CN213949707U - Linear conveying system and conveying line system - Google Patents

Abstract

A linear handling system includes a first handling module and a second handling module. The first carrying module and the second carrying module are spliced together. The first carrying module comprises a first support and a first linear motor arranged on the first support. The first linear motor and the first support are fixed in a single-point mode. The second carrying module comprises a second bracket and a second linear motor arranged on the second bracket. The second linear motor and the second support are fixed in a single-point mode. The linear handling system further comprises a first splicing element. The first splicing piece splices the end parts of the first linear motor and the second linear motor together. In above structure, through the fixed mode of single-point, when first linear electric motor and second linear electric motor's the height slightly has the deviation, first linear electric motor and second linear electric motor can rotate certain angle in order to realize the concatenation smoothly. The utility model also provides a transfer chain system.

Description

Linear conveying system and conveying line system

Technical Field

The utility model relates to a drive arrangement technical field especially relates to a linear handling system and transfer line system.

Background

Linear motors are commonly used in production lines to automate assembly. A linear motor generally includes a motor main body portion and a slider slidable on the motor main body portion. The top surface of the motor main body part is provided with a guide rail, and the side surface of the motor main body part is provided with a stator. The sliding part is provided with a rotor, and the sliding part can slide along the guide rail of the motor main body part through the interaction force of the stator and the rotor. Existing production lines typically splice together a plurality of linear motors to form a conveyor line system. However, since the rotor of the linear motor needs to be transferred from one linear motor to another linear motor, when the heights of two adjacent linear motors are slightly deviated, the alignment between the linear motors is inaccurate, and at the moment, the rotor is clamped between the two linear motors to cause the production line to stop.

SUMMERY OF THE UTILITY MODEL

Based on the problem, the embodiment of the utility model provides a linear handling system aims at solving the difficult problem of current linear handling system linear electric motor counterpoint.

The utility model provides a linear handling system, includes first transport module and second transport module, first transport module with the second transport module splices together each other, first transport module includes first support and sets up first linear electric motor on the first support, first linear electric motor with the fixed mode of first support is fixed for the single point, second transport module includes the second support and sets up second linear electric motor on the second support, second linear electric motor with the fixed mode of second support is fixed for the single point, linear handling system still includes first concatenation piece, first concatenation piece respectively with first linear electric motor with second linear electric motor fixed connection will first linear electric motor with the tip concatenation of second linear electric motor is in the same place.

Optionally, the first carrying module includes a first supporting platform, the first support is fixed on the first supporting platform, the second carrying module includes a second supporting platform, and the second support is fixed on the second supporting platform.

Optionally, the first support includes a first bottom plate and a first supporting plate extending upward from the first bottom plate, the first bottom plate is fixed on the first supporting table, the first linear motor is fixed on the first supporting plate in a single-point fixing manner, the first support further includes a first reinforcing plate, the first reinforcing plate includes a bottom surface, a top surface and a side surface connected to the bottom surface and the top surface, the bottom surface of the first reinforcing plate abuts against the top surface of the first bottom plate, the side surface of the first reinforcing plate abuts against the side surface of the first supporting plate, and the length of the bottom surface of the first reinforcing plate is greater than the length of the top surface of the first reinforcing plate.

Optionally, the second bracket includes a second bottom plate and a second support plate extending upward from the second bottom plate, the second bottom plate is fixed to the second support table, the second linear motor is fixed to the second support plate in a single-point fixing manner, the second bracket further includes a second reinforcing plate, the second reinforcing plate includes a bottom surface, a top surface and a side surface connecting the bottom surface and the top surface, the bottom surface of the second reinforcing plate abuts against the top surface of the second bottom plate, the side surface of the second reinforcing plate abuts against the side surface of the second support plate, and the length of the bottom surface of the second reinforcing plate is greater than the length of the top surface of the second reinforcing plate.

Optionally, the first bottom plate, the first supporting plate and the first reinforcing plate are of an integrally formed structure.

Optionally, the second bottom plate, the second supporting plate and the second reinforcing plate are of an integrally formed structure.

Optionally, a first splicing groove is formed in the end portion of the first linear motor, a second splicing groove is formed in the end portion of the second linear motor, and the first splicing piece is contained in the first splicing groove and the second splicing groove together.

Optionally, a first positioning post is disposed in the second splicing groove, a first positioning hole is disposed on the first splicing member, and when the first splicing member is disposed in the first splicing groove and the second splicing groove, the first positioning post is disposed inside the first positioning hole.

Optionally, the support device further comprises a second splicing member, and the second splicing member is respectively and fixedly connected with the first support table and the second support table so as to splice the first support table and the second support table together.

Optionally, the first supporting table and the second supporting table are provided with accommodating grooves, and the second splicing pieces are partially embedded into the accommodating grooves.

Optionally, the first carrying module further comprises a third linear motor arranged on the first support, the height of the third linear motor in the vertical direction is greater than that of the first linear motor in the vertical direction, the third linear motor and the first bracket are fixed in a single-point mode, the second carrying module further comprises a fourth linear motor arranged on the second bracket, the height of the fourth linear motor in the vertical direction is greater than that of the second linear motor in the vertical direction, the fourth linear motor and the second bracket are fixed in a single-point mode, the linear carrying system further comprises a third splicing piece, the third splicing piece is fixedly connected with the third linear motor and the fourth linear motor respectively so as to splice the end parts of the third linear motor and the fourth linear motor together.

