The present disclosure relates generally to a system and method for electric motor control in a manufacturing environment and, more particularly, a system and method for safety control of linear and rotary servo motors in a manufacturing environment.
In a manufacturing environment, there are typically many machines operating to move, manipulate, process or otherwise deal with raw materials and parts. These machines are generally driven by various electric motors that may include linear or rotary servo motors. Examples of machines that make use of electric motors include conveyor systems and robotic systems. These machines can typically conduct operations at forces, speeds or accelerations that may pose a safety risk to humans (operators, inspectors and the like) or objects that may be in or move into the vicinity of the machines. As such, machines that pose a safety risk are generally protected by guard fencing or the like and various types of safety measures such as “dead-man” switches, interlocks, or the like that cause the machine to stop when a human may be at risk.
As one example, linear motor conveyor systems have become more popular. These conveyors include a moving element that is controlled to move along a track by electromotive force. In some cases, the moving element includes a permanent magnet and the track includes an electromagnetic field generator. The moving element is placed on the track such that the magnets are acted on by the electromagnetic field in order to move the moving element along the track.
In linear motor conveyor systems, forces on the moving element can be high in order to move the moving element quickly (both acceleration and speed) in order to increase production speeds. Due to the fast acceleration and speed of travel of the moving elements, there are traditionally substantial safe guards put in place to protect nearby humans and objects. Generally, these systems are fully enclosed and include access openings that may be required to be latched or locked during production. As the moving element operates at high speeds, accessing the conveyor system, for example in order to provide maintenance or repairs, conventional systems requires the conveyor to be stopped in order to reduce the likelihood of an operator being injured by a moving element, or other moving part. As such, in conventional systems, it can be difficult to complete repairs or maintenance without significant down time for the conveyor system. In a similar way, robots or other machines operating at high accelerations and high speeds may also require control, for example safety control, that will require the machine to stop when human operators are present.
Because of this need to stop the system, it can be difficult to address even smaller issues, for example maintenance for a small area of a linear conveyor system, when the operator is required to shut down a significant area or the whole conveyor system in order to provide a safe working environment. As such, there is a need for a system and method for control of electric motors that overcomes at least one problem with conventional systems.
It is therefore desirable to provide a system and method for control of linear and rotary servo motors with the ability to control the speed and force of moving elements, in some cases, in a specific area, to ensure the electric motors are operating below hazardous levels.
According to one aspect herein, there is provided a control system for an electric motor in a manufacturing environment, the control system including: a safety relay; and a power reduction circuit, wherein, when the safety relay is triggered, the power reduction circuit automatically limits the power supplied to the electric motor from a main power source such that the electric motor operates in a predetermined safe mode.
Generally speaking, the power reduction circuit includes a reduced power supply and a means of dropping the power supplied to the electric motor quickly to the level of the reduced power supply.
In some cases, the power reduction circuit may include: at least one low power source provided between the main power source and a motor coil of the electric motor; and at least one diode provided between a power source and a motor coil of the electric motor. In some cases, the at least one diode may include at least one Zener diode.
In some cases, the power reduction circuit may include: at least one low power source provided between the main power source and a motor coil of the electric motor; a switch for shorting a circuit between a power source and a motor coil of the electric motor; and a voltage monitor for monitoring a voltage provided to the motor coil to determine when shorting can be removed.
In some cases, the predetermined safe mode may include a predetermined safe force that provides for acceleration below 0.5 G. When the electric motor is a rotary motor, the predetermined safe force may be related to the angular acceleration of the motor or an end effector.
According to another aspect herein, there is provided a control system for a linear motor conveyor system with at least one moving element, the control system including: a safety relay; and a power reduction circuit, wherein, when the safety relay is triggered, the power reduction circuit automatically limits the power supplied by the linear motor to the at least one moving element such that the at least one moving element operates in a predetermined safe mode.
In some cases, the power reduction circuit may include at least one diode provided between a voltage source and a motor coil. In some cases, the at least one diode may include at least one Zener diode. In some cases, the at least one diode may include a plurality of Zener diodes for redundancy.
