WO2024077848A1

WO2024077848A1 - Conveying apparatus

Info

Publication number: WO2024077848A1
Application number: PCT/CN2023/079624
Authority: WO
Inventors: 池峰; 周金明; 李文华
Original assignee: 上海果栗自动化科技有限公司
Priority date: 2022-10-14
Filing date: 2023-03-03
Publication date: 2024-04-18

Abstract

The present application discloses a conveying apparatus, comprising: a track mechanism comprising a base, a sliding rail, and a conductive guide rail set, the sliding rail and the conductive guide rail set being parallel and being both disposed on the base, and the conductive guide rail set being used for being electrically connected to a power source; an actuating mechanism slidably connected to the sliding rail in the extension direction of the sliding rail, the actuating mechanism being used for moving on the sliding rail; and a power supply mechanism comprising sliding members and a power supply module, the sliding members being electrically connected to the power supply module and being slidably connected to the conductive guide rail set in the extension direction of the conductive guide rail set, the power supply module being mounted on the sliding members or the actuating mechanism and being electrically connected to the actuating mechanism, and the power supply module being electrically connected to the conductive guide rail set by means of the sliding members, so that the power supply module supplies power to the actuating mechanism. In the present application, the actuating mechanism does not need to be connected to a cable or a drag chain, it is only necessary to supply power to the conductive guide rail set, and the conductive guide rail set transmits electric energy to the power supply module by means of the sliding members, so that the power supply module can provide electric energy for the actuating mechanism more conveniently.

Description

A conveying device

Related Applications

This application claims priority to the Chinese patent application filed with the China Patent Office on October 14, 2022, with application number CN202222716383.5 and title “A Conveying Device”, and the Chinese patent application filed with the China Patent Office on October 14, 2022, with application number CN202222716385.4 and title “A Conveying Device”, the entire contents of which are incorporated by reference into this application.

Technical Field

The present application relates to the technical field of conveyor lines, and in particular to a conveying device.

Background technique

With the development of society, logistics conveyor lines are widely used in all walks of life. Logistics lines are no longer limited to the transportation of products. Some processing equipment, such as manipulators, robots and other equipment that require mobile operations can usually be placed on conveyor lines for mobile operations, but such equipment usually requires power supply to operate. In related technologies, such equipment is usually connected to cables or drag chains, and power is supplied to such equipment through cables/drag chains. However, cables/drag chains are difficult to apply to long-distance power supply, and are prone to problems such as loose cable connections and cable entanglement. If cables or drag chains are installed on long-distance conveyor lines for power supply, the overall volume of the conveyor line will also increase, occupying a large amount of installation space.

Summary of the invention

The main purpose of the present invention is to provide a conveying device to solve the problem that cables/drag chains in the related art are not suitable for long-distance power supply.

In order to achieve the above-mentioned purpose, the invention provides a conveying device, including: a track mechanism, including a base, a slide rail and a conductive guide rail group, the slide rail is parallel to the conductive guide rail group and is both arranged on the base, and the conductive guide rail group is used to be electrically connected to a power source; an actuator, slidably connected to the slide rail along the extension direction of the slide rail, and the actuator is used to move on the slide rail; a power supply mechanism, including a sliding member and a power supply module, the sliding member is electrically connected to the power supply module, and is slidably connected to the conductive guide rail group along the extension direction of the conductive guide rail group, the power supply module is installed on the sliding member or the actuator, and is electrically connected to the actuator, and the power supply module is electrically connected to the conductive guide rail group through the sliding member, so that the power supply module supplies power to the actuator. The actuator in the embodiment of the present application does not need to be connected to a cable or a drag chain, but only needs to be powered by the conductive guide rail group, and the conductive guide rail group transmits electrical energy to the power supply module through the sliding member, so that the power supply module can more conveniently provide electrical energy to the actuator.

The beneficial effects of the embodiments of the present application are as follows: the actuator in the embodiments of the present application does not need to be connected to cables or drag chains, but only needs to be powered by the conductive guide rail group, and the conductive guide rail group transmits the electrical energy to the power supply module through the sliding part, so that the power supply module can more conveniently provide electrical energy to the actuator; and the installation of the track mechanism is not restricted by power supply equipment (such as cables or drag chains), which also makes the installation of the conveying device more convenient.

In some embodiments of the present application, the actuator includes: a moving part, which is slidably connected to the slide rail, and the moving part has a bearing surface; and an actuator, which is arranged on the bearing surface; wherein the moving part is used to drive the actuator to move along the slide rail. The movement of the moving part can drive the actuator to move on the slide rail, thereby changing the position of the actuator, so as to facilitate the moving operation of the actuator.

In some embodiments of the present application, the power supply module includes: a first transformer, which is electrically connected to the sliding part, the moving part and the executing part, and the first transformer is used to change the voltage to adapt to the preset working voltage of the moving part and the executing part.

In some embodiments of the present application, the actuator includes an armature winding, which is electrically connected to the first transformer; the slide rail includes a magnet array, which is arranged along the extension direction of the slide rail, and the magnet array and the armature winding drive the actuator to move along the extension direction of the slide rail by current excitation; or, the slide rail includes an armature winding, which is arranged along the extension direction of the slide rail, and the actuator includes a magnet array, and the magnet array and the armature winding drive the actuator to move along the extension direction of the slide rail by current excitation. The armature winding is connected to a power source, or the first transformer energizes the armature winding, and the armature winding is energized and coupled with the magnet array under the action of current excitation to generate a driving force, thereby driving the entire actuator to move along the extension direction of the drive track.

In some embodiments of the present application, there are multiple sliding members, and the multiple sliding members are arranged at intervals on the conductive rail group, and the power supply mechanism further includes: an insulating shell, which is arranged to cover the sliding member and the power supply module, and the insulating shell is located on the side of the sliding member and the power supply module away from the conductive rail group; a tensioning device, which is arranged between the insulating shell and the sliding member, or, between two sliding members. The embodiments of the present application prevent the sliding member and the power supply module from leaking electricity during use by setting an insulating shell, thereby ensuring the safety of electricity use for users.

In some embodiments of the present application, the power supply mechanism further includes a conductive member, and the sliding member is electrically connected to the power supply module through the conductive member; a tensioning device is arranged between the insulating shell and the sliding member, and the tensioning device includes an elastic member and a guide rod, wherein: one end of the elastic member contacts the conductive member, and the other end of the elastic member contacts the insulating shell, and the elastic member is used to provide the sliding member with an elastic force perpendicular to the conductive guide rail group; the guide rod is arranged between the conductive member and the insulating shell, and extends along the elastic expansion direction of the elastic member, and the elastic member is sleeved on the guide rod. The elastic member can make the conductive member press the sliding member more tightly, and the sliding member abuts against the conductive guide rail group, thereby ensuring the stability of the contact between the sliding member and the conductive guide rail group; the guide rod can play a guiding role for the elastic member, preventing the elastic member from shifting in other directions when compression deformation occurs.

In some embodiments of the present application, the conductive rail group includes multiple groups, and the multiple conductive rail groups are used to pass different voltages, and each conductive rail group includes a positive rail and a negative rail, and the positive rail is electrically connected to the negative rail. Different voltages can be connected to the positive rail and the negative rail.

In some embodiments of the present application, the conductive rail assembly includes a copper rail, and the sliding member includes a copper roller. Copper material has good electrical conductivity, long service life, and low cost. Compared with the busbar in the related art, the use of copper rails and copper rollers can have a lower installation cost.

In some embodiments of the present application, the base has a first accommodating cavity and an opening, the opening is arranged between the conductive guide rail group, the first accommodating cavity is connected to the atmosphere through the opening, and the track mechanism further includes: an air extraction device, arranged in the first accommodating cavity, the air extraction device has an air extraction port, and the air extraction port is arranged toward the opening. In the embodiments of the present application, the air extraction device is arranged to absorb dust generated by friction, thereby preventing dust accumulation from adversely affecting the conductive performance of the sliding member or the conductive guide rail group.

In some embodiments of the present application, the conveying device includes multiple actuators and multiple power supply mechanisms, the multiple actuators are connected to the multiple power supply mechanisms in a one-to-one correspondence, and the multiple actuators are arranged on the slide rail. In this embodiment, multiple actuators and multiple power supply mechanisms are arranged, so that on the track mechanism, each actuator moves independently of all other actuators, and multiple actuators can simultaneously perform material transportation or movement operations, thereby improving the working efficiency of the actuators in the conveying device.

In some embodiments of the present application, the slide rail includes a driving rail, and the driving rail and the base are jointly arranged to form a second accommodating cavity, and the conductive guide rail group and the sliding member are both arranged in the second accommodating cavity. The conductive guide rail group and the sliding member of the embodiment of the present application can be arranged at any position in the second accommodating cavity, which can not only make the use of the conductive guide rail group and the sliding member safer, but also make full use of the installation space in the second accommodating cavity, thereby reducing the overall volume of the conveying device and reducing the overall occupied space of the conveying device.

