Magnetic drive motor system and commutated stator module thereof

Abstract

Embodiments of the present application relate to the technical field of magnetic drive conveying, and provide a magnetic drive motor system and a commutated stator module thereof. According to the embodiments of the present application, omnidirectional wheels can be driven by rotating guide members to rotate; the rotating guide members are rotated to be connected to first guide members or second guide members; if the rotating guide members are rotated to be connected to the first guide members, the rotating guide members, the first guide members, and a first winding can cooperate with each other to drive a rotor module to move in a first direction; and if the rotating guide members are rotated to be connected to the second guide members, the rotating guide members, the second guide members, and a second winding can cooperate with each other to drive the rotor module to move in a second direction. Therefore, omnidirectional wheels on a rotor module are driven by rotating guide members to rotate, and the rotating guide members are lightweight, so that the moving direction of the rotor module can be quickly changed, and thus the moving direction of the rotor module is quickly changed, and then the rotor module passes through the bifurcation, thereby improving the conveying efficiency of the magnetic drive motor system at the bifurcation.

Description

Magnetic drive motor system and its commutation stator module

[0001] This application claims priority to the patent application filed with the State Intellectual Property Office of China on March 6, 2024, with application number 202410252504.6 and invention name “Magnetic drive motor system and its commutation stator module”. Technical Field

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

[0003] In related technologies, the magnetic drive motor system usually includes a magnetically coupled stator module and a mover module. Multiple stator modules are combined to form a stator conveyor line. The stator coil of the stator conveyor line is periodically energized to generate a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet array of the mover module to drive the mover module to move along a predetermined route. When the mover module carries objects, the mover module can drive the objects on it to move, thereby realizing the transportation of the objects.

[0004] In the process of the stator conveyor line driving the mover module to move, in certain application scenarios, two or more forks with different conveying directions will appear in the stator conveyor line in front of the mover module. At this time, the mover module needs to select one of the forks to continue moving. Therefore, the stator conveyor line needs to further include a connecting module. The connecting module is a special stator module used to connect the mover module from the current stator conveyor line to one of the forks, thereby realizing the reversing operation of the mover module.

[0005] Typically, the docking module includes a motor module and a stator module. The stator module drives and supports the moving module, while the motor module changes the stator module's direction of transport, allowing the stator module to dock with different branching paths. While the motor module changes the stator module's direction of transport, the stator module supports the moving module, ensuring the moving module is stably mounted on the stator module. The stator module and moving module then magnetically couple to drive the moving module to one of the branching paths.

[0006] However, during the research and development process, the inventors discovered that the above technology has the following problems: during the rotation of the motor module, the mover module cannot be transported and is buffered on the stator conveying line. The conveying efficiency of the magnetic drive motor system at the bifurcation depends in part on the rotation speed of the motor module. Since the stator module is heavy and the rotational inertia of the motor module output shaft is large, rapid rotation cannot be achieved. The slower rotation speed of the motor module will lead to a decrease in conveying efficiency. Summary of the Invention

[0007] The present application provides a magnetic drive motor system and a commutation stator module thereof, which can solve the problem of low transmission efficiency of the magnetic drive motor system at a bifurcation.

[0008] In a first aspect, an embodiment of the present application provides a reversing stator module for implementing a reversing operation of a mover module on a stator conveyor line. The mover module includes a universal wheel, and the reversing stator module includes:

[0009] stator base;

[0010] A first driving assembly is fixed to the stator base and includes a first winding and a first guide member, both extending in a first direction. The first winding is used to drive the movable module to move in the first direction. The first guide member is used to limit and guide the universal wheel to guide the movable module to move in the first direction.

[0011] a second drive assembly fixed to the stator base, comprising a second winding and a second guide member both extending in a second direction, the second winding being used to drive the mover module to move in the second direction, the second guide member being used to limit and guide the universal wheel to guide the mover module to move in the second direction, the second direction being arranged at an angle to the first direction;

[0012] A rotary guide assembly includes a rotary guide member capable of rotating relative to the stator base, the rotary guide member being disposed between the first guide member and the second guide member, for limiting and guiding the universal wheel, and for connecting with the first guide member or the second guide member;

[0013] Among them, when the rotating guide member is connected to the first guide member, the rotating guide member, the first guide member and the first winding cooperate to drive the movable module to move along the first direction. When the rotating guide member is connected to the second guide member, the rotating guide member, the second guide member and the second winding cooperate to drive the movable module to move along the second direction.

[0014] The technical effect of a reversing stator module provided by the present application is: by extending a first winding and a first guide along a first direction on the stator base, and extending a second winding and a second guide along a second direction, the first direction and the second direction are arranged at an angle, wherein the first guide can play a role of limiting and guiding the universal wheel on the movable module in the first direction, so that the movable module can be driven to move in the first direction by the first winding, and similarly, the second guide can play a role of limiting and guiding the universal wheel on the movable module in the second direction, so that the movable module can be driven to move in the second direction by the second winding, and at the same time, a rotating guide assembly is also provided on the stator base, and the rotating guide of the rotating guide assembly can rotate relative to the stator base, and the rotating guide is provided between the first guide and the second guide, and the rotating guide can also be used to play a role of limiting and guiding the universal wheel, and the rotating guide can also be rotated to the position aligned with the first guide The universal wheel on the movable module is driven to rotate by rotating the rotating guide member, so that the movable module can be changed in the moving direction by rotating the rotating guide member.

[0015] Preferably, in some embodiments, the number of the first guide members is two, and the two first guide members are respectively arranged on opposite sides of the first winding along its own width direction; and / or,

[0016] There are two second guide members, and the two second guide members are respectively arranged on two opposite sides of the second winding along its own width direction.

[0017] Preferably, the commutation stator module includes a cross-shaped coil substrate, which is arranged on the stator base, the first winding and the second winding are arranged on the coil substrate, and four avoidance gaps are respectively formed at four corner positions of the coil substrate;

[0018] The two first guide members and the two second guide members are arranged on four side edges of the surface of the coil substrate away from the stator base, and the four sets of rotation guide components are arranged in the four avoidance gaps.

[0019] Preferably, in some embodiments, the first winding and the second winding share a coil substrate, or,

[0020] The coil substrate includes a first substrate and a second substrate. The first winding is arranged on the first substrate, and the second winding is arranged on the second substrate. The first substrate and the second substrate are arranged on the same layer and spliced ​​with each other, or the first substrate and the second substrate are arranged in layers and partially overlap.

[0021] Preferably, in some embodiments, the commutation stator module includes a square coil substrate and four protrusions, the coil substrate is disposed on the stator base, the first winding and the second winding are disposed on the coil substrate, the four protrusions are respectively connected to four side surfaces of the coil substrate, and two protrusions at corner positions adjacent to the coil substrate form an avoidance space;

[0022] The two first guide members and the two second guide members are respectively arranged on the surfaces of the four protrusions away from the stator base, and the four sets of rotary guide components are arranged in the four avoidance spaces.

[0023] Preferably, in some embodiments, the four protrusions are two first protrusions and two second protrusions;

[0024] The two first protrusions are located on opposite sides of the coil substrate along the first direction. A first transition winding is further provided on the first protrusion, and the first transition winding is used to drive the mover module to move along the first direction.

[0025] The two second protrusions are located on opposite sides of the coil substrate along the second direction. A second transition winding is further provided on the second protrusions. The second transition winding is used to drive the mover module to move along the second direction.

[0026] Preferably, in some embodiments, the coil substrate and the protrusion are arranged in the same layer, and the coil substrate and the protrusion are an integral component or separate components and spliced ​​together; or, the coil substrate and the protrusion are arranged in layers and partially overlap.

[0027] Preferably, in some embodiments, the first transition winding is electrically connected to the first winding so as to be controlled as the same winding; or, the first transition winding and the first winding are two independent windings so as to be controlled separately;

[0028] The second transition winding is electrically connected to the second winding so as to be controlled as a single winding; alternatively, the second transition winding and the second winding are two independent windings so as to be controlled separately.

