereby guiding the first slider 610 through the first chute 411 to ensure that the motion trajectory of the mover module 2 meets the requirements; when the mover module 2 moves on the second conveyor line 820 and the second conveyor track 300, the second slider 620 will always remain in the second chute 421, thereby guiding the second slider 620 through the second chute 421 to ensure that the motion trajectory of the mover module 2 meets the requirements.

[0103] Furthermore, when the movable module 2 needs to switch to the first conveying line 810 or the second conveying line 820 at the switching stator 1, the first sliding member 610 or the second sliding member 620 needs to be lifted to release the cooperation between the sliding member and the slide groove, thereby realizing the transportation of separate lanes and merged flows.

[0104] When the mover module 2 moves from the confluence end 101 to the first divergence end 102 , the first telescopic member 430 contracts, the second telescopic member 440 rises, the first sliding member 610 remains in the first chute 411 , and the second sliding member 620 is pushed by the second telescopic member 440 and disengages from the second chute 421 ;

[0105] When the mover module 2 moves from the confluence end 101 to the second divergence end 103 , the first telescopic member 430 is lifted, the second telescopic member 440 is retracted, the first sliding member 610 is pushed by the first telescopic member 430 to disengage from the first sliding groove 411 , and the second sliding member 620 remains in the second sliding groove 421 .

[0106] In some embodiments of the present application, as shown in Figures 3, 4, and 8, the switching stator 1 further includes a third shunt end 104, and the first shunt end 102 and the third shunt end 104 are arranged on both sides of the second shunt end 103. The switching stator 1 also includes a third conveying track 700, which is located between the converging end 101 and the third shunt end 104 and includes a third armature winding 710. When the third armature winding 710 is magnetically coupled with the permanent magnet array 6, it is used to drive the mover module 2 to move between the converging end 101 and the third shunt end 104.

[0107] Specifically, the mover module 2 located at the confluence end 101 of the switching stator 1 can be transported to the first diversion end 102 through the first conveying track 200, or the mover module 2 located at the confluence end 101 of the switching stator 1 can be transported to the second diversion end 103 through the second conveying track 300, or the mover module 2 located at the confluence end 101 of the switching stator 1 can be transported to the third diversion end 104 through the third conveying track 700. At the same time, the mover modules 2 located at the first diversion end 102, the second diversion end 103, and the third diversion end 104 can also be transported to the confluence end 101 through the corresponding conveying tracks. The switching stator 1 in the embodiment of the present application has more output ends, thereby being able to adapt to more complex conveying environments and improving conveying diversity. As a result, the magnetic drive conveying system 3 of the present application can have more diverse conveying methods on the basis of structural miniaturization, and can be applied to more complex production workshops, sorting warehouses, and other environments that require a magnetic drive conveying system 3.

[0108] In some embodiments of the present application, as shown in Figures 3, 4 and 8, the switching stator 1 and the four second track stators 23 cooperate to form four conveyor lines, which are: the first conveyor line 810, the second conveyor line 820, the third conveyor line 830 and the fourth conveyor line 840. The first conveyor line 810, the second conveyor line 820, the third conveyor line 830 and the fourth conveyor line 840 are all connected through the switching stator 1. The first conveyor line 810 is connected to the first diversion end 102, the second conveyor line 820 is connected to the second diversion end 103, the third conveyor line 830 is connected to the confluence end 101, and the fourth conveyor line 840 is connected to the third diversion end 104.

[0109] The first conveying track 200 includes a first chute 411 disposed away from the second conveying track 300 , the second conveying track 300 includes a second chute 421 disposed away from the first conveying track 200 , and the third conveying track 700 includes a third chute 730 disposed away from the second conveying track 300 .

[0110] The mover module 2 has a first sliding member 610 and a second sliding member 620. The first sliding member 610 can be slidably arranged in the first slide groove 411, and the first slide groove 411 is used to guide the mover module 2 to move along the first conveying track 200; the second sliding member 620 can be slidably arranged in the second slide groove 421 or the third slide groove 730. When the second sliding member 620 is arranged in the second slide groove 421, the second slide groove 421 is used to guide the mover module 2 to move along the second conveying track 300; when the second sliding member 620 is arranged in the third slide groove 730, the third slide groove 730 is used to guide the mover module 2 to move along the third conveying track 700.

