公开(公告)号：US12195062B2

公开(公告)日：2025-01-14

申请号：US18659504

申请日：2024-05-09

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Yuhong Huang

IPC: B61L23/00 ,  B61L23/26 ,  B61L23/34 ,  B61L25/02

Abstract: A motion control system for an independent cart system provides for an improved system for controlling operation of movers in areas of high traffic. A controller monitors operation of the movers to detect heavy traffic. In heavy traffic, the controller may bring a mover to a stop to avoid collisions. Once a mover is stopped, the segment controller will look at the present location of the mover and determine whether it is at the desired position set in the motion command. If the mover is not at the desired position, the stop was a result of heavy traffic. After detecting heavy traffic, the controller commands the mover to resume travel using a modified motion command. The modified motion command will command the first mover to its desired position but will command the move at a reduced rate or using a reduced response in the controller.

公开(公告)号：US20240359325A1

公开(公告)日：2024-10-31

申请号：US18306352

申请日：2023-04-25

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Yuhong Huang ,  Jatin P. Bhatt ,  Robert H. Schmidt ,  Arun K. Guru ,  Robert B. Hirschinger

IPC: B25J9/16 ,  B25J5/02 ,  B65G54/02

CPC classification number: B25J9/1664 ,  B25J5/02 ,  B65G54/02 ,  B65G2203/0283

Abstract: Motion is coordinated between a robot and a mover in an independent cart system. Positions for a mover along a track for the independent cart system and for each axis of motion of the robot mounted on the mover are received at the motion controller. The axis position corresponds to either an angular position of the motor or a mechanical position of a corresponding axis on which the motor is mounted. The motion controller receives a robot motion command corresponding to a desired operation of the robot and generates a mover motion command for the mover and an axis motion command for each axis of the robot. The mover motion command and the axis motion commands are generated as a function of the robot motion command, the position of the mover along the track, and the position of the motor or of the axis for each axis of the robot.

公开(公告)号：US20240286657A1

公开(公告)日：2024-08-29

申请号：US18659504

申请日：2024-05-09

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Yuhong Huang

IPC: B61L23/34 ,  B61L23/26 ,  B61L25/02

CPC classification number: B61L23/34 ,  B61L23/26 ,  B61L25/021

Abstract: A motion control system for an independent cart system provides for an improved system for controlling operation of movers in areas of high traffic. A controller monitors operation of the movers to detect heavy traffic. In heavy traffic, the controller may bring a mover to a stop to avoid collisions. Once a mover is stopped, the segment controller will look at the present location of the mover and determine whether it is at the desired position set in the motion command. If the mover is not at the desired position, the stop was a result of heavy traffic. After detecting heavy traffic, the controller commands the mover to resume travel using a modified motion command. The modified motion command will command the first mover to its desired position but will command the move at a reduced rate or using a reduced response in the controller.

公开(公告)号：US20230382650A1

公开(公告)日：2023-11-30

申请号：US17828737

申请日：2022-05-31

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Yuhong Huang

IPC: B65G43/00 ,  B65G35/06 ,  B65G54/02

CPC classification number: B65G43/00 ,  B65G35/06 ,  B65G54/02 ,  B65G2203/0283 ,  B65G2203/0291

Abstract: A controller for a linear drive system includes compensation of a reference signal as the mover approaches a commanded position along a track. The compensation value is added once as the vehicle approaches the commanded position, adjusting the reference signal. This compensation allows the controller to resolve to a zero reference signal at the same time the vehicle reaches the commanded position. The amount of compensation required may be automatically determined for a particular vehicle to reduce or eliminate overshoot as the vehicle approaches a station. Initially, no compensation is provided and the controller monitors settling error as the vehicle approaches a station. The compensation value is then incremented and the controller again monitors settling error as the vehicle approaches a station. The controller compares the new settling error to the prior settling error and adjusts the compensation value accordingly.

公开(公告)号：US11829158B2

公开(公告)日：2023-11-28

申请号：US17411791

申请日：2021-08-25

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Yuhong Huang ,  Tracy M. Clark ,  Jason A. Young ,  Neil R. Bentley ,  Jesse R. Mendenhall

IPC: G05D1/02

CPC classification number: G05D1/0293 ,  G05D1/0223 ,  G05D1/0276 ,  G05D1/0295

Abstract: Synchronization of multiple vehicles in an independent cart system to reduce spacing and increase throughput designates one of the movers as a leader and at least one additional mover as a follower, defining a chain of vehicles. A motion command for the chain is provided to a controller for the leader, and the controller generates a motion profile. The controller passes this motion profile to a controller for each of the follower movers. If the follower is unable to maintain the motion profile for the leader, the controller for the follower generates a message to the controller for the leader indicating a modification to the motion profile is required. The controller for the leader modifies the motion profile and forwards the modified motion profile to controllers for each follower. If all movers are following the modified profile, the controller for the leader may return to the original motion profile.

