Controlled motion system

• US 6,876,107 B2
• Filed: 06/05/2003
• Issued: 04/05/2005
• Est. Priority Date: 06/05/2002
• Status: Expired due to Term

• Current Assignee: Jacobs Automation, Inc., Rockwell Automation, Inc.
• Original Assignee: Jacobs Automation LLC (Rockwell Automation, Inc.)
• Inventors: Jacobs, Keith
• Primary Examiner(s): Lam, Thanh
• Assistant Examiner(s): JONES, JUDSON
• Application Number:
  US10/454,713
• Publication Number:
  US 20030230941A1
• Time in Patent Office: 670 Days
• Field of Search: 310/12, 310/13, 310/14, 335/263, 318/135
• US Class Current: 310/12.19
• CPC Class Codes: B29C 65/7867 using carriers, provided with holding means, said carriers moving in a closed path
• CPC Class Codes: B29C 66/1122 Single lap to lap joints, i.e. overlap joints B29C66/45, B29C66/472, B29C66/52272 take precedence
• CPC Class Codes: B29C 66/131 Single flanged joints, i.e. one of the parts to be joined being rigid and flanged in the joint area
• CPC Class Codes: B29C 66/4312 for making flat seams in tubular or hollow articles, e.g. transversal seams
• CPC Class Codes: B29C 66/4322 by joining a single sheet to itself B29C66/4332 takes precedence
• CPC Class Codes: B29C 66/81465 one placed behind the other in a single row in the feed direction
• CPC Class Codes: B29C 66/82263 Follower pin or roller cooperating with a groove
• CPC Class Codes: B29C 66/8244 magnetically driven
• CPC Class Codes: B29C 66/83413 cooperating rollers, cylinders or drums
• CPC Class Codes: B29C 66/8351 Jaws mounted on rollers, cylinders, drums, bands, belts or chains; Flying jaws
• CPC Class Codes: B29C 66/849 Packaging machines
• CPC Class Codes: B60L 15/38 with automatic control
• CPC Class Codes: B65B 35/10 Feeding, e.g. conveying, single articles
• CPC Class Codes: B65B 35/52 building-up the stack from the bottom
• CPC Class Codes: B65B 51/306 Counter-rotating devices
• CPC Class Codes: B65B 65/02 Driving gear
• CPC Class Codes: B65B 9/06 Enclosing successive articles, or quantities of material, in a longitudinally-folded web, or in a web folded into a tube about the articles or quantities of material placed upon it
• CPC Class Codes: B65B 9/20 the webs being formed into tubes in situ around the filling nozzles
• CPC Class Codes: B65G 47/5104 for articles
• CPC Class Codes: B65G 47/841 Devices having endless travelling belts or chains equipped with article-engaging elements
• CPC Class Codes: B65G 54/02 : electrostatic, electric, or magnetic
• CPC Class Codes: G01D 5/145 : influenced by the relative movement between the Hall device and magnetic fields see G01R33/06
• CPC Class Codes: H02K 11/215 : Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
• CPC Class Codes: H02K 41/031 : of the permanent magnet type
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility

Abstract

A controlled motion system, which has a mover that is movably mounted on a track for moving along a path. Active and reactive elements are associated with the track and mover, and are configured for driving and controlling the mover along the path. A controller is operatively associated with the active elements for controlling the driving of the mover, and a position sensor is associated with the track and configured for sensing the position information corresponding to the position of the mover along the path. The sensor is associated with the controller for transmitting the position information to the controller. The sensors are also preferably configured such that the position information is transmitted from the mover through the sensor at a sensing speed faster than about 10,000 meters per second. The controller is preferably configured for controlling the active element depending on at least one parameter related to the movement of the mover such that at least one mover is controlled independently from the others.

