Mover module, magnetic drive electric motor system and deviation rectifying method

Abstract

Provided in the embodiments of the present application are a mover module, a magnetic drive electric motor system and a deviation rectifying method. The magnetic drive electric motor system comprises a stator conveying line and a mover module, wherein the mover module comprises a mover base, a permanent magnet assembly and a rolling assembly, the permanent magnet assembly being arranged on the mover base, the permanent magnet assembly being configured to be magnetically coupled to the stator conveying line so as to be driven by the stator conveying line, and the rolling assembly being arranged on the mover base and being spaced apart from the permanent magnet assembly; and the mover module is in rolling connection with the stator conveying line by means of the rolling assembly. In the embodiments of the present application, the rolling connection between the mover module and the stator conveying line is realized by means of the rolling assembly, thereby preventing the mover module from falling onto the stator conveying line, and also improving the load capacity of the mover module, and reducing the friction force between the mover module and the stator conveying line.

Description

Mover module, magnetic drive motor system and deviation correction method

[0001] Related applications

[0002] This application claims priority to Chinese patent application filed on March 6, 2024, with application number 202410252509.9, entitled “Mover module, magnetically driven motor system and correction method”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the field of magnetic drive conveying technology, and in particular to a mover module, a magnetic drive motor system, and a deviation correction method. Background Art

[0004] In related technologies, a magnetically driven motor system includes a mover and a stator conveyor line composed of multiple stators. The coils in the stator conveyor line are periodically energized to generate a traveling wave magnetic field. This traveling wave magnetic field has two functions: first, it allows the mover to suspend on the stator conveyor line without any supporting components; second, it drives the mover along a preset, planned route. When the mover is carrying an object, the stator conveyor line can drive the mover and the object on it to move without friction, thereby achieving the transportation of the object.

[0005] However, since there is no supporting component between the mover and the stator, when the load on the mover changes or the stator conveying line accidentally loses power and shuts down, the mover will fall onto the stator conveying line under the action of its own gravity and the load, which may cause damage to at least one of the mover and the stator conveying line. Summary of the Invention

[0006] The present application provides a mover module, a magnetic drive motor system and a correction method, which aim to prevent the mover module from falling onto the stator conveyor line, increase the load capacity of the mover module, and reduce the friction between the mover module and the stator conveyor line.

[0007] A first aspect of an embodiment of the present application provides a mover module, which is applied to a magnetic drive motor system. The magnetic drive motor system includes a stator conveying line. The mover module includes a mover base, a permanent magnet assembly and a rolling assembly. The permanent magnet assembly is arranged on the mover base. The permanent magnet assembly is used to magnetically couple with the stator conveying line so as to be driven by the stator conveying line. The rolling assembly is arranged on the mover base and spaced apart from the permanent magnet assembly. The mover module is rollingly connected to the stator conveying line through the rolling assembly.

[0008] Furthermore, the vertical suspension force of the stator conveying line on the mover module is smaller than the gravity of the mover module, so that the rolling assembly is in direct rolling contact with the stator conveying line.

[0009] Furthermore, the stator conveying line can drive the mover module to rotate around its own central axis, wherein the permanent magnet assembly is centrally symmetrically arranged about the central axis; and / or the plurality of rolling assemblies are centrally symmetrically arranged about the central axis.

[0010] Furthermore, the permanent magnet assembly and the rolling assembly are both arranged on the surface of the mover base facing the stator conveying line, the number of the rolling assemblies is four, the mover base is a rectangular plate, and the four rolling assemblies are respectively arranged at the corner positions of the rectangular plate.

[0011] Furthermore, the rolling assembly includes a mounting base and a rolling element, the mounting base is fixedly connected to the mover base, and the rolling element is rotatably connected to the mounting base.

[0012] Furthermore, the rolling assembly also includes an angle feedback member, an angle sensor and a reversing drive member. The angle feedback member is connected to the rolling member and rotates synchronously with the rolling member. The angle sensor is arranged on the mover base and corresponds to the angle feedback member. The angle sensor is used to detect the rotation angle of the rolling member. The reversing drive member is arranged on the mover base. The reversing drive member is used to adjust the forward direction of the rolling member in a manner of being connected or not connected to the angle feedback member.

[0013] Furthermore, the angle feedback component includes a first multi-pole magnet, which is connected to the rolling element and rotates synchronously with the rolling element. The first multi-pole magnet has multiple south poles and multiple north poles, and the multiple south poles and multiple north poles are arranged at intervals along the circumference of the first multi-pole magnet; the angle sensor includes a magnetic sensor, which is used to detect the change in magnetic field during the rotation of the first multi-pole magnet to obtain the rotation angle of the rolling element; the reversing drive component includes a drive coil, which is arranged around the circumference of the first multi-pole magnet, and the drive coil is used to drive the first multi-pole magnet in a magnetic drive manner to drive the rolling element to rotate, so as to adjust the forward direction of the rolling element.

[0014] Furthermore, the first multi-pole magnet is ring-shaped or pancake-shaped, and the multiple south poles and the multiple north poles are centrally symmetrically arranged about the central axis of the first multi-pole magnet.

[0015] Furthermore, the drive coil is annular, and the central axis of the drive coil coincides with the central axis of the first multi-pole magnet; or, the drive coil includes a plurality of sector coils, and the plurality of sector coils are centrally symmetrically arranged about the central axis of the first multi-pole magnet, and the inner arcs of the plurality of sector coils are cocircularly arranged, and the outer arcs of the plurality of sector coils are cocircularly arranged.

[0016] Furthermore, the reversing drive component further includes a second multi-pole magnet, and the drive coil is wound around the second multi-pole magnet.

[0017] Furthermore, the mover module further includes an integrated circuit board, the magnetic sensor is integrated on the integrated circuit board, and the integrated circuit board is connected to the driving coil.

[0018] Furthermore, the angle feedback element includes a reflective belt, which is connected to the rolling element and rotates synchronously with the rolling element. The angle sensor includes at least one of a color sensor and a photoelectric sensor.

[0019] Furthermore, the reversing drive member includes a motor and a transmission structure, the motor is arranged on the mover base, the transmission structure is connected to the output shaft of the motor and the rolling member, the transmission structure includes at least one of a belt transmission structure, a worm transmission structure and a gear transmission structure, wherein the motor drives the transmission structure to drive the rolling member to rotate to adjust the forward direction of the rolling member.

[0020] Furthermore, the mounting base has a first accommodating cavity and a second accommodating cavity that are spaced apart from each other. The first accommodating cavity is used to accommodate part of the rolling element, and the second accommodating cavity is used to accommodate the angle sensor.

[0021] Furthermore, the rolling element includes at least one of a rolling universal wheel, a ball universal wheel and a Mecanum wheel.

[0022] Furthermore, the permanent magnet assembly includes a first permanent magnet array arranged along a first direction and a second permanent magnet array arranged along a second direction, and the first direction and the second direction are arranged at an angle.

[0023] Furthermore, the first permanent magnet array includes a plurality of first permanent magnets arranged along the first direction, and the polarity arrangement period of the first permanent magnets along the first direction is at least one of the NS period, the NHS period, and the NHSH period, and / or the second permanent magnet array includes a plurality of second permanent magnets arranged along the second direction, and the polarity arrangement period of the second permanent magnets along the second direction is at least one of the NS period, the NHS period, and the NHSH period, wherein N represents the North Pole, S represents the South Pole, and H represents the Halbach array.

[0024] Furthermore, the first permanent magnet array has a first center plane parallel to the first direction, the second permanent magnet array has a second center plane parallel to the second direction, and the first center plane is perpendicular to the second center plane.

[0025] Furthermore, the number of the first permanent magnet array is one, the number of the second permanent magnet array is two, the two second permanent magnet arrays are respectively located on opposite sides of the first permanent magnet array along the second direction, and the second center planes of the two second permanent magnet arrays are coplanar.

[0026] A second aspect of an embodiment of the present application provides a magnetic drive motor system, which includes the above-mentioned mover module and a stator conveying line, the permanent magnet group includes a first permanent magnet array arranged along a first direction and a second permanent magnet array arranged along a second direction, the first direction and the second direction are arranged at an angle, the stator conveying line includes a plurality of stator modules spliced ​​together, the stator module has a stator contact surface, each of the stator modules includes a stator winding, and the plurality of stator modules include a linear stator module and a connecting stator module, the stator winding of the connecting stator module includes a first winding extending along the first direction and a second winding extending along the second direction, the first winding is magnetically coupled with the first permanent magnet array to drive the mover module to move along the first direction, the second winding is magnetically coupled with the second permanent magnet array to drive the mover module to move along the second direction, the stator winding of the linear stator module includes a linear winding, wherein the mover module is rollingly connected to the stator contact surface through the rolling assembly.