[0111] The relevant information about the first conveying track 200, the second conveying track 300, the first conveying line 810, the second conveying line 820 and the third conveying line 830 has been described above and will not be repeated here. The embodiment of the present application focuses on the fourth conveying line 840 and the third conveying track 700. For the fourth conveying line body 840 connected to the third diversion end 104, it can also include a third slide groove 730, that is, the third conveying rail 700 and the fourth conveying line body 840 have a continuously arranged third slide groove 730, so that when the movable sub-module 2 runs on the fourth conveying line body 840, it can also be limited and guided by the third slide groove 730, thereby improving the stability of the movable sub-module 2 running on the fourth conveying line body 840. Furthermore, when the movable sub-module 2 switches between the fourth conveying line body 840 and the third conveying rail 700, the second sliding member 620 will always remain in the third slide groove 730 to further improve the stability of the movable sub-module 2 during movement, and the second sliding member 620 is guided by the third slide groove 730 to ensure that the movement trajectory of the movable sub-module 2 meets the requirements.

[0112] In addition, the fourth conveying line body 840 may include a first sub-line body 850, a second sub-line body 860 and an arc-shaped stator to form a curved track.

[0113] Further, please refer to Figures 3, 4 and 8. A first telescopic member 430 that can be telescopically moved is provided in the first slide groove 411, a second telescopic member 440 and a third telescopic member 470 that can be telescopically moved are provided in the second slide groove 421, and a fourth telescopic member 731 that can be telescopically moved is provided in the third slide groove 730. The first telescopic member 430, the second telescopic member 440, the fourth telescopic member 731 and the third telescopic member 470 are all arranged near the confluence end 101.

[0114] In the present application, the third telescopic member 470 is disposed at the connection between the second chute 421 and the third chute 730. When the third telescopic member 470 is lifted, the third telescopic member 470 divides the second chute 421 into two parts. The third telescopic member 470 is used to abut against the second sliding member 620 to guide the second sliding member 620 to be transported along the third chute 730. The present application does not limit the configuration structure of the third telescopic member 470. The third telescopic member 470 can be a plate-like structure or an arc-shaped plate-like structure. When the third telescopic member 470 is an arc-shaped plate-like structure, the center of the third telescopic member 470 can coincide with the center of the third chute 730.

[0115] In the present application, the fourth telescopic member 731 is disposed in the third chute 730 near the second chute 421. When the fourth telescopic member 731 is lifted, the fourth telescopic member 731 is used to abut against the side wall of the second sliding member 620 to prevent the second sliding member 620 from moving further into the third chute 730. The present application does not limit the configuration structure of the fourth telescopic member 731. The fourth telescopic member 731 can be a plate-shaped structure, and when the fourth telescopic member 731 is lifted, at least one side of the fourth telescopic member 731 is flush with the wall of the second chute 421 near the third conveying track 700.

[0116] It is understood that since the second chute 421 is connected to the third chute 730, a fourth telescopic member 731 and a third telescopic member 470 are required at the connection point to enable selection of the conveying direction of the mover module 2. The fourth telescopic member 731 is used to guide the mover module 2 along the second chute 421, and the third telescopic member 470 is used to guide the mover module 2 along the third chute 730.

[0117] The first telescopic member 430 and the second telescopic member 440 have been described in detail above and will not be described again herein. The present embodiment of the application focuses on describing the switching process of the mover module 2 at the switching stator 1 .

[0118] When the mover module 2 moves from the confluence end 101 to the first divergence end 102, the first telescopic member 430 contracts, while the second telescopic member 440, the fourth telescopic member 731, and the third telescopic member 470 rise. The first sliding member 610, limited by the first chute 411, guides the mover module 2 along the first conveyor track 200. The second telescopic member 440 rises to engage with the second sliding member 620, releasing the second sliding member 620 from the second chute 421, thereby enabling the mover module 2 to move along the first conveyor track 200.

[0119] When the mover module 2 moves from the confluence end 101 to the second divergence end 103, the first telescopic member 430 and the fourth telescopic member 731 rise, while the second telescopic member 440 and the third telescopic member 470 retract. The first telescopic member 430 rises to engage with the first sliding member 610, thereby releasing the engagement between the first sliding member 610 and the first chute 411. The second telescopic member 440 retracts to position the second sliding member 620 within the second chute 421. The third telescopic member 470 retracts to ensure the stability of the second sliding member 620 within the second chute 421 and prevent it from being obstructed. The fourth telescopic member 731 rises to block the second sliding member 620 from continuing to be transported along the third chute 730, thereby limiting and guiding the second sliding member 620 to continue to be transported along the extension direction of the second chute 421. The stable operation of the mover module 2 along the second conveying track 300 is achieved through the telescopic cooperation of the above-mentioned different telescopic parts.

[0120] When the mover module 2 moves from the confluence end 101 to the third divergence end 104, the first telescopic member 430 and the third telescopic member 470 rise, while the second telescopic member 440 and the fourth telescopic member 731 retract. The first telescopic member 430 rises to engage with the first sliding member 610, thereby releasing the engagement between the first sliding member 610 and the first chute 411. The second telescopic member 440 retracts to position the second sliding member 620 within the second chute 421. The third telescopic member 470 rises to block the second sliding member 620 from continuing to move along the second chute 421, thereby limiting and guiding the second sliding member 620 to continue to move along the extension direction of the third chute 730. The fourth telescopic member 731 retracts to ensure the stability of the second sliding member 620 within the third chute 730, thereby preventing the second sliding member 620 from being obstructed in its movement within the third chute 730. The stable operation of the mover module 2 along the third conveying track 700 is achieved through the telescopic cooperation of the above-mentioned different telescopic parts.