[0029] Preferably, in some embodiments, the rotary guide assembly further comprises:

[0030] A rotating base, wherein the rotating guide is arranged on the rotating base;

[0031] The rotary driving member is in transmission connection with the rotary base. The rotary driving member drives the rotary guide member to rotate through the rotary base, so that the rotary guide member is connected to the first guide member or the second guide member.

[0032] Preferably, in some embodiments, the rotary guide assembly further includes a bearing, the inner ring of the bearing is sleeved on the rotary base, and the outer ring of the bearing is fixedly connected to the stator base.

[0033] Preferably, in some embodiments, the rotary guide member includes two first connecting sections disposed opposite to each other along its length direction, each first connecting section includes two first guide surfaces disposed opposite to each other along its width direction, and the distance between the two first guide surfaces gradually decreases away from the midpoint of the rotary guide member in its length direction; and / or,

[0034] The first guide member and / or the second guide member includes a second connecting section for connecting with the first connecting section. The second connecting section includes two second guide surfaces arranged opposite to each other along the width direction of the guide member in which it is located. The distance between the two second guide surfaces gradually decreases in the direction approaching the rotating guide member.

[0035] Preferably, in some embodiments, when the rotary guide member is connected to the first guide member, a joint between the rotary guide member and the first guide member is not less than 1 mm and not more than 10 mm; and / or,

[0036] When the rotary guide member is connected to the second guide member, a joint between the rotary guide member and the second guide member is not less than 1 mm and not more than 10 mm.

[0037] Preferably, in some embodiments, the first winding and the second winding satisfy one of the following conditions:

[0038] The first winding and the second winding are arranged in layers;

[0039] The first winding and the second winding each include one or more layers of coils; and / or,

[0040] The first winding is arranged along the center line of the stator base in a first direction, and the second winding is arranged along the center line of the stator base in a second direction, or the first winding is offset from the center line of the stator base in the first direction, and the second winding is offset from the center line of the stator base in the second direction;

[0041] The coils in the first winding and the second winding are arranged in a UVW phase sequence, or the first winding and the second winding each include multiple armature winding units, each armature winding unit has three coils, and the three coils are respectively the U phase, V phase and W phase of the armature winding unit, wherein the U phase, V phase and W phase are arranged in the same layer, or the U phase and W phase of the armature winding unit are arranged adjacent to each other in the same layer, the V phase is in the upper layer or lower layer of the U phase and the W phase, and is aligned with the center of the U phase and the W phase, and in two adjacent coil layers, if the V phase of one of the two adjacent armature winding units is in the upper layer of the U phase and the W phase of the armature winding unit, then the V phase of the other armature winding unit is in the lower layer of the U phase and the W phase of the armature winding unit.

[0042] Preferably, in some embodiments, the first winding, the second winding, the first guide member and the second guide member are all arranged above the stator base; or,

[0043] The first guide member and the second guide member are both arranged above the stator base, and the first winding and the second winding are arranged below the stator base; or,

[0044] The first guide member and the second guide member are both arranged above the stator base. One of the first winding and the second winding is arranged above the stator base, and the other is arranged below the stator base.

[0045] Preferably, in some embodiments, the reversing stator module further includes a docking drive connected to the stator base for driving the reversing stator module to perform docking movement, wherein the docking movement includes at least one of horizontal movement, vertical lifting movement and rotational movement.

[0046] In a second aspect, an embodiment of the present application provides a magnetic drive motor system, comprising:

[0047] The stator conveyor line includes a linear stator module and the above-mentioned commutation stator module, and the linear stator module and the commutation stator module are spliced ​​together;

[0048] And a mover module magnetically coupled with the stator conveyor line, the mover module includes:

[0049] mover base;

[0050] A universal wheel is provided on the mover base and is used to cooperate with the first guide member, the second guide member and the rotating guide member in a limited manner, wherein the rotating guide member is used to drive the universal wheel to rotate so as to limit the movement direction of the universal wheel to the first direction or the second direction;

[0051] A first permanent magnet array is provided on the mover base, and the first permanent magnet array is used to magnetically couple with the first winding to drive the mover module to move along the first direction;

[0052] The second permanent magnet array is arranged on the mover base, and is used for magnetically coupling with the second winding and driving the mover module to move along the second direction.

[0053] The technical effects of the magnetic drive motor system provided in this application are the same as the beneficial effects of the above-mentioned commutation stator module, and will not be repeated here.

[0054] Preferably, in some embodiments, the mover base is provided with spaced-apart wheel receiving grooves and magnet receiving grooves, the universal wheel is partially received in the wheel receiving grooves, and the first permanent magnet array and the second permanent magnet array are at least partially received in the magnet receiving grooves.

[0055] Preferably, in some embodiments, the linear stator module comprises:

[0056] a linear base connected to the stator base;

[0057] A linear substrate is provided on the linear base;

[0058] A linear winding is provided on the linear substrate and is used to drive the mover module to move along the first direction or the second direction on the linear stator module;

[0059] A linear guide is provided on a surface of the linear substrate facing away from the linear base and extending in the first direction or the second direction, and is used to limit and guide the universal wheel to move in the first direction or the second direction;

[0060] Among them, the rotating guide is also used to connect with the linear guide to connect the mover module on the linear stator module to the reversing stator module, or to connect the mover module of the reversing stator module to the linear stator module. There is a first seam when the rotating guide is connected to the linear guide, and a second seam is provided between the linear substrate and the reversing stator module. The first seam and the second seam are staggered along the direction in which the linear stator module drives the mover module to move.

[0061] Preferably, in some embodiments, the linear base and the stator base are an integrated structure.

[0062] Preferably, in some embodiments, the mover module further includes a position sensor, which is disposed on the first permanent magnet array, the second permanent magnet array or the mover base;

[0063] The stator conveyor line also includes a sensor reader, which is arranged on the reversing stator module or the linear stator module. The sensor reader is used to cooperate with the position sensor to read the position of the moving module on the stator conveyor line.

[0064] Preferably, in some embodiments, the linear stator module has a first protrusion, the commutating stator module has a second protrusion, windings are correspondingly arranged on the first protrusion and the second protrusion, the first protrusion and the second protrusion are spliced ​​and overlapped.

[0065] Preferably, in some embodiments, the reversing stator module further includes a docking drive connected to the stator base, for driving the reversing stator module to perform docking movement between different linear stator modules, and the docking movement includes at least one of horizontal movement, vertical lifting movement and rotational movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] 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.

[0067] FIG1 is a perspective view of a magnetic drive motor system provided in an embodiment of the present application;

[0068] FIG2 is a perspective view of a first commutation stator module provided in an embodiment of the present application;

[0069] FIG3 is a perspective view of a second commutation stator module provided in an embodiment of the present application;

[0070] FIG4 is a perspective view of a mover module provided in an embodiment of the present application;

[0071] FIG5 is a bottom view of the mover module provided in an embodiment of the present application;

[0072] FIG6 is a perspective view of a rotary guide member provided in an embodiment of the present application;

[0073] FIG7 is a top view of a rotary guide member provided in an embodiment of the present application;

[0074] FIG8 is a perspective view of a rotary guide assembly provided in an embodiment of the present application.

[0075] Explanation of the accompanying figures: 100, stator conveyor line; 1, mover module; 11, universal wheel; 12, mover base; 121, wheel body receiving groove; 122, magnet receiving groove; 13, first permanent magnet array; 14, second permanent magnet array; 2, reversing stator module; 21, stator base; 22, first drive assembly; 221, first winding; 222, first guide; 23, second drive assembly; 231, second winding; 232, second guide; 24, rotating guide assembly; 241, Rotating guide member; 2411, first connecting section; 2412, first guide surface; 242, rotating base; 243, rotating drive member; 25, coil substrate; 251, avoidance gap; 26, protrusion; 261, avoidance space; 26a, first protrusion; 26b, second protrusion; 27, first transition winding; 28, second transition winding; 3, linear stator module; 31, linear base; 32, linear substrate; 33, linear winding; 34, linear guide member. DETAILED DESCRIPTION

[0076] 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.