[0027] Furthermore, the first permanent magnet includes a main magnet and secondary magnets arranged on opposite sides of the main magnet along the first direction, the main magnet has a first magnetic moment T1, and the secondary magnet has a second magnetic moment T2, the first magnetic moment T1 is greater than the second magnetic moment T2, the first magnetic moment T1 is the width of the main magnet along the first direction, and the second magnetic moment T2 is the width of the secondary magnet along the first direction.

[0028] Furthermore, the first winding includes a plurality of first winding units, each of which includes a three-phase coil, and the three-phase coils are respectively a U-phase coil, a V-phase coil and a W-phase coil, and each phase coil in the three-phase coil has a first pole pitch P, wherein the first magnetic moment T1 and the first pole pitch P satisfy: 3T1=2P, and / or, the number of the secondary magnets located on one side of the primary magnet is one, and the second magnetic moment T2 and the first pole pitch P satisfy: T2=1 / 6P, and / or, the number of the secondary magnets located on one side of the primary magnet is two, and the second magnetic moment of the secondary magnet located on the outside is T21, and the second magnetic moment T21 and the first pole pitch P satisfy: T21=1 / 6P, and the second magnetic moment of the secondary magnet located on the inside is T22, and the second magnetic moment T22 and the first pole pitch P satisfy: T22=1 / 3P.

[0029] Furthermore, the first permanent magnet array and the second permanent magnet array are arranged in a cross-shaped structure on the mover base, and the mover module also includes a position sensor, which is arranged in the angular area formed by the cross-shaped structure. The stator conveyor line also includes a sensor reader, which is used to cooperate with the position sensor to read the position of the mover module on the stator conveyor line.

[0030] Furthermore, the stator module further includes a guide member, which is provided on the stator contact surface. The guide member is rollingly connected to the rolling assembly and can limit the rolling direction of the rolling element.

[0031] A third aspect of an embodiment of the present application provides a first correction method for a magnetic drive motor system, which is applied to the above-mentioned magnetic drive motor system, and the correction method includes the following steps: in the process of the stator conveyor line driving the mover module to move, obtaining the current absolute position of the mover module in the rectangular coordinate system, wherein the rectangular coordinates of the mover module in the rectangular coordinate system are its absolute position; obtaining the slope of the subdivision corresponding to the current absolute position of the mover module in the preset planned route; obtaining the polar angle corresponding to the rotation angle of the mover module at the current absolute position in the polar coordinate system; comparing whether the polar angle corresponds to the slope; if so, re-executing the step of obtaining the current absolute position of the mover module in the rectangular coordinate system; if not, indicating that the rotation angle of the mover module deviates from the planned route, controlling the rolling component to adjust the rotation angle so that the mover module returns to the planned route.

[0032] Furthermore, the step of obtaining the slope of the subdivision segment corresponding to the current absolute position of the movable module in the preset planned route includes: directly obtaining the slope of the subdivision segment corresponding to the current absolute position, wherein each subdivision segment and the corresponding slope are pre-stored, or, after determining the subdivision segment corresponding to the current absolute position, calculating the slope of the subdivision segment currently corresponding to the movable module in real time.

[0033] Furthermore, after the step of controlling the rolling component to adjust the rotation angle so that the movable module returns to the planned route, the step also includes: comparing whether the current absolute position is consistent with the preset target position in the planned route to verify whether the movable module deviates from the planned route.

[0034] Furthermore, the step of comparing whether the polar angle corresponds to the slope includes: converting the polar angle in the polar coordinate system into the slope in the rectangular coordinate system to compare whether the slope of the polar angle in the rectangular coordinate system is consistent with the slope of the subdivision segment, or converting the slope in the rectangular coordinate system into the polar angle in the polar coordinate system to compare whether the polar angle corresponding to the slope in the polar coordinate system is consistent with the polar angle corresponding to the rotation angle.

[0035] Furthermore, the step of controlling the rolling component to adjust the rotation angle so that the movable submodule returns to the planned route includes: obtaining the position difference between the current absolute position and the preset target position in the planned route, and adjusting the rotation angle of the rolling component according to the position difference; controlling the stator winding corresponding to the current absolute position to be periodically energized to drive the movable submodule to move according to the adjusted rotation angle; re-obtaining the current absolute position, and re-executing the acquisition of the position difference between the current absolute position and the preset target position in the planned route until the position difference is within a preset range.

[0036] Furthermore, after the step of controlling the rolling component to adjust the rotation angle so that the movable module returns to the planned route, the step also includes: controlling the polar angle and the slope to remain corresponding within a preset time length; after the preset time length, stopping controlling the rolling component to make it enter a driven state.

[0037] Furthermore, the correction method also includes: controlling the forward direction between adjacent rolling components to be perpendicular to each other so that the mover module rotates, or controlling the forward direction between all rolling components to be perpendicular to the driving force direction of the stator winding so that the mover module stops.

[0038] The present invention provides a magnetic drive motor system, which can achieve the following three beneficial effects:

[0039] First, it can prevent the mover module from falling onto the stator conveyor line. Since the stator module is rollingly connected to the mover module, the stator module can support the mover module, thus preventing the mover module from falling onto the stator conveyor line, thereby avoiding collision between the mover module and the stator module on the stator conveyor line, and thus preventing damage to the mover module and the stator module.

[0040] Second, it can increase the load capacity of the mover module. When the mover module is rollingly connected to the stator conveyor line through the rolling assembly, since the rolling assembly is arranged on the mover base, the stator conveyor line can provide a certain degree of support for the mover base. Compared with the solution where the mover module is completely suspended on the stator module, the vertical suspension force of the stator module for the mover module remains unchanged. In this case, the vertical suspension force of the stator module can be used more to support the mover module and the objects on it. Therefore, the vertical load capacity of the mover module is increased.

[0041] Third, the friction between the mover module and the stator conveyor line can be reduced. Since the mover module is connected to the stator conveyor line in a rolling manner through the rolling assembly, the sliding connection between the mover module and the stator conveyor line can reduce the friction between the mover module and the stator module. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] 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 these drawings without paying any creative work.

[0043] FIG1 is a schematic structural diagram of a magnetic drive motor system in an embodiment of the present application;

[0044] FIG2 is a partial structural diagram of a magnetic drive motor system in one embodiment of the present application;

[0045] FIG3 is a schematic structural diagram of a mover module in an embodiment of the present application;

[0046] FIG4 is a schematic structural diagram of a magnetic drive motor system from another perspective in one embodiment of the present application;

[0047] FIG5 is a schematic structural diagram of a mover module in an embodiment of the present application;

[0048] FIG6 is a schematic structural diagram of a mover module portion from another perspective in one embodiment of the present application;

[0049] FIG7 is a schematic structural diagram of a mover module in another embodiment of the present application;

[0050] FIG8 is a schematic flow chart of a correction method in one embodiment of the present application;

[0051] FIG9 is another schematic flow chart of a correction method in one embodiment of the present application;

[0052] FIG10 is a schematic flow chart of a correction method in another embodiment of the present application;

[0053] FIG11 is another schematic flow chart of a correction method in one embodiment of the present application;

[0054] FIG12 is another schematic flow chart of a correction method in one embodiment of the present application;

[0055] FIG13 is a flow chart of a correction method in another embodiment of the present application.

[0056] Explanation of the accompanying drawings: 1-magnetic drive motor system; 10-mator module; 10a-central axis; 11-permanent magnet assembly; 111-first permanent magnet array; 111a-first center plane; 112-second permanent magnet array; 112a-second center plane; 12-rolling assembly; 121-mounting base; 122-rolling element; 123-angle feedback element; 1231-first multi-pole magnet; 124-commutation drive element; 13-mator base; 14-position sensor; 20-stator conveying line; 21-stator module; 211-stator contact surface; 212-linear stator module; 213-connecting stator module; 214-guide element. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0058] Referring to FIG. 1 to FIG. 3 , an embodiment of the present application provides a magnetic drive motor system 1 , which may include a mover module 10 and a stator conveying line 20 .