[0121] In some embodiments of the present application, as shown in Figures 5 and 6, the second track stator 23 includes a base 100, a coil assembly 5, and a drive circuit board (not shown). The coil assembly 5 is disposed above the base 100. When magnetically coupled with the permanent magnet array 6, the coil assembly 5 is used to drive the mover module 2 to move along the second track stator 23. The drive circuit board is electrically connected to the coil assembly 5. The wires connected to the drive circuit board are passed through the socket slot 105. The drive circuit board and the coil assembly 5 can be integrated into one, for example, by integrating the coil assembly 5 into the drive circuit board through printing.

[0122] The lower surface of the base 100 can be mounted on the substrate 22 a , and the upper surface of the base 100 is provided with a mounting groove, in which the coil assembly 5 is located to reduce the height of the second track stator 23 .

[0123] By providing the socket slot 105, the wires connected to the driver circuit board pass through the socket slot 105 and the power supply, making the wiring of the driver circuit board more convenient and reducing the possibility of damage to the driver circuit board wires due to bending. The power supply can power the coil assembly 5 through the wires of the driver circuit board. The driver circuit board can control the direction and magnitude of the power supply current to the coil assembly 5, thereby controlling the movement direction of the mover module 2 along the second track stator 23.

[0124] Furthermore, as shown in Figures 5 and 6, the base 100 includes two sub-bases 106, which are arranged at intervals along the width direction of the second track stator 23, and at least one sub-base 106 is provided with a socket through-slot 105, which passes through the sub-base 106 in which it is located along the width direction of the second track stator 23.

[0125] Compared to constructing the base 100 as an integrated structure, the base 100 of the present application is set as a split structure, and no connecting structure is required between the two sub-bases 106, which is conducive to reducing the weight of the base 100, reducing the amount of material used, reducing costs, and having higher disassembly and assembly efficiency, thereby improving the line construction speed and splicing accuracy.

[0126] Specifically, as shown in Figures 5 and 6, the sub-base 106 is provided with a weight-reducing groove 107, which extends along the extension direction of the sub-base 106. The weight-reducing groove 107 can penetrate the end surface of at least one end of the sub-base 106, that is, the weight-reducing groove 107 can penetrate the end surface of one end of the sub-base 106, one end of the weight-reducing groove 107 is open, and the end surface of the other end of the sub-base 106 is closed, or the weight-reducing groove 107 can penetrate the end surfaces of both ends of the sub-base 106, both ends of the weight-reducing groove 107 are open. The sub-base 106 can be processed by extrusion molding.

[0127] In this way, the weight of the sub-base 106 can be reduced, the cost can be reduced, and it is beneficial to the lightweight setting of the second rail stator 23.

[0128] In some embodiments of the present application, as shown in Figures 1, 2a and 2b, the magnetic drive conveying system 3 also includes a bracket 20, and the first conveying module 21 and the second conveying module 22 are both installed on the bracket 20, and the first conveying module 21 and the second conveying module 22 are spaced apart in the vertical direction, or the first conveying module 21 and the second conveying module 22 are spaced apart in the horizontal direction.

[0129] By providing the bracket 20 , the relative position between the first conveying module 21 and the second conveying module 22 can be fixed, and the layout of the first conveying module 21 and the second conveying module 22 is more diverse, which is conducive to making the magnetic drive conveying system 3 suitable for different usage conditions.

[0130] In some embodiments of the present application, the mover module 2 is provided with a passive signal transmitter (not shown in the figure), and the switching stator 1 and at least one of the multiple second track stators 23 are provided with an active signal receiver (not shown in the figure), which is used to receive the signal sent by the passive signal transmitter.

[0131] For example, the passive signal transmitter can be a grating, a magnetic grating, etc., and the active signal receiver can be a reader, which is used to read the signal of the grating or magnetic grating to obtain the current position and motion trajectory of the mover module 2 on the conveyor line, so as to determine whether the motion trajectory of the mover module 2 conforms to the preset trajectory, and timely know whether the magnetic drive conveying system 3 is in a normal and applicable state.

[0132] In some embodiments of the present application, the permanent magnet array 6 of the mover module 2 may include a magnetic grid, that is, the magnetic grid can be used for positioning the mover module 2 and for magnetic coupling with the armature winding to drive the mover module 2 to move, thereby improving functional integration and reducing the number of parts.