In some cases, the predetermined safe mode may include a safe speed between approximately 100 millimeters per second and 250 millimeters per second.
In some cases, the power reduction circuit automatically limits the power supplied to a range from approximately 0.5 Volts to 2 Volts.
In some cases, the safety relay is triggered by one or more of the following: when a malfunction is detected, when system maintenance is scheduled, or when a door or entry way to the linear motor conveyor system is opened.
In some cases, the predetermined safe mode may include a predetermined safe force that provides for acceleration below 0.5 G.
According to another aspect herein, there is provided a method for controlling an electric motor in a manufacturing system, the electric motor having a main power supply, the method including: monitoring the manufacturing system associated with the electric motor for a change in condition; on detecting a change in condition: limiting a power supplied to the electric motor, via a power reduction circuit, such that the electric motor operates in a predetermined safe mode.
In some cases, the predetermined safe mode for a linear motor may include a predetermined safe speed of between approximately 100 millimeters per second and 250 millimeters per second and a predetermined safe force that provides for acceleration below 0.5 G.
In some cases, the limiting a power supplied to the electric motor may include: switching to a low power source provided between the main power source and a motor coil of the electric motor; shorting a circuit between a power source and a motor coil of the electric motor; and monitoring a voltage provided to the motor coil to determine when shorting can be removed.
In some cases, the limiting a power supplied to the electric motor may further include, prior to shorting, cutting off the power from the main power supply to the motor coils.
In some cases, the power reduction circuit may include at least one diode provided between a voltage source and a motor coil of the linear motor.
According to another aspect herein, there is provided a method for controlling a linear motor conveyor system, the method including: monitoring the linear motor conveyor system for a change in condition; on detecting a change in condition: limiting a power supplied to the linear motor, via a power reduction circuit, such that the linear motor conveyor system operates in a predetermined safe mode.
In some cases, the predetermined safe mode may include a predetermined safe speed for the at least one moving element of between approximately 100 millimeters per second and 250 millimeters per second.
In some cases, the power reduction circuit may automatically limit the power supplied to a range from approximately 0.5 Volts to 2 Volts.
In some cases, the detecting a change in condition may include: detecting one or more of the following: a malfunction, an unscheduled maintenance requirement, a scheduled maintenance requirement, a door opened, and an entry way opened.
In an aspect, there is provided a control system for an electric motor of a linear motor conveyor system having a moving element and a power supply, the control system including: a safety relay between the power supply and the electric motor; and a power reduction circuit configured to be engaged between the power supply and the electric motor when the safety relay is triggered, wherein the power reduction circuit automatically limits the maximum power that can be supplied to the electric motor while still allowing the moving element to move on the linear motor conveyor system.
In some cases, the power reduction circuit may include at least one diode provided between the power supply and the electric motor. The at least one diode may include at least one Zener diode.
In some cases, the power reduction circuit may include a switch or transistor for shorting a connection between the power supply and the electric motor (or motor coils) and a voltage monitor for monitoring a voltage supplied to the electric motor to maintain the supply at a reduced level.
In another aspect, there is provided, a control system for an electric motor having a power supply, the control system including: a safety relay between the power supply and the electric motor; and a power reduction circuit configured to be engaged between the power supply and the electric motor when the safety relay is triggered, wherein the power reduction circuit comprises at least one diode to automatically limit the maximum power supplied to the electric motor while still allowing the motor to move and provide a predetermined safe force.
In another aspect, the present disclosure provides a control system for a linear motor conveyor system including at least one moving element, a safety relay, and a power reduction circuit wherein, when the safety relay is triggered, the power reduction circuit automatically limits the force supplied to the moving element while still allowing the moving element to move at a safe speed. In a particular case, the power reduction circuit includes at least one diode provided between a voltage source and the motor coil supply voltage.
Other aspects and features of the present disclosure will become apparent to those ordinarily skilled in the art upon review of the following description of specific embodiments in conjunction with the accompanying figures.