The beneficial effects of the embodiments of the present application are as follows: the conductive rail group and the sliding member of the embodiments of the present application can be arranged at any position in the second accommodating chamber, which can not only make the use of the conductive rail group and the sliding member safer, but also make full use of the installation space in the second accommodating chamber, thereby reducing the overall volume of the conveying device and reducing the overall occupied space of the conveying device. In addition, the actuator in the embodiments of the present application does not need to be connected to a cable or a drag chain, but only needs to supply power to the conductive rail group and the sliding member, and the conductive rail group and the sliding member transmit the electrical energy to the actuator, so that the actuator can operate normally. At the same time, the installation of the track mechanism is not restricted by the power supply equipment (such as cables or drag chains), which also makes the installation of the conveying device more convenient.

In some embodiments of the present application, the base has a receiving groove, and the side of the base facing the actuator has a notch, and the drive track is arranged at the notch to form a second receiving cavity with the base. The drive track is arranged at the notch, so that the conductive guide rail group and the sliding member are surrounded by the base and the drive track, leaving only a gap for the actuator to be electrically connected to the power supply mechanism, so as to prevent the actuator and the power supply mechanism from leaking electricity during use, thereby ensuring the user's power safety.

In some embodiments of the present application, the conveying device further includes: a controller, which is disposed on the actuator and electrically connected to the actuator, and the controller is used to control the actuator to realize different functions.

In some embodiments of the present application, the controller has more than three antennas, which are used to receive signals of different frequencies, and the receiving frequency bands of the more than three antennas overlap each other.

In some embodiments of the present application, a battery module is disposed inside the controller, and the battery module is electrically connected to the actuator and is used to supply power to the actuator.

In some embodiments of the present application, the battery module includes a capacitor and/or a removable battery.

In some embodiments of the present application, the controller includes a data processing module and an I/O module, the data processing module includes an RF radio frequency module, and the I/O module is used to electrically connect to an industrial field bus.

In some embodiments of the present application, the power supply module also includes: a second transformer, which is arranged on the actuator and is electrically connected to the controller and the actuator, and the second transformer is used to change the voltage to adapt to the preset working voltage of the actuator; wherein the controller is also used to control the second transformer to transform the transmission voltage of the actuator.

In some embodiments of the present application, the controller includes a communication module, which is used to establish a signal connection with the user terminal to receive operation instructions issued by the user terminal; and/or the conveying device also includes a delay circuit, which is electrically connected to the controller, and the delay circuit is used to control the opening and closing of the controller after the delay circuit delays for a first preset time, so that the user can control the start or closing of the controller through external remote control.

In some embodiments of the present application, the slide rail further includes: a guide rail, which is arranged on the base, the guide rail and the driving rail are arranged at intervals, and the actuator is slidably connected to the guide rail along the extension direction of the guide rail. The guide rail plays a role of supporting and guiding the movement of the actuator, so that the actuator remains stable during operation.

In some embodiments of the present application, there are two guide rails, which are located on opposite sides of the driving rail, and the actuator is mounted on the two guide rails, so that the actuator is more stable during operation.

In some embodiments of the present application, the conveying device also includes a sheath mounted on the conductive guide rail group, the sliding member includes a current receiver, the current receiver is driven by the actuator and runs within the conductive guide rail group, the conductive guide rail group, the sheath and the sliding member constitute a busbar, and the busbar can be used to power mobile equipment on the conveyor line.

In some embodiments of the present application, the track mechanism includes a first track mechanism and a second track mechanism that are spaced apart and a docking module connected between the first track mechanism and the second track mechanism. The actuator moves from the first track mechanism to the second track mechanism or from the second track mechanism to the first track mechanism through the docking module.

In some embodiments of the present application, the execution part includes a vacuum valve, a tray, a suction nozzle and a fluid tube, the vacuum valve is arranged on the carrying surface, the first end of the tray is arranged on the carrying surface, the second end of the tray extends in a direction away from the vacuum valve and protrudes from the carrying surface, a vacuum flow channel is provided in the tray, the fluid tube is connected between the vacuum valve and the first end of the vacuum flow channel, and the suction nozzle is connected to the tray and communicated with the second end of the vacuum flow channel.

In some embodiments of the present application, the suction nozzle is arranged on the lower surface of the tray; or, the suction nozzle is arranged on the side of the tray.

In some embodiments of the present application, the conveying device also includes a controller, the vacuum valve includes a cylinder, and the controller is connected to the cylinder signal to control the movement of the cylinder; or, the vacuum valve includes an air pump and an air tank, the air tank is connected to the air pump, and the controller is connected to the air pump signal to control the movement of the air pump.

In some embodiments of the present application, the execution unit includes at least one of an encodable servo motor, a six-axis robot, and a three-degree-of-freedom rectangular coordinate robot.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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.

FIG1 is a schematic structural diagram of a conveying device in a first embodiment of the present application;

FIG2 is a schematic structural diagram of a slide rail, an actuator, and a power supply mechanism in the first embodiment of the present application;

FIG3 is a schematic cross-sectional view of the power supply mechanism in the first embodiment of the present application;

FIG4 is a schematic structural diagram of a power supply mechanism in a second embodiment of the present application;

FIG5 is a schematic structural diagram of a conveying device in a third embodiment of the present application;

FIG6 is an enlarged schematic diagram of the structure at B in FIG5 ;

FIG7 is a partial structural diagram of an execution unit in a third embodiment of the present application;

FIG8 is a schematic diagram of the structure of a conveying device in a fourth embodiment of the present application from a first viewing angle;

FIG9 is a schematic diagram of the structure of the conveying device in the fourth embodiment of the present application from a second viewing angle;

FIG10 is an enlarged schematic diagram of the structure at A in FIG9 ;

FIG. 11 is a schematic diagram of the circuit structure of a user terminal in the fourth embodiment of the present application.

Reference numerals:
1. Conveying device; 10. Track mechanism; 101. First track mechanism; 102. Second track mechanism; 103. Docking module; 11. Base; 111. Heat dissipation port; 12. Slide rail; 121. Drive rail; 122. Guide rail; 1221. First guide rail; 1222. Second guide rail; 123. Armature winding; 13. Conductive guide rail group; 13 _a , positive electric rail; 13b, negative electric rail; 131, current-carrying wire; 132, first accommodating chamber; 133, opening; 134, second accommodating chamber; 14, sheath; 20, actuator; 21, moving part; 211, bearing surface; 22, actuator; 221, vacuum valve; 222, tray; 2221, vacuum flow channel; 223, nozzle; 23, conductive member; 24, magnet array; 30, power supply mechanism; 30a, busbar; 31, sliding member; 32, power supply module; 321, wire; 33, insulating shell; 34, conductive member; 35, elastic member; 36, guide rod; 361, nut; 37, tensioning device; 38, current-carrying wire; 40, controller; 41, communication module; 50, second transformer; 60, delay circuit; 61, switch; 62, delay relay; 63, connecting part; L, extension direction.

Detailed ways

In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

1 to 3 are schematic diagrams showing the structure of a conveying device in a first embodiment of the present application; FIG. 4 is a schematic diagram showing a partial structure of a conveying device in a second embodiment of the present application.

For long-distance conveyor lines, power is supplied to processing equipment on the conveyor lines via cables or drag chains, which can easily lead to problems such as loose cable connections and cable entanglement during transportation.

In view of the above situation, referring to FIG. 1 and FIG. 2, the present application proposes a conveying device 1, including a track mechanism 10, an actuator 20 and a power supply mechanism 30. The track mechanism 10 includes a base 11, a slide rail 12 and a conductive guide rail group 13. The slide rail 12 and the conductive guide rail group 13 are connected to each other. The electric rail groups 13 are parallel and are all arranged on the base 11. The electric rail groups 13 are used to be electrically connected to a power source, which may be a power grid or a power storage device, etc. The conveying device 1 of the embodiment of the present application is provided with a power supply mechanism 30 to at least supply power to the actuator 20, so that the actuator 20 can obtain power without an external long drag chain.

Specifically, the base 11, as the basic structure of the conveying device 1, can be used to provide a foundation for the slide rail 12 and the conductive guide rail group 13. Among them, the slide rail 12 can be set on the top of the base 11 or on the side of the base 11. Similarly, the conductive guide rail group 13 can be set on the top of the base 11 or on the side of the base 11. The slide rail 12 and the conductive guide rail group 13 can be set on the same side of the base 11 or on different sides of the base 11. The embodiment of the present application does not limit this. The conductive guide rail group 13 can be provided with a power-carrying wire 131, and the power-carrying wire 131 is energized to make the conductive guide rail group 13 charged. In addition, as shown in Figure 1, the slide rail 12 is parallel to the conductive guide rail group 13, so the extension direction L of the slide rail 12 is the same as the extension direction L of the conductive guide rail group 13.