[0133] In some embodiments of the present application, as shown in FIG9 to FIG24 , there are multiple switching stators 1 , and at least two switching stators 1 are adjacent to each other. The connection mode of the two adjacent switching stators 1 is one of the following:

[0134] Method 1: The converging end 101 of one switching stator 1 is spliced ​​with any one of the converging end 101, the first diverting end 102, and the second diverting end 103 of another switching stator 1;

[0135] Method 2: The first diversion end 102 of one switching stator 1 is spliced ​​with any one of the converging end 101 , the first diversion end 102 , and the second diversion end 103 of another switching stator 1 ;

[0136] Method three: the second shunt end 103 of one switching stator 1 is spliced ​​with any one of the converging end 101 , the first shunt end 102 , and the second shunt end 103 of another switching stator 1 .

[0137] In this way, the embodiment of the present application improves the conveying diversity and conveying efficiency of the magnetic drive conveying system by arranging at least two switching stators adjacent to each other.

[0138] Furthermore, when the second track stator 23 is a switching stator 1, there is a situation where two switching stators 1 are spliced ​​together. The following describes the connection method when the switching stators 1 without the third shunt end are adjacent with examples in conjunction with the accompanying drawings:

[0139] As shown in FIG9 , when two switching stators 1 are adjacent to each other, the second shunt end of one switching stator 1 (such as the switching stator located at the bottom in FIG9 ) is spliced ​​with the second shunt end of the other switching stator (such as the switching stator located at the top in FIG9 );

[0140] As shown in FIG10 , when two switching stators 1 are adjacent to each other, the second branch end of one switching stator 1 (such as the switching stator located at the bottom in FIG10 ) is spliced ​​with the confluence end of the other switching stator (such as the switching stator located at the top in FIG10 );

[0141] As shown in FIG11 , when two switching stators 1 are adjacent to each other, the confluence end of one switching stator 1 (such as the switching stator located at the bottom in FIG11 ) is spliced ​​with the confluence end of the other switching stator (such as the switching stator located at the top in FIG11 );

[0142] As shown in FIG12 , when two switching stators 1 are adjacent to each other, the first branch end of one switching stator 1 (such as the switching stator located at the bottom in FIG12 ) is spliced ​​with the confluence end of the other switching stator (such as the switching stator located at the top in FIG12 );

[0143] As shown in FIG13 , when two switching stators 1 are adjacent to each other, the first shunt end of one switching stator 1 (such as the switching stator located on the left in FIG13 ) is spliced ​​with the first shunt end of the other switching stator (such as the switching stator located on the right in FIG13 );

[0144] As shown in FIG14 , when two switching stators 1 are adjacent to each other, the second shunt end of one switching stator 1 (such as the switching stator located at the bottom in FIG14 ) is spliced ​​with the first shunt end of the other switching stator (such as the switching stator located at the top in FIG14 ).

[0145] Please explain the conveying methods in Figures 9 to 14 together with the figures:

[0146] The switching stator 1 has a converging end 101, a first diverging end 102 and a second diverging end 103. When transporting from the converging end 101 to the first diverging end 102, the first telescopic member 430 contracts and the second telescopic member 440 rises; when transporting from the converging end 101 to the second diverging end 103, the first telescopic member 430 rises and the second telescopic member 440 contracts; when transporting from the first diverging end 102 to the converging end 101, the first telescopic member 430 contracts and the second telescopic member 440 can be in either a raised state or a contracted state; when transporting from the second diverging end 103 to the converging end 101, both the first telescopic member 430 and the second telescopic member 440 are in a contracted state.

[0147] Therefore, with respect to the exemplary figures in Figures 9 to 14, the concept of sequence is introduced based on the conveying direction. Taking Figure 9 as an example, assuming that the mover module 2 is conveyed from the confluence end 101 of the lower switching stator 1 via the second conveying track 300 to the confluence end 101 of the upper switching stator 1, that is, along the conveying direction of the mover module 2, the mover module 2 passes through the lower switching stator 1 and the upper switching stator 1 in sequence. Therefore, along the conveying direction of the mover module 2, for the lower switching stator 1, the mover module 2 is conveyed from the confluence end 101 to the second diversion end 103, so the first telescopic member 430 is lifted and the second telescopic member 440 is retracted; then, but for the upper switching stator 1, the mover module 2 is conveyed from the second diversion end 103 to the confluence end 101, so both the first telescopic member 430 and the second telescopic member 440 are in a retracted state.

[0148] Furthermore, for the same switching stator 1, when transporting from the first diverter end 102 to the second diverter end 103, it can be disassembled into transporting from the first diverter end 102 to the confluence end 101, and then transporting from the confluence end 101 to the second diverter end 103; the same applies to transporting from the second diverter end 103 to the first diverter end 102.

