Three-dimensional motion using single-pathway based actuators
First Claim
1. A conveyance, comprisingA. 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 along an axis defined by 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.
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0 Petitions
Accused Products
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.
217 Citations
49 Claims
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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 along an axis defined by 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.
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14. A conveyance, comprising:
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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 along the axis defined by the linear pathway effects rotational movement of the pallet relative to the pathway. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. 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 along an axis defined by the linear pathway effects (i) motion of the pallet relative to at least one of the two or more actuators, and (ii) movement of the pallet at a speed different than at least one of the two or more actuators. - View Dependent Claims (32, 33, 34, 35, 36, 37)
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38. 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, C. wherein the actuators move along a pathway defined by primaries (or secondaries) of linear synchronous motors (LSMs), D. wherein the actuators comprise secondaries (or primaries) of the LSMs, E. 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, F. 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, G. wherein the pallet comprises first and second coupling members, each of which couples with a corresponding member on a respective one of the actuators, H. 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 movement transverse to the pathway and out of a plane of the pathway.
- 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 —
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39. 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, C. wherein the actuators move along a pathway defined by primaries (or secondaries) of linear synchronous motors (LSMs), D. wherein the actuators comprise secondaries (or primaries) of the LSMs, E. 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, F. 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, G. wherein the pallet comprises first and second coupling members, each of which couples with a corresponding member on a respective one of the actuators, H. 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.
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41. A conveyance, comprising:
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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, C. wherein the linear pathway is defined by a linear synchronous motor, D. wherein the pathway comprises a series of connected track segments, E. a controller in communication with the track segments for selectively controlling individual track segments.
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42. A conveyance, comprising:
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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, C. wherein the linear pathway is defined by a linear synchronous motor, D. wherein the pathway comprises a series of connected track segments, E. wherein at least two linear track segments are positioned at an angle with respect to one another, F. wherein at least two linear track segments are positioned at an angle with respect to one another.
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43. A conveyance, comprising:
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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, C. 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, D. 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. - View Dependent Claims (44)
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45. A conveyance, comprising:
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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 along the axis defined by the linear pathway effects motion of the pallet that is (i) relative to the linear pathway and (ii) not along an axis parallel to the linear pathway, C. wherein the linear pathway is defined by a linear synchronous motor, D. wherein the pathway comprises a series of connected track segments, E. a controller in communication with the track segments for selectively controlling individual track segments.
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46. A conveyance, comprising:
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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 along the axis defined by the linear pathway effects motion of the pallet that is (i) relative to the linear pathway and (ii) not along an axis parallel to the linear pathway, C. wherein the linear pathway is defined by a linear synchronous motor, D. wherein the pathway comprises a series of connected track segments, E. wherein at least two linear track segments are positioned at an angle with respect to one another, F. wherein the pallet is moveably coupled to the actuators such that the pallet can pivot around a corner.
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47. A conveyance, comprising:
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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 along the axis defined by the linear pathway effects motion of the pallet that is (i) relative to the linear pathway and (ii) not along an axis parallel to the linear pathway, C. wherein 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/, D. 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.
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48. A conveyance, comprising:
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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 along the axis defined by the linear pathway effects motion of the pallet that is (i) relative to the linear pathway and (ii) not along an axis parallel to the linear pathway, C. wherein 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, D. 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/, E. wherein the slots are angled relative to the linear pathway.
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49. 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 along an axis defined by the linear pathway effects motion of the pallet relative to at least one of the two or more actuators, C. 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 movement of the pallet from a first plane to a second parallel plane.
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Specification