It is understandable that the present embodiment does not limit the material of the base 11, and the base 11 may be made of square steel, plastic, cast iron, etc. Furthermore, since the conductive rail set 13 may be electrically provided on the base 11, in order to prevent the conductive rail set 13 from leaking electricity, an insulating structure should be provided between the conductive rail set 13 and the base 11 to prevent the base 11 from being electrically provided and causing negative impacts on operators or other components.

The actuator 20 is slidably connected to the slide rail 12 along an extension direction L of the slide rail 12 , and the actuator 20 can move on the slide rail 12 .

The power supply mechanism 30 includes a sliding member 31 and a power supply module 32. The sliding member 31 is electrically connected to the power supply module 32 and is slidingly connected to the conductive guide rail group 13 along the extension direction L of the conductive guide rail group 13. The power supply module 32 is installed on the sliding member 31 or the actuator 20, and the power supply module 32 is electrically connected to the actuator 20. The power supply module 32 is electrically connected to the conductive guide rail group 13 through the sliding member 31, so that the power supply module 32 supplies power to the actuator 20.

Specifically, in order to make the sliding member 31 form an electrical connection by contacting with the conductive rail group 13, the sliding member 31 can be made of a conductive material. For example, the materials for preparing the sliding member 31 and the conductive rail group 13 can be copper, gold plating, alloy, aluminum and other materials, which are not limited in the embodiment of the present application. The conductive rail group 13 can be exposed outside the base 11, or it can be surrounded by the base 11, leaving only two gaps to electrically connect with the sliding member 31. It can be understood that the present embodiment does not limit the specific connection relationship between the sliding member 31 and the conductive rail group 13. The sliding member 31 can be connected to the conductive rail group 13 by sliding, or it can be connected to the conductive rail group 13 by rolling.

It should be noted that, as shown in FIG1 , the power supply module 32 can be electrically connected to the actuator 20 through the wire 321, and the power-on wire 131 is energized. Because the power-on wire 131 is electrically connected to the conductive rail group 13, the conductive rail group 13 is energized; the power supply module 32 is electrically connected to the conductive rail group 13 through the sliding member 31, so the electricity of the conductive rail group 13 can be transmitted to the power supply module 32 via the sliding member 31, and the power supply module 32 supplies electricity to the actuator 20 through the wire 321, so that the actuator 20 can move on the slide rail 12 or clamp and install the workpiece. The actuator 20 in the embodiment of the present application does not need to be connected to a cable or a drag chain, but only needs to be powered by the conductive rail group 13, and the conductive rail group 13 transmits the electric energy to the power supply module 32 through the sliding member 31, so that the power supply module 32 can more conveniently provide electric energy to the actuator 20. At the same time, the installation of the track mechanism 10 can be free from the restrictions of power supply equipment (such as cables or drag chains), which also makes the installation of the conveying device 1 more convenient.

Among them, the embodiment of the present application does not limit the voltage value on the conductive rail group 13. For example, the conveying device 1 is in an open environment, and the voltage passed into the power conductor 131 can be 24V-36V to ensure the user's power safety during use; for example, the conveying device 1 is in a closed environment, an electrically insulating or electrically shielded environment, and the voltage passed into the power conductor 131 can also be 48V or 80V, etc.

It should also be noted that the embodiment of the present application does not limit the transmission method between the actuator 20 and the slide rail 12. For example, the actuator 20 may include a motor, and the motor is powered by the power supply module 32, so that the motor can be driven to drive the actuator 20 to move along the slide rail 12; for another example, the actuator 20 may also include a coil winding, and the slide rail 12 includes a magnet. The power supply module 32 powers the coil winding, so that current excitation is generated between the magnet and the coil winding, thereby driving the actuator 20 to move along the slide rail 12.

Furthermore, in some embodiments of the present application, the conductive guide rail set 13 includes copper guide rails, and the sliding member 31 includes a copper roller.

It is understandable that copper material has good electrical conductivity, long service life and low cost, and the use of copper rails and copper rollers can have lower installation costs. In addition, the sliding member 31 is slidably connected with the conductive rail group 13 along the extension direction L of the conductive rail group 13. When the sliding member 31 is a roller, when the roller moves on the conductive rail group 13, there is rolling friction with the conductive rail group 13, and the friction resistance between the roller and the conductive rail group 13 is small, thereby making the power supply mechanism 30 move more smoothly on the conductive rail group 13, and the friction resistance also causes less damage to the sliding member 31, so that the service life of the sliding member 31 is longer.

Please continue to refer to Figures 1 to 2. In some embodiments of the present application, the actuator 20 includes a moving part 21 and an executing part 22. The moving part 21 is slidably connected to the slide rail 12, and the moving part 21 has a bearing surface 211; the executing part 22 is arranged on the bearing surface 211; wherein the moving part 21 is used to drive the executing part 22 to move along the slide rail 12.

It should be noted that the moving part 21, as a moving part in the actuator 20, is used for sliding connection with the slide rail 12. The present embodiment does not limit the specific connection method of the sliding connection between the moving part 21 and the slide rail 12. For example, the moving part 21 may have a slider, and the movement of the slider on the slide rail 12 is achieved through friction lubrication between the slider and the slide rail 12; for another example, the moving part 21 may have a pulley, and two pulleys are provided on both sides of the slide rail 12 to achieve movement on the slide rail 12; for another example, the moving part 21 may have a ball slider, and the balls in the ball slider roll with the slide rail 12 to achieve movement on the slide rail 12. The actuator 22 is fixedly connected to the moving part 21, so the movement of the moving part 21 can drive the actuator 22 to move on the slide rail 12, thereby changing the position of the actuator 22, so that the actuator 22 can move. Specifically, the power supply module 32 can supply electric energy to the moving part 21 so that the moving part 21 moves along the slide rail 12; or, the power supply module 32 can also supply electric energy to the execution part 22 so that the execution part 22 operates the workpiece.

It should also be noted that the bearing surface 211 can be set on the top of the moving part 21 or on the side of the moving part 21; the execution part 22 can be various actuators, such as robots, processing equipment, manipulators, cylinders, vacuum suction cups, stepper motors, linear motors, etc.; the execution part 22 can also be various detectors, such as photoelectric sensors, infrared sensors, ultrasonic sensors, capacitive sensors, magnetic sensors, visual sensors, etc., and the embodiments of the present application do not make specific limitations on this.

Please refer to FIG. 1. In some embodiments of the present application, the base 11 has a first accommodating cavity 132 and an opening 133. The opening 133 is arranged between the conductive rail group 13. The first accommodating cavity 132 is connected to the atmosphere through the opening 133. The track mechanism 10 also includes a pump. The air extraction device (not shown in the figure) is arranged in the first accommodating chamber 132, and the air extraction device has an air extraction port, which is arranged toward the opening 133.

It can be understood that when the sliding member 31 moves on the conductive guide rail group 13, friction will be generated between the sliding member 31 and the conductive guide rail group 13. Since friction will generate dust, the embodiment of the present application provides an exhaust device to absorb the dust generated by friction, thereby preventing dust accumulation from adversely affecting the conductive performance of the sliding member 31 or the conductive guide rail group 13.

Please refer to Figures 2 to 3. In some embodiments of the present application, the power supply module 32 also includes a first transformer (not shown in the figures), which is electrically connected to the sliding member 31, the moving part 21 and the executing part 22. The first transformer is used to change the voltage to adapt to the preset working voltage of the moving part 21 and the executing part 22.

It is understandable that the working voltages of the mobile part 21 and the execution part 22 can be the same voltage value or different voltage values. In the embodiment of the present application, the first transformer is provided so that the voltage of the power supply module 32 can be changed by the first transformer to adapt to different mobile parts 21 and execution parts 22. For example, the preset working voltage of the mobile part 21 and the execution part 22 is 36V, and the voltage output by the power supply module 32 is 24V. Then, the first transformer can increase the voltage output by the power supply module 32 to 36V, and then transmit it to the mobile part 21 and the execution part 22, so that the mobile part 21 and the execution part 22 can work normally.

In some embodiments of the present application, the actuator 20 includes an armature winding (not shown in the figure), which is electrically connected to the first transformer; the slide rail 12 includes a magnet array (not shown in the figure), which is arranged along the extension direction L of the slide rail 12, and the magnet array and the armature winding drive the actuator 20 to move along the extension direction L of the slide rail 12 by current excitation.

Of course, in an embodiment not shown in the figure, an armature winding may be provided on the slide rail and a magnet array may be provided on the actuator. Specifically, the slide rail includes an armature winding, which is provided along the extension direction of the slide rail, and the actuator includes a magnet array, which drives the actuator to move along the extension direction of the slide rail by means of current excitation with the armature winding.

It can be understood that the magnet array is coupled with the armature winding and generates a driving force under the excitation current of the armature winding, thereby driving the entire actuator 20 to move along the extension direction L of the slide rail 12. The power supply mechanism 30 can supply alternating current to the armature winding through the first transformer, so that the current supplied to the armature winding can generate current excitation.