[0149] Figures 9 to 14 only schematically illustrate the splicing method of two switching stators 1 without the third shunt end 104. The above splicing methods are not exhaustive, but other splicing methods of two switching stators 1 without the third shunt end 104 are still within the scope of protection of this application. In addition, the embodiments of this application do not limit the conveying direction or the sequence of the conveying tracks. Regardless of the conveying direction and conveying track, the telescopic members in the switching stator 1 are controlled to rise sequentially based on the conveying direction to achieve stable conveyance of the mover module 2.

[0150] The following describes the connection mode of the switching stators 1 with the third shunt end when they are adjacent with each other by way of example with reference to the accompanying drawings:

[0151] As shown in FIG15 , when two switching stators 1 are adjacent to each other, the third shunt end of one switching stator 1 (such as the switching stator located at the bottom in FIG15 ) is spliced ​​with the combined shunt end of the other switching stator (such as the switching stator located at the top in FIG15 );

[0152] As shown in FIG16 , when two switching stators 1 are adjacent to each other, the second branch end of one switching stator 1 (such as the switching stator located at the bottom in FIG16 ) is spliced ​​with the confluence end of the other switching stator (such as the switching stator located at the top in FIG16 );

[0153] As shown in FIG17 , when two switching stators 1 are adjacent to each other, the first branch end of one switching stator 1 (such as the switching stator located at the bottom in FIG17 ) is spliced ​​with the confluence end of the other switching stator (such as the switching stator located at the top in FIG17 );

[0154] As shown in FIG18 , when two switching stators 1 are adjacent to each other, the confluence end of one switching stator 1 (such as the switching stator located at the bottom in FIG18 ) is spliced ​​with the confluence end of the other switching stator (such as the switching stator located at the top in FIG18 );

[0155] As shown in FIG19 , when two switching stators 1 are adjacent to each other, the third flow end of one switching stator 1 (such as the switching stator located on the left in FIG19 ) is spliced ​​with the first flow end of the other switching stator (such as the switching stator located on the right in FIG19 );

[0156] As shown in FIG20 , when two switching stators 1 are adjacent to each other, the third flow end of one switching stator 1 (such as the switching stator located at the bottom in FIG20 ) is spliced ​​with the second flow end of the other switching stator (such as the switching stator located at the top in FIG20 );

[0157] As shown in FIG21 , when two switching stators 1 are adjacent to each other, the third flow end of one switching stator 1 (such as the switching stator located on the left in FIG21 ) is spliced ​​with the third flow end of the other switching stator (such as the switching stator located on the right in FIG21 );

[0158] As shown in FIG22 , when two switching stators 1 are adjacent to each other, the second flow end of one switching stator 1 (such as the switching stator located at the bottom in FIG22 ) is spliced ​​with the second flow end of the other switching stator (such as the switching stator located at the top in FIG22 );

[0159] As shown in FIG23 , when two switching stators 1 are adjacent to each other, the second flow end of one switching stator 1 (such as the switching stator located at the bottom in FIG23 ) is spliced ​​with the first flow end of the other switching stator (such as the switching stator located at the top in FIG23 );

[0160] As shown in Figure 24, when two switching stators 1 are adjacent, the first flow end of one switching stator 1 (such as the switching stator located on the left in Figure 24) is spliced ​​with the first flow end of the other switching stator (such as the switching stator located on the right in Figure 24).

[0161] Please explain the conveying methods of Figures 15 to 24 together with Figures 1 to 8:

[0162] The switching stator 1 has a converging end 101, a first diverging end 102, a second diverging end 103 and a third diverging end 104. When conveying from the converging end 101 to the first diverging end 102, the first telescopic member 430 contracts, and the second telescopic member 440, the fourth telescopic member 731 and the third telescopic member 470 are lifted up; when conveying from the converging end 101 to the second diverging end 103, the first telescopic member 430 and the fourth telescopic member 731 are lifted up, and the second telescopic member 440 and the third telescopic member 470 are contracted; when conveying from the converging end 101 to the third diverging end 104, the first telescopic member 430 and the third telescopic member 470 are lifted up, and the second telescopic member 440 and the fourth telescopic member 731 are contracted; When transporting from the flow end 101, the first telescopic member 430 and the third telescopic member 470 are in a retracted state, the fourth telescopic member 731 is in a jacking state, and the second telescopic member 440 can be in either a jacking state or a retracted state; when transporting from the second diversion end 103 to the confluence end 101, the first telescopic member 430, the second telescopic member 440, and the third telescopic member 470 are all in a retracted state, and the fourth telescopic member 731 is in a jacking state; when transporting from the third diversion end 104 to the confluence end 101, the first telescopic member 430 can be in either a jacking state or a retracted state, the second telescopic member 440 and the fourth telescopic member 731 are both in a retracted state, and the third telescopic member 470 is in a jacking state.