[0059] Specifically, the mover module 10 includes a permanent magnet component 11, the permanent magnet component 11 includes a first permanent magnet array 111 arranged along a first direction AA and a second permanent magnet array 112 arranged along a second direction BB, the stator conveying line 20 includes a plurality of stator modules 21 spliced ​​together, and the embodiment of the present application does not specifically limit the shape of the stator conveying line 20 formed by splicing the stator modules 21. The stator module 21 has a stator contact surface 211, and each stator module 21 includes a stator winding. The multiple stator modules 21 may include a linear stator module 212 and a connecting stator module 213, wherein the stator winding of the linear stator module 212 includes a linear winding (not shown in the figure), that is, the permanent magnet of the mover module 10 The component 11 can be magnetically coupled with the linear winding so that the linear stator module 212 drives the mover module 10 to perform linear motion. The linear motion can include straight-line motion and curved motion. The connecting stator module 213 can be used to drive the mover module 10 to change the direction of motion, that is, the stator winding of the connecting stator module 213 (not shown in the figure) includes a first winding extending along the first direction AA and a second winding extending along the second direction BB. The first winding is magnetically coupled with the first permanent magnet array 111 to drive the mover module 10 to move along the first direction AA, and the second winding is magnetically coupled with the second permanent magnet array 112 to drive the mover module 10 to move along the second direction BB. The relevant driving principles have been disclosed and will not be repeated in this application. Among them, the first direction AA and the second direction BB are set at an angle. It can be understood that the stator winding can be magnetically coupled with the permanent magnet component 11 to drive the mover module 10 to move along the first direction AA or the second direction BB, and the mover module 10 can be used to carry different objects on the side away from the stator module 21. In the process of magnetically coupling the stator winding and the permanent magnet component 11 to drive the mover module 10 to move, it can drive the object carried on the mover module 10 to move, thereby realizing the transportation of the object.

[0060] Please refer to Figures 3-4. Furthermore, the mover module 10 also includes a rolling component 12. The mover module 10 can be rollingly connected to the stator contact surface 211 through the rolling component 12. That is, the mover module 10 can be provided with the rolling component 12 on the side facing the stator contact surface 211 so that the rolling component 12 is rollingly connected to the stator contact surface 211. In this way, the friction between the mover module 10 and the stator module 21 can be reduced.

[0061] Please continue to refer to Figures 3-4. Furthermore, in some embodiments, the mover module 10 also includes a mover base 13, the permanent magnet component 11 and the rolling component 12 are both arranged on the mover base 13, the permanent magnet component 11 is used to magnetically couple with the stator conveying line 20, so that the permanent magnet component 11 is driven by the stator conveying line 20, the rolling component 12 is arranged on the mover base 13, and the rolling component 12 and the permanent magnet component 11 are spaced apart.

[0062] Specifically, the mover base 13 can serve as a bearing component of the mover module 10, and is used to carry the permanent magnet assembly 11 and the rolling assembly 12. The embodiment of the present application does not limit the specific structure of the mover base 13. For example, the mover base 13 can be a rectangular parallelepiped structure or a cylindrical structure. The embodiment of the present application does not specifically limit the material used for the mover base 13. For example, the mover base 13 can be made of aluminum, stainless steel, or a carbon fiber mixed material. For example, when the mover base 13 is made of aluminum, the aluminum can attract the magnetic field generated by the stator coil on the stator conveying line 20 after the stator conveying line 20 is energized, so that the mover module 10 can be stably conveyed by the stator conveying line 20.

[0063] Furthermore, the mover module 10 can be connected to the stator conveyor line 20 by rolling through the rolling assembly 12. It can be understood that the stator module 21 on the stator conveyor line 20 can be connected to the rolling assembly 12 on the mover module 10 by rolling, and a plurality of rolling assemblies 12 can be provided on the mover base 13. The embodiment of the present application does not specifically limit the number of rolling assemblies 12. At the same time, the stator module 21 can support the mover module 10, that is, because the magnetic levitation force of the stator module 21 used to drive the permanent magnet assembly 11 to move in the vertical direction is reduced. Therefore, the magnetic levitation force originally used to drive the permanent magnet component 11 to suspend can be used more to support the mover module 10 and the objects it carries, so that the mover module 10 has a greater load force, and thus the mover module 10 can carry objects with heavier weights. Moreover, since the stator module 21 can support the mover module 10, it can prevent the mover module 10 from falling onto the stator module 21 when the load on the mover module 10 changes or the stator conveying line 20 accidentally loses power and shuts down, thereby causing damage to the mover module 10 and the stator conveying line 20.

[0064] Based on the above embodiments, the embodiments of the present application have at least the following three effects:

[0065] First, it can prevent the mover module 10 from falling onto the stator conveyor line 20. Since the stator module 21 is rollingly connected to the mover module 10, the stator module 21 can support the mover module 10, so it can prevent the mover module 10 from falling onto the stator conveyor line 20, thereby avoiding collision between the mover module 10 and the stator module 21 on the stator conveyor line 20, and thus avoiding damage to the mover module 10 and the stator module 21.

[0066] Second, it can increase the load capacity of the mover module 10. When the mover module 10 is rollingly connected to the stator conveyor line 20 through the rolling assembly 12, since the rolling assembly 12 is provided on the mover base 13, the stator conveyor line 20 can provide a certain degree of support for the mover base 13. Compared with the solution in which the mover module 10 is completely suspended on the stator module 21, the vertical suspension force of the stator module 21 for the mover module 10 remains unchanged. The vertical suspension force of the stator module 21 can be used more to support the mover module 10 and the objects thereon. Therefore, the vertical load capacity of the mover module 10 is increased.

[0067] Third, the friction between the mover module 10 and the stator conveyor line 20 can be reduced. Since the mover module 10 is connected to the stator conveyor line 20 by rolling via the rolling assembly 12, that is, the mover module 10 is connected to the stator conveyor line 20 by rolling, the friction between the mover module 10 and the stator module 21 can be reduced.

[0068] Please refer to Figure 4. In some embodiments, the vertical suspension force of the stator conveying line 20 on the mover module 10 is smaller than the gravity of the mover module 10, that is, the gravity of the mover module 10 is greater than the vertical suspension force (that is, the direction of gravity) of the stator conveying line 20 on the mover module 10, so that the rolling component 12 can roll in contact with the stator contact surface 211. It can be understood that the stator module 21 and the mover module 10 are rollingly connected through the rolling assembly 12, that is, the rolling assembly 12 can be rollingly connected with the stator contact surface 211 of the stator module 21, so that the stator module 21 can support the mover module 10, thereby reducing the vertical suspension force of the stator conveying line 20 on the mover module 10. Since the stator module 21 has a certain supporting effect on the mover module 10, the gravity on the mover module 10 increases, that is, the carrying capacity of the mover module 10 increases. In this way, on the one hand, the carrying capacity of the mover module 10 can be increased, so that the stator conveying line 20 can transport objects with heavier weight. On the other hand, the stator conveying line 20 has a smaller vertical suspension force on the mover module 10, so that the rolling assembly 12 can directly roll in contact with the stator conveying line 20.

[0069] In other embodiments, when the mover module 10 carries an object, the combined weight of the mover module 10 and the carried object is greater than the vertical levitation force exerted by the stator conveyor line 20 on the mover module 10 and its carried object, thereby enabling the rolling assembly 12 to contact the stator contact surface 211. Therefore, based on the above embodiments, it can be seen that the vertical levitation force exerted by the stator conveyor line 20 on the mover module 10 does not necessarily need to be less than the weight of the mover module 10; it only needs to ensure that the rolling assembly 12 is in contact with the stator contact surface 211.

[0070] Please continue to refer to Figure 4. In some embodiments, the stator conveyor line 20 can drive the mover module 10 to rotate around its own central axis 10a, wherein the multiple rolling assemblies 12 are centrally symmetrically arranged about the central axis 10a. Specifically, the stator conveyor line 20 can drive the mover module 10 on the permanent magnet assembly 11 to rotate around its own central axis 10a, that is, the multiple rolling assemblies 12 can be centrally symmetrically arranged about the central axis 10a. In this way, the support force of the stator conveyor line 20 on the mover module 10 is more uniform, which can improve the stability of the mover module 10 moving on the stator conveyor line 20.

[0071] In some other embodiments, the permanent magnet assembly 11 can be arranged in a central symmetrical manner about the central axis 10a. In this way, the driving force of the stator conveying line 20 applied to the mover module 10 is more uniform, which can further improve the stability of the mover module 10 moving on the stator conveying line 20.

[0072] Please refer to Figures 3 and 4. In some embodiments, the permanent magnet assembly 11 and the rolling assembly 12 are both arranged on the surface of the mover base 13 facing the stator conveyor line 20. The number of rolling assemblies 12 is four. The mover base 13 is a rectangular plate. The four rolling assemblies 12 are respectively arranged at the corners of the rectangular plate, thereby allowing the rolling assembly 12 to avoid the permanent magnet assembly 11. It can be understood that the permanent magnet assembly 11 and the rolling assembly 12 are both arranged toward the stator contact surface 211 of the stator module 21, and there are four rolling assemblies 12 on one mover module 10. The mover base 13 is a rectangular plate. The four rolling assemblies 12 are respectively arranged at the four corners of the rectangular plate. In this way, on the one hand, the friction between the mover module 10 and the stator conveyor line 20 can be reduced. On the other hand, due to the presence of four rolling assemblies 12, the mover module 10 can run more smoothly on the stator conveyor line 20.