Please refer to Figures 2 to 3. In some embodiments of the present application, the sliding member includes multiple sliding members 31, and the multiple sliding members 31 are arranged at intervals on the conductive guide rail group 13. The power supply mechanism 30 also includes an insulating shell 33 and a tensioning device 37. The insulating shell 33 covers the sliding member 31 and the power supply module 32, and the insulating shell 33 is located on the side of the sliding member 31 and the power supply module 32 away from the conductive guide rail group 13; the tensioning device 37 is arranged between the insulating shell 33 and the sliding member 31, or the tensioning device 37 is arranged between the two sliding members 31.

It is understandable that during the use of the conveying device 1, the sliding member 31 and the power supply module 32 in the power supply mechanism 30 are always in a charged state. The embodiment of the present application sets an insulating shell 33 to prevent the sliding member 31 and the power supply module 32 from leaking electricity during use, thereby ensuring the safety of the user's electricity use. In addition, the insulating shell 33 can also block some dust in the external environment to prevent long-term dust accumulation from having an adverse effect on the sliding member 31 or the power supply module 32. As shown in Figures 1 to 2, taking the conductive rail group 13 including a positive rail 13a and a negative rail 13b as an example, the positive rail 13a can be Alternatively, multiple sliding members 31 are arranged at intervals on the negative electric rail 13b. Of course, sliding members 31 can also be arranged on the positive electric rail 13a and the negative electric rail 13b respectively. The specific installation positions of the multiple sliding members 31 are not limited here.

Further, please refer to Figure 3. Taking the tensioning device 37 (including an elastic member 35 and a guide rod 36) arranged between the insulating shell 33 and the sliding member 31 as an example, in some embodiments of the present application, the power supply mechanism 30 also includes a conductive member 34, an elastic member 35 and a guide rod 36. The sliding member 31 is electrically connected to the power supply module 32 through the conductive member 34; one end of the elastic member 35 is in contact with the conductive member 34, and the other end of the elastic member 35 is in contact with the insulating shell 33. The elastic member 35 is used to provide the sliding member 31 with an elastic force in a direction perpendicular to the conductive guide rail group 13.

It should be noted that the sliding member 31 conducts electricity by contacting the conductive rail group 13, and transmits the electric energy to the power supply module 32 through the conductive member 34; when the sliding member 31 needs to contact the conductive rail group 13 for electricity, the elastic member 35 between the conductive member 34 and the insulating shell 33 is in a compressed state, and the elastic member 35 exerts a force on both the conductive member 34 and the insulating shell 33, so that the conductive member 34 can press the sliding member 31 more tightly, and because the sliding member 31 abuts against the conductive rail group 13, the stability of the contact between the sliding member 31 and the conductive rail group 13 is ensured, thereby preventing the timed power failure caused by poor contact, and also making the conduction of the sliding member 31 more stable. Among them, the embodiment of the present application does not limit the specific type of the elastic member 35, for example, the elastic member 35 can be a spring, a spring or a spring tube, etc.

The guide rod 36 is disposed between the conductive member 34 and the insulating housing 33 and extends along the elastic expansion and contraction direction of the elastic member 35 . The elastic member 35 is sleeved on the guide rod 36 .

It should also be noted that when the sliding member 31 abuts against the conductive guide rail group 13, the elastic member 35 is compressed and deformed. In order to avoid the displacement of the moving direction and position of the elastic member 35, as shown in Figure 3, the embodiment of the present application sets a guide rod 36 between the conductive member 34 and the insulating shell 33, and the guide rod 36 can be slidably connected with the conductive member 34. For example, when the elastic member 35 is in an uncompressed state, the nut 361 is sleeved on the guide rod 36 to fix the guide rod 36 and the conductive member 34. When the elastic member 35 is compressed and deformed, the guide rod 36 and the conductive member 34 move relative to each other; at the same time, the elastic member 35 is sleeved on the guide rod 36, so that the elastic member 35 can only be telescopically moved along the direction of the guide rod 36, thereby preventing the elastic member 35 from being offset in other directions. Taking the case where the elastic member 35 changes from an uncompressed state to a compressed state as an example, at this time, the guide rod 36 is slidably connected to the conductive member 34, the guide rod 36 moves relative to the conductive member 34, the elastic member 35 is compressed, and the elastic force of the elastic member 35 is applied to the sliding member 31 to press the sliding member 31 against the conductive guide rail assembly 13. The present embodiment of the application does not limit the material of the guide rod 36, for example, the guide rod 36 may be made of metal, wood, or hard plastic.

The above description is about the movement of the power supply mechanism 30 on the straight-line slide rail 12 and the conductive guide rail set 13 . Furthermore, in some embodiments, when the slide rail 12 and the conductive guide rail group 13 have both straight segments and arc segments, and when the power supply mechanism 30 runs to the arc segment, in some embodiments, when the power supply mechanism 30 is located at the inner arc of the arc segment, the elastic member 35 is further compressed, thereby making the slide member 31 and the conductive guide rail group 13 have a tighter fit effect; and since the number of slide members 31 in the present application is multiple, there are always some slide members 31 that can still contact with the conductive guide rail group 13 to supply power to the actuator 20, so as to ensure the stability of the power supply of the actuator 20 by the power supply mechanism 30; it can be understood that the elastic members 35 in the embodiments of the present application are independent of each other, and when the slide member 31 moves in arc segments at different curvatures, the compression movements of the elastic members 35 do not interfere with each other, that is, different elastic members 35 can have different compression lengths, so that the slide members 31 located at different positions can have a better contact effect with the conductive guide rail group 13.

In some embodiments, when the power supply mechanism 30 is located at the outer arc of the arc segment, the elastic member 35 in the compressed state is appropriately relaxed, that is, the elastic potential energy of the elastic member 35 is reduced, and the elastic member 35 located at the arc segment has a longer length than the elastic member 35 located at the straight segment, thereby ensuring that the sliding member 31 and the conductive guide rail group 13 still have a relatively stable contact relationship, thereby ensuring the stability of the power supply of the power supply mechanism 30 to the actuator 20. And since there are multiple sliding members 31 in the present application, when the elastic member 35 cannot support some sliding members 31 to contact with the conductive guide rail group 13, some sliding members 31 can still contact with the conductive guide rail group 13 to supply power to the actuator 20, so as to ensure the stability of the power supply of the actuator 20 by the power supply mechanism 30; it can be understood that the elastic members 35 in the embodiment of the present application are independent of each other, and when the sliding member 31 moves in arc segments at different curvatures, the expansion and contraction movements of each elastic member 35 do not interfere with each other, that is, different elastic members 35 can have different compression lengths, so that the sliding members 31 located at different positions can have a better contact effect with the conductive guide rail group 13.

Please refer to FIG. 4 , taking the tensioning device 37 disposed between the two sliding members 31 as an example, in some embodiments, the elastic member 35 is disposed between the two sliding members 31 on the same conductive rail group to ensure the relative stability of the distance between the two sliding members 31. It can be understood that when the slide rail 12 and the conductive rail group 13 have both straight segments and arc segments, taking the movement of the sliding member 31 on the straight segment as an example: when the sliding member 31 is disposed on the straight segment, the elastic member 35 between the two sliding members 31 is in a stretched state, and the tension of the elastic member 35 acting on the sliding member 31 makes the sliding member 31 have a component force perpendicular to the conductive rail group 13 and toward the conductive rail group 13, that is, the elastic member 35 in a stretched state is disposed between the two sliding members 31, thereby making the sliding member 31 and the conductive rail group 13 have a closer arrangement relationship, thereby making the sliding member 31 more stable to supply power to the actuator 20. When the sliding member 31 moves on the arc segment, the elastic member 35 between the two sliding members 31 is still in a stretched state, so that the sliding member 31 can supply power to the actuator 20 more stably.

In some embodiments, the conductive member 34 is rotatably connected to a part of the power supply module 32 to change the setting position of the sliding member 31, so that the sliding member 31 always maintains a close contact relationship with the conductive guide rail group 13, thereby ensuring the stability of the power supply mechanism 30 supplying power to the actuator 20. This embodiment does not limit the rotational connection structure between the conductive member 34 and the power supply module 32. For example, the power supply module 32 is provided with a protruding shaft, and the conductive member 34 has a rotation hole. The rotation of the conductive member 34 relative to the power supply module 32 is achieved by the cooperation between the shaft and the wall of the rotation hole; for another example, the power supply module 32 and the conductive member 34 are connected through a cross torsion spring flexible bearing, one bearing seat of the flexible bearing is fixedly connected to the conductive member 34, and the other bearing seat of the flexible bearing is fixedly connected to the power supply module 32. With the relative rotation between the conductive member 34 and the power supply module 32, the torsion spring torque in the flexible bearing increases, thereby preventing the relative rotation of the conductive member 34 relative to the power supply module 32; further, it can be understood that the setting of the flexible bearing can constrain the sliding member 31. When the sliding member 31 is set on the conductive rail group 13, the torsion spring in the flexible bearing is in a twisted state, so that the sliding member 31 can be more closely set on the conductive rail group 13, ensuring the stability of the power supply from the power supply mechanism 30 to the actuator 20; further, when the sliding member 31 moves on the inner ring of the arc segment, the torsion spring in the flexible bearing is further twisted, so that the sliding member 31 still has a stable contact relationship with the conductive rail group 13; when the sliding member 31 moves on the outer ring of the arc segment, the torsion spring torque in the flexible bearing is reduced, so that the sliding member 31 can slightly change the setting position relative to the power supply module 32, but the torsion spring in the flexible bearing still has torque to ensure that the sliding member 31 has a stable contact relationship with the conductive rail group 13. Furthermore, by replacing the torsion springs with different torsion forces, the flexible bearing can be applied to arc segments with different curvatures.