Embodiments of the present disclosure will now be described, by way of example only, with reference to the attached Figures.
Generally, the present disclosure relates to a system and method for control of electric motors in a manufacturing environment. Embodiments herein are intended to allow control of electric motors such that the electric motors move with reduced force and speed and allow for an environment where the electric motors may still operate but that will also be safe for humans to be in proximity (sometimes called a “collaborative area”). Some safety organizations have indicated that achieving collaborative functional safety is a combination of safe low force and safe low speed. The actual requirements will vary depending on the application but these are generally the variables that are considered.
In some cases, the system and method for control may be applied to a linear motor conveyor system. In some cases, embodiments of the system and method enable the conveyor system, i.e. the electric motors therein, to operate at reduced forces via a reduced voltage supply when a safety relay is triggered or otherwise desired, typically for safety reasons. By controlling the linear motor conveyor system with reduced force/voltage, it is intended that the moving elements may continue to travel on the linear motor conveyor system, but with reduced force and/or momentum (associated with a reduced acceleration and/or speed) to ensure that a human in the vicinity, or other nearby objects, will not be injured. In some cases, the reduced forces/voltage supply may be obtained/limited by shorting a power circuit to the electric motor or by including at least one diode, for example, a Zener diode, in the circuit providing power to the electric motors, which will reduce or prevent the risk of overvoltage jumps in general and, more specifically, if safety relays are not enabled.
The control system/safety relay can be considered enabled once the safety relay has switched the high voltage power supply onto an electric motor bus. The control system/safety relay may be considered triggered once the safety relay has switched out the high voltage supply and switched to a low voltage supply. In some embodiments, the at least one diode is also active once the safety relay is triggered. The control system/safety relay may be considered shut down when neither the high voltage nor low voltage power supplies are connected. Again, in some embodiments, the at least one diode may still be connected on shut down as a failsafe.
As shown in
The moving elements 25 are intended to travel between workstations (not shown), which may be placed at various locations along the track 22. Further, the moving elements 25 may support a pallet 27 or product (not shown), or a product on a pallet 27, that is to be operated on automatically by, for example, a robot (not shown), while moving or at a workstation. Through the operation of the linear motor conveyor, various operations can be performed to provide for the creation or assembly of a product. While the moving element 25 may carry a product/part directly, the moving element 25 may also include or be attached to a pallet or an additional tooling plate which includes, for example one or more nests, to hold the part or product. In some cases, the moving element and pallet/tooling plate may be fixed together. In this disclosure, the terms “moving element” and “pallet” may sometimes be used interchangeably, depending on the context.
It will be understood that, for more efficient manufacturing, the conveyor system is intended to allow the moving elements to be moved from workstation to workstation at a high speed and/or acceleration, and related significant momentum and/or force. As such, safety concerns may require that the linear motor conveyor system be operated in an enclosed space in order to avoid contact with human operators. In this case, the conveyor system may be accessed via various doors or entryways that can be locked when the conveyor system is in motion. Conventional conveyor systems often include safety relays or other safety mechanisms that may trigger due to various situations. For example, if a door of the enclosure is opened, the conveyor system will stop to ensure that an operator is not injured by moving parts of the system. Once the system has stopped, the operator can access the mechanical devices, electrical devices, wiring, pneumatics, hydraulics and the like, in order to repair or provide maintenance to the conveyor system or access a part being handled by the conveyor system. Unfortunately, typically either the complete conveyor system is stopped, or an enclosed location where the maintenance or service is occurring is not usable. As such, production efficiency can be reduced. Further, once the conveyor system restarts, either the particular location or the complete system, each moving element generally needs to be reset and/or located by the conveyor system and then slowly accelerated to reach operational speed. Locating and reinitiating the conveyor system can further increase downtime for production and reduce efficiency.