[0077] It should be noted that in the coordinate system XYZ provided herein, the positive direction of the X-axis represents the front, the reverse direction of the X-axis represents the rear, the positive direction of the Y-axis represents the left, the reverse direction of the Y-axis represents the right, the positive direction of the Z-axis represents the top, and the reverse direction of the Z-axis represents the bottom. At the same time, it should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0078] On the one hand, as shown in Figure 1, the present application provides a magnetic drive motor system, which includes a stator conveying line 100, and the stator conveying line 100 includes a linear stator module 3, a commutation stator module 2 and a mover module 1, wherein the linear stator module 3 is spliced ​​with the commutation stator module 2, and the mover module 1 is magnetically coupled with the stator conveying line 100, so that the stator conveying line 100 can drive the mover module 1 to move.

[0079] Specifically, the mover module 1 can be magnetically coupled with the linear stator module 3 or the commutating stator module 2, so that the linear stator module 3 can be used to drive the mover module 1 to perform linear motion, which can include straight-line motion and curved motion, and the commutating stator module 2 can be used to drive the mover module 1 to change the direction of motion.

[0080] 4 and 5 , the mover module 1 may include a mover base 12 , a universal wheel 11 , a first permanent magnet array 13 and a second permanent magnet array 14 , wherein a universal wheel 11 may be provided at the bottom of the mover base 12 . In this embodiment, a universal wheel 11 is provided at each of the four corners of the mover base 12 .

[0081] The X-axis direction in Figure 1 is the first direction X, and the Y-axis direction in Figure 1 is the second direction Y. In combination with Figures 1, 2 and 4, the universal wheel 11 can be limited by the first guide member 222, the second guide member 232 or the rotating guide member 241 on the reversing stator module 2. The rotating guide member 241 can be used to drive the universal wheel 11 to rotate, so that the universal wheel 11 rotates to be set in the first direction X or the second direction Y. At the same time, the rotating guide member 241 also plays a role in limiting the position of the universal wheel 11, and the first guide member 222 can limit the universal wheel 11 to move along the first direction X, and the second guide member 232 can limit the universal wheel 11 to move along the second direction Y, so that the moving direction of the movable submodule 1 can be changed by the rotating guide member 241.

[0082] The first permanent magnet array 13 can be set on the mover base 12, and the first permanent magnet array 13 can be arranged along the first direction X, so that after the first permanent magnet array 13 is magnetically coupled with the first winding 221 on the commutating stator module 2, the mover module 1 can be driven to move along the first direction X.

[0083] The second permanent magnet array 14 can also be set on the mover base 12, and the second permanent magnet array 14 can be arranged along the second direction Y, so that after the second permanent magnet array 14 is magnetically coupled with the second winding 231 on the commutating stator module 2, the mover module 1 can be driven to move along the second direction Y.

[0084] By cooperating the universal wheel 11 on the mover base 12 with the reversing stator module 2, the moving direction of the mover module 1 can be changed quickly, so that the mover module 1 can quickly pass through the fork, which can improve the transportation efficiency of the magnetic drive motor system at the fork, and the first permanent magnet array 13 and the second permanent magnet array 14 on the mover base 12 can easily drive the mover base 12 to move quickly along the first direction X or the second direction Y, which can further improve the transportation efficiency of the magnetic drive motor system.

[0085] As shown in Figures 4 and 5, specifically, the mover base 12 can be provided with wheel body receiving grooves 121 and magnet receiving grooves 122 that are spaced apart. In this embodiment, four wheel body receiving grooves 121 are respectively provided at the four corner positions of the mover base 12. A universal wheel 11 can be provided in each wheel body receiving groove 121 so that the universal wheel 11 avoids the permanent magnet array. By providing the wheel body receiving grooves 121, the thickness of the mover module 1 can be reduced.

[0086] Two magnet receiving grooves 122 can be provided in the middle position of the mover base 12, and the two magnet receiving grooves 122 are arranged to intersect each other. The first permanent magnet array 13 and the second permanent magnet array 14 are at least partially arranged in the two magnet receiving grooves 122 respectively. By setting the magnet receiving grooves 122, the first permanent magnet array 13 and the second permanent magnet array 14 can be easily assembled.

[0087] As shown in FIG1 , specifically, the linear stator module 3 may include a linear base 31 , a linear substrate 32 , a linear winding 33 and a linear guide 34 , wherein the linear base 31 may be connected to the stator base 21 so that the linear base 31 and the stator base 21 become a whole.

[0088] The linear substrate 32 can be set on the linear base 31, or it can be said that the linear substrate 32 is set on the upper surface of the linear base 31, and the linear winding 33 can be set on the linear substrate 32. In this embodiment, the linear winding 33 can be extended along the first direction X and the second direction Y on the linear substrate 32 respectively, so that the linear winding 33 can drive the mover module 1 to move along the first direction X or the second direction Y on the linear stator module 3. In other embodiments, the linear winding 33 can be extended along the curved direction on the linear substrate 32, so that the linear winding 33 can drive the mover module 1 to move along a curve on the linear stator module 3.

[0089] The linear guide 34 can be disposed on the surface of the linear substrate 32 facing away from the linear base 31 , or in other words, the linear guide 34 is disposed on the upper surface of the linear substrate 32 , and can extend along the first direction X or the second direction Y.

[0090] In this embodiment, two linear guides 34 are provided on the linear substrate 32, and the two linear guides 34 extend along the first direction X or the second direction Y. The two linear guides 34 can be used to limit and guide the universal wheel 11. Specifically, the two linear guides 34 can guide the universal wheel 11 to move along the first direction X, or the two linear guides 34 can guide the universal wheel 11 to move along the second direction Y.

[0091] In other embodiments, the linear guide 34 provided on the linear base plate 32 may be extended along a curve, so that the linear guide 34 may be used to guide the universal wheel 11 to move along the curve.

[0092] The rotating guide 241 can also be used to connect with the linear guide 34, so that the mover module 1 on the linear stator module 3 can be connected to the reversing stator module 2, or the mover module 1 on the reversing stator module 2 can be connected to the linear stator module 3, which facilitates the stator conveying line 100 to convey the mover module 1.

[0093] Moreover, there is a first seam when the rotating guide 241 is connected to the linear guide 34, and a second seam is provided between the linear substrate 32 and the reversing stator module 2. The first seam and the second seam are staggered along the direction in which the linear stator module 3 drives the movable module 1 to move, so that the universal wheel 11 can be staggered from the second seam to prevent the universal wheel 11 from passing through the second seam.

[0094] Specifically, the linear base 31 and the stator base 21 are an integrated structure, which can facilitate the assembly of the stator conveyor line 100.

[0095] In some embodiments, the mover module 1 may further include a position sensor, which may be arranged on the first permanent magnet array 13, the second permanent magnet array 14 or the mover base 12. The stator conveying line 100 may further include a sensor reader, which may be arranged on the stator base 21 or the linear substrate 32, or the stator base 21 and the linear substrate 32 may be provided with sensor readers respectively. The sensor reader may cooperate with the position sensor to read the position of the mover module 1 on the stator conveying line 100, which may facilitate the grasp of the movement of the mover module 1.

[0096] Specifically, the linear stator module 3 may have a first protrusion. In this embodiment, the first protrusion may be provided on the linear substrate 32 . In other embodiments, the first protrusion may be provided on the linear base 31 .

[0097] The commutating stator module 2 may have a second protrusion. In this embodiment, the second protrusion may be provided on the stator base 21 . In other embodiments, the second protrusion may be provided on the coil substrate 25 .