[0073] Please refer to Figures 5-6. In some embodiments, the rolling assembly 12 includes a mounting base 121 and a rolling member 122. The mounting base 121 is fixedly connected to the mover base 13 so that the rolling assembly 12 can be fixedly mounted on the mover base 13, and the rolling member 122 is rotatably connected to the mounting base 121. That is, the rolling member 122 can be mounted on the mounting base 121 through an axle, and the rolling member 122 can rotate on the mounting base 121 and on the stator contact surface 211 to adjust the movement direction of the mover module 10 on the stator conveyor line 20, thereby realizing the adjustment of the movement direction of the mover module 10.

[0074] In some embodiments, the rolling element 122 can be a roller-type universal wheel, a ball-type universal wheel, or a Mecanum wheel. The embodiment of the present application does not specifically limit the specific structure of the rolling element 122, and the embodiment of the present application does not specifically limit the number of rolling elements 122.

[0075] Exemplarily, when the rolling element 122 is a roller-type universal wheel, the rolling element 122 can contact the stator contact surface 211 so that the mover module 10 is rollingly connected to the stator conveying line 20. Since the rolling element 122 is a roller-type universal wheel, the friction between the mover module 10 and the stator conveying line 20 can be reduced. At the same time, the rolling element 122 can rotate on the stator contact surface 211 so that the mover module 10 can move to any position of the stator conveying line 20.

[0076] In the related art, when the mover module 10 deviates from the preset planned route, the stator conveying line 20 can detect the offset position of the mover module 10, and detect the offset distance between the offset position and the preset planned route, so that the magnetic drive motor system 1 controls the stator coil corresponding to the stator conveying line 20 to be periodically energized to make the mover module 10 return to the preset planned route. In this driving mode, the stator module 21 needs to detect the operating position of the mover module 10 at all times, and the corresponding stator coil needs to be accurately energized periodically to return the deviated mover module 10 to the preset planned route, which results in a large computational workload of the controller of the magnetic drive motor system 1.

[0077] To this end, please continue to refer to Figures 5-6. In some embodiments, the rolling assembly 12 also includes an angle feedback member 123, an angle sensor and a reversing drive member 124. The angle feedback member 123 is connected to the rolling member 122, and the angle feedback member 123 can rotate synchronously with the rolling member 122. The angle sensor is arranged on the mover base 13, and the angle sensor and the angle feedback member 123 are arranged correspondingly to detect the rotation angle of the rolling member 122. That is, the angle feedback member 123 can have an initial position. When the rolling member 122 rotates, the initial position of the angle feedback member 123 will also change accordingly, and the angle change of the initial position will be detected by the angle sensor. The angle sensor sends the angle change of the initial position to the controller of the magnetic drive motor system 1 or the controller of the mover module 10.

[0078] Furthermore, the reversing drive member 124 is arranged on the mover base 13, and the controller of the magnetic drive motor system 1 or the controller of the mover module 10 can control the reversing drive member 124 according to the angle change of the initial position of the angle feedback member 123, so that the rolling member 122 moves in the direction of the angle change, that is, the controller of the magnetic drive motor system 1 or the controller of the mover module 10 can determine whether the motion curve formed by the rotation angle of the rolling member 122 corresponds to the preset planned route. When the mover module 10 corresponds to the preset planned route, the mover module 10 moves along the preset planned route of the stator conveying line 20. When the mover module 10 deviates from the preset planned route, the controller of the magnetic drive motor system 1 or the controller of the mover module 10 can control the reversing drive member 124. The reversing drive member 124 and the angle feedback member 123 are connected or disconnected to adjust the rotation angle of the rolling member 122, thereby allowing the mover module 10 to return to the preset planned route. That is, the embodiment of the present application periodically energizes the stator coil on the original stator conveying line 20, and drives the deviated mover module 10 to the preset planned route through the magnetic field driving component force generated after the stator coil is energized. In this way, the magnetic drive motor system 1 does not need to additionally energize the stator coils on other stator conveying lines 20. That is, the controller of the magnetic drive motor system 1 does not need to accurately energize the corresponding stator coil periodically after calculating that the operating position of the mover module 1 deviates from the preset planned route. In this way, the amount of calculation of the magnetic drive motor system 1 can be reduced.

[0079] Furthermore, in some embodiments, the mounting base 121 has a first accommodating cavity and a second accommodating cavity that are spaced apart, the first accommodating cavity is used to accommodate the rolling element 122, and the second accommodating cavity is used to accommodate the angle sensor. It can be understood that the mounting base 121 is separated into the first accommodating cavity and the second accommodating cavity, and the angle sensor is provided on the mounting base 121, and the angle sensor can be provided in the second accommodating cavity, that is, there is no need to provide an accommodating space on the mover base 13 or other positions of the mounting base 121 for accommodating the angle sensor, but by arranging the first accommodating cavity and the second accommodating cavity at intervals on the mounting base 121, the first accommodating cavity is used to accommodate the rolling element 122, and the second accommodating cavity is used to accommodate the angle sensor. In this way, the mover module 10 can be made more miniaturized to save the material preparation cost of the magnetic drive motor system 1.

[0080] Please continue to refer to Figures 5 and 6. In some embodiments, the angle feedback member 123 includes a first multi-pole magnet 1231, which is connected to the rolling member 122 and rotates synchronously with the rolling member 122. The first multi-pole magnet 1231 has multiple south poles and multiple north poles, and the multiple south poles and multiple north poles are arranged at intervals along the circumference of the first multi-pole magnet 1231. The angle sensor includes a magnetic sensor, which is used to detect the change in the magnetic field during the rotation of the first multi-pole magnet 1231 to obtain the rotation angle of the rolling member 122. It can be understood that when the rolling member 122 rotates, the magnetic fields of the multiple south poles and multiple north poles on the first multi-pole magnet 1231 will change, and the magnetic sensor can measure the rotation angle of the rolling member 122 based on the change in the magnetic field of the first multi-pole magnet 1231.

[0081] Furthermore, the reversing drive element 124 includes a drive coil, which is arranged around the first multi-pole magnet 1231. The drive coil is used to drive the first multi-pole magnet 1231 in a magnetic drive manner to drive the rolling element 122 to rotate so as to adjust the forward direction of the rolling element 122. That is, after the magnetic sensor measures the rotation angle of the rolling element 122, the magnetic sensor can feed back the rotation angle of the rolling element 122 to the drive coil. The drive coil can drive the first multi-pole magnet 1231 to move by magnetic coupling. Since the first multi-pole magnet 1231 rotates synchronously with the rolling element 122, that is, when the mover module 10 deviates from the preset planned route, the drive coil can drive the first multi-pole magnet 1231 to rotate according to the rotation angle of the rolling element 122, and the first multi-pole magnet 1231 can drive the rolling element 122 to rotate, so that the rolling element 122 can move along the preset planned route on the stator conveyor line 20. In this way, the mover module 10 can be returned to the preset planned route.

[0082] Furthermore, in some embodiments, the mover module 10 also includes an integrated circuit board, and the magnetic sensor is integrated on the circuit board, which can make the mover module 10 more miniaturized. The integrated circuit board is connected to the drive coil. It can be understood that the magnetic sensor can send a signal of the rotation angle of the rolling element 122 to the integrated circuit board. The integrated circuit board controls the power supply of the drive coil based on the signal of the rotation angle of the rolling element 122 received. When the mover module 10 deviates from the preset planned route, the drive coil drives the first multi-pole magnet 1231 in a magnetic drive manner to drive the rolling element 122 to rotate, so as to adjust the forward direction of the rolling element 122. In this way, the mover module 10 can return to the preset planned route.

[0083] In some other embodiments, the reversing drive member 124 also includes a second multi-pole magnet, and the driving coil is wound on the second multi-pole magnet, that is, the magnetic field of the second multi-pole magnet can change according to the angle of rotation, and the driving coil can drive the first multi-pole magnet 1231 by magnetic drive, so that the magnetic field of the first multi-pole magnet 1231 also changes, and the first multi-pole magnet 1231 can drive the rolling member 122 to rotate, thereby realizing the rotation of the rolling member 122, and through the cooperation of the second multi-pole magnet and the driving coil, the driving force of the mover module 10 can be enhanced, thereby improving the stability of the mover module 10 running on the stator conveyor line 20.

[0084] 5 , in some embodiments, the first multi-pole magnet 1231 is annular or pancake-shaped, and the multiple south poles and the multiple north poles are centrally symmetrically arranged about the central axis of the first multi-pole magnet 1231. That is, the multiple south poles and the multiple north poles are spaced apart along the first multi-pole magnet 1231 and are centrally symmetrically arranged about the central axis of the first multi-pole magnet 1231. This can improve the stability of the synchronous rotation of the angle feedback member 123 and the rolling member 122.