Conventional high force and/or momentum (acceleration and/or speed) systems such as linear motor conveyor systems, linear actuators, robots and the like tend to either be operating at full speed or stopped. Whenever a human is present, the systems generally need to be stopped or very closely controlled for safety reasons. While there have been some attempts to accommodate the use of both manual (i.e. human) stations in addition to high speed automated processing by implementing software or mechanical methods to control the force/speed of the machines, these control systems tend to be very complex and thus increase expense and possibilities for error.
Similar issues occur when a high force machine is being constructed. For example, when building a linear motor conveyor, it is important to have easy access by humans while testing the system, sometimes prior to building an enclosure or implementing other appropriate safety systems. With conventional linear motor conveyors, the need to have safety control implemented in advance can increase the time to build a conveyor system, may require employees to have further specific training for the system, or may delay testing until the system is fully built, which may make problems and/or repairs more difficult to find and complete.
Embodiments of the control system and method herein are intended to allow for more flexibility both in electric motor/conveyor system configuration and during construction/testing of electric motor enabled manufacturing systems. In embodiments herein, there may be manufacturing systems including one or a combination of high speed/acceleration sections (i.e. high momentum/force), which may be guarded/enclosed, collaborative sections (i.e. more open sections in which humans may have at least some access) and, in some cases, even guard-less sections (i.e. open areas) and the like.
Embodiments of the system and method described herein are intended to provide for manufacturing systems with electric motors wherein force/momentum (i.e. acceleration/speed) are limited to below hazardous levels/safety limits while still allowing the electric motor to operate in a low force/momentum mode. In particular, embodiments herein involve conveyor tracks or track sections, wherein pallet or moving element force/momentum (i.e. acceleration/speed) are limited to below hazardous levels/safety limits, but generally allow the moving elements to continue to travel on the conveyor system. As the conveyor system maintains control of the moving elements, even at a reduced speed, the linear motor conveyor system does not require a further initialization after the service or maintenance has been completed. Embodiments herein also allow for transitioning from a high force track section onto a safety controlled (lower force) track section and vice versa.
In this embodiment, the control system 100 further includes a power reduction circuit 135 operating with the main power supply 110 and the safety relay 120. In particular, the power reduction circuit 135 includes a low power supply 137 (in this case, a 1 V DC voltage supply) in parallel with the main power supply 110, which is also connected to the safety relay 120 and will be engaged if the safety relay 120 has been triggered. The power reduction circuit 135 also includes at least one diode 140 (in this case, a Zener diode) connected via a switch 145 between the motor bus 125 and ground. The diode 140 is intended to ground any overvoltage that may occur in the circuit once the safety relay 120 has been triggered. When the safety relay 120 is triggered, the high power supply 110 is switched out of the circuit and the low power supply 137 is switched in. At the same timing, the at least one diode 140 is switched into the circuit via the switch 145. The safety relay 120 is intended to keep the at least one diode switched in by default until the safety relay 120 is reset. In some cases, a plurality of diodes 140 (again, for example, Zener diodes), for example 2, 3, 5, 10 or numbers in between or above, may be included to provide for redundancy in the system.
In some embodiments, the safety relay 120 may be controlled by a triggering interface 150 with respect to the voltage selection. It will be understood that the system 100 may be configured such that the safety relay 120 is triggered by various changes in status of the linear motor conveyor system. Generally speaking, the safety relay 120 is triggered to place a region/area (or all) of a manufacturing system into a mode such that injury to personnel is prevented. For example, in some cases, the triggering interface may be a guard circuit interface, in which the change in status might be the opening of a guard gate preventing access to the linear motor conveyor system. Other changes in status may include, for example, the pressing of an alert button, scheduled maintenance, identification of a defective product, or the like. Other examples of where the safety relay may be triggered include: 1) Can switch an area between operators doing manual assembly over to high speed automation and back to manual operations easily 2) Can be an area that operates high speed when no people are present and automatically goes down to low speed/low force whenever people come in close proximity to the area and back to high speed when they leave 3) Can allow moving elements to safely travel through an area that has been stopped for maintenance or other purposes so the rest of the manufacturing system/line can continue to operate 4) Allows people to safely access products travelling on the line for quality audit, manual repairs. etc. 5) For machine builders, it allows moving elements to move around the system in a safe way during system build and integration before all of the safety guarding is installed.
