Three-dimensional motion using single-pathway based actuators

• US 20050263369A1
• Filed: 05/06/2005
• Published: 12/01/2005
• Est. Priority Date: 05/07/2004
• Status: Active Grant

• Current Assignee: Rockwell Automation, Inc.
• Original Assignee: Magnemotion Incorporated (Rockwell Automation, Inc.)
• Inventors: Mendenhall, Jesse
• Granted Patent: US 7,458,454 B2
• Time in Patent Office: Days
• US Class Current: 198/370.10
• CPC Class Codes: B65G 2201/0261 Puck as article support
• CPC Class Codes: B65G 35/06 comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path effecting drive at two or more points spaced along the length of an endless conveyor B65G23/32
• CPC Class Codes: B65G 54/02 electrostatic, electric, or magnetic

Abstract

The invention provides novel mechanisms and methods for effecting rotational and translational motion in three dimensions of objects carried by, or coupled to, actuators that move along a pathway. Vehicles or other conveyances (collectively, “vehicles”) that utilize mechanisms and methods can increase the performance of and decrease the cost of transportation, shipping, manufacturing, materials handling and other systems. In one aspect, the illustrated embodiment provides such a vehicle or other conveyance having two (or more) actuators adapted for movement along a pathway. The actuators are propelled or otherwise capable of motion, relative to each other so that the distance between can be increased or decreased. When desired, that distance can also be maintained the same, e.g., regardless of whether the actuators are moving. A pallet, carriage or other moveable part (collectively, pallet) is moveably coupled to the actuators so that at least selected motions by the actuators relative to one another on the pathway effect rotational and/or translational motion of the pallet in three dimensions relative to the pathway, including, for example, movement transverse to the pathway and out of a plane of the pathway.

Claims

1. A conveyance, comprising

A. two or more actuators adapted for movement along a pathway relative to each other,

B. a pallet moveably coupled to the two or more actuators so that at least selected motions by the actuators relative to one another on the pathway effect rotational and/or translational motion of the pallet in three dimensions relative to the pathway, including, at least one of movement transverse to the pathway and out of a plane of the pathway.

2. The conveyance of claim 1, wherein the actuators move along a pathway defined by primaries (or secondaries) of linear synchronous motors (LSMs).

3. The conveyance of claim 2, wherein the primaries (or secondaries) comprise, for example, sections or “

blocks”

of an LSM track or guideway.

4. The conveyance of claim 2, wherein the actuators comprise secondaries (or primaries) of the LSMs.

5. The conveyance of claim 4, wherein energization of the blocks'"'"' primaries (secondaries) results in a translational force on the actuator'"'"'s secondaries (primaries), thereby, causing the actuators, themselves, to move.

6. The conveyance of claim 4, wherein the actuators are disposed for relative motion with respect to one another when at least the secondary (primary) associated each actuator is disposed over the primary (secondary) associated with different respective blocks.

7. The conveyance of claim 6, comprising a controller for selectively actuating the primary of the linear synchronous motor associated with said blocks so as to effect motion of the actuators relative to one another.

8. The conveyance of claim 7, where the pallet comprises first and second coupling members, each of which couples with a corresponding member on a respective one of the actuators.

9. The conveyance of claim 8, wherein movement of the actuators relative to one another—

and, thereby, movement of the coupling member on each actuator relative to the respective one of the first and second coupling members on the pallet—

causes rotational and/or translational motion of the pallet in three dimensions relative to the pathway, including, for example, movement transverse to the pathway and out of a plane of the pathway.

10. The conveyance of claim 8, wherein (i) the first and second coupling members comprise slots (or other indented members) and (ii) the corresponding coupling members on the actuators comprise pins (or other protruding members) that mate with those slots.

11. The conveyance of claim 10, wherein the slots (or other indented members) are angled relative to the pathway so that sliding movement of the corresponding pins (or other protruding members) relative thereto causes rotational and/or translational motion of the pallet in three dimensions relative to the pathway.

12. The conveyance of claim 8 comprising stop members that couple with or otherwise engage the pallet and, thereby, (i) inhibit rotational and/or translational motion caused by the actuators, e.g., at a precise repeatable position, thereby eliminating the need for externally actuated hard stops., and/or (ii) further enhance such rotation and/or translations, e.g. by causing pivoting.

13. Methods of conveyance in accord with the actions described in claims 1.

14. A conveyance, comprising:

A. two or more actuators adapted for movement relative to each other on a linear pathway; and

B. a pallet moveably coupled to the two or more actuators so that at least selected movement by the actuators relative to one another on the linear pathway effects motion of the pallet relative to the pathway such that the motion of the pallet is not along an axis parallel to the linear pathway.

15. The conveyance of claim 14, wherein the pallet is moveably coupled to the actuators such that movement of the actuators relative to one another on the linear pathway will cause movement of the pallet in a direction transverse to the pathway.

16. The conveyance of claim 14, wherein the pallet is moveably coupled to the actuators such that movement of the actuators relative to one another on the linear pathway will cause movement of the pallet from a first plane to a second parallel plane.