The embodiment of the utility model also provides a conveyor line system, including the linear handling system as described above, first linear electric motor with the first linear electric motor group becomes first linear handling device, third linear electric motor with the fourth linear electric motor group becomes second linear handling device, the transmission direction of first linear handling device with the second linear handling device is the horizontal direction, and the height of first linear handling device in the vertical direction is greater than the height of second linear handling device in the vertical direction, conveyor line system still includes first transfer device, first transfer device includes fifth linear electric motor and sixth linear electric motor, fifth linear electric motor includes first slider and first mounting, be provided with first active cell on the first slider, be provided with first stator on the first mounting, the first sliding part moves on the first fixing part through the interaction force between the first rotor and the first stator, the sixth linear motor is fixedly connected with the first sliding part, when the first sliding part is located at a first position, the sixth linear motor is connected with the first linear carrying device, and when the first sliding part is located at a second position, the sixth linear motor is connected with the second linear carrying device.

Optionally, the first fixing member includes a base, and a stator mounting base and a slide rail base extending upward from the base, an accommodating cavity is formed between the stator mounting base and the slide rail base, the first sliding member includes a mover mounting base and connecting bases extending outward from two sides of the mover mounting base, the mover mounting base is disposed in the accommodating cavity, and the connecting bases extend out of the accommodating cavity and are fixed to the sixth linear motor.

Optionally, a first limit sensor and a second limit sensor are arranged on the first fixing member, a limit piece is arranged on the first sliding member, when the limit piece moves to the first limit sensor, the first sliding member is located at a first position, and when the limit piece moves to the second limit sensor, the first sliding member is located at a second position.

Optionally, the first transfer device further comprises a drag chain, one end of the drag chain is fixed on the stator mounting seat, and the other end of the drag chain is fixed on the connecting seat.

Optionally, the first linear motor or the second linear motor or the third linear motor or the fourth linear motor or the sixth linear motor includes a second slider and a motor main body portion disposed on a moving path of the second slider, the second slider is provided with a second mover, the motor main body portion is provided with a second stator, the second slider moves on the motor main body portion through an interaction force between the second mover and the second stator, the motor main body portion is further provided with a guide rail, an extending direction of the guide rail is the same as the moving path of the second slider, and the second slider is slidably disposed on the guide rail.

Optionally, a projection of the guide rail in a horizontal direction perpendicular to an extending direction of the guide rail partially overlaps with a projection of the second stator in the horizontal direction.

Optionally, the stator includes a plurality of exciting electromagnets arranged in a line in an extending direction of the guide rail, each exciting electromagnet includes a magnetic core and an exciting coil wound around the magnetic core, and a projection of the guide rail in a horizontal direction perpendicular to the extending direction of the guide rail partially overlaps with a projection of the exciting coil in the horizontal direction.

Optionally, a projection of the guide rail in a horizontal direction perpendicular to an extending direction of the guide rail is located within a projection of the excitation coil in the horizontal direction.

Optionally, the second sliding member includes a bearing plate and a slider disposed on a bottom surface of the bearing plate, and the slider is embedded on the guide rail and can slide in an extending direction of the guide rail.

Optionally, the guide rail includes bottom surface, top surface and connects the bottom surface with two sides between the top surface, the side is provided with the sliding tray, the extending direction of sliding tray with the extending direction of guide rail is the same, the bottom surface of slider is provided with the depressed part, the depressed part cover the upper end of guide rail, the depressed part has the top surface and sets up the top surface with both sides face between the bottom surface of slider, be formed with the lug on the side, the lug gomphosis extremely in the sliding tray.

Optionally, the cross-sectional shape of the sliding groove is an inverted trapezoidal shape, the opening width of the sliding groove gradually increases from inside to outside, the cross-sectional shape of the protrusion is a trapezoidal shape, and the width of the protrusion gradually decreases from the side of the recess portion toward inside.

Optionally, the second slider further includes a mover mounting plate extending downward from the side of the carrier plate, and the second mover is disposed on the mover mounting plate.

Alternatively, the second mover includes a plurality of permanent magnets arranged in a line in an extending direction of the guide rail, each permanent magnet having a magnetic pole facing the second stator opposite to a magnetic pole facing the second stator of an adjacent permanent magnet.

Optionally, the motor main body portion includes a top surface and a first side surface extending downward from the top surface, and the stator is fixed to the first side surface of the motor main body portion.

Optionally, a top surface of the motor main body portion is provided with a recessed portion, the recessed portion and the first side surface are respectively disposed on two sides of the top surface, and the guide rail is disposed on the recessed portion.

Optionally, the motor main body part is further provided with a position sensor, and the position sensor is used for detecting the position of the second sliding part.

The embodiment of the utility model provides an among the linear handling system, because first linear electric motor with the fixed mode of first support is the fixed mode of single-point, second linear electric motor with the fixed mode of second support also is the fixed mode of single-point, and through first splice will first linear electric motor with the tip concatenation of second linear electric motor is in the same place. When the setting heights of the first linear motor and the second linear motor are slightly deviated, the first linear motor can rotate a certain angle relative to the first bracket; likewise, the second linear motor may also be rotated at an angle relative to the second support. At this time, in combination with the connection effect of the first splicing member, the end portions of the first linear motor and the second linear motor can be connected together relatively smoothly, so that the rotor in the working process can pass through smoothly.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a linear conveying system according to an embodiment of the present invention.

Fig. 2 is an exploded view of a linear conveying system according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a conveyor line system according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of the first transfer device in fig. 3.

Fig. 5 is an exploded view of the first transfer device of fig. 4.

Fig. 6 is a schematic cross-sectional view of the fifth linear motor of fig. 4.

Fig. 7 is a schematic structural view of a sixth linear motor in fig. 4.

Fig. 8 is an exploded view of the sixth linear motor of fig. 7.

Fig. 9 is a side view of the sixth linear motor of fig. 8.

Fig. 10 is a schematic structural view of the slider in fig. 8.

Fig. 11 is a schematic view of the interaction of the second stator and the second mover in fig. 8.