In some embodiments of the present application, the conductive rail group 13 includes multiple groups, each conductive rail group 13 is used to pass different voltages, and each conductive rail group 13 includes a positive rail 13a and a negative rail 13b, and the positive rail 13a is electrically connected to the negative rail 13b.

It can be understood that, as shown in Figure 1, the positive rail 13a is electrically connected to the negative rail 13b, so that each group of conductive rail groups 13 forms a closed loop, and the conductive rail group 13 is powered on. The positive rail 13a and the negative rail 13b are used to access different voltages. For example, the positive rail 13a can be used to pass positive electricity, and the negative rail 13b can be used to pass negative electricity. The power supply module 32 obtains electrical energy from the conductive rail group 13 through the sliding member 31, thereby driving the actuator 20 to move.

Among them, multiple groups of conductive rail groups 13 are used to pass different voltages. For example, the conductive rail groups 13 can be two groups, one group is a low-voltage rail group, and one group is a high-voltage rail group; the conductive rail groups 13 can also be three groups, one group is a low-voltage rail group, one group is a medium-voltage rail group, and one group is a high-voltage rail group; of course, the conductive rail groups 13 can also be four groups, five groups or more groups, and the embodiments of the present application do not make specific limitations on this.

In some embodiments of the present application, the conveying device 1 includes a plurality of actuators 20 and a plurality of power supply mechanisms 30 , the plurality of actuators 20 are connected to the plurality of power supply mechanisms 30 in a one-to-one correspondence, and the plurality of actuators 20 are disposed on the slide rail 12 .

It should be noted that, in order to improve the working efficiency of the actuator 20 in the conveying device 1, the present embodiment is provided with a plurality of actuators 20 and a plurality of power supply mechanisms 30, so that on the track mechanism 10, each actuator 20 moves independently of all other actuators 20, and a plurality of actuators 20 can simultaneously perform material transportation or moving operations. Among them, the embodiment of the present application does not specifically limit the length of the track mechanism 10 in the conveying device 1, and the length of the track mechanism 10 can be 20 meters, 30 meters or 40 meters, etc., and can be installed according to actual conditions.

5 to 7 are schematic diagrams showing the structure of a conveying device in a third embodiment of the present application.

As shown in FIG5 , the track mechanism 10 includes a first track mechanism 101 and a second track mechanism 102 that are spaced apart and a docking module 103 connected between the first track mechanism 101 and the second track mechanism 102. The actuator 20 moves from the first track mechanism 101 to the second track mechanism 102 or from the second track mechanism 102 to the first track mechanism 101 through the docking module 103. By providing the docking module 103 between the first track mechanism 101 and the second track mechanism 102, it is convenient for the actuator 20 to move between the first track mechanism 101 and the second track mechanism 102.

As shown in FIGS. 5 to 7 , the actuator 22 includes a vacuum valve 221, a tray 222, a suction nozzle 223 and a fluid pipe. The vacuum valve 221 is arranged on the carrying surface 211. The first end of the tray 222 is arranged on the carrying surface 211. The second end of the tray 222 extends in a direction away from the vacuum valve 221 and protrudes from the carrying surface 211. The tray 222 has a vacuum channel 2221. The fluid pipe is connected between the vacuum valve 221 and the first end of the vacuum channel 2221. The suction nozzle 223 is connected to the tray 222 and communicates with the second end of the vacuum channel 2221. After the vacuum valve 221 is powered on, the vacuum operation is realized, and the suction nozzle 223 has suction through the fluid pipe and the vacuum channel 2221, thereby achieving adsorption of the workpiece.

In this embodiment, the suction nozzle 223 is disposed on the lower surface of the tray 222 to suck the workpiece under the tray 222. Specifically, there are four suction nozzles 223, which are respectively disposed at the four corners of the tray 222. Of course, in other feasible embodiments, the number of suction nozzles can be set as needed.

In another embodiment, the suction nozzle may also be disposed on the side of the tray to achieve suction of the workpiece located on the side of the tray.

Specifically, the vacuum valve includes a cylinder, which can be connected to the cylinder signal through a controller to control the movement of the cylinder; or, the vacuum valve includes an air pump and an air tank, the air tank is used to store gas or to apply negative pressure, the air tank is connected to the air pump, and can be connected to the air pump signal through a controller to control the movement of the air pump.

Of course, as shown in Fig. 5, the execution unit 22 may also include at least one of an encodeable servo motor, a six-axis robot, and a three-degree-of-freedom rectangular coordinate robot. Among them, the encodeable servo motor, the six-axis robot, and the three-degree-of-freedom rectangular coordinate robot (using a linear motor to achieve movement in the three directions of X, Y, and Z) are all existing devices, and can be selected as needed during specific implementation.

8 to 11 are schematic diagrams showing the structure of a conveying device in a fourth embodiment of the present application.

For long-distance conveyor lines, installing cables or drag chains on the conveyor lines will increase the overall volume of the conveyor lines. In actual application scenarios, installing cables or drag chains on conveyor lines is prone to problems such as loose cable connections and cable entanglement during long-distance transportation, making the power supply unsafe.

Regarding the above situation, referring to FIGS. 8-9 , the conveying device 1 of the fourth embodiment includes a track mechanism 10 , an actuator 20 and a power supply mechanism 30 .

The track mechanism 10 includes a base 11 and a driving track 121. The driving track 121 is disposed on the base 11. The driving track 121 and the base 11 are together arranged to form a second accommodating cavity 134. Specifically, the base 11, as the basic structure of the conveying device 1, can be used to provide a foundation for the driving track 121. The driving track 121 can be disposed on the top of the base 11 or on the side of the base 11.

Along the extension direction L of the driving rail 121 , the actuator 20 is arranged in cooperation with the driving rail 121 to move along the extension direction L of the driving rail 121 .

Specifically, the actuator 20 may include a moving part 21 and an executing part 22. The moving part 21 may be used to move on the driving track 121. The executing part 22 is installed on the moving part 21, and the executing part 22 may perform operations such as clamping, packaging, and transportation. The movement of the moving part 21 on the driving track 121 may change the setting position of the moving part 21 on the driving track 121, thereby changing the setting position of the executing part 22 on the driving track 121, so that the executing part 22 may perform a moving operation, or the actuator 20 may operate at different positions of the workstation, thereby increasing the flexibility of the actuator 20.

The power supply mechanism 30 includes a sliding member 31 and a power supply module 32. The sliding member 31 is electrically connected to the power supply module 32 and is slidably connected to the conductive guide rail group 13 along the extension direction of the conductive guide rail group 13. The power supply module 32 is installed on the actuator 20 and is electrically connected to the actuator 20. The power supply module 32 is electrically connected to the conductive guide rail group 13 through the sliding member 31 so that the power supply module 32 supplies power to the actuator 20.

The sliding member 31 of the power supply mechanism 30 and the conductive rail group 13 of the track mechanism 10 are arranged in the second accommodating cavity 134, and the sliding member 31 is electrically connected to the actuator 20 through the power supply module 32, and the power supply mechanism 30 is electrically connected to the power supply through the conductive rail group 13 to supply power to the actuator 20. The embodiment of the present application does not limit the specific type of the power supply, and the power supply can be a direct power supply from the city, a power grid, a power generation device, or a power storage device, etc.

Specifically, the sliding member 31 and the conductive guide rail group 13 of the embodiment of the present application can be set at any position in the second accommodating cavity 134, which can not only make the use of the sliding member 31 and the conductive guide rail group 13 safer, but also make full use of the installation space in the second accommodating cavity 134, thereby reducing the overall volume of the conveying device 1 and reducing the overall occupied space of the conveying device 1.

Furthermore, the sliding member 31 and the conductive rail assembly 13 may also be arranged on the base 11 to ensure the stability of the arrangement of the sliding member 31 and the conductive rail assembly 13, thereby more stably supplying power to the actuator 20. It is understood that an insulating structure should be provided between the sliding member 31 and the conductive rail assembly 13 and the base 11 to prevent the sliding member 31 and the conductive rail assembly 13 from leaking electricity during operation.