The safety relay 120 may be any of various types that are available on the market. The required level of safety can be achieved by appropriately configuring the triggering interface 150 and safety relay 120, for example, Category 1-4 Performance Level A-E as required per the ISO 13849 standard, to switch to the low power supply 137 and diode(s) 140 when the safety relay 120 is triggered. The triggering interface 150 and safety relay 120 are intended to follow conventional safety circuit design practices.
The low power supply 137 in
In the example of a linear motor conveyor system, a target for operating below a hazardous level without stopping entirely is believed to be a maximum speed of between about 100 mm/sec to about 250 mm/sec or at another level within this range. In a particular example, the maximum speed may be approximately 150 mm/sec. These speed values will also depend on the weight of the moving element (and materials loaded thereon) when it comes to determining the maximum safe force. In order to achieve these operating conditions, it is intended that the force applied to the moving elements is sufficiently high to overcome any inertia of the moving element, for example friction, weight of moving element/payload or the like, but low enough as to not cause injury to a human (or in some cases, to the payload) in an impact. In some cases, the speed may be further limited to a speed that allows for manual operations on a product while the product is being carried by the moving element.
In terms of safety concerns, the control system may be configured to adjust the force and/or momentum to a level to allow operators to be able to stop a pallet by putting a counter force against the movement of the pallet, for example, if a finger is placed on the pallet or if a hand is sandwiched between a moving pallet and a stationary pallet, the force and/or momentum would not be enough to cause injury. In the track sections where the control system provides for low force (sometimes referred to as low force sections or collaborative sections), for example collaborative areas for manual operations, areas where safety relays have been tripped, testing sections, and the like, the low force mode will inherently require low acceleration as the control system will control the force to be under levels which would achieve high acceleration. For example, in a specific case accelerations may be configured to be below 0.5 G in low force sections while in high force sections acceleration can match the upper limits of the conveyor system or capabilities of the product on the pallet, which, in some cases, may exceed 5 G.
In the example of
As noted above, embodiments of the control system and method may be introduced to allow for track sections where moving elements can continue to operate collaboratively with a human in the vicinity, for example when an operator is working on a part, attending to maintenance or repairs, or the like. In some embodiments, the control system is intended to reduce the power supply to the motor coil in a collaborative section to be set at a nominal amount that may still allow the moving elements to travel on the conveyor, for example, approximately 1V DC rather than 28V DC. This lower voltage is intended to reduce maximum attainable coil current and as a result reduces the maximum attainable pallet/moving element force/momentum and acceleration/speed to safe or safer levels. In addition, the maximum attainable pallet and/or moving element velocity is also reduced as the pallets' back-EMF will limit pallet speed to lower levels. In essence, when power supply is limited, the moving element force/momentum, acceleration/velocity may be inherently limited by the design to values that cannot be exceeded by any firmware or other control action.
In many cases, the maximum force/momentum and acceleration/speed provided by an electric motor are directly proportional to the motor supply voltage. For example, in a particular linear motor conveyor, at 28V DC the maximum velocity is about 4 m/sec so with a supply voltage of 1V DC the maximum velocity will be about ( 1/28)*4=0.15 m/sec or 150 mm/sec. In this example, if it is intended to have a speed of between 100 mm/sec and 250 mm/sec, the voltage range may range from approximately 0.5 V to 2 V. It will be understood that for different electric motors, which may have different coil windings, there will generally be different voltages for achieving the same speed or range of speeds. It is intended that the control system provides for safe operating speeds, and this may be achieved through different voltages on various types of electric motors, including various linear motor conveyor systems. On rotary electric motors, of the kind used in various robotic systems, such as robotic arms and the like, the safe speed may be related in angular velocity of either the electric motor or of an end effector or the like.