[0163] Therefore, with respect to the exemplary figures in Figures 15 to 24, the concept of sequence is introduced based on the conveying direction. Taking Figure 22 as an example, assuming that the mover module 2 is conveyed from the confluence end 101 of the lower switching stator 1 via the second conveying track 300 to the confluence end 101 of the upper switching stator 1, that is, along the conveying direction of the mover module 2, the mover module 2 sequentially passes through the lower switching stator 1 and the upper switching stator 1. Therefore, along the conveying direction of the mover module 2, for the lower switching stator 1, the mover module 2 is conveyed from the confluence end 101 to the second branching end 103, so the first telescopic member 430 and the fourth telescopic member 731 are lifted, and the second telescopic member 440 and the third telescopic member 470 are retracted; then, but for the upper switching stator 1, the mover module 2 is conveyed from the second branching end 103 to the confluence end 101, so the first telescopic member 430, the second telescopic member 440, and the third telescopic member 470 are all in a retracted state, and the fourth telescopic member 731 is lifted.

[0164] Furthermore, for the same switching stator 1, when transporting from the first diverter end 102 to the second diverter end 103, it can be disassembled into transporting from the first diverter end 102 to the confluence end 101, and then transporting from the confluence end 101 to the second diverter end 103; transporting from the second diverter end 103 to the first diverter end 102, transporting from the second diverter end 103 to the third diverter end 104, from the first diverter end 102 to the third diverter end 104, from the third diverter end 104 to the first diverter end 102, and transporting from the third diverter end 104 to the second diverter end 103.

[0165] Figures 15 to 24 only schematically illustrate the splicing method of two switching stators 1 having a third shunt end 104. The above splicing methods are not exhaustive, and other splicing methods of two switching stators 1 having a third shunt end 104 are still within the scope of protection of this application. In addition, the embodiments of this application do not limit the conveying direction or the sequence of the conveying tracks. Regardless of the conveying direction and conveying track, the telescopic members in the switching stator 1 are sequentially controlled to lift based on the conveying direction to achieve stable conveyance of the mover module 2.

[0166] 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.

[0167] 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 magnetic drive conveying system (3), characterized in that: include: A first conveying module (21) includes a plurality of first track stators (4); A second conveying module (22) comprises a switching stator (1) and at least one second track stator (23), wherein the switching stator (1) at least has a merging end (101), a first diverging end (102) and a second diverging end (103), and the switching stator (1) and at least one second track stator (23) cooperate to form at least one conveying line body, wherein the switching stator (1) comprises a first conveying track (200) and a second conveying track (300), wherein the first conveying track (200) is located between the merging end (101) and the first diverging end (102) and comprises a first armature winding (210), and the second conveying track (300) is located between the merging end (101) and the second diverging end (103) and comprises a second armature winding (310); A mover module (2) is provided with a permanent magnet array (6); when the permanent magnet array (6) is magnetically coupled with the first armature winding (210), the mover module (2) moves along the first conveying track (200); and when the permanent magnet array (6) is magnetically coupled with the second armature winding (310), the mover module (2) moves along the second conveying track (300); A connecting module (26) includes a transfer assembly and a third track stator (24), wherein the transfer assembly is used to drive the third track stator (24) to move between the first conveying module (21) and the second conveying module (22) so as to connect with the first track stator (4), the second track stator (23) or the switching stator (1); The first conveying track (200) is provided with a first chute (411), and the second conveying track (300) is provided with a second chute (421); The movable submodule (2) has a first sliding member (610) and a second sliding member (620), and the first sliding member (610) and the second sliding member (620) are capable of telescopic movement relative to the movable submodule (2), the first sliding member (610) is slidably disposed in the first sliding groove (411), and the first sliding member (610) is used to guide the movable submodule (2) to move along the first conveying track (200); The second sliding member (620) is slidably disposed in the second sliding groove (421), and the second sliding member (620) is used to guide the movable module (2) to move along the second conveying track (300).

2. The magnetic drive conveying system (3) according to claim 1, characterized in that: A tray (27) is connected to the upper side of the mover module (2), and the orthographic projection of the tray (27) onto the mover module (2) covers the mover module (2); Baffles (28) are provided on opposite sides of the conveyor line body in the width direction. In the height direction of the conveyor line body, the baffles (28) are at least higher than the lower surface of the tray (27) and are used to limit the movement stroke of the tray (27) in the width direction of the conveyor line body.

3. The magnetic drive conveying system (3) according to claim 1, characterized in that: The second track stator (23) that cooperates with the switching stator (1) to form the conveyor line body is at least one of the switching stator (1), a straight stator and an arc stator.