Fig. 12 is a cross-sectional view of the guide rail of fig. 8.

Fig. 13 is a cross-sectional view of the slider of fig. 8.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1 and 2, a linear transport system 100 according to an embodiment of the present invention includes a first transport module 110 and a second transport module 120. The first and second carrier modules 110, 120 are spliced together. The first carrying module 110 includes a first bracket 130 and a first linear motor 140 disposed on the first bracket 130. The first linear motor 140 and the first bracket 130 are fixed by a single point. The second carrier module 120 includes a second rack 150 and a second linear motor 160 disposed on the second rack 150. The second linear motor 160 and the second bracket 150 are fixed by a single point. The linear handling system 100 further comprises a first splicing element 170. The first splicing member 170 is fixedly connected to the first linear motor 140 and the second linear motor 160, respectively, to splice the ends of the first linear motor 140 and the second linear motor 160 together.

In the embodiment of the present invention, in the linear transportation system 100, since the fixing manner of the first linear motor 140 and the first support 130 is a single-point fixing manner, the fixing manner of the second linear motor 160 and the second support 150 is also a single-point fixing manner, and the ends of the first linear motor 140 and the second linear motor 160 are spliced together by the first splicing member 170. When the installation heights of the first linear motor 140 and the second linear motor 160 are slightly deviated, the first linear motor 140 may rotate by a certain angle with respect to the first bracket 130; similarly, the second linear motor 160 may also rotate at a certain angle with respect to the second bracket 150. At this time, in combination with the connection function of the first splicing member 170, the ends of the first linear motor 140 and the second linear motor 160 can be connected together relatively smoothly, so as to smoothly pass through the mover during operation. It should be noted that the single-point fixing method refers to fixing the first linear motor 140 to the first bracket 130 or fixing the second linear motor 160 to the second bracket 150 by a screw or a bolt. In a conventional fixing manner, in order to achieve the stability of the connection, the linear motor is usually fixed on the bracket by two or more screws. However, this fixing method requires a high precision fit between two adjacent carrier modules. If the heights or positions of two adjacent carrying modules are slightly deviated, the rotor cannot pass through the joint of the two adjacent carrying modules. Especially when the production line field is uneven, the debugging of the positions of two adjacent carrying modules is particularly troublesome. And in the embodiment of the utility model provides an among the linear handling system 100, can make linear electric motor rotate certain angle for the support through the fixed mode of single-point or pivot is fixed, the tip concatenation of two adjacent transport modules of rethread splice is extremely together for the active cell can smoothly pass through the junction of two adjacent transport modules. Even if the height of the motor is slightly deviated, the corresponding motor can rotate for a certain angle, and the purpose of smooth transition is achieved. With this arrangement, the linear transporter system 100 can be operated relatively stably even if the location of the production line is uneven.

The first carrier module 110 further includes a first support stage 180, as needed. The first bracket 130 is fixed to the first support stage 180. The second handling module 120 further comprises a second support stand 190, and the second rack 150 is fixed on the second support stand 190. By providing the first support stage 180 and the second support stage 190, the first linear motor 140 and the second linear motor 160 can be disposed above a certain height. In addition, foot pads are disposed on the first support platform 180 and the second support platform 190. When the ground is uneven, the upper surfaces of the first support table 180 and the second support table 190 may be substantially on a horizontal plane by the foot pads.

The first bracket 130 includes a first base plate 131 and a first support plate 132 extending upward from the first base plate 131. The first base plate 131 is fixed to the first support stage 180. The first linear motor 140 is fixed to the first support plate 132 in a single-point fixing manner. The first bracket 130 further includes a first reinforcing plate 133. The first reinforcing plate 133 includes a bottom surface, a top surface, and a side surface connecting the bottom surface and the top surface. The bottom surface of the first reinforcing plate 133 abuts on the top surface of the first base plate 131. The side surface of the first reinforcing plate 133 abuts on the side surface of the first support plate 132. The length of the bottom surface of the first reinforcing plate 133 is greater than the length of the top surface of the first reinforcing plate 133. In this embodiment, the first base plate 131, the first support plate 132 and the first reinforcing plate 133 are formed as an integral structure. If necessary, the first bottom plate 131, the first supporting plate 132 and the first reinforcing plate 133 may be separate structures, and they may be fixed together by screws or glue.

The second bracket 150 has a structure similar to that of the first bracket 130. The second bracket 150 includes a second bottom plate 151 and a second support plate 152 extending upward from the second bottom plate 151, and the second bottom plate 151 is fixed to the second support stage 190. The second linear motor 160 is fixed to the second support plate 152 in a single-point fixed manner. The second bracket 150 further includes a second reinforcing plate 153. The second reinforcing plate 153 includes a bottom surface, a top surface, and a side surface connecting the bottom surface and the top surface. The bottom surface of the second reinforcing plate 153 abuts on the top surface of the second base plate 151. The side surface of the second reinforcement plate 153 abuts on the side surface of the second support plate 152. The length of the bottom surface of the second reinforcing plate 153 is greater than the length of the top surface of the second reinforcing plate 153. In this embodiment, the second base plate 151, the second support plate 152 and the second reinforcement plate 153 are integrally formed. The second bottom plate 151, the second supporting plate 152 and the second reinforcing plate 153 may be separate structures, and may be fixed together by screws or glue bonding, etc., as required.

As required, a first splicing groove 141 is provided at an end of the first linear motor 140. The end of the second linear motor 160 is provided with a second splicing groove 161. The first splicing groove 141 and the second splicing groove 161 collectively receive the first splicing member 170. By providing the first splicing groove 141 at the end of the first linear motor 140 and the second splicing groove 161 at the end of the second linear motor 160, the first splicing member 170 can be easily aligned with the first linear motor 140 and the second linear motor 160, thereby facilitating the assembly of the first splicing member 170 with the first linear motor 140 and the second linear motor 160. In this embodiment, the first splicing member 170 is fixed to the end of the first linear motor 140 by a screw; the first splicing member 170 and the end of the second linear motor 160 are also fixed by screws.