[0085] In some embodiments, the driving coil is annular, and the central axis of the driving coil coincides with the central axis of the first multi-pole magnet 1231. That is, the driving coil and the first multi-pole magnet 1231 can share the same central axis. When the driving coil drives the first multi-pole magnet 1231 to drive the rolling element 122 to rotate, the central axis of the driving coil coincides with the central axis of the first multi-pole magnet 1231, so that the driving force of the driving coil and the first multi-pole magnet 1231 is distributed more evenly. In this way, the stability of the driving coil in driving the first multi-pole magnet 1231 can be improved.

[0086] In some other embodiments, the driving coil includes a plurality of sector coils, which are centrally symmetrically arranged about the central axis of the first multi-pole magnet 1231, and the inner arcs of the plurality of sector coils are cocircularly arranged, and the outer arcs of the plurality of sector coils are cocircularly arranged. In this case, the driving force of the driving coil on the first multi-pole magnet 1231 can be distributed more evenly, thereby improving the stability of the driving coil in driving the first multi-pole magnet 1231.

[0087] It should be noted that when the driving coil is a sector coil, there can be multiple sector coils, and multiple sector coils can form a ring coil, and each sector coil is equally divided in the ring coil. The embodiment of the present application does not specifically limit the number of equal divisions of the sector coil.

[0088] In some embodiments, the angle feedback element 123 includes a reflective tape, which is connected to the rolling element 122 and rotates synchronously with the rolling element 122 . The angle sensor includes at least one of a color sensor and a photoelectric sensor.

[0089] Specifically, when the angle sensor is a color sensor, the reflective tape can be arranged on the peripheral side of the mover base 13. When the rolling element 122 rotates, the color sensor can detect the color signals reflected by the reflective tapes at different positions, and the color sensor can determine whether the mover module 10 deviates from the preset planned route based on the detected color signals.

[0090] When the angle sensor is a photoelectric sensor, holes with inconsistent depths can be set on the mover base 13. When the rolling element 122 rotates, the photoelectric sensor can detect the holes with inconsistent depths set on the mover base 13 to determine the position information of the mover module 10, and then determine whether the mover module 10 deviates from the preset planned route.

[0091] In some embodiments, the reversing drive member 124 includes a motor and a transmission structure, the motor is arranged on the mover base 13, and the transmission structure is connected to the output shaft of the motor and the rolling member 122, wherein the motor can drive the transmission structure to drive the rolling member 122 to rotate to adjust the forward direction of the rolling member 122. It can be understood that when the motor receives the reversing sensor to detect that the mover module 10 deviates from the preset planned route, the motor directly controls the transmission structure to rotate so that the rolling member 122 returns to the preset planned route under the drive of the transmission structure, thereby realizing that the mover module 10 returns to the preset planned route.

[0092] It should be noted that the transmission structure may include at least one of a belt structure, a worm transmission structure and a gear transmission structure, and the embodiments of the present application do not specifically limit this.

[0093] Referring to Figures 2 and 3, in some embodiments, the first permanent magnet array 111 includes a plurality of first permanent magnets arranged along a first direction AA, and the second permanent magnet array 112 includes a plurality of second permanent magnets arranged along a second direction BB. The polarity arrangement period of the first permanent magnets along the first direction AA is at least one of an NS period, an NHS period, and an NHSH period, and the polarity arrangement period of the second permanent magnet array 112 along the second direction BB is at least one of an NS period, an NHS period, and an NHSH period.

[0094] Specifically, the NS period means that on the side of the first permanent magnet facing the stator contact surface 211, the first permanent magnets are arranged in the order of north-pole permanent magnets and south-pole permanent magnets; and on the side of the second permanent magnet facing the stator contact surface 211, the second permanent magnets are arranged in the order of north-pole permanent magnets and south-pole permanent magnets. The NHS period means that on the side of the first permanent magnet facing the stator contact surface 211, the first magnets are arranged in the order of north-pole permanent magnets, H arrays, and south-pole permanent magnets; and on the side of the second magnet facing the stator contact surface 211, the second magnets are arranged in the order of north-pole permanent magnets, H arrays, and south-pole permanent magnets. The NHSH periodic arrangement means that: on the side of the first magnet facing the stator contact surface 211, the first magnet is arranged in sequence of N-pole permanent magnet, H array, S-pole permanent magnet, and H array; on the side of the second magnet facing the stator contact surface 211, the second magnet is arranged in sequence of N-pole permanent magnet, H array, S-pole permanent magnet, and H array, wherein the H array is used to enhance the magnetic lines of force of the mover module 10 on the side facing the stator contact surface 211, so that the magnetic field strength of the mover module 10 on the side facing the stator contact surface 211 is increased, that is, the magnetic coupling between the mover module 10 and the stator conveying line 20 is enhanced, thereby improving the driving efficiency between the mover module 10 and the stator conveying line 20.

[0095] It should be noted that N stands for North Pole, S stands for South Pole, and H stands for Halbach array.

[0096] Please continue to refer to Figure 3. In some embodiments, the first permanent magnet array 111 has a first center plane 111a parallel to the first direction AA, and the second permanent magnet array 112 has a second center plane 112a parallel to the second direction BB. The first center plane 111a is perpendicular to the second center plane 112a. It can be understood that because the first center plane 111a and the second center plane 112a are perpendicular to each other, the first permanent magnet array 111 and the second permanent magnet array 112 can be in a cross-shaped structure, so that the mover module 10 can have a permanent magnet component 11 in both the first direction AA and the second direction BB, and the first permanent magnet array 111 and the second permanent magnet array 112 are in a cross-shaped structure. In this way, the size of the permanent magnet component 11 can be reduced, thereby saving the preparation cost of the magnetic drive motor system 1.

[0097] Please refer to Figure 7. Further, in some embodiments, the number of first permanent magnet arrays 111 is one, the number of second permanent magnet arrays 112 is two, the two second permanent magnet arrays 112 are respectively located on two sides of the first permanent magnet array 111 opposite to each other along the second direction BB, and the second center planes 112a of the two second permanent magnet arrays 112 are respectively arranged in the same plane. It can be understood that when the number of first permanent magnet arrays 111 is one, the two second permanent magnet arrays 112 are respectively located on two sides of the first permanent magnet array 111 opposite to each other along the second direction BB to ensure that the magnetic field force of the permanent magnet assembly 11 in the first direction AA and the second direction BB is uniform. At the same time, because the number of first permanent magnet arrays 111 is one and the number of second permanent magnet arrays 112 is two, the size of the permanent magnet assembly 11 can be reduced, thereby saving the preparation cost of the magnetic drive motor system 1.

[0098] In some embodiments, the first permanent magnet includes a main pole magnet and a secondary magnet arranged on both sides of the main pole magnet opposite to each other along the first direction AA. The main pole magnet has a first magnetic moment T1, and the secondary magnet has a second magnetic moment T2. The first magnetic moment T1 is greater than the second magnetic moment T2. It can be understood that the main pole magnet is used to magnetically couple with the stator coil to drive the mover module 10 to move on the stator conveying line 20. The secondary pole magnets are arranged on both sides of the main pole magnet opposite to each other along the first direction AA, and the first magnetic moment T1 is greater than the second magnetic moment T2. That is, since the widths of the first magnetic moment and the second magnetic moment in the first direction AA are different, the secondary pole magnet can be used to shrink the magnetic lines of force of the secondary magnet. In this way, the secondary pole magnet can enhance the magnetic field of the main pole magnet toward the stator contact surface 211.

[0099] Furthermore, the two secondary magnets form at least one NS surface on one side away from the primary magnet, so that a complete magnetic field can be formed at both ends of the first permanent magnet, so that the magnetic lines of force on both sides of the first permanent magnet are denser, thereby improving the movement efficiency of the mover module 10 on the stator conveying line 20.

[0100] Further, in some embodiments, the first winding includes multiple first winding units, each first winding unit includes a three-phase coil, and the three-phase coils are a U-phase coil, a V-phase coil, and a W-phase coil. It can be understood that multiple U-phase coils, multiple V-phase coils, and multiple W-phase coils form a stacked first coil layer and a second coil layer, and the U-phase coil and the W-phase coil in the three-phase coil are adjacent to each other and are located in one layer of the first coil layer and the second coil layer, and the V-phase coil in the three-phase coil can be located in another layer of the first coil layer and the second coil layer.

[0101] Furthermore, each phase coil in the three-phase coil has a first pole pitch P, wherein the first magnetic moment T1 and the first pole pitch P can satisfy 3T1=2P, that is, each three-phase coil corresponds to three main magnets; when the number of secondary magnets located on one side of the main magnet is one, and the second magnetic moment T2 and the first pole pitch P can satisfy T2=1 / 6P; when the number of secondary magnets located on one side of the main magnet is two, the second magnetic moment of the secondary magnet located on the outside is T21, and the second magnetic moment T21 and the first pole pitch P satisfy: T21=1 / 6P; the second magnetic moment of the secondary magnet located on the inside is T22, and the second magnetic moment T22 and the first pole pitch P satisfy: T22=1 / 3P. By setting the first magnetic moment and the second magnetic moment and the first pole pitch, the magnetic field widths of the main magnet and the secondary magnet are inconsistent. In this way, the accuracy of the stator conveying line 20 in sensing the mover module 10 can be improved. Furthermore, by providing a secondary magnet, the magnetic field of the primary magnet is contracted to avoid mutual interference of the magnetic fields between the mover modules 10 and to improve the coupling efficiency between the permanent magnet assembly 11 and the stator coil.