4. The magnetic drive conveying system (3) according to claim 2, characterized in that: The baffle (28) is provided with a roller (29), and the roller (29) is in contact with the lower surface of the tray (27); and / or The tray (27) is provided with a roller (29), and a side surface of the baffle (28) facing the mover module (2) is provided with a protrusion, and the roller (29) is in contact with the protrusion.

5. The magnetic drive conveying system (3) according to claim 2, characterized in that: A take-in / put-out opening is defined between the baffles (28) on opposite sides in the width direction of the conveyor line body. The take-in / put-out opening is located on the side of the mover module (2) facing away from the conveyor line body. The mover module (2) is placed between the baffles (28) or taken out from between the baffles (28) through the take-in / put-out opening.

6. The magnetic drive conveying system (3) according to claim 4, characterized in that: The switching stator (1) and the three second track stators (23) cooperate to form three conveying line bodies, and the three conveying line bodies are respectively: A first conveying line body (810), a second conveying line body (820) and a third conveying line body (830), wherein the first conveying line body (810), the second conveying line body (820) and the third conveying line body (830) are connected via the switching stator (1), the first conveying line body (810) is connected to the first branch end (102), the second conveying line body (820) is connected to the second branch end (103), and the third conveying line body (830) is connected to the confluence end (101), and the central axis of the first conveying line body (810) and the central axis of the second conveying line body (820) are arranged non-parallel.

7. The magnetic drive conveying system (3) according to claim 6, characterized in that: The baffle (28) has an avoidance gap (28a), and the avoidance gap (28a) is adjacent to the intersection of the first conveying line body (810), the second conveying line body (820), and the third conveying line body (830). When the movable module (2) moves between the first conveying line body (810), the second conveying line body (820), and the third conveying line body (830), the avoidance gap (28a) avoids the tray (27).

8. The magnetic drive conveying system (3) according to claim 6, characterized in that: At least one of the second track stators (23) is an arc-shaped stator, and at least one of the three conveying line bodies includes a first sub-line body (850), a second sub-line body (860) and the arc-shaped stator, and the first sub-line body (850) and the second sub-line body (860) are connected to two ends of the arc-shaped stator.

9. The magnetic drive conveying system (3) according to claim 7, characterized in that: When the movable submodule (2) is reversed on the switching stator (1), the rotation radius of the first sliding member (610) is smaller than the rotation radius of the second sliding member (620); The maximum distance between the first and second ends of the movable submodule (2) in its moving direction and the first sliding member (610) is L1, and the dimension of the avoidance gap (28a) along the extension of the conveying line body where it is located is L2, and L1≤L2.

10. The magnetic drive conveying system (3) according to claim 1, characterized in that: A first telescopic member (430) capable of telescopic movement is provided in the first chute (411), and a second telescopic member (440) capable of telescopic movement is provided in the second chute (421), wherein the first telescopic member (430) and the second telescopic member (440) are arranged adjacent to the confluence end (101); The first sliding member (610) and the second sliding member (620) are capable of telescopic movement relative to the movable submodule (2); When the movable submodule (2) moves from the confluence end (101) to the first divergence end (102), the first telescopic member (430) contracts, the second telescopic member (440) rises, the first sliding member (610) remains in the first chute (411), and the second sliding member (620) is pushed by the second telescopic member (440) to disengage from the second chute (421); When the movable submodule (2) moves from the confluence end (101) to the second divergence end (103), the first telescopic member (430) is lifted, the second telescopic member (440) is retracted, the first sliding member (610) is pushed by the first telescopic member (430) to disengage from the first chute (411), and the second sliding member (620) remains in the second chute (421).

11. The magnetic drive conveying system (3) according to claim 3, characterized in that: The switching stator (1) further comprises a third shunt end (104), wherein the first shunt end (102) and the third shunt end (104) are arranged on both sides of the second shunt end (103); The switching stator (1) further comprises a third conveying track (700), the third conveying track (700) being located between the converging end (101) and the third shunt end (104) and comprising a third armature winding (710), the third armature winding (710) being used to drive the mover module (2) to move between the converging end (101) and the third shunt end (104) when magnetically coupled with the permanent magnet array (6).

