Direct drive transport system

• US 7,456,593 B1
• Filed: 04/10/2006
• Issued: 11/25/2008
• Est. Priority Date: 04/10/2006
• Status: Active Grant

• Current Assignee: Rockwell Automation, Inc.
• Original Assignee: Anorad Corporation (Rockwell Automation, Inc.)
• Inventors: Chirignan, Claude, Floresta, John, Safranek, Stephen R., Stollberger, Chris, Sommerhalter, Frederick A. Jr.
• Primary Examiner(s): Masih; Karen
• Application Number:
  US11/279,219
• Time in Patent Office: 960 Days
• Field of Search: 318/135, 318/567, 318/569, 318/560
• US Class Current: 318/135
• CPC Class Codes: B65G 54/02 electrostatic, electric, or magnetic
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A system, method and apparatus for controlling a linear stage a pallet is described herein. In one aspect, a conveyor system includes a conveyor pallet that includes a first mobile magnetic component and a second mobile magnetic component. A first stationary magnetic component can magnetically engage the first mobile magnetic component. A second stationary magnetic component can magnetically engage the second mobile magnetic component. A first controller can activate a first magnetic displacement between the first stationary magnetic component and the first mobile magnetic component when the conveyor pallet is in a first range of positions. A second controller can activate a second magnetic displacement between the second stationary magnetic component and the second mobile magnetic component when the conveyor pallet is in a second range of positions.

Claims

1. A linear motor control system comprising:

a linear stage, comprising a first mobile magnetic component and a second mobile magnetic component;

a first stationary magnetic component that magnetically engages the first mobile magnetic component;

a second stationary magnetic component that magnetically engages the second mobile magnetic component;

a first controller to activate a first magnetic displacement between the first stationary magnetic component and the first mobile magnetic component when the linear stage is in a first range of positions; and

a second controller to activate a second magnetic displacement between the second stationary magnetic component and the second mobile magnetic component when the linear stage is in a second range of positions.

2. The linear motor control system of claim 1, the first and second mobile magnetic components are permanent magnet assemblies and the first and second stationary magnetic components are electromagnetic coil assemblies.

3. The linear motor control system of claim 1, the first and second stationary magnetic components are elongated, parallel members, the first mobile magnetic component movably engages the first stationary magnetic component and the second mobile magnetic component movably engages the second stationary magnetic component.

4. The linear motor control system of claim 3, the first and second stationary components are longitudinally displaced so that the second stationary magnetic component has an entry end that receives the second mobile magnetic component, substantially co-extensive with an exit end for the first mobile magnetic component from the first stationary magnetic component.

5. The linear motor control system of claim 4, further comprising a position sensor that measures the position of the linear stage with respect to the first and second ranges of positions, the position sensor communicates linear stage position to the first and second controllers.

6. The linear motor control system of claim 5, further comprising a master controller that configures the first controller to deactivate the first magnetic displacement and configures the second controller to activate the second magnetic displacement when the position sensor indicates a linear stage position where the second mobile magnetic component engages the second stationary magnetic component.

7. The linear motor control system of claim 5, the position sensor comprising an encoder system that measures a longitudinal displacement of the linear stage along the first and second stationary magnetic components.

8. The linear motor control system of claim 7, the encoder system comprises a scale portion, mounted on the linear stage, and at least one stationary mounted reader head that reads the scale.

9. The linear motor control system of claim 3, the first stationary magnetic component simultaneously engages a mobile magnetic component of a predetermined number of linear stages.

10. The linear motor control system of claim 1, the linear stage comprises a conveyor pallet.

11. A conveyor system comprising:

a conveyor pallet comprising a first magnet and a second magnet;

a first coil component that engages the first magnet;

a second coil component that engages the second magnet, the second coil component is offset from the first coil component;

a first controller that electromagnetically activates the first coil component to impart a magnetic displacement to the first magnet; and

a second controller that electromagnetically activates the second coil component to impart a magnetic displacement to the second magnet.