The control system and method may be further configured to address cases where a moving element, at high velocity, transitions from a high force section onto a collaborative or low force section. Should this occur, the back EMF generated by the speed of the pallet may cause the coil supply voltage on the collaborative section to attempt to rise above the nominal voltage level, for example, 1 V DC. In this case, the at least one diode within the collaborative section will clamp the motor coil's voltage to about 1 V DC causing the moving element to decelerate rapidly. This deceleration back down to safer speed levels will take place generally regardless of the state of the conveyor system or track section, whether powered or un-powered and is not intended to require any action by control firmware or safety logic. As such, the control system and power reduction circuit herein will generally be simpler and less costly than conventional systems.
In a specific case, if a moving element is carrying a sensitive part or a liquid where rapid deceleration could be problematic, the overall linear motor conveyor system or the control system described herein may monitor forces applied to the moving element. It would be typical for even a sensitive part or liquid to handle at least some level of deceleration. This rapid deceleration due to back EMF may not be a mode of operation where the level would harm the part or product so it would rarely (if ever) occur. If rapid deceleration on a sensitive part did occur and was critical, the system may, for example, tag the parts as rejects. It would be understood that a small number of rejected parts may still be preferred over the downtime the linear motor conveyor system may otherwise endure.
In embodiments herein, Zener diodes offer a direct means of limiting the supply voltage to some predetermined value (for example, an upper value) in order to limit the force/power transmitted to the electric motor. Other methods of controlling force/power to the electric motor may include other voltage limiting devices, such as, for example, standard silicon and Schottky diodes and transorbs and the like. As noted, the intended purpose is to safely and securely limit the supply voltage below a predetermined threshold, for example 0.5 VDC, 1 VDC, 2 VDC, some value in between or the like. In some cases, it may be necessary to include some form of voltage monitoring, however, this may require additional complexity and cost.
Embodiments of the system and method are intended to control the conveyor system to allow the conveyor system to continue operating safely when a change in condition requiring safe people are in the same vicinity. An operator may perform manual operations associated with the conveyor system, for example operations on a pallet, a moving element, a workstation or the like, while the moving elements continue to travel safely through an area of the conveyor system that is undergoing service or maintenance. Further, the moving elements may also safely travel around the system during construction and testing prior to the integration of the safety guarding and the like.
In some embodiments herein the control system/power reduction circuit is situated between the power supply and the electric motors of the linear conveyor system and does not require any adaptation to the hardware or software associated with the electric motors or tracks of the conveyor system itself. Generally, safety certification based on software and digital electronics tends to be costly and challenging. It may be difficult to prove to regulatory bodies that a system is “guaranteed” safe within the regulatory guidelines based on software (or embedded firmware) and logic within digital electronics. It may also be difficult to make future changes to safety related firmware or electronics as it may require re-certification of the whole conveyor system. Some embodiments of the control system and method described herein provide an external, hardware solution where firmware does not play any role in the safety certification. As noted, some embodiments do not add significant cost and complexity to the electric motor or conveyor system.
As noted above, in some cases, a plurality of Zener diodes may be included to provide redundancy. The greater the number of Zener diodes, the greater the reliability of the motor voltage limiting. Additional Zener diodes allow for the energy being drawn from decelerating pallets to be distributed over multiple Zener diodes thereby limiting the heat/temperature rise in the Zener diodes, again improving reliability. Providing a plurality of Zener diodes may allow for redundancy without the requirement of creating redundancies in the software and/or electronics.
In this case, the power reduction (safety) circuit 135 also includes a bus voltage monitor 305, which monitors the bus voltage and when the bus voltage drops below a predetermined threshold (in this case approximately 1 V DC), the safety circuit 135 stops shorting the bus (i.e. resets the switch 145) so the system can continue moving the moving elements with approximately 1 V DC (via the low power supply) in collaborative mode. This is different from the use of diode(s) as in other embodiments because in a shorted circuit there is a need for voltage monitoring and feedback to the switch 145 once the voltage drops to an appropriate level.