[0102] Please refer to Figure 3. In some embodiments, the first permanent magnet array 111 and the second permanent magnet array 112 are arranged in a cross-shaped structure on the mover base 13. The mover module 10 also includes a position sensor 14. The position sensor 14 is arranged in the angular area formed by the cross-shaped structure. That is, the position sensor 14 can be used to detect the position of the mover module 10 and send the detected position information of the mover module 10 to the sensor reader corresponding to the stator conveyor line 20. The embodiment of the present application does not specifically limit the type of the position sensor 14. For example, the position sensor 14 can be a Hall sensor or a magnetic position sensor.

[0103] Furthermore, the stator conveyor line 20 also includes a sensor reader, which is used to cooperate with the position sensor 14 to read the position of the mover module 10 on the stator conveyor line 20. It can be understood that the sensor reader can read the position information of the mover module 10 on the stator conveyor line 20, and send the position information of the mover module 10 on the stator conveyor line 20 to the controller of the magnetic drive motor system 1 or the controller of the mover module 10, and then determine whether the mover module 10 deviates from the preset planned route. In this way, the position information of the mover module 10 can be detected in real time on the stator conveyor line 20.

[0104] In some embodiments, the stator module 21 also includes a guide member 214, which is arranged on the stator contact surface 211, and the guide member 214 can be rollingly connected to the rolling assembly 12 and limit the rolling direction of the rolling member 122. That is, the guide member 214 can limit the rolling member 122, so that the rolling member 122 can be prevented from leaving the stator conveyor line 20.

[0105] A second aspect of an embodiment of the present application provides a deviation correction method for a magnetic drive motor system 1 , which can be applied to the above-mentioned magnetic drive motor system 1 .

[0106] The deviation correction method is to achieve that when the mover module 10 deviates from the preset planned route, the rotation angle of the rolling element 122 can be adjusted by the reversing driving element 124 so that the rolling element 122 returns to the preset planned route.

[0107] Based on the above structure, please refer to FIG8 , the correction method of the embodiment of the present application includes the following steps S101 - S105 .

[0108] S101 , when the stator conveying line 20 drives the mover module 10 to move, the current absolute position of the mover module 10 in the rectangular coordinate system is obtained, wherein the rectangular coordinates of the mover module 10 in the rectangular coordinate system are its absolute position.

[0109] Specifically, a rectangular coordinate system is set on the magnetic drive motor system 1. When the mover module 10 moves on the stator conveying line 20, each position to which the mover module 10 moves has a corresponding position coordinate of the rectangular coordinate system, and a position sensor 14 is set on the mover module 10. The position sensor 14 is used to detect the position information on the mover module 10, and the sensor reader on the stator conveying line 20 can read the position information of the mover module 10 and send the position information to the controller of the magnetic drive motor system 1. The controller can convert the current position information of the mover module 10 into a rectangular position in the rectangular coordinate system, that is, the current absolute position. In this way, the position information of the mover module 10 can be clearly known.

[0110] S102 : Obtain the slope of the subdivided segment corresponding to the current absolute position of the moving module 10 in the preset planned route.

[0111] Specifically, after obtaining the current absolute position of the mover module 10 in the rectangular coordinate system, the magnetic drive motor system 1 can subdivide the preset planned route and calculate the slope of each subdivision segment according to the rectangular coordinate system.

[0112] S103, comparing the polar angle and the slope to see if they correspond.

[0113] That is, the polar angle of the current absolute position in the rectangular coordinate system can be converted into the polar coordinate system, and then the polar angle is compared with the slope of the subdivision segment in the preset planned route to determine whether the actuator module 10 deviates from the preset planned route, wherein the current absolute position has a corresponding polar angle in the polar coordinate system.

[0114] If yes, the correction method returns to step S101.

[0115] That is, when the polar angle corresponds to the slope of the subdivision segment on the preset planned route, it indicates that the mover module 10 is on the preset planned route at this time, the mover module 10 can continue to move along the preset planned route, and the correction method returns to step S101 to re-obtain the current absolute position of the mover module 10 in the rectangular coordinate system.

[0116] S105 , if not corresponding, it indicates that the rotation angle of the mover module 10 deviates from the planned route, and the rolling assembly 12 is controlled to adjust the rotation angle so that the mover module 10 returns to the planned route.

[0117] Specifically, when the polar angle does not correspond to the slope of the subdivision segment on the preset planned route, it indicates that the rotation angle of the mover module 10 deviates from the preset planned route. At this time, the controller in the magnetic drive motor system 1 needs to control the reversing drive 124. The reversing drive 124 can be connected to the angle feedback component 123 to drive the rolling component 122 to move, that is, the rotation angle of the rolling assembly 12 can be adjusted through the reversing drive 124, so that the mover module 10 can return to the preset planned route.

[0118] Further, referring to FIG. 9 , in some embodiments, the step of obtaining the slope of the subdivided segment corresponding to the current absolute position of the mover module 10 in the preset planned route includes S1021 .

[0119] S1021, directly obtain the slope of the subdivision segment corresponding to the current absolute position, wherein each subdivision segment and the corresponding slope are pre-stored, or, after determining the subdivision segment corresponding to the current absolute position, calculate the slope of the subdivision segment currently corresponding to the moving submodule 10 in real time.

[0120] Specifically, the preset planned route can be divided into an existing route, a subdivided route and a future route, wherein the existing route is the route that the mover module 10 has already moved on the stator conveyor line 20. The existing route has been pre-stored by the magnetic drive motor system 1, so there is no need to subdivide the existing route and calculate the corresponding slope; the subdivided route is the route that the mover module 10 needs to move on the stator conveyor line 20 at the current time and in a short time in the future. Since the subdivided route has not moved on the stator conveyor line 20, the controller of the magnetic drive motor system 1 needs to subdivide the subdivided route and calculate the corresponding slope, so as to compare whether the polar angle corresponds to the corresponding slope on the subdivided route, and then facilitate the judgment of whether the mover module 10 deviates from the preset planned route; the future route is the route that the mover module 1 needs to move in a long time in the future. Since the mover module 10 does not need to execute the future route immediately, the controller of the magnetic drive motor system 1 does not need to subdivide the future route and calculate the corresponding slope.

[0121] By subdividing the preset planned route into existing routes, subdivided routes and future routes, the controller of the magnetic drive motor system 1 only needs to subdivide the subdivided routes and calculate the slopes corresponding to the subdivided routes, so as to reduce the calculation amount of the controller of the magnetic drive motor system 1 and reduce the response time of the position detection process of the mover module 10. In this way, the accuracy of real-time detection of the mover module 10 can be improved.

[0122] It should be noted that, in the embodiment of the present application, the current time, the shorter time in the future, and the longer time in the future can be set in the controller of the magnetic drive motor system 1. For example, the current time can be set to within 0.5 seconds, the shorter time in the future can be set to within 0.5 seconds to 1 second, and the longer time in the future can be set to after 1 second. The embodiment of the present application does not make specific limitations on this.

[0123] Please refer to FIG. 10 . In some embodiments, after the step of controlling the rolling assembly 12 to adjust the rotation angle so that the moving module 10 returns to the planned route, the method further includes step S106 .

[0124] S106 , comparing the current absolute position with a preset target position in the planned route to see whether they are consistent, so as to verify whether the moving module 10 deviates from the planned route.

[0125] It can be understood that after completing one cycle of steps S101-S105 of the correction method, the subdivided route of the mover module 10 after completing one cycle of steps S101-S105 of the correction method has become the existing route and is stored by the controller of the magnetic drive motor system 1. At this time, the current absolute position of the mover module 10 can be compared with the preset target position stored by the controller of the magnetic drive motor system 1 to verify whether the mover module 10 deviates from the planned route. At this time, the mover module 10 is corrected for the current absolute position and the preset target position. In this way, the problem of the motion trajectory of the mover module 10 being parallel to the preset planned route can be avoided.

[0126] Furthermore, since the mover module 10 is corrected only after completing one cycle of steps S101-S105 of the correction method or after completing steps S101-S105 of the cyclic correction method, rather than correcting the mover module 10 in real time as in the prior art, the number of times the position of the mover module 10 is detected is reduced, thereby reducing the amount of computation required by the controller of the magnetic drive motor system 1.

[0127] Referring to FIG. 11 , in some embodiments, comparing whether the polar angle corresponds to the slope may include step S1031 .