It should be noted that, in some embodiments, as shown in FIG9 , the conveying device may further include a power-carrying wire 38, which is electrically connected to the conductive rail group 13, and the conductive rail group 13 is energized by supplying power to the power-carrying wire 38. As shown in FIG9 , the actuator 20 may include a conductive member 23, which is electrically connected to the conductive rail group 13; further, when the power-carrying wire 38 is energized, the current in the conductive rail group 13 is transmitted to the actuator 20 through the conductive member 23 (specifically, it is transmitted to the second transformer 50 through the conductive member 23, and then transmitted to the actuator 20 through the second transformer 50), thereby enabling the actuator 20 to operate normally without cables or drag chains; this process is to realize that the conductive rail group 13 supplies power to the actuator 20. Among them, the conductive rail group 13 may include a positive rail and a negative rail, the positive rail is connected to the positive pole of the power supply, and the negative rail is connected to the negative pole of the power supply, and the voltage value and the power type passed into the conductive rail group 13 are not limited. For example, 24V-80V direct current can be passed into the conductive rail group 13 to adapt to the rated voltage of the actuator 20, so that the actuator 20 can work normally.

Specifically, the conductive member 23 moves with the moving part 21 of the actuator 20, that is, the conductive member 23 moves on the conductive rail group 13, so that the conductive rail group 13 cooperates with the power supply mechanism 30 to provide uninterrupted power to the actuator 20. The actuator 20 in the embodiment of the present application does not need to be connected to a cable or a drag chain, but only needs to be powered by the conductive rail group 13, and the conductive rail group 13 cooperates with the power supply mechanism 30 to transmit the electric energy to the actuator 20, so that the actuator 20 can operate normally. At the same time, the installation of the track mechanism 10 is not restricted by the power supply equipment (such as cables or drag chains), which also makes the installation of the conveying device 1 more convenient and occupies a smaller installation space.

The embodiment of the present application does not limit the connection relationship between the conductive part 23 and the movable part 21. The conductive part 23 and the movable part 21 can be connected by welding, screwing, clamping, gluing, etc., and the specific material of the conductive part 23 is not limited in the present embodiment. The material of the conductive part 23 can be copper, aluminum, nickel, steel, etc.; in some embodiments, conductive elements such as wires, hard circuit boards, flexible circuit boards, etc. can also be provided in the conductive part 23. Such conductive elements can transfer electrical energy on the conductive guide rail group 13 to the actuator 20.

It should also be noted that the embodiment of the present application does not limit the transmission method between the actuator 20 and the track mechanism 10. For example, the actuator 20 may include a motor, and the motor is powered by the conductive guide rail group 13 and the power supply mechanism 30, so that the motor can be driven to drive the actuator 20 to move along the drive track 121; for another example, the track mechanism 10 may also include a three-phase coil winding, and the moving part 21 on the actuator 20 includes a magnet. The three-phase coil winding is energized so that current excitation is generated between the magnet and the coil winding, so that the actuator 20 can be driven to move along the drive track 121; for another example, the track mechanism 10 may also include a traveling wave magnetic field, and the moving part 21 on the actuator 20 includes a permanent magnet. The permanent magnet and the wave crest of the traveling wave magnetic field are mutually coupled, and the movement of the wave crest of the traveling wave magnetic field can generate electromagnetic thrust to drive the permanent magnet on the moving part 21 to move, thereby driving the actuator 20. Move along the driving track 121; at this time, the conductive rail group 13 cooperates with the power supply mechanism 30 to supply power to the actuator 22 on the actuator 20, so that the actuator 22 can also work normally.

Further, please refer to Figure 8. In some embodiments of the present application, the base 11 has a receiving groove (not shown in the figure), and the side of the base 11 facing the actuator 20 has a notch (not shown in the figure), and the drive rail 121 is arranged at the notch to form a second receiving cavity 134 together with the base 11.

It can be understood that the conductive rail group 13 and the sliding member 31 are arranged in the second accommodating cavity 134 formed by the base 11 and the driving rail 121, which can increase the space utilization rate to reduce the overall volume of the conveying device 1. Specifically, the accommodating groove is a semi-enclosed accommodating space, and the conductive rail group 13 and the sliding member 31 can be installed through the notch on the base 11. After the installation is completed, the driving rail 121 is arranged at the notch, so that the power supply mechanism 30 is surrounded by the base 11 and the driving rail 121, and only a gap is left between the base 11 and the driving rail 121 for the actuator 20 to be electrically connected with the conductive rail group 13 and the sliding member 31, so as to avoid the actuator 20 and the conductive rail group 13 and the sliding member 31 from contacting the user during use, thereby ensuring the user's electricity safety. In addition, the conductive rail group 13 and the sliding member 31 are arranged in the second accommodating cavity 134, which can also reduce the accumulation of dust and prevent the long-term accumulation of dust from having an adverse effect on the conductive properties of the actuator 20, the conductive rail group 13 and the sliding member 31.

Please continue to refer to FIG. 8 . In some embodiments of the present application, the conveying device 1 further includes a controller 40 . The controller 40 is disposed on the actuator 20 and is electrically connected to the actuator 20 . The controller 40 is used to control the actuator 20 to realize different functions.

It should be noted that the controller 40 can control the actuator 20 to work according to the set requirements. For example, the actuator 22 in the actuator 20 is a robot. During the movement of the actuator 20, the robot is in a retracted state to avoid collision with other objects during the movement. For example, when the actuator 20 moves to the workstation, the robot is in an extended state to facilitate processing of the workpiece located at the workstation.

In this embodiment, the controller 40 has more than three antennas, and the three or more antennas are used to receive different frequency signals, and the receiving frequency bands of the three or more antennas overlap each other. Specifically, the above-mentioned "the receiving frequency bands of the three or more antennas overlap each other" means that one of the antennas can also be used to receive the frequency signal of another antenna. In this way, when one of the antennas is damaged, the other antennas can also receive the corresponding signals to achieve communication stability.

Take the example of the controller 40 including three antennas (specifically the first antenna, the second antenna and the third antenna), wherein the first antenna can receive signals in the first frequency band and the second frequency band, the second antenna can receive signals in the second frequency band and the third frequency band, and the third antenna can receive signals in the third frequency band and the first frequency band. When the three antennas are working normally, the first antenna is responsible for receiving signals in the first frequency band, the second antenna is responsible for receiving signals in the second frequency band, and the third antenna is responsible for receiving signals in the third frequency band. When the first antenna is damaged, the third antenna can still receive signals in the first frequency band.

Of course, in another embodiment, the three antennas can also be configured to receive signals in the first frequency band, the second frequency band, and the third frequency band.

In this embodiment, a battery module is provided inside the controller 40, and the battery module is electrically connected to the actuator 20 and is used to power the actuator 20. Specifically, since the conductive rail group 13 and the sliding member 31 may be out of contact (for example, poor contact), the battery module is provided in the controller 40 to be able to be out of contact between the conductive rail group 13 and the sliding member 31. When the conductive rail group 13 is engaged, the actuator 22 is continuously powered to ensure the stability of the voltage output. At the same time, such a setting can also reduce the length of the conductive rail group 13. For example, the conductive rail group 13 is set to multiple sections. When the sliding member 31 moves to a position where the conductive rail group 13 is not set, the actuator 22 can be powered by the battery module. Since the setting cost of the conductive rail group 13 is relatively high, such a setting can reduce the overall length of the conductive rail group 13, thereby reducing the cost.

The battery module may include a capacitor, and long-term power supply can be achieved through charging and discharging of the capacitor.

Of course, the battery module may also include a detachable battery, and power supply and power supply stability can be improved by replacing the battery. A battery compartment may be provided on one side of the conveying device 1 to replace the battery at a fixed station, thereby improving the conveying stability of the conveying device.

In some embodiments of the present application, the controller 40 may include a data processing module and an I/O module. The data processing module includes an RF (Radio Frequency) module to achieve high-speed data transmission. The RF module can achieve high-speed data transmission through wireless 232 data communication, wireless 485/422 data communication, a small wireless data terminal, etc. The I/O module is used to electrically connect to the industrial field bus to achieve data input and output.

Further, please continue to refer to Figure 8. In some embodiments of the present application, the power supply module 32 includes a second transformer 50. The type of the second transformer 50 can be a rectifier, DC-DC and other components, which is not limited in this embodiment. The second transformer 50 is arranged on the actuator 20, and is electrically connected to the controller 40 and the actuator 20. The second transformer 50 is used to change the voltage to adapt to the preset working voltage of the actuator 20. In some embodiments, the controller 40 is used to control the second transformer 50 to transform the transmission voltage of the actuator 20, that is, the conductive rail group 13 supplies electric energy to the second transformer 50, the controller 40 detects the voltage of the second transformer 50, and controls the second transformer 50 to output different voltage values to supply different components; in other embodiments, the conductive rail group 13 supplies electric energy to the second transformer 50, and the second transformer 50 has an MCU control chip inside, and the MCU adjusts the second transformer 50 to transmit different voltage values to supply different components.