[0098] Windings are provided on both the first and second protrusions. When the linear stator module 3 and the commutating stator module 2 are spliced ​​together, the first protrusion can be spliced ​​together with the second protrusion, and the first and second protrusions can be stacked together. Specifically, the first protrusion can be a straight plate on the linear stator module 3 that protrudes toward the commutating stator module 2, and the second protrusion can be another straight plate on the commutating stator module 2 that protrudes toward the linear stator module 3. The two straight plates can be spliced ​​together, and the two straight plates are stacked together, which can make the connection between the linear stator module 3 and the commutating stator module 2 more secure. Furthermore, due to the presence of the first and second protrusions at the splicing point, the armature winding excitation effect is still applied to the movable submodule 1 when passing through the joint, thereby improving the stability of the movable submodule 1 at the joint and improving the detection accuracy of the movable submodule 1 at the joint.

[0099] Specifically, the reversing stator module 2 may further include a docking drive, which may be connected to the stator base 21, and the docking drive may drive the reversing stator module 2 to perform a docking movement. Specifically, the docking drive may drive the reversing stator module 2 to perform a docking movement between different linear stator modules 3, so that the mover module 1 may complete the docking between different linear stator modules 3 more quickly. The docking movement may include at least one of horizontal movement, vertical lifting movement, and rotational movement.

[0100] Preferably, the connecting drive component can be a motor module, which can be driven and connected to the stator base 21. The motor module can drive the commutating stator module 2 to move on the horizontal plane, or the motor module can drive the commutating stator module 2 to move up and down in the vertical direction, or the motor module can drive the commutating stator module 2 to rotate, so that the commutating stator module 2 can move to the fork and change the moving direction of the movable module 1 at the fork through the commutating stator module 2.

[0101] On the other hand, please refer to Figures 1-4, which show a reversing stator module 2 provided in an embodiment of the present application, for implementing the reversing operation of the mover module 1 on the stator conveyor line 100.

[0102] Specifically, as shown in Figure 1, the reversing stator module 2 can be assembled on the stator conveying line 100, and the reversing stator module 2 can be used to change the moving direction of the mover module 1 on the stator conveying line 100, so that the mover module 1 can quickly pass through the fork on the stator conveying line 100.

[0103] In conjunction with Figure 4, the bottom of the mover module 1 is provided with a universal wheel 11, and in conjunction with Figure 2, the reversing stator module 2 can include a stator base 21, a first drive component 22, a second drive component 23 and a rotary guide component 24. The specific shape of the stator base 21 is not limited and can be designed according to the application scenario. It should be noted that the bottom of the stator base 21 can be firmly fixed to the ground or platform, so that the stator base 21 can provide a stable conveying environment to avoid shaking.

[0104] The first drive component 22 can be fixed on the stator base 21, and the first drive component 22 can include a first winding 221 and a first guide member 222. The first winding 221 and the first guide member 222 can both be extended along the first direction X. The X-axis direction in Figure 2 is the first direction X, and the first winding 221 can be magnetically coupled with the mover module 1, so that the first winding 221 can drive the mover module 1 to move along the first direction X.

[0105] Specifically, the universal wheel 11 on the movable module 1 can be slidably engaged with the first guide member 222, so that the first guide member 222 can limit and guide the universal wheel 11, or it can be said that it can prevent the universal wheel 11 from detaching from the first guide member 222, so that the universal wheel 11 is restricted from moving on the first guide member 222, so that the movable module 1 can be driven by the first winding 221 to move along the first direction X on the first guide member 222, so that the movable module 1 can move more smoothly along the first direction X.

[0106] Similarly, the second drive component 23 can be fixedly arranged on the stator base 21, and the second drive component 23 can include a second winding 231 and a second guide member 232. The second winding 231 and the second guide member 232 can both extend along the second direction Y, wherein the second direction Y and the first direction X are arranged at an angle, that is, the second direction Y and the first direction X are arranged to intersect. Preferably, the first direction X and the second direction Y are arranged perpendicular to each other. The Y-axis direction in Figure 2 is the second direction Y, and the second winding 231 can also be magnetically coupled with the mover module 1, so that the second winding 231 can drive the mover module 1 to move along the second direction Y. The Z-axis direction in Figure 2 is the thickness direction of the commutation stator module 2.

[0107] Specifically, the universal wheel 11 on the movable module 1 can be slidably engaged with the second guide member 232, so that the second guide member 232 can also limit and guide the universal wheel 11. It can also be said that it can prevent the universal wheel 11 from detaching from the second guide member 232, so that the universal wheel 11 is restricted to move on the second guide member 232, so that the movable module 1 can be driven by the second winding 231 to move along the second direction Y on the second guide member 232, so that the movable module 1 can move more smoothly along the second direction Y.

[0108] In this embodiment, the rotary guide assembly 24 can be disposed on the stator base 21. In other embodiments, the rotary guide assembly 24 can also be disposed on the frame of the stator conveyor line 100. The rotary guide assembly 24 includes a rotary guide member 241 that can rotate relative to the stator base 21. In this embodiment, the rotary guide member 241, the first guide member 222, and the second guide member 232 are located on the same plane, and the rotary guide member 241 is disposed between the first guide member 222 and the second guide member 232.

[0109] In this embodiment, the center line of the first guide member 222 and the center line of the second guide member 232 can intersect at one point, and the rotating guide member 241 can be set at this point, so that the rotating guide member 241 can be rotated to be on the same straight line as the first guide member 222, or the rotating guide member 241 can be rotated to be on the same straight line as the second guide member 232, and the rotating guide member 241 can also serve as a limiting guide for the universal wheel 11, so that the universal wheel 11 moves along the rotating guide member 241, so that the rotating guide member 241 can be used to connect with the first guide member 222 or the second guide member 232.

[0110] When the mover module 1 moves onto the stator base 21 and the moving direction of the mover module 1 needs to be changed, the universal wheel 11 can be moved to slide with the rotating guide 241, and the universal wheel 11 can be driven to rotate by rotating the rotating guide 241. If the rotating guide 241 rotates to be on the same straight line as the first guide 222, that is, the rotating guide 241 rotates to connect with the first guide 222, then the rotating guide 241, the first guide 222 and the first winding 221 can cooperate to drive the mover module 1 to move in the first direction X. If the rotating guide 241 rotates to be on the same straight line as the second guide 232, that is, the rotating guide 241 rotates to connect with the second guide 232, then the rotating guide 241, the second guide 232 and the second winding 231 can cooperate to drive the mover module 1 to move in the second direction Y.

[0111] Therefore, the universal wheel 11 can be driven to rotate by rotating the rotary guide 241, thereby changing the moving direction of the movable module 1. Since the rotary guide 241 is very light, the rotary guide 241 can be rotated quickly, so the moving direction of the movable module 1 can be changed quickly, so that the movable module 1 can quickly pass through the fork, which can improve the transportation efficiency of the magnetic drive motor system at the fork.

[0112] In some embodiments, the number of the first guide members 222 is two, and the two first guide members 222 are arranged in parallel and spaced apart on the stator base 21, and the two first guide members 222 are respectively arranged on the two opposite sides of the first winding 221 along its own width direction. The width direction of the first winding 221 can be the Y-axis direction in Figure 2. Specifically, the first winding 221 and the two first guide members 222 are both extended along the first direction X, and the first winding 221 is arranged between the two first guide members 222.

[0113] In this embodiment, four universal wheels 11 can be provided at the bottom of the movable module 1, and the four universal wheels 11 are respectively located at the four corners of the movable module 1, wherein every two universal wheels 11 can be slidably matched with a first guide member 222, and the first winding 221 can drive the movable module 1 to move along the first direction X between the two first guide members 222, so that the two first guide members 222 can better guide the movable module 1 to move along the first direction X, and arranging the first winding 221 between the two first guide members 222 can better drive the movable module 1 to move.