Claims

1. A controlled motion system, comprising:

a track;

a plurality of movers movably mounted on the track for moving along a path;

active and reactive elements associated with the track and movers and configured for driving and controlling the position of the movers along the path;

a controller operably associated with the active elements for controlling the driving of the movers; and

a position sensor configured for sensing position information corresponding to the true absolute position of the movers along the path;

wherein the sensor is associated with the controller for transmitting the position information to the controller, the sensor being configured such that position formation is transmitted from the movers through substantially the entire sensor at a sensing speed faster than about 10,000 meters per second, and the controller is configured for controlling the movement of at least one of the movers independently from the others.

2. The system of claim 1, wherein the sensor comprises a transducer configured for transducing the position information from the movers from a first form to a second form that is readable by the controller, wherein the position information is transmitted in the first form at at least the sensing speed from the movers to the transducer, and in the second form to the controller.

3. The system of claim 2, wherein the position information in the first form comprises an electromagnetic field, and in the second form comprises an electrical signal.

4. The system of claim 1, wherein the movers comprise a sensor activation element that transmits the position information to the sensor, the activation element is a passive element.

5. The system of claim 1, wherein the movers comprise passive elements.

6. The system of claim 1, wherein the controller is configured for controlling the active element depending on at least one parameter based on the position information received from the sensor.

7. The system of claim 1, wherein the sensing speed is more than about 25,000 meters per second.

8. The system of claim 1, wherein the sensing speed is about the speed of electrons.

9. The system of claim 1, wherein the sensor comprises at least one magnetoresistive sensor.

10. The system of claim 1, wherein the sensor is configured for detecting an angle to the movers.

11. The system of claim 1, wherein:

the active elements comprise a plurality of active elements; and

the reactive elements are mounted to the movers;

the controller is configured for activating the active elements that are in operational proximity to the reactive elements so that the motion of at least one of the movers is controlled independently from the others.

12. The system of claim 1, wherein the sensor comprises a plurality of sensors disposed along the path.

13. The system of claim 1, further comprising a linear motor that comprises the active and reactive elements.

14. The system of claim 1, wherein the sensor and controller are configured for ascertaining the position of the movers substantially without any movement of the movers.

15. A machine for conducting an automated operation, comprising the system of claim 1, which further comprises a tool mounted on the mover and configured for performing an operation on a workpiece.

16. A controlled motion system, comprising:

a track;

a plurality of movers movably mounted on the track for moving along a path;

active and reactive elements associated with the movers and track and configured for driving and controlling the position of the movers along the path;

a controller operably associated with the active elements for controlling the driving of the movers;

a position sensor associated with the track and configured for sensing position information corresponding to the position of the movers along the path;

wherein the controller is configured for calculating parameters corresponding to the position and motion of the movers using a seventh order polynomial and controlling the active element depending on the calculated parameters.

17. The system of claim 16, wherein the controller is configured for recalculating said parameters upon occurrence of an event that requires adjustment of the trajectory of the mover.

18. The system of claim 16, further comprising a linear motor that comprises the active and reactive elements.

19. The system of claim 18, wherein the mover comprises a plurality of movers, and the controller is configured for controlling the motion of at least one of the movers independently from the others.

20. A controlled motion system, comprising a motor assembly that comprises:

a mover comprising a mover bearing portion;

a track bearing portion associated with the mover bearing portion for guiding the mover along a path;

a driving element configured for driving and controlling the position of the mover along the path;

a controller operably associated with the driving element for controlling the driving of the mover; and

a control parameter sensor configured for sensing control parameter information corresponding to the mover along the path and transmitting sensing control parameter information to the controller;

wherein the track bearing portion and the driving element are assembled together on a single track that extends along at least a portion of the path;

wherein the mover defines an interior passage in which the single track is received longitudinally with respect to the path; and

wherein the driving element comprises an active element that is drivingly associable with a reactive element of the mover for driving and controlling the position of the mover along the path.

21. The system of claim 20, wherein the bearing portions are configured for keeping the mover on the track in substantially any orientation.

22. The system of claim 20, wherein the track bearing portion comprises only two rails extending along the path.

23. The system of claim 20, wherein the single track extends along substantially the entire path.

24. The system of claim 20, wherein the position sensor is mounted to the single track.

25. The system of claim 20, wherein the track comprises a plurality of track modules connected sequentially along the path.