It should be noted that the working voltage of the actuator 20 and the voltage provided by the conductive rail group 13 and the power supply mechanism 30 can be the same voltage value or different voltage values. In the embodiment of the present application, the second transformer 50 is provided so that the voltage of the power supply mechanism 30 can be changed by the second transformer 50 to adapt to different types of actuators 20. For example, the preset working voltage of the actuator 20 is 36V, and the voltage provided by the conductive rail group 13 is 24V. The second transformer 50 can increase the voltage output by the conductive rail group 13 to 36V and then transmit it to the actuator 20, so that the actuator 20 can work normally.

Further, referring to FIG. 9 to FIG. 11 , in some embodiments of the present application, the controller 40 includes a communication module 41 , and the communication module 41 is used to establish a signal connection with a user terminal to receive an operation instruction issued by the user terminal.

It should be noted that when the conveying device 1 in the embodiment of the present application is set in a closed environment, it is difficult for the user to directly control the opening and closing of the controller 40. Therefore, the user can control the controller 40 through an external user terminal. The communication module 41 can be connected to the external user terminal by wireless transmission, so that the user can control the opening and closing of the controller 40 by controlling the external user terminal. The embodiment of the present application does not limit the specific type of the communication module 41, and it can be selected according to actual conditions. For example, the communication module 41 can be a Bluetooth module, a wifi module or other wireless transmission chip. Among them, the user terminal can be a smart phone, a computer device or a TV, etc. The specific working principle of wireless transmission between the communication module 41 and the user terminal has been disclosed in the relevant technology and will not be repeated here.

In some embodiments of the present application, the conveying device further includes a delay circuit 60, which is electrically connected to the controller. The delay circuit 60 is used to control the opening and closing of the controller 40 after the delay circuit 60 delays for a first preset time.

Among them, the first preset time is a delay time set in advance, and the specific time is not limited, and can be 2 seconds, 3 seconds or 5 seconds, etc.

Specifically, as shown in FIG11 , the delay circuit 60 may include a switch 61, a delay relay 62, and a connection portion 63, and the connection portion 63 may be electrically connected to the controller 40 to realize the on/off control of the controller 40. The control process of the delay circuit 60 on the controller 40 is as follows: when the switch 61 of the delay circuit 60 is closed, the delay relay 62 is closed after N seconds (N seconds: a preset delay time, in seconds) to realize the conduction of the connection portion 63, so that the connection portion 63 can supply power to the controller 40, and then the controller 40 can be started or shut down through the remote control of the delay circuit 60.

Please refer to Figures 8 and 9. In some embodiments of the present application, the drive track 121 includes an armature winding 123, which is arranged along the extension direction L of the drive track 121. The actuator 20 includes a magnet array 24, which is fixed to the moving part 21. The magnet array 24 and the armature winding 123 drive the actuator 20 to move along the extension direction L of the drive track 121 by current excitation.

It should be noted that the magnet array 24 includes one or more pairs. Taking a pair of magnet arrays 24 as an example, two permanent magnets in a pair of magnet arrays 24 are arranged on both sides of the armature winding 123. The armature winding 123 is connected to a power source, and the armature winding 123 is energized to generate a changing magnetic field. The magnetic field and the magnet array 24 are mutually coupled and generate a relative force, thereby driving the entire actuator 20 to move along the extension direction L of the drive track 121. Among them, alternating current can be directly introduced into the armature winding 123 so that the current introduced into the armature winding 123 can generate current excitation. Furthermore, when the magnet array 24 is multiple pairs, the multiple pairs of magnet arrays 24 are arranged along the extension direction L of the drive track 121.

In some embodiments, the drive track 121 includes a magnet array 24, which is arranged along the extension direction L of the drive track 121. The actuator 20 includes an armature winding 123. The magnet array 24 and the armature winding 123 drive the actuator 20 to move along the extension direction L of the drive track 121 by current excitation.

The armature winding 123 in the actuator 20 can be powered by the conductive rail assembly 13 and the power supply mechanism 30 , so that the current in the armature winding 123 can generate current excitation to couple with the magnet array 24 .

It should also be noted that the base 11 may include a plurality of heat dissipation ports 111, and the second accommodating chamber 134 is connected to the atmosphere through the heat dissipation ports 111. It is understandable that the actuator 20, the power supply mechanism 30 and the conductive guide rail group 13 will generate heat during operation, and heat accumulation is likely to cause damage to the actuator 20, the power supply mechanism 30 or the conductive guide rail group 13; in this embodiment, a plurality of heat dissipation ports 111 are provided on the base 11 to achieve heat exchange between the second accommodating chamber 134 and the external environment, so that the heat in the second accommodating chamber 134 can be discharged in time, thereby ensuring the stability of the operation of the conveying device 1.

Furthermore, the track mechanism 10 may further include a heat sink (not shown in the figure), the heat sink including an air inlet and an air outlet, the air inlet is arranged toward the armature winding 123, and the air outlet is arranged toward the heat dissipation port 111, so that the heat sink can dissipate heat for the armature winding 123. Specifically, both the heat dissipation port 111 and the heat sink may include a plurality of heat dissipation ports 111 arranged at intervals on the base 11 along the extension direction L of the drive track 121, and a plurality of heat sinks are arranged at intervals on the base 11 along the extension direction L of the drive track 121, so that the heat sink can dissipate heat for the armature winding 123 more evenly.

Please refer to Figures 8-9. In some embodiments of the present application, the track mechanism 10 includes a guide track 122, which is arranged on the base 11. The guide track 122 is spaced apart from the driving track 121, and the actuator 20 is slidingly connected to the guide track 122 along the extension direction L of the guide track 122.

It should be noted that the guide rail 122 plays a role of supporting and guiding the movement of the actuator 20, so that the actuator 20 remains stable during operation.

Please refer to FIG. 9 . In some embodiments of the present application, there are two guide rails 122 . The two guide rails 122 are located on opposite sides of the driving rail 121 . The actuator 20 is mounted on the two guide rails 122 , so that the actuator 20 is more stable during operation.

Furthermore, the two guide rails 122 are respectively the first guide rail 1221 and the second guide rail 1222. When the track mechanism 10 has an arc segment track, the actuator 20 needs to turn at the arc segment track. At this time, both the first guide rail 1221 and the second guide rail 1222 can cooperate with the actuator 20 to ensure the stability of the movement of the actuator 20. It can be understood that at the arc segment of the track mechanism 10, the conductive guide rail group 13 and the power supply mechanism 30 should still have a good electrical connection relationship with the actuator 20 to ensure the stability of the movement of the actuator 20 at the arc segment.

Please continue to refer to FIG. 9 and FIG. 10 . In some embodiments of the present application, the transmission device includes a busbar 30 _a .

It should be noted that the busbar _30a can be used to power mobile equipment on the conveyor line. In the conveying device 1, the actuator 20 needs to change its position constantly due to movement. At each different position, in order to ensure the stability of the movement of the actuator 20, the embodiment of the present application sets a busbar 30a to power the actuator 20 so that the actuator 20 can obtain electrical energy uninterruptedly.

It should also be noted that the busbar 30a may include a sheath 14, a conductive rail group 13 and a sliding member 31 (specifically, a current collector). The conductive rail group 13 is used as a power supply conductor for electrically connecting to a power source; the sheath 14 is a semi-enclosed tubular member, which is sleeved on the conductive rail group 13 and is used to insulate the conductive rail group 13 from the outside, thereby ensuring the safety of power supply; the length of the conductive rail group 13 and the sheath 14 can be selected according to actual conditions, such as 20 meters, 30 meters, etc., which is not limited in this embodiment, and the shape of the sheath 14 can also be made into a straight line or an arc shape according to actual conditions. The current collector is a group of brushes that can run in the conductive rail group 13. The brushes are driven by the conductive member 23 on the actuator 20 so that they can run synchronously with the actuator 20, and the electric energy on the conductive rail group 13 is transmitted to the actuator 20 through the brushes.

In some embodiments of the present application, the conveying device 1 includes a plurality of actuators 20 , and the plurality of actuators 20 are disposed on the track mechanism 10 .

It is understandable that, on the track mechanism 10, each actuator 20 moves independently of all other actuators 20, and multiple actuators 20 can simultaneously transport or move materials, thereby improving the working efficiency of the actuators 20 in the conveying device 1. The embodiment of the present application does not specifically limit the length of the track mechanism 10 in the conveying device 1, and it can be installed according to actual conditions. For example, the length of the track mechanism 10 can be 30 meters, 40 meters, or 50 meters.