[0114] Similarly, the number of second guide members 232 can also be two, and the two second guide members 232 are arranged in parallel and spaced apart on the stator base 21, and the two second guide members 232 are respectively arranged on the two sides of the second winding 231 opposite to each other along its own width direction. The width direction of the second winding 231 can be the X-axis direction in Figure 2. Specifically, the second winding 231 and the two second guide members 232 are all extended along the second direction Y, and the second winding 231 is arranged between the two second guide members 232.

[0115] Every two universal wheels 11 can also slideably cooperate with a second guide member 232, and the second winding 231 can drive the movable module 1 to move along the second direction Y between the two second guide members 232, so that the two second guide members 232 can better guide the movable module 1 to move along the second direction Y, and setting the second winding 231 between the two second guide members 232 can also better drive the movable module 1 to move.

[0116] However, it should be noted that the number of the second guide members 232 is not necessarily equal to the number of the first guide members 222 , and the number of the first guide members 222 and the second guide members 232 may be designed according to actual conditions.

[0117] As shown in Figure 2, in some embodiments, the commutating stator module 2 may further include a cross-shaped coil substrate 25, which may be fixedly disposed above the stator base 21, and the first winding 221 and the second winding 231 may both be disposed on the coil substrate 25, so that the magnetic field generated in the first winding 221 and the second winding 231 may interact with the mover module 1 located on the coil substrate 25, thereby facilitating driving the mover module 1 to move along the calibration direction.

[0118] In addition, four avoidance gaps 251 can be formed at the four corner positions of the coil substrate 25, and the open ends of the four avoidance gaps 251 are respectively set in the direction away from the center point of the coil substrate 25. The four groups of rotary guide assemblies 24 can be respectively set in the four avoidance gaps 251. At the same time, the two first guide members 222 and the two second guide members 232 are both set on the surface of the coil substrate 25 away from the stator base 21, or it can be said that the two first guide members 222 and the two second guide members 232 are both set on the upper surface of the coil substrate 25, and the two first guide members 222 and the two second guide members 232 are respectively set on the four side edges of the upper surface of the coil substrate 25, wherein the two first guide members 222 are set on two side edges parallel to each other, and the two second guide members 232 are set on the other two side edges parallel to each other, so that each group of rotary guide assemblies 24 can be located between a first guide member 222 and a second guide member 232, which can facilitate the connection of the rotary guide assembly 24 with the first guide member 222 or the second guide member 232.

[0119] Specifically, in this embodiment, the first winding 221 and the second winding 231 can be arranged on the same coil substrate 25, so that the first winding 221 and the second winding 231 can share the same coil substrate 25, which can save installation space.

[0120] In other embodiments, the coil substrate 25 may include a first substrate and a second substrate. The first winding 221 may be arranged on the first substrate, and the second winding 231 may be arranged on the second substrate. By installing the first winding 221 and the second winding 231 on two different substrates respectively, the first winding 221 and the second winding 231 can be conveniently arranged and installed.

[0121] In which, the first substrate and the second substrate can be arranged on the same layer, and the first substrate and the second substrate can be spliced ​​together, or the first substrate and the second substrate can be arranged in layers, and the first substrate and the second substrate partially overlap, so that the first winding 221 and the second winding 231 partially overlap, and the first winding 221 and the second winding 231 can both be magnetically coupled with the mover module 1 on the stator base 21, so that the first winding 221 or the second winding 231 drives the mover module 1 to move.

[0122] As shown in FIG3 , specifically, the commutation stator module 2 may include a square coil substrate 25 and four protrusions 26. The coil substrate 25 may be disposed on the stator base 21, and both the first winding 221 and the second winding 231 may be disposed on the coil substrate 25, so that the magnetic field generated by the first winding 221 and the second winding 231 can interact with the mover module 1 located on the coil substrate 25. The four protrusions 26 are respectively connected to the four side surfaces of the coil substrate 25, and two adjacent protrusions 26 may form an avoidance space 261 at an angular position of the coil substrate 25. The two first guide members 222 and the two second guide members 232 may be respectively disposed on the four protrusions 26, and the two first guide members 222 are respectively located on the surfaces of the two protrusions 26 facing away from the stator base 21, that is, the two first guide members 222 are respectively located on the upper surfaces of the two protrusions 26.

[0123] Similarly, the two second guide members 232 are respectively located on the surfaces of the other two protrusions 26 facing away from the stator base 21, that is, the two second guide members 232 are respectively located on the upper surfaces of the two protrusions 26, so that the two first guide members 222 and the two second guide members 232 are on the same horizontal plane, and the four groups of rotary guide assemblies 24 are respectively arranged in four avoidance spaces 261, so that each rotary guide assembly 24 is located between a first guide member 222 and a second guide member 232, which can facilitate the connection between the rotary guide assembly 24 and the first guide member 222 or the second guide member 232.

[0124] As shown in Figure 3, specifically, the four protrusions 26 can be defined as two first protrusions 26a and two second protrusions 26b, respectively, wherein the two first protrusions 26a can be respectively located on the two sides of the coil substrate 25 opposite to each other along the first direction X, or the two side surfaces of the coil substrate 25 opposite to each other along the first direction X can both be defined as first side surfaces, and the two first protrusions 26a can be respectively arranged on the two first side surfaces. A first transition winding 27 can also be provided on each first protrusion 26a. The magnetic field generated by the first transition winding 27 after being energized can interact with the mover module 1 located on the coil substrate 25, so that the first transition winding 27 can drive the mover module 1 to move along the first direction X.

[0125] Similarly, the two second protrusions 26b can be respectively located on the two opposite sides of the coil substrate 25 along the second direction Y, or the two side surfaces of the coil substrate 25 arranged opposite to each other along the second direction Y can both be defined as second side surfaces. The two second protrusions 26b can be respectively arranged on the two second side surfaces, and each second protrusion 26b can also be provided with a second transition winding 28. The magnetic field generated by the second transition winding 28 after being energized can also interact with the mover module 1 located on the coil substrate 25, so that the second transition winding 28 can drive the mover module 1 to move along the second direction Y. By respectively arranging the first transition winding 27 and the second transition winding 28 on the first protrusion 26a and the second protrusion 26b, the speed of the mover module 1 passing through the fork can be further accelerated, thereby further improving the transmission efficiency of the magnetic drive motor system at the fork.

[0126] It can be understood that the present application arranges the protrusion 26 and the coil substrate 25 together on the same stator base 21, and integrates the stator base 21, the protrusion 26 and the coil substrate 25, so that the stator base 21, the coil substrate 25 and the protrusion 26 become a whole, thereby facilitating the installation of the commutation stator module 2 in the magnetic drive motor system, thereby improving the installation efficiency.

[0127] At the same time, the extension direction of the protrusion 26 is determined, so that when the commutating stator module 2 and the linear stator module 3 are subsequently installed together, it is only necessary to align the linear stator module 3 and the protrusion 26 for splicing. This can improve the installation accuracy of the linear stator module 3 and the commutating stator module 2, that is, it can reduce the installation error of the linear stator module 3 and the commutating stator module 2, so that the mover module 1 can pass more smoothly between the commutating stator module 2 and the linear stator module 3, and can avoid collision of the mover module 1 during connection.

[0128] As shown in Figure 3, in this embodiment, the coil substrate 25 and the protrusion 26 can be arranged on the same layer, or it can be said that the coil substrate 25 and the protrusion 26 are arranged on the same plane, and the coil substrate 25 and the protrusion 26 can be an integral component, that is, the coil substrate 25 and the protrusion 26 are integrally formed, and the integral component can facilitate the assembly of the commutation stator module 2, or the coil substrate 25 and the protrusion 26 can also be split components, and the split components can facilitate the replacement of damaged coil substrates 25 or protrusions 26.