As required, a first positioning column 162 is disposed in the second splicing groove 161. The first splicing member 170 is provided with a first positioning hole 171. When the first splicing member 170 is disposed on the first splicing groove 141 and the second splicing groove 161, the first positioning post 162 passes through the first positioning hole 171 and is disposed inside the first positioning hole 171.

In this embodiment, the linear handling system 100 further comprises a second splicing element 172. The second splicing member 172 is fixedly connected to the first supporting platform 180 and the second supporting platform 190 respectively to splice the first supporting platform 180 and the second supporting platform 190 together. The first supporting table 180 and the second supporting table 190 are spliced together by the second splicing member 172, and when the position of the first supporting table 180 or the second supporting table 190 is slightly changed, the second splicing member 172 can drive the position of another supporting table to be changed together, so that the alignment accuracy of the first linear motor 140 and the second linear motor 160 is not easily interfered by the external environment. According to the requirement, the first supporting platform 180 and the second supporting platform 190 are further provided with accommodating grooves, and the second splicing member 172 is partially embedded into the accommodating grooves to enhance the connection stability.

In this embodiment, the first carrying module 110 further includes a third linear motor 143 disposed on the first rack 130. The height of the third linear motor 143 in the vertical direction is greater than the height of the first linear motor 140 in the vertical direction. The third linear motor 143 and the first bracket 130 are fixed by a single point. The second handling module 120 further comprises a fourth linear motor 163 disposed on the second rack 150. The height of the fourth linear motor 163 in the vertical direction is greater than the height of the second linear motor 160 in the vertical direction. The fourth linear motor 163 and the second bracket 150 are fixed by a single point. The linear handling system 100 further comprises a third splice 173. The third splicing member 173 is fixedly connected to the third linear motor 143 and the fourth linear motor 163, respectively, so as to splice the ends of the third linear motor 143 and the fourth linear motor 163 together. By providing the first and third linear motors 140 and 143 having different heights and providing the second and fourth linear motors 160 and 163 having different heights, the first and second linear motors 140 and 160 may constitute a first linear transporter and the third and fourth linear motors 143 and 163 may constitute a second linear transporter. The transmission direction of the first linear transporter and the second linear transporter is a horizontal direction, and the height of the first linear transporter in the vertical direction is greater than the height of the second linear transporter in the vertical direction. The first linear transporter and the second linear transporter may operate simultaneously, thereby saving space.

Referring to fig. 3, an embodiment of the present invention further provides a conveyor line system 200, which includes the linear handling system 100 described above. The first linear motor 140 and the second linear motor 160 constitute a first linear transporter 210. The third linear motor 143 and the fourth linear motor 163 constitute a second linear transporter 220. The transfer direction of the first linear transporter 210 and the second linear transporter 220 is a horizontal direction, and the height of the first linear transporter 210 in the vertical direction is greater than the height of the second linear transporter 220 in the vertical direction. The conveyor line system 200 further includes a first transfer device 230, and the first transfer device 230 includes a fifth linear motor 240 and a sixth linear motor 250. The fifth linear motor 240 includes a first slider 241 and a first holder 242. The first sliding member 241 is provided with a first mover, and the first fixing member 242 is provided with a first stator. The first sliding member 241 is moved on the first fixed member 242 by an interaction force between the first mover and the first stator. The sixth linear motor 250 is fixedly connected to the first slider 241. When the first slider 241 is at the first position, the sixth linear motor 250 is connected to the first linear transporter 210. When the first slider 241 is at the second position, the sixth linear motor 250 is connected to the second linear transporter 220.

In this embodiment, the first mover is a permanent magnet, which is disposed inside the first slider 241 and is arranged at intervals along the height direction. Each permanent magnet in the first mover has a magnetic pole on a side opposite to the first mover and a magnetic pole of an adjacent permanent magnet. The first stator is an electromagnet and is disposed inside the first fixing member 242. The electromagnet includes a magnetic core and an exciting coil, and a three-phase voltage is applied to the electromagnet, so that an interaction force is generated between the electromagnet and the permanent magnet, and the first sliding member 241 moves up and down on the first fixing member 242.

In the conveyor line system 200, since the height of the first linear transporter 210 in the vertical direction is greater than the height of the second linear transporter 220 in the vertical direction, the first linear transporter 210 and the second linear transporter 220 can be stacked in the height direction, so that the floor area of the conveyor line system 200 is reduced, and the space is saved. In addition, the first transfer device 230 is provided with a fifth linear motor 240 and a sixth linear motor 250. The fifth linear motor 240 is configured to move the sixth linear motor 250 in the height direction. The sixth linear motor 250 is used for interfacing with the first linear transporter 210 or the second linear transporter 220. At this time, the process of assembling the transported object is as follows:

1. the object to be transported is assembled on the first linear transporter 210, and when the object to be transported reaches the end of the first linear transporter 210, the object can enter the first transporter 130 through the sixth linear transporter 250 because the sixth linear transporter 250 is connected with the first linear transporter 210.

2. The fifth linear motor 240 lifts the sixth linear motor 250 to connect the sixth linear motor 250 with the second linear transporter 220, and at this time, the height of the object to be transported is correspondingly raised.

3. The sixth linear motor 250 is controlled to transfer the object from the first transfer device 230 to the second linear transporter 220, so that the object continues the assembly process in the second linear transporter 220.

Therefore, the arrangement of the conveying line system 200 greatly saves the occupied space of the production line and improves the use efficiency of the field.