The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

A conveying device, characterized in that it comprises:

A track mechanism (10) comprises a base (11), a slide rail (12) and a conductive guide rail group (13), wherein the slide rail (12) and the conductive guide rail group (13) are parallel and both are arranged on the base (11), and the conductive guide rail group (13) is used to be electrically connected to a power source;

an actuator (20) slidably connected to the slide rail (12) along an extension direction of the slide rail (12), the actuator (20) being used to move on the slide rail (12);

A power supply mechanism (30) comprises a sliding member (31) and a power supply module (32); the sliding member (31) is electrically connected to the power supply module (32) and is slidably connected to the conductive rail group (13) along the extension direction of the conductive rail group (13); the power supply module (32) is mounted on the sliding member (31) or the actuator (20) and is electrically connected to the actuator (20); the power supply module (32) is electrically connected to the conductive rail group (13) via the sliding member (31), so that the power supply module (32) supplies power to the actuator (20).
The conveying device according to claim 1, characterized in that the actuator comprises:

A moving part (21) is slidably connected to the slide rail (12), and the moving part (21) has a bearing surface (211);

An execution part (22) is arranged on the bearing surface (211);

Wherein, the moving part (21) is used to drive the executing part (22) to move along the slide rail (12).
The conveying device according to claim 2, characterized in that the power supply module (32) comprises:

A first transformer is electrically connected to the sliding member (31), the moving part (21) and the executing part (22), and is used to change the magnitude of a voltage to adapt to a preset working voltage of the moving part (21) and the executing part (22).
The conveying device according to claim 3 is characterized in that

The actuator (20) comprises an armature winding, the armature winding being electrically connected to the first transformer; the slide rail (12) comprises a magnet array, the magnet array being arranged along the extension direction of the slide rail (12), the magnet array and the armature winding being driven by current excitation to move the actuator (20) along the extension direction of the slide rail (12); or,

The slide rail (12) comprises an armature winding, which is arranged along the extension direction of the slide rail (12). The actuator (20) comprises a magnet array, which drives the actuator (20) to move along the extension direction of the slide rail (12) by current excitation with the armature winding.
The conveying device according to claim 1, characterized in that there are a plurality of sliding members (31), and the plurality of sliding members (31) are arranged at intervals on the conductive guide rail group (13), and the power supply mechanism (30) further comprises:

An insulating housing (33) is provided to cover the sliding member (31) and the power supply module (32), and the insulating housing (33) is located at a position where the sliding member (31) and the power supply module (32) are far away from the conductive rail assembly (13). one side;

The tensioning device (37) is arranged between the insulating housing (33) and the sliding member (31), or between the two sliding members (31).
The conveying device according to claim 5, characterized in that

The power supply mechanism (30) further comprises a conductive member (34), and the sliding member (31) is electrically connected to the power supply module (32) via the conductive member (34);

The tensioning device (37) is arranged between the insulating housing (33) and the sliding member (31), and the tensioning device (37) comprises an elastic member (35) and a guide rod (36), wherein:

One end of the elastic member (35) contacts the conductive member (34), and the other end of the elastic member (35) contacts the insulating housing (33), and the elastic member (35) is used to provide an elastic force perpendicular to the conductive guide rail assembly (13) for the sliding member (31);

The guide rod (36) is arranged between the conductive member (34) and the insulating shell (33), and extends along the elastic expansion and contraction direction of the elastic member (35); the elastic member (35) is sleeved on the guide rod (36).
The conveying device according to claim 1 is characterized in that the conductive rail group (13) includes a plurality of groups, and the plurality of groups of conductive rail groups (13) are used to pass different voltages, and each group of the conductive rail group (13) includes a positive electrical rail (13a) and a negative electrical rail (13b), and the positive electrical rail (13a) is electrically connected to the negative electrical rail (13b).
The conveying device according to claim 1 is characterized in that the conductive guide rail set (13) includes copper guide rails and the sliding member (31) includes copper rollers.
The conveying device according to claim 1, characterized in that the base (11) has a first accommodating cavity (132) and an opening (133), the opening (133) is arranged between the conductive guide rail group (13), the first accommodating cavity (132) is connected to the atmosphere through the opening (133), and the track mechanism (10) further comprises:

An air extraction device is arranged in the first accommodating chamber (132), and the air extraction device has an air extraction port, and the air extraction port is arranged toward the opening (133).
The conveying device according to claim 1 is characterized in that the conveying device comprises a plurality of the actuators (20) and a plurality of the power supply mechanisms (30), the plurality of the actuators (20) are connected to the plurality of the power supply mechanisms (30) in a one-to-one correspondence, and the plurality of the actuators (20) are arranged on the slide rail (12).
The conveying device according to claim 1 is characterized in that the slide rail (12) includes a driving rail (121), the driving rail (121) and the base (11) are jointly arranged to form a second accommodating cavity (134), and the conductive guide rail group (13) and the sliding member (31) are both arranged in the second accommodating cavity (134).
The conveying device according to claim 11 is characterized in that the base (11) has a receiving groove, and the base (11) has a notch on a side facing the actuator (20), and the drive rail (121) is arranged at the notch to form the second receiving cavity (134) together with the base (11).
The conveying device according to claim 11, characterized in that the conveying device further comprises:

A controller (40) is disposed on the actuator (20) and is electrically connected to the actuator (20). The controller (40) is used to control the actuator (20) to realize different functions.
The conveying device according to claim 13 is characterized in that the controller (40) has more than three antennas, and the more than three antennas are used to receive signals of different frequencies, and the receiving frequency bands of the more than three antennas overlap each other.
The conveying device according to claim 13 is characterized in that a battery module is arranged inside the controller (40), and the battery module is electrically connected to the actuator (20) and is used to supply power to the actuator (20).
The conveying device according to claim 15 is characterized in that the battery module includes a capacitor and/or a detachable battery.
The conveying device according to claim 13, characterized in that

The controller (40) comprises a data processing module and an I/O module. The data processing module comprises an RF radio frequency module. The I/O module is used for being electrically connected to an industrial field bus.
The conveying device according to claim 13, characterized in that the power supply module (32) further comprises:

A second transformer (50) is disposed on the actuator (20) and is electrically connected to the controller (40) and the actuator (20), and the second transformer (50) is used to change the voltage to adapt to a preset working voltage of the actuator (20);

The controller (40) is also used to control the second transformer (50) to transform the transmission voltage of the actuator (20).
The conveying device according to claim 13, characterized in that

The controller (40) comprises a communication module (41), wherein the communication module (41) is used to establish a signal connection with a user terminal to receive an operation instruction issued by the user terminal; and/or,

The conveying device further comprises a delay circuit (60), wherein the delay circuit (60) is electrically connected to the controller (40), and the delay circuit (60) is used to control the opening and closing of the controller (40) after the delay circuit (60) delays for a first preset time.
The conveying device according to claim 11, characterized in that the slide rail (12) further comprises:

A guide rail (122) is arranged on the base (11), the guide rail (122) and the driving rail (121) are arranged at a distance, and the actuator (20) is slidably connected to the guide rail (122) along the extension direction of the guide rail (122).
The conveying device according to claim 20 is characterized in that the number of the guide rails (122) is two, the two guide rails (122) are located on opposite sides of the driving rail (121), and the actuator (20) is mounted on the two guide rails (122).
The conveying device according to claim 11 is characterized in that the conveying device also includes a sheath (14) sleeved on the conductive guide rail group (13), the sliding member (31) includes a current collector, the current collector is driven by the actuator (20) and runs in the conductive guide rail group (13), and the conductive guide rail group (13), the sheath (14) and the sliding member (31) constitute a busbar (30a).
The conveying device according to claim 1 is characterized in that the track mechanism (10) includes a first track mechanism (101) and a second track mechanism (102) arranged at an interval and a docking module (103) connected between the first track mechanism (101) and the second track mechanism (102), and the actuator (20) is moved from the first track mechanism (101) to the second track mechanism (102) or from the second track mechanism (102) to the first track mechanism (101) through the docking module (103).
The conveying device according to claim 2 is characterized in that the execution part (22) includes a vacuum valve (221), a tray (222), a suction nozzle (223) and a fluid tube, the vacuum valve (221) is arranged on the bearing surface (211), the first end of the tray (222) is arranged on the bearing surface (211), the second end of the tray (222) extends in a direction away from the vacuum valve (221) and protrudes from the bearing surface (211), the tray (222) has a vacuum flow channel (2221), the fluid tube is connected between the vacuum valve (221) and the first end of the vacuum flow channel (2221), and the suction nozzle (223) is connected to the tray (222) and communicated with the second end of the vacuum flow channel (2221).
The conveying device according to claim 24, characterized in that

The suction nozzle (223) is arranged on the lower surface of the tray (222); or,

The suction nozzle (223) is arranged on the side of the tray (222).
The conveying device according to claim 24, characterized in that the conveying device also includes a controller,

The vacuum valve includes a cylinder, and the controller is connected to the cylinder signal to control the movement of the cylinder; or,

The vacuum valve comprises an air pump and an air tank, the air tank is in communication with the air pump, and the controller is connected to the air pump signal to control the movement of the air pump.
The conveying device according to claim 2 is characterized in that the execution part (22) includes at least one of an encodable servo motor, a six-axis robot and a three-degree-of-freedom rectangular coordinate robot.