[0129] In other embodiments, the coil substrate 25 and the protrusion 26 can be layered, that is, the coil substrate 25 and the protrusion 26 are arranged on different planes, and the coil substrate 25 and the protrusion 26 partially overlap, so that the winding on the coil substrate 25 can partially overlap with the winding on the protrusion 26, which can facilitate the joint driving of the movable sub-module 1 to move.

[0130] As shown in Figure 3, in this embodiment, the first transition winding 27 can be electrically connected to the first winding 221, so that the first transition winding 27 and the first winding 221 can be controlled as the same winding, which can simplify the control process. In other embodiments, the first transition winding 27 and the first winding 221 can also be used as two independent windings, so that the first transition winding 27 and the first winding 221 can be controlled separately, which can facilitate more refined control of the movement of the movable module 1 along the first direction X.

[0131] Similarly, in this embodiment, the second transition winding 28 can be electrically connected to the second winding 231, so that the second transition winding 28 and the second winding 231 can be controlled as the same winding, and the control process can be simplified. In other embodiments, the second transition winding 28 and the second winding 231 can also be used as two independent windings, so that the second transition winding 28 and the second winding 231 can be controlled separately, which can facilitate more refined control of the movement of the movable module 1 along the second direction Y.

[0132] It should be noted that when the first transition winding 27 is electrically connected to the first winding 221, the second transition winding 28 can be electrically connected to the second winding 231, or the second transition winding 28 and the second transition winding 28 are independent of each other; when the first transition winding 27 and the first winding 221 are independent of each other, the second transition winding 28 can still be electrically connected to the second winding 231, or the second transition winding 28 and the second transition winding 28 are independent of each other.

[0133] As shown in Figures 2 and 8, specifically, the rotary guide assembly 24 can also include a rotary base 242 and a rotary drive member 243. The rotary base 242 can be a cylindrical base, and the rotary guide member 241 can be arranged on the top surface of the rotary base 242, so that the rotary guide member 241 can be on the same plane as the first guide member 222 and the second guide member 232.

[0134] The rotating driving member 243 can be connected to the rotating base 242 in a transmission manner. In this embodiment, the rotating base 242 can be rotatably installed on the stator base 21. The rotating driving member 243 can drive the rotating base 242 to rotate relative to the stator base 21, so that the rotating base 242 can drive the rotating guide member 241 to rotate, so that the rotating guide member 241 can rotate to connect with the first guide member 222 or the second guide member 232.

[0135] In other embodiments, the rotary driving member 243 may be installed on the stator base 21 , and the rotary base 242 is transmission-connected to the rotary driving member 243 , so that the rotary driving member 243 can drive the rotary base 242 to rotate relative to the stator base 21 .

[0136] Preferably, the rotating drive member 243 is a rotating motor, and the rotating motor can have multiple rotation modes. In this embodiment, the rotating motor can rotate only in a single direction. For example, the rotation step of the rotating motor is 90°, that is, the rotating motor can rotate 90° in a single direction, so that the rotating guide member 241 can be connected with different guide members in sequence. The guide members here refer to the first guide member 222 and the second guide member 232. The connection has good stability and is suitable for forks like crossroads.

[0137] In other embodiments, the rotating motor can rotate clockwise or counterclockwise. For example, the rotating motor can first rotate clockwise to connect with the target guide member, and then rotate counterclockwise to connect with another target guide member, so that the rotating motor can choose the shortest rotation path to rotate, and quickly drive the rotating guide member 241 to rotate until it connects with the target guide member, which can further improve the transportation efficiency of the magnetic drive motor system at the bifurcation.

[0138] In some embodiments, the rotating guide assembly 24 may further include a bearing, the inner ring of the bearing may be sleeved on the rotating base 242, and the outer ring of the bearing may be fixedly connected to the stator base 21, so that the rotating base 242 may rotate relative to the stator base 21 through the bearing, so that the rotating base 242 may rotate more smoothly.

[0139] As shown in Figures 2, 6 and 7, specifically, in this embodiment, the rotating guide member 241 is semi-cylindrical in shape, and the rotating guide member 241 may include two first connecting sections 2411. Along the length direction of the rotating guide member 241, the two first connecting sections 2411 are respectively located at the two opposite ends of the rotating guide member 241, so that when the rotating guide member 241 rotates to connect with the first guide member 222 or the second guide member 232, the first connecting section 2411 connects with the first guide member 222 or the second guide member 232.

[0140] Each first connecting section 2411 includes two first guide surfaces 2412. Along the width direction of the rotating guide member 241, the two first guide surfaces 2412 are respectively located on opposite sides of the rotating guide member 241, and along the midpoint of the length direction away from the rotating guide member 241, the distance between the two first guide surfaces 2412 gradually decreases, so that the first connecting section 2411 gradually becomes smaller in the direction away from the midpoint of the rotating guide member 241.

[0141] When the first connecting section 2411 is connected to the first guide member 222 or the second guide member 232, the end of the first connecting section 2411 away from the midpoint of the rotating guide member 241 is connected to the first guide member 222 or the second guide member 232, so that the rotating guide member 241 can be better aligned with the first guide member 222 or the second guide member 232, so that the universal wheel 11 can move more smoothly from the first guide member 222 or the second guide member 232 to the rotating guide member 241, thereby reducing the probability of the universal wheel 11 colliding and completing the connection more smoothly.

[0142] In some embodiments, a second connecting section for connecting with the first connecting section 2411 may be provided on the first guide member 222 , or a second connecting section may be provided on the second guide member 232 , or a second connecting section may be provided on both the first guide member 222 and the second guide member 232 .

[0143] Taking the example of setting a second connecting section on the first guide member 222, the second connecting section can be set at one end of the first guide member 222 facing the rotating guide member 241, and the second connecting section includes two second guide surfaces. Along the width direction of the first guide member 222, the two second guide surfaces are respectively set on the opposite sides of the second connecting section. Along the direction approaching the rotating guide member 241, the distance between the two second guide surfaces gradually becomes smaller. When the rotating guide member 241 rotates to connect with the first guide member 222, the end of the second connecting section close to the rotating guide member 241 is docked with the rotating guide member 241, which can facilitate the universal wheel 11 to move from the rotating guide member 241 to the first guide member 222, so that the connection can be completed more smoothly.

[0144] When a second connecting section is provided on the second guide member 232, the second connecting section is also located at the end of the second guide member 232 facing the rotating guide member 241. The role played by the second connecting section on the second guide member 232 is the same as the role played by the second connecting section on the first guide member 222, and will not be repeated here.

[0145] As shown in Figure 2, specifically, when the rotating guide member 241 is connected to the first guide member 222, the rotating guide member 241 will rotate to be aligned with the first guide member 222. Specifically, the rotating guide member 241 can be rotated to be on the same straight line as the first guide member 222. There is a seam between the rotating guide member 241 and the first guide member 222, and the seam between the rotating guide member 241 and the first guide member 222 is not less than 1 mm and not more than 10 mm.

[0146] Similarly, when the rotating guide member 241 is connected to the second guide member 232, the rotating guide member 241 will rotate to be aligned with the second guide member 232. Specifically, the rotating guide member 241 can be rotated to be on the same straight line as the second guide member 232. There is also a seam between the rotating guide member 241 and the second guide member 232. The seam between the rotating guide member 241 and the second guide member 232 is not less than 1 mm and not more than 10 mm.

[0147] The seam is not less than 1 mm to ensure that there is enough space between the rotating guide member 241 and the first guide member 222 or the second guide member 232 for the rotating guide member 241 to rotate, thereby avoiding interference between the rotating guide member 241 and the first guide member 222 or the second guide member 232, so that the rotating guide member 241 can rotate stably to connect with the first guide member 222 or the second guide member 232.

[0148] The seam is no larger than 10 mm to ensure that the universal wheel 11 can move smoothly back and forth between the rotating guide 241 and the first guide 222 or the second guide 232. If the seam is too large, the universal wheel 11 may shake when passing through the seam, causing the movable module 1 to move unsteadily.