Referring to fig. 4 to 6, the first fixing part 242 includes a base 2421, and a stator mounting part 2422 and a slide rail part 2423 extending upward from the base 2421. An accommodating cavity 2424 is formed between the stator mounting seat 2422 and the slide rail seat 2423. The first slider 241 includes a mover mount 2411 and a coupling seat 2412 extending outward from both sides of the mover mount 2411. The rotor mounting seat 2411 is disposed in the accommodating cavity 2424, and the connecting seat 2412 extends out of the accommodating cavity 2424 and is fixed with the sixth linear motor 250. The first fixing part 242 further includes a top cover 2425, and the top cover 2425 and the base 2421 clamp the stator mounting 2422 and the slide rail seat 2423 therebetween, as required. At this time, since the mover mount 2411 is disposed in the accommodating chamber 2424, the top cover 2425 and the base 2421 may limit displacement of the first slider 241 in the height direction in cooperation. In this embodiment, the first transfer device 230 further includes a bracket 260. The base 2421 of the first fixing member 242 is fixed to the bracket 260. The support 260 has four supporting legs, and each supporting leg is provided with a foot pad to adjust the smoothness of the support 260.

According to the requirement, a first limit sensor 2426 and a second limit sensor 2427 are further arranged on the first fixing part 242. The first sliding member 241 is provided with a limiting piece 2413. When the position-limiting sheet 2413 moves to the first position-limiting sensor 2426, the first slider 241 is in the first position, and when the position-limiting sheet 2413 moves to the second position-limiting sensor 2427, the first slider 241 is in the second position. When it is detected that the first slider 241 moves down to the first position, the controller of the fifth linear motor 240 may control the first slider 241 to no longer move to prevent it from hitting the base 2421. When it is detected that the first slider 241 moves upward to the second position, the controller of the fifth linear motor 240 may control the first slider 241 to no longer move to prevent it from hitting the top cover 2425. In this embodiment, when the first slider 241 is at the first position, the height of the sixth linear transporter 250 is the same as the height of the first linear transporter 210, so that the sixth linear transporter 250 can be easily connected to the first linear transporter 210. When the first slider 241 is at the second position, the height of the sixth linear transporter 250 is the same as that of the second linear transporter 220, so that the sixth linear transporter 250 can be easily connected with the second linear transporter 220. A position detector 2428 is further disposed on the first fixing element 242, and the position detector 2428 is configured to detect a position of the first sliding element 241. According to the position of the first sliding element 241, the controller of the fifth linear motor 240 may apply different voltages to the electromagnet inside the first fixed element 242 to inform the moving direction and the moving speed of the first sliding element 241.

The first transfer device 230 further includes a drag chain 270 as needed. One end of the drag chain 270 is fixed to the stator mounting seat 2422, and the other end of the drag chain 270 is fixed to the connecting seat 2412. Power lines, control lines, and the like of the fifth linear motor 240 and the sixth linear motor 250 may be disposed in the drag chain 270, so as to prevent the power lines or the control lines from being wound and damaged during the repeated movement of the fifth linear motor 240 and the sixth linear motor 250.

The first transfer device 230 further includes a fastener support bracket 280, as desired. The fastener support 280 is fixed to the bracket 260, and the first fastener 242 is fixed to the fastener support 280, so that the first fastener 242 is fixedly connected to the bracket 260. In this embodiment, the fixing member support bracket 280 includes a fixing plate and a support plate extending vertically upward from the fixing plate. The fixing plate is used to fix to the bracket 260, and the supporting plate is used to fix the first fixing member 242.

The conveyor line system 200 may also include a second transfer device 290, as desired. The second transfer device 290 and the first transfer device 230 are disposed at two opposite directions of the first linear transporter 210 and the second linear transporter 220, respectively. After the object is assembled in the second linear transporter 220, the object may be transferred to the first linear transporter 210 by the second transfer device 290. The structure of the second transfer device 290 is similar to that of the first transfer device 230, and thus, the description thereof is omitted.

The first linear motor 140, the second linear motor 160, the third linear motor 143, the fourth linear motor 163, and the sixth linear motor 250 are similar in structure. The structure of the sixth linear motor 250 will be described as an example. Referring to fig. 7 to 9, the sixth linear motor 250 includes a second slider 30 and a motor main body 40 disposed on a moving path of the second slider 30. The second slider 30 is provided with a second mover 31, and the motor main body 40 is provided with a plurality of second stators 41. The second slider 30 is moved on the motor main body 40 by an interaction force between the second mover 31 and the second stator 41. The motor main body 40 is further provided with a guide rail 42. The guide rail 42 extends in the same direction as the moving path of the second slider 30. The second slider 30 is slidably disposed on the guide rail 42. A projection of the guide rail 42 in a horizontal direction perpendicular to an extending direction of the guide rail 42 partially overlaps a projection of the second stator 41 in the horizontal direction.

In the sixth linear motor 250, a projection of the guide rail 42 in a horizontal direction perpendicular to an extending direction of the guide rail 42 partially overlaps a projection of the second stator 41 in the horizontal direction. When the second stator 41 and the second mover 31 generate an interaction force to move the second slider 30 on the guide rail 42, the direction of the interaction force directly passes through the guide rail 42, so that the second slider 30 can smoothly move on the guide rail 42, thereby preventing the problem that the second slider 30 of the linear motor 250 tilts to affect the stability of the connection between the second slider 30 and the guide rail 42.

