Modulares Fördersystem mit mehreren beweglichen Elementen mit unabhängiger Steuerung

摘要

The modular conveyor system (20) comprises n interconnected track sections (26), forming a continuous track (24), wherein each track section (26) features a plurality of individually controlled coils (35) stretching along the length thereof. Plural pallets (22), each having thrust producing magnets, travel independently along the track (24). The track (24) also comprises multiple linear encoder readers (50) spaced at fixed positions therealong, and each pallet (22) includes a linear encoder strip (45) having a length R greater than the spacing E between the readers (50). Track section controllers (90) associate the encoder strips (45) with only one reader (50) at any time in order to resolve the position of the pallets based on the fixed position of the readers and the relative positions of the strips in relation thereto. The section controllers (90) also regulate and commutate the coils (35) of the corresponding track sections (26) in order to independently control each pallet (22). Communication links (92) interface adjacent section controllers (90) and enable them to transfer the pallet position-detecting responsibility between one another when a given pallet straddles adjacent track sections (26). The section controllers (90) also provide coil regulating signals to each other in the event a given moving element spans coils (35) situated in adjacent track sections (24). The electromagnetic structure and distributed control architecture of the conveyor system (20) enable it to independently control multiple practical pallets yet be constructed out of modular track sections, with little practical restriction on the length of the conveyor system or the number of pallets controlled thereby.