26. The system of claim 25, wherein:

the mover comprises a plurality of movers, each comprising a reactive element;

the driving element comprises a plurality of module active elements drivingly associable with the reactive element for driving and controlling the position of each mover along the path;

the controller comprises a plurality of module controllers associated with the module active elements for controlling the driving of the mover;

the control parameter sensor comprises module true absolute position sensors configured for sensing the position of each mover along the path and transmitting position information on the position of each mover to the module controller; and

each module comprises at least one of each of the module active elements, module controllers, and module position sensors.

27. The system of claim 20, wherein the single track is substantially free of portions that extend parallel to the bearing portions spaced therefrom in a lateral direction with respect to the path.

28. The system of claim 20, wherein the single track is configured for draining flowable material therefrom for maintaining sanitary conditions.

29. A controlled motion system, comprising:

a plurality of movers, each comprising a mover bearing portion;

active and reactive elements associated with the movers and track and configured for driving and controlling the position of each mover along the path;

a plurality of track modules assembled as a track, each module comprising;

the active elements, and

a track bearing portion associated with the mover bearing portions for guiding each mover along a path;

a controller operably associated with the driving element for controlling the driving of each mover; and

a position sensor associated with the track and configured for sensing the true absolute position of each mover along the path and transmitting position information on the position of each mover to the controller.

30. The system of claim 29, wherein the position sensor comprises module position sensors confirgured for sensing the position of the mover along the path and transmitting position information on the position of the mover to the controller, and each module comprises at least one of the module position sensors.

31. The system of claim 30, wherein the controller comprises a plurality of module controllers associated with the active elements for controlling the driving of the mover, the module sensors being configured for transmitting the position information to the module controllers, and each module comprises at least one of the module controllers.

32. The system of claim 31, further comprising a system controller operably associated with the module controllers for controlling the operation thereof.

33. A controlled motion system, comprising a motor assembly that comprises:

a track;

a plurality of movers movably mounted on the track for moving along a path;

active and reactive elements associated with the track and movers, respectively, and configured for driving and controlling the position of the movers along the path; and

a controller operably associated with the active elements for controlling the driving of the movers;

wherein the controller is configured for controlling at least one of the movers independently from the others, and the track is configured for draining flowable material therefrom for maintaining sanitary conditions.

34. The system of claim 33, wherein the mover is configured for draining flowable material therefrom for maintaining sanitary conditions.

35. The system of claim 33, further comprising a cover associated with the track and configured for enclosing the active elements for preventing collection of the flowable material.

36. The system of claim 33, wherein substantially any concave portions of the track and portions of the system mounted thereto have drain features configured for draining flowable material therefrom.

37. The system of claim 33, wherein the track comprises an upwardly facing concave portion and a drain channel in connection therewith for draining the flowable material from the concave portion.

38. The system of claim 33, further comprising a control parameter sensor configured for sensing control parameter information corresponding to at least one of the movers, wherein the sensor is associated with the controller for transmitting the control parameter information to the controller, and the controller being configured for controlling at least one active element depending on the control parameter information.

39. A controlled motion system, comprising:

a track;

a plurality of movers movably mounted on the track for moving along a path;

active and reactive elements associated with the tracks and movers and configured for driving and controlling the position of the mover along the path;

a controller operably associated with the active elements for controlling the driving of the mover; and

a position sensor associated with the track and configured for sensing position information corresponding to the position of the mover along the path wherein the sensor is associated with the controller for transmitting the position information to the controller;

wherein the controller is configured for controlling the active element depending on at least one parameter relating to the position information and for assigning a soft identifier to at least one of the movers that is reassignable to other movers.

40. The system of claim 39, wherein the soft identifier is assigned to at least one of the movers depending on the position thereof at a selected time.

41. A method of controlling motion in a system, comprising:

determining the true absolute position along a path of a plurality of movers of a linear motor by transmitting position information from the movers to a sensor substantially along the path at a sensing speed of at least about 10,000 meters per second; and

driving and controlling the position of at least one of the movers independently from the others.