[0149] In some embodiments, the first winding 221 and the second winding 231 may have multiple configuration options, as long as one of the following conditions is met.

[0150] First, the first winding 221 and the second winding 231 can be arranged in layers, or in other words, the first winding 221 and the second winding 231 can be arranged on different levels. This arrangement can reduce the size of the coil substrate 25.

[0151] Secondly, the first winding 221 and the second winding 231 each include one or more layers of coils. The multi-layer coil structure can increase the speed of driving the mover module 1 to move.

[0152] In this embodiment, the multi-layer coils of the first winding 221 can be arranged along the first direction X, and the multi-layer coils of the first winding 221 can be arranged along the center line of the stator base 21 in the first direction X. Similarly, the multi-layer coils of the second winding 231 can also be arranged along the second direction Y, and the multi-layer coils of the second winding 231 can be arranged along the center line of the stator base 21 in the second direction Y. This arrangement can increase the speed of driving the movable module 1 to move.

[0153] In other embodiments, the multi-layer coils of the first winding 221 can be staggered and arranged along the center line of the stator base 21 along the first direction X, and the multi-layer coils of the second winding 231 can be staggered and arranged along the center line of the stator base 21 along the second direction Y. The staggered arrangement of the multi-layer coils helps to reduce the internal magnetic resistance, thereby improving the efficiency of driving the movable module 1 to move.

[0154] Third, the coils in the first winding 221 and the second winding 231 can be arranged in UVW phase sequence, or the first winding 221 and the second winding 231 each include multiple armature winding units, each armature winding unit has three coils, and the three coils are U phase, V phase and W phase of the armature winding unit respectively. This phase sequence arrangement helps to ensure the normal operation of the winding and reduce possible failures.

[0155] Among them, the U phase, V phase and W phase of the armature winding can be arranged on the same layer. This arrangement can simplify the structure of the first winding 221 and the second winding 231, reduce the manufacturing difficulty and cost, and at the same time, the three-phase windings on the same layer can be more conveniently connected and current controlled, which is beneficial to improving the efficiency and performance of the first winding 221 and the second winding 231. In addition, arranging the three-phase windings on the same layer can also reduce the size and weight of the commutating stator module 2, which is beneficial to its application in the compact stator conveyor line 100. Moreover, because the distance between the windings is closer, they can respond to each other's changes more quickly, reducing possible problems.

[0156] Alternatively, the U-phase and W-phase of the armature winding unit are arranged adjacent to each other in the same layer, the V-phase is in the upper or lower layer of the U-phase and W-phase, and the V-phase can be arranged aligned with the center of the U-phase and W-phase, and in two adjacent coil layers, if the V-phase of one of the two adjacent armature winding units is in the upper layer of the U-phase and W-phase of the armature winding unit, then the V-phase of the other armature winding unit is in the lower layer of the U-phase and W-phase of the armature winding unit. This arrangement can reduce the magnetic resistance, and since the U-phase and W-phase are arranged adjacent to each other in the same layer, the distance between them is closer, and the magnetic field generated is more consistent, which can effectively reduce the magnetic resistance. Secondly, since the V-phase is located in the upper or lower layer of the U-phase and W-phase, it can generate a magnetic field component perpendicular to the U-phase and W-phase. This component can enhance the torque of the armature winding unit and improve the output power.

[0157] As shown in Figures 2 and 3, specifically, the first winding 221, the second winding 231, the first guide member 222 and the second guide member 232 can be arranged above the stator base 21 at the same time, so that the first winding 221 and the first guide member 222 are close to each other, and the second winding 231 and the second guide member 232 are close to each other, which can facilitate the first winding 221 and the second winding 231 to drive the movable module 1 to move respectively.

[0158] Alternatively, the first guide member 222 and the second guide member 232 are both arranged above the stator base 21 to facilitate the cooperation between the universal wheel 11 of the movable module 1 and the first guide member 222 or the second guide member 232, and the first winding 221 and the second winding 231 can both be arranged below the stator base 21 to facilitate the installation of the first winding 221 and the second winding 231.

[0159] Alternatively, the first guide member 222, the second guide member 232 and the first winding 221 are all arranged above the stator base 21, and the second winding 231 is arranged below the stator base 21. Alternatively, the first guide member 222, the second guide member 232 and the second winding 231 are all arranged above the stator base 21, and the first winding 221 is arranged below the stator base 21. The first winding 221, the second winding 231, the first guide member 222 and the second guide member 232 can have a variety of settings, and a reasonable setting method can be selected according to actual conditions.

[0160] In some embodiments, specifically, the reversing stator module 2 may further include a docking drive, which may be connected to the stator base 21, and the docking drive may drive the reversing stator module 2 to perform a docking movement, and the docking movement may include at least one of horizontal movement, vertical lifting movement, and rotational movement.

[0161] Specifically, the connecting drive component can be a motor module, which can be driven and connected to the stator base 21. The motor module can drive the commutating stator module 2 to move on the horizontal plane, or the motor module can drive the commutating stator module 2 to move up and down in the vertical direction, or the motor module can drive the commutating stator module 2 to rotate, so that the commutating stator module 2 can move to the fork, and change the moving direction of the movable module 1 at the fork through the commutating stator module 2.

[0162] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "upper", "lower", "left", "right", etc. indicate an orientation or position relationship, they are based on the orientation or position relationship 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 orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0163] 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 commutation stator module, characterized in that: Used to realize the reversing operation of the mover module on the stator conveyor line, the mover module includes a universal wheel, and the reversing stator module includes: stator base; a first driving assembly fixed to the stator base, comprising a first winding and a first guide member both extending in a first direction, wherein the first winding is used to drive the movable module to move in the first direction, and the first guide member is used to limit and guide the universal wheel to guide the movable module to move in the first direction; a second driving assembly fixed to the stator base, comprising a second winding and a second guide member both extending in a second direction, wherein the second winding is used to drive the movable module to move in the second direction, and the second guide member is used to limit and guide the universal wheel to guide the movable module to move in the second direction, wherein the second direction is arranged at an angle to the first direction; A rotary guide assembly, comprising a rotary guide member capable of rotating relative to a stator base, the rotary guide member being disposed between the first guide member and the second guide member, for limiting and guiding the universal wheel, and for connecting with the first guide member or the second guide member; When the rotating guide is connected to the first guide, the rotating guide, the first guide and the first winding cooperate to drive the movable module to move along the first direction; when the rotating guide is connected to the second guide, the rotating guide, the second guide and the second winding cooperate to drive the movable module to move along the second direction.

2. The commutation stator module according to claim 1, characterized in that: There are two first guide members, and the two first guide members are respectively arranged on two opposite sides of the first winding along its width direction; and / or, There are two second guide members, and the two second guide members are respectively arranged on two opposite sides of the second winding along its width direction.

3. The commutation stator module according to claim 2, characterized in that: The commutation stator module comprises: A cross-shaped coil substrate, the coil substrate being disposed on the stator base, the first winding and the second winding being disposed on the coil substrate, and four avoidance notches being formed at four corner positions of the coil substrate; The two first guide members and the two second guide members are arranged on four sides of the surface of the coil substrate away from the stator base, and the four groups of the rotary guide components are arranged in the four avoidance gaps.

4. The commutation stator module according to claim 3, characterized in that: The first winding and the second winding share the same coil substrate, or, The coil substrate includes a first substrate and a second substrate, the first winding is arranged on the first substrate, the second winding is arranged on the second substrate, the first substrate and the second substrate are arranged on the same layer and spliced ​​with each other, or the first substrate and the second substrate are arranged in layers and partially overlap.