In the present embodiment, for convenience of description, the extending direction of the guide rail 42 is denoted as an X direction, a horizontal direction perpendicular to the extending direction of the guide rail 42 is denoted as a Y direction, and a vertical direction perpendicular to the extending direction of the guide rail 42 is denoted as a Z direction. During the operation of the linear motor 250, the second slider 30 may slide on the guide rail 42 by generating an interaction force between the second mover 31 and the second stator 41. Specifically, the second mover 31 is a permanent magnet, and the second stator 41 is an electromagnet. When the second stator 41 is energized, an interaction force is generated between the electromagnet and the permanent magnet, so that the second slider 30 can slide on the guide rail 42. It is to be understood that the second stator 41 may be a permanent magnet, and the second mover 31 may be an electromagnet, as long as the second mover 31 and the second stator 41 can generate an interaction force therebetween.

The motor main body 40 includes a top surface 43 and a first side surface 44 extending downward from the top surface 43, and the second stator 41 is fixed to the first side surface 44 of the motor main body 40. The top surface 43 of the motor main body 40 is provided with a recessed portion 45. The recessed portion 45 and the first side surface 44 are respectively disposed on both sides of the top surface 43, and the guide rail 42 is disposed on the recessed portion 45.

Specifically, the bottom surface of the recess 45 is further provided with a step 46, and the guide rail 42 is disposed next to the step 46 to facilitate alignment and installation of the guide rail 42. In this embodiment, the guide rail 42 is fixed to the motor main body 40 by screws. The top surface of the guide rail 42 is provided with a plurality of screw mounting holes 421. During installation, the guide rail 42 is first placed against the step 46, and then the guide rail 42 is moved in the X direction until one of the screw mounting holes 421 in the guide rail 42 is aligned with one of the screw mounting holes in the recess 45. In this case, the guide rail 42 and the motor main body 40 may be fixed by screws.

Referring to fig. 10, the second sliding member 30 further includes a bearing plate 32, a slider 33 disposed on a bottom surface of the bearing plate 32, and a mover mounting plate 34 extending downward from a side surface of the bearing plate 32. The slider 33 is fitted to the guide rail 42 and is slidable in the extending direction of the guide rail 42. The second mover 31 is disposed on the mover mounting plate 34. In the present embodiment, the second mover 31 includes a plurality of permanent magnets 311. The permanent magnet 311 is disposed on a side of the mover mounting plate 34 facing the motor main body 40 such that the permanent magnet 311 and the second stator 41 are disposed to face each other. The permanent magnets 311 are arranged in a line in the extending direction of the guide rail 42 and spaced from each other. The magnetic pole of each permanent magnet 311 facing the second stator 41 is opposite to the magnetic pole of the adjacent permanent magnet 311 facing the second stator 41. That is, the N pole of the permanent magnet 311 and the S pole of the permanent magnet 311 are alternately provided along the extending direction of the guide rail 42. In this embodiment, the permanent magnet 311 has an elongated shape, and the extending direction of the body of the permanent magnet 311 is the Z direction. When assembled, the permanent magnet 311 may be embedded on the mover mounting plate 34 or fixed on the mover mounting plate 34 by glue.

The plurality of second stators 41 are arranged at intervals along the extending direction of the guide rail 42. The second stator 41 includes a plurality of exciting electromagnets 411. The plurality of excitation electromagnets 411 are aligned in a row along the extending direction (X direction) of the guide rail 42. Each of the exciting electromagnets 411 includes a magnetic core 412 and an exciting coil 413 wound around the magnetic core 412. A projection of the guide rail 42 in a horizontal direction (Y direction) perpendicular to an extending direction of the guide rail 42 partially overlaps a projection of the excitation coil 413 in the horizontal direction. Since the interaction force between the second mover 31 and the second stator 41 is mainly generated by the magnetic force between the exciting electromagnet 411 and the permanent magnet 311, by partially overlapping the projection of the guide rail 42 in the Y direction with the projection of the exciting coil 413 in the Y direction, the interaction force between the second stator 41 and the second mover 31 can more accurately pass through the guide rail 42, thereby achieving the effect of smoothing the operation of the second slider 30. The motor main body 40 further includes a cover 414, as needed. The cover 414 is disposed on the first side surface 44 of the motor main body 40 to prevent the second stator 41 from being exposed to the external environment.

As required, a projection of the guide rail 42 in a horizontal direction (Y direction) perpendicular to the extending direction of the guide rail 42 is located within a projection of the excitation coil 413 in the horizontal direction. That is, the height of the highest point of the guide rail 42 in the Z direction is smaller than the height of the highest point of the exciting coil 413 in the Z direction; the height of the lowest point of the guide rail 42 in the Z direction is greater than the height of the lowest point of the exciting coil 413 in the Z direction. The above arrangement enables the interaction force between the second mover 31 and the second stator 41 to more effectively pass through the guide rail 42, so that the second slider 30 can be more smoothly disposed on the guide rail 42.

Referring to fig. 11, in actual operation, the magnetic poles of the exciting electromagnet 411 are changed according to the power supply state of the exciting coil 413. The excitation coil 413 is supplied with a current of any one of the U-phase, V-phase, or W-phase in the three-phase power supply circuit. When the exciting coil 413 is energized, the magnetic pole of the exciting electromagnet 411 changes between the N pole and the S pole due to the change of the supply current. At this time, due to the interaction between the magnetic field generated by the exciting electromagnet 411 and the magnetic field generated by the permanent magnet 311, an attractive force or a repulsive force is generated between the exciting electromagnet 411 of the second stator 41 and the permanent magnet 311 of the second mover 31, thereby moving the second slider 30 on the guide rail 42. For example, applying a current to the U-phase causes the excitation coil 413 of the U-phase to generate an N-pole at one end adjacent to the electromagnet 111; applying a current to the V-phase to make the V-phase excitation coil 413 generate an S-pole at one end adjacent to the electromagnet 111; applying a current to the W-phase causes the excitation coil 413 of the W-phase to generate an N-pole at one end adjacent to the electromagnet 111. At this time, the U-phase exciting coil 413 generates a repulsive force with respect to the permanent magnet 311 facing the front surface thereof; the V-phase exciting coil 413 generates a repulsive force to the permanent magnet 311 opposed to the front face thereof and an attractive force to the adjacent permanent magnet 311; the excitation coil 413 of the W phase generates a repulsive force with respect to the permanent magnet 311 facing the front surface thereof and an attractive force with respect to the adjacent permanent magnet 311. The general force may cause the permanent magnet 311 to move in the X direction. When the permanent magnet 311 moves to the next position, the current values applied to the U-phase, V-phase, and W-phase may be changed to move the permanent magnet 311 again. It can be seen that moving the second slider 30 at a prescribed speed in the extending direction of the guide rail 42 can be achieved by changing the power supply state of the exciting coil 413.