12. The magnetic drive conveying system (3) according to claim 11, characterized in that: The switching stator (1) and the four second track stators (23) cooperate to form four conveying line bodies, and the four conveying line bodies are respectively: A first conveying line body (810), a second conveying line body (820), a third conveying line body (830) and a fourth conveying line body (840), wherein the first conveying line body (810), the second conveying line body (820), the third conveying line body (830) and the fourth conveying line body (840) are all connected via the switching stator (1), the first conveying line body (810) is connected to the first diversion end (102), the second conveying line body (820) is connected to the second diversion end (103), the third conveying line body (830) is connected to the confluence end (101), and the fourth conveying line body (840) is connected to the third diversion end (104); The first conveying track (200) includes a first chute (411) disposed away from the second conveying track (300), the second conveying track (300) includes a second chute (421) disposed away from the first conveying track (200), and the third conveying track (700) includes a third chute (730) disposed away from the second conveying track (300); The movable submodule (2) has a first sliding member (610) and a second sliding member (620), the first sliding member (610) is slidably arranged in the first sliding groove (411), and the first sliding groove (411) is used to guide the movable submodule (2) to move along the first conveying track (200), and the second sliding member (620) is slidably arranged in the second sliding groove (421) or the third sliding groove (730); when the second sliding member (620) is arranged in the second sliding groove (421), the second sliding groove (421) is used to guide the movable submodule (2) to move along the second conveying track (300); when the second sliding member (620) is arranged in the third sliding groove (730), the third sliding groove (730) is used to guide the movable submodule (2) to move along the third conveying track (700).

13. The magnetic drive conveying system (3) according to claim 12, characterized in that: A first telescopic member (430) capable of telescopic movement is provided in the first chute (411), a second telescopic member (440) and a third telescopic member (470) capable of telescopic movement are provided in the second chute (421), a fourth telescopic member (731) capable of telescopic movement is provided in the third chute (730), and the first telescopic member (430), the second telescopic member (440), the fourth telescopic member (731) and the third telescopic member (470) are all arranged adjacent to the confluence end (101); When the movable submodule (2) moves from the confluence end (101) to the first divergence end (102), the first telescopic member (430) contracts, the second telescopic member (440), the fourth telescopic member (731) and the third telescopic member (470) rise, the first sliding member (610) remains in the first chute (411), and the second sliding member (620) is pushed by the second telescopic member (440) to disengage from the second chute (421); When the movable submodule (2) moves from the confluence end (101) to the second divergence end (103), the first telescopic member (430) and the fourth telescopic member (731) are lifted, the second telescopic member (440) and the third telescopic member (470) are retracted, the first sliding member (610) is pushed by the first telescopic member (430) to disengage from the first chute (411), and the second sliding member (620) remains in the second chute (421); When the movable submodule (2) moves from the confluence end (101) to the third divergence end (104), the first telescopic member (430) and the third telescopic member (470) are lifted, the second telescopic member (440) and the fourth telescopic member (731) are retracted, the first sliding member (610) is pushed by the first telescopic member (430) to disengage from the first chute (411), and the second sliding member (620) remains in the third chute (730).

14. The magnetic drive conveying system (3) according to claim 1, characterized in that: The second track stator (23) comprises: The base (100) is provided with a socket through slot (105); A coil assembly (5) is provided above the base (100), and when magnetically coupled with the permanent magnet array (6), the coil assembly (5) is used to drive the mover module (2) to move along the second track stator (23); A driving circuit board is electrically connected to the coil assembly (5), and a wire connected to the driving circuit board is passed through the socket slot (105).

15. The magnetic drive conveying system (3) according to claim 14, characterized in that: The base (100) comprises: Two sub-bases (106) are arranged at intervals along the width direction of the second track stator (23); at least one of the sub-bases (106) is provided with the socket through-slot (105); the socket through-slot (105) passes through the sub-base (106) where it is located along the width direction of the second track stator (23).

16. The magnetic drive conveying system (3) according to claim 15, characterized in that: The sub-base (106) is provided with a weight-reducing groove (107), and the weight-reducing groove (107) extends along the extension direction of the sub-base (106).

17. The magnetic drive conveying system (3) according to any one of claims 1 to 16, characterized in that: Also includes: A bracket (20), the first conveying module (21) and the second conveying module (22) are both installed on the bracket (20), the first conveying module (21) and the second conveying module (22) are arranged at intervals in the vertical direction, or the first conveying module (21) and the second conveying module (22) are arranged at intervals in the horizontal direction.

18. The magnetic drive conveying system (3) according to any one of claims 1 to 16, characterized in that: The transfer assembly includes at least one of a linear motor, a rotary motor, a pneumatic drive, and a hydraulic drive.

19. The magnetic drive conveying system (3) according to any one of claims 1 to 16, characterized in that: The mover module (2) is provided with a passive signal transmitter, and at least one of the switching stator (1) and the plurality of second track stators (23) is provided with an active signal receiver, the active signal receiver being used to receive the signal sent by the passive signal transmitter.

20. The magnetic drive conveying system (3) according to any one of claims 1 to 16, characterized in that: The number of the switching stators (1) is multiple, at least two of the switching stators (1) are adjacent, and the connection mode of the two adjacent switching stators (1) is one of the following: Method 1: the converging end (101) of one of the switching 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 switching stator (1); Method 2: The first shunt end (102) of one of the switching 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 switching stator (1); Method three: the second shunt end (103) of one of the switching 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 switching stator (1).

Images