5. The commutation stator module according to claim 2, characterized in that: The commutation stator module comprises: a square coil substrate, the coil substrate being disposed on the stator base, the first winding and the second winding being disposed on the coil substrate; Four protrusions are connected to four side surfaces of the coil substrate respectively, and two protrusions at corner positions adjacent to the coil substrate form an escape space; The two first guide members and the two second guide members are respectively arranged on the surfaces of the four protrusions away from the stator base, and the four groups of the rotary guide components are arranged in the four avoidance spaces.

6. The commutation stator module according to claim 5, characterized in that: The four protrusions are two first protrusions and two second protrusions; The two first protrusions are located on opposite sides of the coil substrate along a first direction. A first transition winding is further provided on the first protrusion, and the first transition winding is used to drive the mover module to move along the first direction. The two second protrusions are located on opposite sides of the coil substrate along the second direction. A second transition winding is further provided on the second protrusion. The second transition winding is used to drive the mover module to move along the second direction.

7. The commutation stator module according to claim 6, characterized in that: The coil substrate and the protruding portion are arranged in the same layer, and the coil substrate and the protruding portion are an integral component or separate components and spliced ​​together; or the coil substrate and the protruding portion are arranged in layers and partially overlap.

8. The commutation stator module according to claim 6, characterized in that: The first transition winding is electrically connected to the first winding so as to be controlled as a single winding; or the first transition winding and the first winding are two independent windings so as to be controlled separately; The second transition winding is electrically connected to the second winding so as to be controlled as a single winding; or the second transition winding and the second winding are two independent windings so as to be controlled separately.

9. The commutation stator module according to any one of claims 1 to 8, characterized in that: The rotary guide assembly further comprises: a rotating base, the rotating guide being arranged on the rotating base; The rotary driving member is in transmission connection with the rotary base, and the rotary driving member drives the rotary guide member to rotate through the rotary base, so that the rotary guide member is connected to the first guide member or the second guide member.

10. The commutation stator module according to claim 9, characterized in that: The rotary guide assembly further comprises: A bearing, wherein the inner ring of the bearing is sleeved on the rotating base, and the outer ring of the bearing is fixedly connected to the stator base.

11. The commutation stator module according to any one of claims 1 to 8, characterized in that: The rotary guide member includes two first connecting sections disposed opposite to each other along its length direction, each of the first connecting sections includes two first guide surfaces disposed opposite to each other along its width direction, and the distance between the two first guide surfaces gradually decreases as it moves away from a midpoint of the rotary guide member in its length direction; and / or, The first guide member and / or the second guide member includes a second connecting section for connecting with the first connecting section, and the second connecting section includes two second guide surfaces arranged opposite to each other along the width direction of the guide member in which the second guide member is located, and the distance between the two second guide surfaces gradually decreases in the direction approaching the rotating guide member.

12. The commutation stator module according to any one of claims 1 to 8, characterized in that: When the rotary guide member is connected to the first guide member, a joint between the rotary guide member and the first guide member is not less than 1 mm and not more than 10 mm; and / or, When the rotary guide member is connected to the second guide member, a joint between the rotary guide member and the second guide member is not less than 1 mm and not more than 10 mm.

13. The commutation stator module according to any one of claims 1 to 8, characterized in that: The first winding and the second winding meet one of the following conditions: The first winding and the second winding are arranged in layers; The first winding and the second winding each include one or more layers of coils; and / or, The first winding is arranged along the center line of the stator base along the first direction, and the second winding is arranged along the center line of the stator base along the second direction, or the first winding is staggered along the center line of the stator base along the first direction, and the second winding is staggered along the center line of the stator base along the second direction; The coils in the first winding and the second winding are arranged in a UVW phase sequence, or the first winding and the second winding each include multiple armature winding units, each armature winding unit has three coils, and the three coils are respectively the U phase, V phase and W phase of the armature winding unit, wherein the U phase, V phase and W phase are arranged in the same layer, or the U phase and W phase of the armature winding unit are arranged adjacent to each other in the same layer, the V phase is in the upper layer or lower layer of the U phase and the W phase, and is aligned with the center of the U phase and the W phase, and in two adjacent coil layers, if the V phase of one of the two adjacent armature winding units is in the upper layer of the U phase and the W phase of the armature winding unit, then the V phase of the other armature winding unit is in the lower layer of the U phase and the W phase of the armature winding unit.

14. The commutation stator module according to any one of claims 1 to 8, characterized in that: The first winding, the second winding, the first guide member, and the second guide member are all disposed above the stator base; or, The first guide member and the second guide member are both arranged above the stator base, and the first winding and the second winding are arranged below the stator base; or, The first guide member and the second guide member are both arranged above the stator base. One of the first winding and the second winding is arranged above the stator base, and the other is arranged below the stator base.

15. The commutation stator module according to any one of claims 1 to 8, characterized in that: The commutation stator module further includes: The docking drive member is connected to the stator base and is used to drive the reversing stator module to perform docking movement, and the docking movement includes at least one of horizontal movement, vertical lifting movement and rotational movement.

16. A magnetic drive motor system, characterized in that: include: A stator conveying line, comprising a linear stator module and a reversing stator module according to any one of claims 1 to 15, wherein the linear stator module is spliced ​​with the reversing stator module; and a mover module magnetically coupled to the stator transmission line, the mover module comprising: mover base; a universal wheel, disposed on the mover base, and configured to engage with the first guide member, the second guide member, and the rotating guide member in a limiting manner, wherein the rotating guide member is configured to drive the universal wheel to rotate so as to limit the movement direction of the universal wheel to the first direction or the second direction; a first permanent magnet array, disposed on the mover base, the first permanent magnet array being configured to magnetically couple with the first winding to drive the mover module to move along the first direction; A second permanent magnet array is provided on the mover base, and the second permanent magnet array is used for magnetically coupling with the second winding and driving the mover module to move along the second direction.

17. The magnetic drive motor system according to claim 16, characterized in that: The mover base is provided with a wheel receiving groove and a magnet receiving groove arranged at intervals. The universal wheel is partially received in the wheel receiving groove. The first permanent magnet array and the second permanent magnet array are at least partially received in the magnet receiving groove.

18. The magnetic drive motor system according to claim 16, characterized in that: The linear stator module comprises: a linear base connected to the stator base; a linear substrate, disposed on the linear base; a linear winding, disposed on the linear substrate, for driving the mover module to move along the first direction or the second direction on the linear stator module; a linear guide, disposed on a surface of the linear base plate facing away from the linear base and extending along the first direction or the second direction, for limiting and guiding the universal wheel to move along the first direction or the second direction; In which, the rotating guide is also used to connect with the linear guide to connect the movable module on the linear stator module to the reversing stator module, or to connect the movable module of the reversing stator module to the linear stator module. The rotating guide has a first seam when connected to the linear guide, and a second seam is provided between the linear substrate and the reversing stator module. Along the direction in which the linear stator module drives the movable module to move, the first seam and the second seam are staggered.

19. The magnetic drive motor system according to claim 18, characterized in that: The linear base and the stator base are an integrated structure.

20. The magnetic drive motor system according to claim 16, characterized in that: The mover module further includes a position sensor, which is arranged on the first permanent magnet array, the second permanent magnet array or the mover base; The stator conveying line further includes a sensor reader, which is arranged on the reversing stator module or the linear stator module. The sensor reader is used to cooperate with the position sensor to read the position of the mover module on the stator conveying line.

21. The magnetic drive motor system according to claim 16, characterized in that: The linear stator module has a first protrusion, and the commutation stator module has a second protrusion. Windings are correspondingly arranged on the first protrusion and the second protrusion. The first protrusion and the second protrusion are spliced ​​and overlapped.

22. The magnetic drive motor system according to any one of claims 16 to 21, characterized in that: The commutation stator module further includes: The docking drive is connected to the stator base and is used to drive the reversing stator module to perform docking movement between different linear stator modules. The docking movement includes at least one of horizontal movement, vertical lifting movement and rotational movement.

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