[0128] S1031, converting the polar angle in the polar coordinate system into the slope in the rectangular coordinate system to compare whether the slope of the polar angle in the rectangular coordinate system is consistent with the slope of the subdivision segment, or converting the slope in the rectangular coordinate system into the polar angle in the polar coordinate system to compare whether the polar angle corresponding to the slope in the polar coordinate system is consistent with the polar angle corresponding to the rotation angle.

[0129] It is understandable that there are two ways to compare whether the polar angle corresponds to the slope, which can improve the accuracy of determining whether the mover module 10 deviates from the preset planned route.

[0130] Referring to FIG. 12 , in some embodiments, the step of controlling the rolling assembly 12 to adjust the rotation angle so as to return the mover module 10 to the planned route includes steps S1051 - S1053 .

[0131] S1051, obtaining the position difference between the current absolute position and the preset target position in the planned route, and adjusting the rotation angle of the rolling component 12 according to the position difference.

[0132] That is, when the mover module 10 deviates from the preset planned route, the controller of the magnetic drive conveyor line system can calculate the current absolute position of the mover module 10 and the preset target position, and compare the current absolute position with the preset target position to calculate the position difference. The controller of the magnetic drive conveyor line system sends the calculated position difference information to the integrated circuit board, and the integrated circuit board is connected to the reversing drive member 124. For example, when the reversing drive member 124 is a drive coil, the drive coil can drive the first multi-pole magnet 1231 by magnetic drive to drive the rolling member 122 to rotate, and then the drive coil adjusts the rotation angle of the rolling assembly 12 according to the position difference. In this way, the mover module 10 can return to the preset planned route.

[0133] S1052 , controlling the stator winding corresponding to the current absolute position to be energized periodically to drive the mover module 10 to move according to the adjusted rotation angle.

[0134] Specifically, when the mover module 10 deviates from the preset planned route, the movement direction of the rolling element 122 has been fixed by the reversing drive element 124, and the controller of the magnetic drive conveyor line system can send a signal to the stator conveyor line 20. The controller can periodically energize the stator winding so that the stator winding has a larger driving area, which can enable the stator winding to have a greater driving force on the mover module 10. In this way, the mover module 10 returns to the preset planned route more quickly.

[0135] S1053: reacquire the current absolute position, and re-acquire the position difference between the current absolute position and the preset target position in the planned route until the position difference is within a preset range.

[0136] It is understandable that when the controller calculates that the current absolute position of the mover module 10 is slightly offset from the preset target position, the reversing drive member 124 can be powered to change the angle of the rolling member 122 so that the mover module 10 continues to move along the preset planned route.

[0137] When the controller calculates that the current absolute position of the mover module 10 is significantly offset from the preset target position, the controller controls the periodic power supply to the stator winding to drive the mover module 10 to move according to the adjusted rotation angle, that is, the magnetic field of the stator winding and the mover module 10 changes, and the changing magnetic field requires a partial magnetic field force to drive the mover module 10, and cooperates with the reversing drive 124 to make the mover module 10 return to the preset planned route. In this way, the mover module 10 returns to the preset planned route faster.

[0138] Please refer to FIG. 13 . Furthermore, in some embodiments, the step of controlling the rolling assembly 12 to adjust the rotation angle so that the mover module 10 returns to the planned route further includes steps S107 - S108 .

[0139] S107 , controlling the polar angle and the slope to remain corresponding within a preset time period.

[0140] Specifically, when the mover module 10 deviates from the preset planned route, the reversing drive member 124 drives the angle feedback member 123 to move, so that the angle feedback member 123 drives the rolling member 122 to move. However, there may be a situation where the route of the mover deviation partially overlaps with the preset planned route. Therefore, the controller of the magnetic drive motor system 1 can be used to control the polar angle and the slope to remain corresponding within a preset time period. In this way, accidental resetting of the mover module 10 can be avoided.

[0141] S108, after a preset time period, stop controlling the rolling component 12 to make it enter a driven state.

[0142] It can be understood that due to the inertia of the mover module 10's own movement, when the mover module 10 returns to the preset planned route, the magnetic field of the permanent magnet assembly 11 will also change suddenly, which can cause the mover module 10 to shift. However, under the drive of the reversing drive 124, the movement of the mover module 10 can be limited, that is, the reversing drive 124 can drive the guide of the rolling element 122 of the mover module 10, and after the magnetic field of the permanent magnet assembly 11 stabilizes, the reversing drive 124 is stopped from being powered, so that the rolling assembly 12 enters a driven state. In this way, the stability of the mover module 10's movement on the stator conveyor line 20 can be improved.

[0143] In some embodiments, the correction method further includes step S201 or S301.

[0144] S201 , controlling the advancing directions of adjacent rolling assemblies 12 to be vertical, so that the mover module 10 rotates.

[0145] That is, when it is necessary to control the rotation of the mover module 10, the adjacent rolling assemblies 12 and the forward direction of the stator conveyor line 20 can be controlled to be perpendicular to each other, so that the mover module 10 is in a rotating state.

[0146] S301 , controlling the forward direction of all rolling assemblies 12 to be perpendicular to the driving direction of the stator winding, so as to stop the mover module 10 .

[0147] Specifically, when it is necessary to control the mover module 10 to stop, the forward direction of all rolling components 12 on the stator conveyor line 20 can be controlled to be perpendicular to the driving direction of the stator winding, that is, the magnetic field direction of the permanent magnet component 11 on the rolling component 12 is perpendicular to the magnetic field direction on the three-phase coil of the stator winding, so that the stator conveyor line 20 cannot drive the mover module 10 to move, and thus the mover module 10 stops moving.

[0148] The same or similar numbers in the drawings of this embodiment correspond to the same or similar items; 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.

[0149] 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 mover module, characterized in that: Applied to a magnetic drive motor system, the magnetic drive motor system includes a stator conveyor line, and the mover module includes: mover base; a permanent magnet assembly, disposed on the mover base, the permanent magnet assembly being configured to be magnetically coupled with the stator conveying line so as to be driven by the stator conveying line; and The rolling assembly is arranged on the mover base and is spaced apart from the permanent magnet assembly. The mover module is rollingly connected to the stator conveying line through the rolling assembly.

2. The mover module according to claim 1, characterized in that: The vertical suspension force of the stator conveying line on the mover module is smaller than the weight of the mover module, so that the rolling assembly is in direct rolling contact with the stator conveying line.

3. The mover module according to claim 1, characterized in that: The stator conveying line can drive the mover module to rotate around its own central axis, wherein the permanent magnet assembly is centrally symmetrically arranged about the central axis; and / or, The plurality of rolling components are centrally symmetrically arranged about the central axis.

4. The mover module according to claim 3, characterized in that: The permanent magnet assembly and the rolling assembly are both arranged on the surface of the mover base facing the stator conveying line. There are four rolling assemblies. The mover base is a rectangular plate, and the four rolling assemblies are respectively arranged at the corner positions of the rectangular plate.

5. The mover module according to claim 1, characterized in that: The rolling assembly comprises: A mounting base is fixedly connected to the mover base; and A rolling element is rotatably connected to the mounting base.

6. The mover module according to claim 5, characterized in that: The rolling assembly further comprises: an angle feedback member connected to the rolling member and rotating synchronously with the rolling member; an angle sensor, disposed on the mover base and corresponding to the angle feedback member, for detecting the rotation angle of the rolling member; and The reversing driving member is arranged on the mover base and is used to adjust the forward direction of the rolling member in a manner of being connected to or not connected to the angle feedback member.

7. The mover module according to claim 6, characterized in that: The angle feedback member includes a first multi-pole magnet, the first multi-pole magnet is connected to the rolling member and rotates synchronously with the rolling member, the first multi-pole magnet has a plurality of south poles and a plurality of north poles, and the plurality of south poles and the plurality of north poles are arranged at intervals along the circumference of the first multi-pole magnet; The angle sensor includes a magnetic sensor for detecting a change in the magnetic field during the rotation of the first multi-pole magnet to obtain a rotation angle of the rolling element; The reversing drive element includes a drive coil, which is arranged around the first multi-pole magnet and is used to drive the first multi-pole magnet to drive the rolling element to rotate in a magnetic drive manner to adjust the forward direction of the rolling element.

8. The mover module according to claim 7, characterized in that: The first multi-pole magnet is in a ring or pancake shape, and the plurality of south poles and the plurality of north poles are centrally symmetrically arranged about the central axis of the first multi-pole magnet.

9. The mover module according to claim 8, characterized in that: The driving coil is annular, and the central axis of the driving coil coincides with the central axis of the first multi-pole magnet; or The driving coil includes a plurality of sector coils, which are centrally symmetrically arranged about the central axis of the first multi-pole magnet, and the inner arcs of the plurality of sector coils are cocircularly arranged, and the outer arcs of the plurality of sector coils are cocircularly arranged.