17. The conveyance of claim 14, wherein the pallet is moveably coupled to the actuators such that movement of the actuators relative to one another on the linear pathway will cause rotational movement of the pallet.

18. The conveyance of claim 17, wherein the rotational movement centers around the axis defined by the linear pathway.

19. The conveyance of claim 14, wherein the linear pathway is pathway is defined by a linear synchronous motor.

20. The conveyance of claim 19, wherein the pathway comprises a series of connected track segments.

21. The conveyance of claim 20, further comprising a controller in communication with the track segments for selectively controlling individual track segments.

22. The conveyance of claim 19, wherein the linear synchronous motor includes primaries that are defined by track segments and secondaries that are defined by the two or more actuators.

23. The conveyance of claim 22, wherein the primaries are independently controllable such that when the two or more actuators are disposed over different track segments the two or more actuator are independently controllable.

24. The conveyance of claim 23, further comprising a controller for selectively actuating the primaries of the linear synchronous motor so as to effect motion of the actuators relative to one another.

25. The conveyance of claim 20, wherein at least two linear track segments are positioned at an angle with respect to one another.

26. The conveyance of claim 25, wherein the pallet is moveably coupled to the actuators such that the platform can pivot around a corner.

27. The conveyance of claim 14, where the pallet comprises first and second coupling members, each of which couples with a corresponding member on a respective one of the two or more actuators.

28. The conveyance of claim 27, wherein (i) the first and second coupling members comprise slots and (ii) the corresponding coupling members on the actuators comprise protruding members that mate with the slots.

29. The conveyance of claim 28, wherein the slots are angled relative to the linear pathway.

30. The conveyance of claim 14, further comprising at least one tab positioned on the pallet that is adapted to couple with at least one fixed stop member.

31. The conveyance of claim 14, wherein the two or more actuators are connected to the pallet such that relative move of the actuators causes the pallet to move in a direction different from an axis defined by the linear pathway.

32. A method of conveyance, comprising

providing two or more actuators adapted for movement relative to each other on a linear pathway and a pallet moveably coupled to the two or more actuators so that at least selected movement by the actuators relative to one another on the linear pathway effects motion of the pallet relative to the pathway;

and

moving the actuators on the linear pathway and thereby causing the pallet to move, wherein the motion of the pallet is not along an axis parallel to the linear pathway.

33. The method of claim 32, wherein the two or more actuators are moved in opposite directions on the linear pathway.

34. The method of claim 32, wherein the two or more actuators are moved at different speeds and in the same direction.

35. The method of claim 32, wherein the linear pathway comprises a linear synchronous motor that includes a series of track segments and the method further comprises the step of moving each of the two or more actuators into position on different track segments.

36. The method of claim 34, further comprising the step of moving two actuators towards each other.

37. The method of claim 34, further comprising the step of moving two actuators away from each other.

38. The method of claim 34, further comprising the step of independently controlling the two or more actuators.

39. The method of claim 34, further comprising the step of moving the actuators relative to one another to control the direction of the pallet at a junction in the linear pathway.

40. The method of claim 34, further comprising the step of moving the pallet around a corner from a first linear track segment to a second linear track segment, the second linear track segment positioned at an angle with respect to the first linear track segment.

41. A conveyance, comprising

A. two or more actuators adapted for movement along a linear pathway relative to each other;

and

B. a pallet moveably coupled to the two or more actuators so that at least selected movement by the actuators relative to one another on the linear pathway effects motion of the pallet relative to at least one of the two or more actuators.

42. The conveyance of claim 41, wherein the pallet is moveably coupled to two actuators such that movement of the two actuators relative to one another on the linear pathway will cause the pallet to move relative to the two actuators.

43. The conveyance of claim 41, wherein the pallet is moveably coupled to the two or more actuators such that movement of the actuators relative to one another on the linear pathway will cause the pallet to move at a speed different than at least one of the two or more actuators.

44. The conveyance of claim 41, wherein the pallet is moveably coupled to the two or more actuators such that movement of the actuators relative to one another on the linear pathway will cause movement of the pallet in a direction transverse to the pathway.

45. The conveyance of claim 41, wherein the pallet is moveably coupled to the two or more actuators such that movement of the actuators relative to one another on the linear pathway will cause movement of the pallet from a first plane to a second parallel plane.

46. The conveyance of claim 41, wherein the pallet is moveably coupled to the two or more actuators such that movement of the actuators relative to one another on the linear pathway will cause rotational movement of the pallet.

47. The conveyance of claim 41, wherein relative movement of the two or more actuators moves a guide pin between a first position and a second position.

48. The conveyance of claim 47, wherein the position of the guide pin directs the motion of the pallet at a junction in the linear pathway.

49. A conveyance, comprising:

a guideway switch for switchably joining three or more track sections by pivoting a middle guide rail from a first position to a second position, at least one of the three track sections comprising a primary (or secondary) of a linear synchronous motors (LSM);

a vehicle adapted to run on the track sections, the vehicle comprising a secondariy (or primary) of an LSM; and

the LSM being adapted to drive the vehicle on the track section defined thereby.