公开(公告)号：US20230068768A1

公开(公告)日：2023-03-02

申请号：US17411791

申请日：2021-08-25

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Yuhong Huang ,  Tracy M. Clark ,  Jason A. Young ,  Neil R. Bentley ,  Jesse R. Mendenhall

IPC: G05D1/02

Abstract: Synchronization of multiple vehicles in an independent cart system to reduce spacing and increase throughput designates one of the movers as a leader and at least one additional mover as a follower, defining a chain of vehicles. A motion command for the chain is provided to a controller for the leader, and the controller generates a motion profile. The controller passes this motion profile to a controller for each of the follower movers. If the follower is unable to maintain the motion profile for the leader, the controller for the follower generates a message to the controller for the leader indicating a modification to the motion profile is required. The controller for the leader modifies the motion profile and forwards the modified motion profile to controllers for each follower. If all movers are following the modified profile, the controller for the leader may return to the original motion profile.

公开(公告)号：US20220063924A1

公开(公告)日：2022-03-03

申请号：US17007167

申请日：2020-08-31

Applicant: Rockwell Automation Technologies, Inc

Inventor： Yuhong Huang ,  Sean Lu ,  Tracy M. Clark

IPC: B65G43/00 ,  G05B19/33

Abstract: A system and method for monitoring disturbance forces experienced by a mover in an independent cart system monitors current generated by a controller and a feedback signal corresponding to operation of the mover in response to the current generated by the controller. The controller stores a value of the current reference and of the feedback signal, sampled in tandem, and determines a disturbance force experienced by the mover as it travels along the track as a function of the stored values of the current reference and of the feedback signal. The controller may store the measured disturbance force experienced by the mover as a function of the location of the mover along the track. For each subsequent time the mover travels along the same length of track, the controller may add a compensation value to the current reference to reduce the disturbance force experienced by the mover.

公开(公告)号：US20210261351A1

公开(公告)日：2021-08-26

申请号：US16802095

申请日：2020-02-26

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Yuhong Huang ,  Brian M. Perreault

IPC: B65G43/00 ,  B65G25/06

Abstract: An independent mover transport system and related method. The system comprises a mover having an axis, and a track. The track includes first and second track segments, and a controller operative to drive a first coil of the first track segment to control movement of the mover along the first track segment towards the second track segment. The controller is further operative to define a first zone for the first track segment, define a second zone for the first track segment, drive the first coil to control movement of the mover with the first set of controller gain values when the location of the axis is in the first zone, and drive the first coil to control movement of the mover with second set of controller gain values when the location of the axis is in the second zone.

公开(公告)号：US20200017308A1

公开(公告)日：2020-01-16

申请号：US16034988

申请日：2018-07-13

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Yuhong Huang ,  Oliver C. Haya ,  Neil R. Bentley ,  Robert H. Schmidt ,  Eric J. Wildi

IPC: B65G35/06 ,  B60L13/03 ,  B65G54/02 ,  B65G19/02 ,  B65G43/00

Abstract: A controller for an independent cart system simplifies programming and automatically adapts operation each mover travelling along a track. The controller includes a configuration table defining segments of the track, which includes a maximum velocity and/or a maximum acceleration for each mover within the segment. A motion command for a mover commands motion across multiple segments between the starting point and the ending point. As the mover travels, the controller receives a position feedback signal corresponding to the present location of the mover. The controller obtains the maximum velocity and/or maximum acceleration for the mover corresponding to the segment in which it is located. The controller automatically adjusts the speed and/or acceleration of the mover along the segment in which it is presently located. As the mover transitions between segments, the controller automatically adjusts the speed and/or acceleration according to the new segment in which the mover is located.

公开(公告)号：US20250128897A1

公开(公告)日：2025-04-24

申请号：US18492082

申请日：2023-10-23

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Haihui Lu ,  Zhuo Liu ,  Hao Yang ,  Yuhong Huang ,  Azeddine Choumach ,  Brian M. Perreault ,  Daniel I. Lanier ,  Robert H. Schmidt

IPC: B65G67/22

Abstract: An independent cart system includes multiple track segments, multiple movers, multiple position sensors, and a controller. Each track segment includes multiple coils along a length of the track segment and a segment controller operative to selectively energize the coils to generate an electromagnetic field. Each mover includes a magnet array having multiple magnets, where the magnet array generates a magnetic field that interacts with the electromagnetic field generated by the coils to propel the mover along the track segments. The position sensors are spaced apart along the length of each track segment and generate a position feedback signal with a waveform as a function of the magnetic field generated by the magnet array on each mover. The controller is operative to receive the position feedback signal from each position sensor and to determine a unique identifier for each mover as a function of the waveform of the position feedback signal.