Referring also to fig. 12, the guide rail 42 includes a bottom surface 422, a top surface 423, and two side surfaces 424 connected between the bottom surface 422 and the top surface 423. The screw mounting holes 421 penetrate the top surface 423 and the bottom surface 422 to fix the guide rail 42 to the motor main body portion 40. The two sides 424 are substantially identical in shape and are symmetrical along a center line. The side surface 424 is formed with a sliding groove 425. The sliding groove 425 extends in the same direction as the guide rail 42. The cross-sectional shape of the sliding groove 425 is substantially an inverted trapezoid shape, and the width of the opening thereof is gradually increased from the inside to the outside. The sliding groove 425 includes upper and lower sides. The upper side of the sliding groove 425 is provided with a first arc-shaped recess 426. The first arc-shaped recess 426 extends in the X direction. The junction of the side surface 424 and the top surface 423 is further provided with a first transition surface 427. The first transition surface 427 extends obliquely upward from the side surface 424 to the top surface 423. The first transition surface 427, the side surface 424 and the upper side surface of the sliding groove 425 form a convex shape together. The first transition surface 427 is provided with a second arcuate recess 428.

Referring to fig. 13, the slider 33 is provided with a recess 331, and the recess 331 extends upward from the bottom surface 332 of the slider 33. The recess 331 is for covering an upper end portion of the guide rail 42. The recess 331 includes a top surface 333 and two side surfaces 334 connecting the top surface 333 of the recess 331 and the bottom surface 332 of the slider 33. The two sides 334 are substantially identical in shape and are symmetrical along a center line. The side surface 334 is formed with a protrusion 335 at a position adjacent to the bottom surface 332. The projection 335 is adapted to be fitted into the sliding groove 425 of the guide rail 42 to prevent the slider 33 from being displaced in the Z direction. In the present embodiment, the bump 335 has a substantially trapezoidal shape, and the width of the bump 335 gradually decreases from the side surface 334 toward the inside. The upper surface of the projection 335 is provided with a first arc-shaped protrusion 336. When the slider 33 is assembled to the guide rail 42, the first arc-shaped protrusion 336 is inserted into the first arc-shaped recess 426. A second transition surface 337 is also formed between the side surface 334 and the top surface 333, and the second transition surface 337 extends obliquely upward from the side surface 334 to the top surface 333. A second arc-shaped convex part 338 is further arranged on the second transition surface 337. The second arc-shaped protrusion 338 is configured to be inserted into the second arc-shaped recess 428.

Since both side surfaces 424 of the guide rail 42 are provided with the sliding grooves 425 and both side surfaces 334 of the recess 331 of the slider 33 are provided with the protrusions 335. The mating relationship of the sliding slot 425 and the protrusion 335 prevents Z-direction displacement of the second slider 30 when sliding on the guide rail 42, thereby making the movement of the second slider 30 smoother. Further, since the upper side of the sliding groove 425 is provided with the first arc-shaped recess 426 and the upper surface of the projection 335 is provided with the first arc-shaped protrusion 336, since the contact surface of the slider 33 and the guide rail 42 is located at the center upward position of the second stator 41 and the second mover 31, the position fitting relationship of the guide rail 42 and the slider can be better achieved by the first arc-shaped recess 426 and the first arc-shaped protrusion 336. It is to be understood that the position of the first arc-shaped recess 426 is not limited to the upper side of the sliding groove 425, and it may be disposed on the bottom surface of the sliding groove 425 or the lower side of the sliding groove 425. Similarly, the position of the first arc-shaped protrusion 336 is not limited to the upper surface of the bump 335, and it may be disposed on the top surface or the lower surface of the bump 335. Specifically, when the bottom surface of the sliding groove 425 and the upper surface of the protrusion 335 are located on the center line of the second stator 41 and the second mover 31, the first arc-shaped recess 426 may be disposed on the bottom surface of the sliding groove 425 and the first arc-shaped protrusion 336 may be disposed on the top surface of the protrusion 335. When the height of the upper surface of the projection 335 is lower than the height of the center line of the second stator 41 and the second mover 31 at the bottom of the sliding groove 425, the first arc-shaped recess 426 may be provided at the lower side of the sliding groove 425, and the first arc-shaped protrusion 336 may be provided at the lower side of the projection 335. In the assembling process, the sliding block 33 is fixed on the bearing plate 32 by screws, and then the sliding block 33 is inserted into the guide rail 42 from the side surface of the guide rail 42, so that the bearing plate 32 can slide on the guide rail 42.

The motor main body 40 is further provided with a position sensor 50, and the position sensor 50 is used for detecting the position of the second slider 30. Depending on the detected position of the second slider 30, the second slider 30 can be stopped or continued to move by controlling the state of power applied to the second stator 41.

It should be noted that the above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.