In an example using a linear motor conveyor system, the method includes monitoring for a safety issue or a change in track status or the like, for example monitoring for a safety relay to be triggered on a preconfigured section of track or the like. For example, the safety relay may be triggered when the system detects a malfunction that requires a human response for repair, when there is scheduled maintenance, when a door or entry way to the conveyors system is opened, or the like. Once the safety relay is triggered or a safety area is otherwise detected, the method includes reducing and capping the voltage being supplied to the linear motor conveyor system in at least some area of the track. In some particular cases, the system may reduce a 28 voltage supply to 1 voltage supply. Because of the reduced/capped voltage, as the moving elements enter into the safety controlled track section, the moving elements are decelerated to predetermined levels of force and speed that is unlikely to cause injury. In order to reduce and cap the voltage, in some embodiments, at least one diode (e.g. a Zener diode) has been provided in a power reduction circuit in order to clamp any motor voltage, including any voltage being generated by back EMF when the moving element enters the safety controlled track section and experiences the deceleration. In other embodiments, the voltage is shorted between the power supply and the electric motor to reduce the voltage quickly and the voltage is then monitored to cap the voltage at a low power level. On leaving the safety controlled track section, the method may switch the safety relays such that the moving element may again accelerate to a normal operating speed. In one example, once the repair, maintenance or the like is completed and the operator leaves the safety controlled track section, the linear motor conveyor system may return to full programmable control of acceleration and deceleration of the moving elements. In some cases, when the high voltage supply is active, the low voltage supply and Zener diodes are disconnected by the power reduction circuit.
As illustrated in
In another area 820, the safety relay may be triggered when an auditor enters the enclosure to audit the system (as illustrated in
As illustrated, some areas may be configured as collaborative areas 830 and 840, where manual operations may be performed either alone or in conjunction with automated operations. It is intended that these collaborative areas may have the safety relay triggered for both the linear motor conveyor track section as well as other machines such as robots while manual operations are being performed. If an operator was to leave the collaborative area and the area was to continue with automated operations, the linear motor conveyor system and robots may return to a higher force/speed section in order to increase production speed.
Although the embodiments provided herein focus on linear motor conveyor systems, it will be understood that a similar control system may be introduced for other electric motors, including linear or rotary motors where it is desired to have a safety system or control of the forces involved. A control system as described herein, which allows the electric motor to continue operation, but at a lower force, may be beneficial in further machinery where various operating speeds may be desired.
In still other examples, as illustrated in
Generally speaking, a manufacturing system may include various combinations of full force/speed areas and collaborative areas. For example, a manufacturing system may include: a sustained collaborative track section, such as in the case of an assembly line that includes a human/manual operation where the track always needs to be slowed down; a temporary collaborative track section where the track is only slowed down while a temporary task is accomplished, such as maintenance, audit, etc.; a random/arbitrary track section that may be temporarily operated in collaborative mode depending on which triggers were active (i.e. if a safety cage is opened in one area, it will cause the track to slow down in that particular area; which could be any arbitrary/random area/track section).
In the preceding description, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the embodiments. However, it will be apparent to one skilled in the art that these specific details may not be required. In other instances, well-known structures may be shown in block diagram form in order not to obscure the understanding. For example, specific details are not provided as to whether some of the embodiments described herein are implemented as a software routine running on a processor via a memory, hardware circuit, firmware, or a combination thereof.
The above-described embodiments are intended to be examples only. One of skill in the art will understand that elements of an embodiment may be substituted in other embodiments and that each embodiment may not require each and every element described. Alterations, modifications and variations can be effected to the particular embodiments by those of skill in the art without departing from the scope, which is defined solely by the claims appended hereto.
This application claims priority to U.S. Provisional Application No. 62/773,631 filed Nov. 30, 2018, which is hereby incorporated herein by reference.
Number | Date | Country | |
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62773631 | Nov 2018 | US |
Number | Date | Country | |
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Parent | PCT/CA2019/051724 | Dec 2019 | US |
Child | 17334894 | US |