12. A conveyor system comprising:

a conveyor pallet comprising a first magnet and a second magnet;

a first coil component that engages the first magnet, the first coil component is a stationary-mounted elongated member;

a second coil component that engages the second magnet, the second coil component is a stationary-mounted elongated member, the second coil component is offset from the first coil component;

a first controller that electromagnetically activates the first coil component to impart a magnetic displacement to the first magnet;

a second controller that electromagnetically activates the second coil component to impart a magnetic displacement to the second magnet; and

the first and second coil components are aligned in a parallel, longitudinally-displaced relationship such that the second coil component has an entry end for receiving the second magnet, substantially co-extensive with an exit end for the first magnet from the first coil component.

13. The conveyor system of claim 12, the first and second magnets are mounted to the conveyor pallet such that the second magnet engages the entry end of the second coil component as the first magnet approaches the exit end of the first coil component.

14. The conveyor system of claim 13, further comprising a master controller that configures the first controller to deactivate the first coil component and configures the second controller to activate the second coil component when the second magnet engages the second coil component.

15. A conveyor system comprising:

a conveyor pallet comprising a first magnet and a second magnet;

a first coil component that engages the first magnet;

a second coil component that engages the second magnet, the second coil component is offset from the first coil component;

a first controller that electromagnetically activates the first coil component to impart a magnetic displacement to the first magnet;

a second controller that electromagnetically activates the second coil component to impart a magnetic displacement to the second magnet; and

a position sensor that measures the position of the conveyor pallet and communicates pallet position to the first and second controllers.

16. The conveyor system of claim 15, the position sensor comprising an encoder system that measures a longitudinal length of the conveyor pallet.

17. The conveyor system of claim 16, the encoder system comprises a scale portion, mounted on the conveyor pallet, and at least one reader head, mounted stationary, for reading the scale.

18. A conveyor station comprising:

a first coil component that engages a first magnet mounted on a conveyor pallet, the first coil component is elongated and comprising an entry end and an exit end for the first magnet;

a second coil component that engages a second magnet mounted on the conveyor pallet, the second coil component is elongated and comprising an entry end and an exit end for the second magnet, the first and second coil components are aligned in a parallel, longitudinally-displaced relationship such that the second coil component entry end is substantially co-extensive with the first coil component exit end;

a first controller that electromagnetically activates the first coil component to impart a magnetic displacement to the conveyor pallet through first magnet; and

a second controller that electromagnetically activates the second coil component to impart a magnetic displacement to conveyor pallet through the second magnet.

19. The conveyor station of claim 18, the first and second coil components are stationary-mounted elongated members aligned in a parallel, longitudinally-displaced relationship such that the second coil component has an entry end for receiving the second magnet, substantially co-extensive with an exit end for the first magnet from the first coil component.

20. The conveyor station of claim 18, the first and second magnets are mounted to the conveyor pallet such that the second magnet engages the entry end of the second coil component as the first magnet approaches the exit end of the first coil component.

21. The conveyor station of claim 20, further comprising a master controller that configures the first controller to deactivate the first coil component and configures the second controller to activate the second coil component when the second magnet engages the second coil component.

22. The conveyor station of claim 18, further comprising a position sensor that measures the position of the conveyor pallet and communicating pallet position to the first and second controllers.

23. The conveyor station of claim 22, the position sensor comprising an encoder system that measures a longitudinal length of the conveyor pallet.

24. The conveyor station of claim 23, the encoder system comprises a scale portion, mounted on the conveyor pallet, and at least one reader head, mounted stationary, for reading the scale.

25. A method of conveyor operation, comprising:

conveying a pallet into a station;

engaging a first magnet mounted on the pallet with a first stationary coil;

activating the first stationary coil to magnetically displace the pallet through the first magnet;

indexing the pallet position to at least one process position through the first stationary coil;

engaging a second magnet mounted on the pallet with a second stationary coil;

deactivating the first stationary coil;

activating the second stationary coil to magnetically displace the pallet through the second magnet.

26. The method of claim 25, further comprising measuring the position of the pallet within the station.

27. The method of claim 26, the measuring comprises reading an encoder scale on the pallet.