Claims (15)

1. The linear carrying system is characterized by comprising a first carrying module and a second carrying module, wherein the first carrying module and the second carrying module are spliced together, the first carrying module comprises a first support and a first linear motor arranged on the first support, the first linear motor and the first support are fixed in a single-point mode, the second carrying module comprises a second support and a second linear motor arranged on the second support, the second linear motor and the second support are fixed in a single-point mode, the linear carrying system further comprises a first splicing piece, and the first splicing piece is fixedly connected with the first linear motor and the second linear motor respectively so as to splice the end portions of the first linear motor and the second linear motor together.

2. The linear handling system of claim 1, wherein the first handling module includes a first support table to which the first rack is secured, and the second handling module includes a second support table to which the second rack is secured.

3. The linear carrier system of claim 2, wherein the first support includes a first base plate and a first support plate extending upward from the first base plate, the first base plate is fixed to the first support table, the first linear motor is fixed to the first support plate in a single-point fixing manner, the first support further includes a first reinforcing plate including a bottom surface, a top surface, and side surfaces connecting the bottom surface and the top surface, the bottom surface of the first reinforcing plate abuts against the top surface of the first base plate, the side surfaces of the first reinforcing plate abut against the side surfaces of the first support plate, and the length of the bottom surface of the first reinforcing plate is greater than the length of the top surface of the first reinforcing plate.

4. The linear handling system of claim 2, wherein the second support includes a second base plate and a second support plate extending upward from the second base plate, the second base plate is fixed to the second support table, the second linear motor is fixed to the second support plate in a single-point fixing manner, the second support further includes a second reinforcing plate, the second reinforcing plate includes a bottom surface, a top surface, and side surfaces connecting the bottom surface and the top surface, the bottom surface of the second reinforcing plate abuts against the top surface of the second base plate, the side surfaces of the second reinforcing plate abuts against the side surfaces of the second support plate, and the length of the bottom surface of the second reinforcing plate is greater than the length of the top surface of the second reinforcing plate.

5. The linear handling system of claim 3, wherein the first base plate, the first support plate, and the first reinforcement plate are of unitary construction.

6. The linear handling system of claim 1, wherein the end of the first linear motor is provided with a first splicing slot, the end of the second linear motor is provided with a second splicing slot, and the first splicing slot and the second splicing slot together receive the first splicing element.

7. The linear handling system according to claim 6, wherein a first positioning post is disposed in the second splicing groove, and a first positioning hole is disposed in the first splicing member, and wherein the first positioning post is disposed inside the first positioning hole when the first splicing member is disposed in the first splicing groove and the second splicing groove.

8. The linear handling system of claim 2, further comprising a second splicing element fixedly connected to the first support table and the second support table, respectively, to splice the first support table and the second support table together.

9. The linear handling system of claim 8, wherein the first support table and the second support table have receiving slots disposed thereon, and the second splicing element is partially embedded in the receiving slots.

10. The linear transport system of any one of claims 1 to 9, wherein the first transport module further includes a third linear motor disposed on the first support, the third linear motor has a height in the vertical direction greater than that of the first linear motor, the third linear motor and the first support are fixed in a single-point fixing manner, the second transport module further includes a fourth linear motor disposed on the second support, the fourth linear motor has a height in the vertical direction greater than that of the second linear motor, the fourth linear motor and the second support are fixed in a single-point fixing manner, and the linear transport system further includes a third splicing member fixedly connected to the third linear motor and the fourth linear motor, respectively, to splice ends of the third linear motor and the fourth linear motor to each other Together.

11. A conveyor line system, comprising the linear handling system according to claim 10, wherein the first linear motor and the second linear motor constitute a first linear transporter, the third linear motor and the fourth linear motor constitute a second linear transporter, the transport directions of the first linear transporter and the second linear transporter are horizontal, and the height of the first linear transporter in the vertical direction is greater than the height of the second linear transporter in the vertical direction, the conveyor line system further comprises a first transporter, the first transporter comprises a fifth linear motor and a sixth linear motor, the fifth linear motor comprises a first sliding member and a first fixing member, the first sliding member is provided with a first rotor, and the first fixing member is provided with a first stator, the first sliding part moves on the first fixing part through the interaction force between the first rotor and the first stator, the sixth linear motor is fixedly connected with the first sliding part, when the first sliding part is located at a first position, the sixth linear motor is connected with the first linear carrying device, and when the first sliding part is located at a second position, the sixth linear motor is connected with the second linear carrying device.

12. The conveyor line system according to claim 11, wherein the first fixing member includes a base, and a stator mounting seat and a slide rail seat extending upward from the base, a receiving cavity is formed between the stator mounting seat and the slide rail seat, the first sliding member includes a mover mounting seat and connecting seats extending outward from both sides of the mover mounting seat, the mover mounting seat is disposed in the receiving cavity, and the connecting seats extend from the receiving cavity and are fixed to the sixth linear motor.

13. The conveyor line system according to claim 12, wherein the first fixed member is provided with a first limit sensor and a second limit sensor, and the first slider is provided with a limit piece, and the first slider is in a first position when the limit piece moves to the first limit sensor, and the first slider is in a second position when the limit piece moves to the second limit sensor.

14. The conveyor line system as recited in claim 12, wherein the first transfer device further comprises a drag chain, one end of the drag chain being secured to the stator mounting block and the other end of the drag chain being secured to the attachment block.

15. The conveyor line system according to claim 11, wherein the first linear motor or the second linear motor or the third linear motor or the fourth linear motor or the sixth linear motor includes a second slider and a motor main body portion disposed on a moving path of the second slider, the second slider is provided with a second mover, the motor main body portion is provided with a second stator, the second slider is moved on the motor main body portion by an interaction force between the second mover and the second stator, the motor main body portion is further provided with a guide rail, an extending direction of the guide rail is the same as the moving path of the second slider, and the second slider is slidably disposed on the guide rail.

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