10. The mover module according to claim 7, characterized in that: The reversing drive component further includes a second multi-pole magnet, and the drive coil is wound around the second multi-pole magnet.

11. The mover module according to claim 7, characterized in that: The mover module further includes: An integrated circuit board, the magnetic sensor is integrated on the integrated circuit board, and the integrated circuit board is connected to the driving coil.

12. The mover module according to claim 6, characterized in that: The angle feedback element includes a reflective belt, which is connected to the rolling element and rotates synchronously with the rolling element; The angle sensor includes at least one of a color sensor and a photoelectric sensor.

13. The mover module according to claim 6, characterized in that: The reversing drive element comprises: a motor, disposed on the mover base; and a transmission structure, in transmission connection with the output shaft of the motor and the rolling element, the transmission structure comprising at least one of a belt transmission structure, a worm transmission structure, and a gear transmission structure; The motor drives the transmission structure to drive the rolling element to rotate, so as to adjust the forward direction of the rolling element.

14. The mover module according to claim 6, characterized in that: The mounting base has a first accommodating cavity and a second accommodating cavity which are spaced apart from each other. The first accommodating cavity is used to accommodate a portion of the rolling element, and the second accommodating cavity is used to accommodate the angle sensor.

15. The mover module according to claim 5, characterized in that: The rolling element includes at least one of a roller-type universal wheel, a ball-type universal wheel and a Mecanum wheel.

16. The mover module according to any one of claims 1 to 15, characterized in that: The permanent magnet assembly includes a first permanent magnet array arranged along a first direction and a second permanent magnet array arranged along a second direction, and the first direction and the second direction are arranged at an angle.

17. The mover module according to claim 16, characterized in that: The first permanent magnet array includes a plurality of first permanent magnets arranged along the first direction, and the polarity arrangement period of the first permanent magnets along the first direction is at least one of an NS period, an NHS period, and an NHSH period; and / or, The second permanent magnet array includes a plurality of second permanent magnets arranged along the second direction, and the polarity arrangement period of the second permanent magnets along the second direction is at least one of an NS period, an NHS period, and an NHSH period; Among them, N stands for North Pole, S stands for South Pole, and H stands for Halbach array.

18. The mover module according to claim 16, characterized in that: The first permanent magnet array has a first center plane parallel to the first direction, the second permanent magnet array has a second center plane parallel to the second direction, and the first center plane is perpendicular to the second center plane.

19. The mover module according to claim 18, characterized in that: The number of the first permanent magnetic array is one, the number of the second permanent magnetic array is two, the two second permanent magnetic arrays are respectively located on opposite sides of the first permanent magnetic array along the second direction, and the second center planes of the two second permanent magnetic arrays are coplanar.

20. A magnetic drive motor system, characterized in that: include: The mover module according to any one of claims 1 to 19, wherein the permanent magnet assembly comprises a first permanent magnet array arranged along a first direction and a second permanent magnet array arranged along a second direction, wherein the first direction and the second direction are arranged at an angle; and A stator conveyor line includes a plurality of mutually spliced ​​stator modules, each of which has a stator contact surface. Each of the stator modules includes a stator winding. The plurality of stator modules include a linear stator module and a connecting stator module. The stator winding of the connecting stator module includes a first winding extending along the first direction and a second winding extending along the second direction. The first winding is magnetically coupled to the first permanent magnet array to drive the mover module to move along the first direction. The second winding is magnetically coupled to the second permanent magnet array to drive the mover module to move along the second direction. The stator winding of the linear stator module includes a linear winding. The mover module is rollingly connected to the stator contact surface via the rolling assembly.

21. The magnetic drive motor system according to claim 20, characterized in that: The first permanent magnet includes a main magnet and secondary magnets arranged on opposite sides of the main magnet along the first direction, the main magnet has a first magnetic moment T1, and the secondary magnet has a second magnetic moment T2, the first magnetic moment T1 is greater than the second magnetic moment T2, the first magnetic moment T1 is the width of the main magnet along the first direction, and the second magnetic moment T2 is the width of the secondary magnet along the first direction.

22. The magnetic drive motor system according to claim 21, characterized in that: The first winding includes a plurality of first winding units, each of which includes a three-phase coil, wherein the three-phase coils are a U-phase coil, a V-phase coil, and a W-phase coil, and each phase coil of the three-phase coils has a first pole pitch P; Wherein, the first magnetic moment T1 and the first pole pitch P satisfy: 3T1=2P; and / or, The number of the secondary magnet located on one side of the primary magnet is one, and the second magnetic pitch T2 and the first pole pitch P satisfy: T2=1 / 6P; and / or, The number of the secondary magnets located on one side of the primary magnet is two, and the second magnetic moment of the secondary magnet located on the outside is T21, and the second magnetic moment T21 and the first pole pitch P satisfy: T21=1 / 6P; the second magnetic moment of the secondary magnet located on the inside is T22, and the second magnetic moment T22 and the first pole pitch P satisfy: T22=1 / 3P.

23. The magnetic drive motor system according to claim 20, characterized in that: The first permanent magnet array and the second permanent magnet array are arranged in a cross-shaped structure on the mover base, and the mover module further includes a position sensor, which is arranged in an angular area formed by the cross-shaped structure; The stator conveying line further includes a sensor reading head, which is used to cooperate with the position sensor to read the position of the mover module on the stator conveying line.

24. The magnetic drive motor system according to any one of claims 20 to 23, characterized in that: The stator module further includes: The guide member is arranged on the stator contact surface, is in rolling connection with the rolling assembly and can limit the rolling direction of the rolling member.

25. A method for correcting deviation of a magnetic drive motor system, characterized in that: Applied to the magnetic drive motor system according to any one of claims 20 to 24, the deviation correction method comprises the following steps: In the process of the stator conveying line driving the mover module to move, obtaining the current absolute position of the mover module in the rectangular coordinate system, wherein the rectangular coordinate of the mover module in the rectangular coordinate system is its absolute position; Obtaining the slope of the subdivision corresponding to the current absolute position of the mover module in the preset planned route; Obtaining a polar angle corresponding to the rotation angle of the mover module at the current absolute position in a polar coordinate system; comparing whether the polar angle corresponds to the slope; If yes, re-execute the step of obtaining the current absolute position of the mover module in the rectangular coordinate system; If not, it indicates that the rotation angle of the mover module deviates from the planned route, and the rolling assembly is controlled to adjust the rotation angle so that the mover module returns to the planned route.

26. The deviation correction method according to claim 25, characterized in that: The step of obtaining the slope of the subdivision corresponding to the current absolute position of the moving module in the preset planned route includes: Directly obtain the slope of the subdivision segment corresponding to the current absolute position, wherein each subdivision segment and the corresponding slope are pre-stored; or, After determining the subdivision segment corresponding to the current absolute position, the slope of the subdivision segment currently corresponding to the moving module is calculated in real time.

27. The deviation correction method according to claim 25, characterized in that: After the step of controlling the rolling assembly to adjust the rotation angle so that the mover module returns to the planned route, the method further includes: The current absolute position is compared with a preset target position in the planned route to determine whether it is consistent, so as to verify whether the moving module deviates from the planned route.

28. The deviation correction method according to claim 25, characterized in that: The step of comparing whether the polar angle corresponds to the slope comprises: converting the polar angle in the polar coordinate system into a slope in the rectangular coordinate system to compare whether the slope of the polar angle in the rectangular coordinate system is consistent with the slope of the subdivided segment; or The slope in the rectangular coordinate system is converted into the polar angle in the polar coordinate system to compare whether the polar angle corresponding to the slope in the polar coordinate system is consistent with the polar angle corresponding to the rotation angle.

29. The deviation correction method according to claim 25, characterized in that: The step of controlling the rolling assembly to adjust the rotation angle so that the mover module returns to the planned route includes: Obtaining a position difference between the current absolute position and a preset target position in the planned route, and adjusting a rotation angle of the scrolling component according to the position difference; Controlling the stator winding corresponding to the current absolute position to be periodically energized to drive the mover module to move according to the adjusted rotation angle; The current absolute position is re-acquired, and the position difference between the current absolute position and the preset target position in the planned route is re-acquired until the position difference is within a preset range.

30. The deviation correction method according to claim 29, characterized in that: After the step of controlling the rolling assembly to adjust the rotation angle so that the mover module returns to the planned route, the method further includes: Controlling the polar angle and the slope to remain corresponding within a preset time period; After the preset time period, the control of the rolling component is stopped to make it enter a driven state.

31. The deviation correction method according to any one of claims 25 to 30, characterized in that: Also includes: Controlling the advancing directions of adjacent rolling assemblies to be vertical so as to cause the mover modules to rotate; or, The forward directions of all the rolling components are controlled to be perpendicular to the driving force direction of the stator winding, so as to stop the mover module.

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