CONTROLLED MOTION SYSTEM HAVING AN IMPROVED TRACK CONFIGURATION
A transport system comprising linear motor modules utilized both straight and curved track modules, with movers displaced on the track modules by control of power applied to coils of the modules. Curved track modules have modified spline geometries to provide desired acceleration and jerk characteristics. The modified spline geometries may be defined by more than one generators, such as an equation generator and a spline fit between the equation-generated segment and one or more constrained points or locations. The curved track modules may be divided into 180 degree modules, or may be reduced to 90 degree, 45 degree or other fractional arcs to provide for modular assembly, mirror-image geometries and motion profiles, and the like. The system may be adapted to provide improved motion characteristics based on modification of a conventional spline geometry.
1 .- 20 . (canceled)
21 . A track module for a controlled motion system, comprising:
a combination curved-straight track module configured to be interconnected with other track modules to form a continuous track, the curved-straight track module comprising a curved portion and an integral straight portion continuing from the curved portion, wherein the curved and integral straight portions comprise a continuous stator in which electromagnetic coils are disposed that, in operation, are energized to drive movers disposed along the continuous track.
22 . The track module of claim 21 , wherein the curved portion extends around approximately 180 degrees.
23 . The track module of claim 21 , wherein the curved portion extends around approximately 90 degrees.
24 . The track module of claim 21 , wherein the curved portion extends around less than approximately 90 degrees.
25 . The track module of claim 21 , wherein the curved portion extends around approximately 45 degrees.
26 . The track module of claim 21 , wherein the curved portion extends around less than approximately 45 degrees.
27 . The track module of claim 21 , comprising two integral straight portions, an integral straight portion being disposed on both of two opposite ends of the curved portion.
28 . The track module of claim 21 , wherein the stator comprises a plurality of laminates having slots for the electromagnetic coils.
29 . The track module of claim 28 , wherein the slots are provided along an outer periphery of the stator.
30 . The track module of claim 21 , wherein the curved portion comprises a modified spline having an equation-generated segment and a transition-generated segment with a smooth transition between the equation-generated segment and the transition-generated segment.
31 . The track module of claim 21 , wherein the electromagnetic coils are provided around a periphery of the curved-straight track module.
32 . The track module of claim 21 , wherein the electromagnetic coils are provided generally in a plane near a top or bottom surface of the curved-straight track module.
33 . A track module for a controlled motion system, comprising:
a curved-straight track module configured to be interconnected with other track modules to form a continuous track, the curved-straight track module comprising a curved portion and an integral straight portion continuing from the curved portion;
wherein the curved and integral straight portions comprise a continuous stator in which a plurality of individually controlled electromagnetic coils are disposed that, in operation, are energized create electromagnetic fields to drive movers disposed along the continuous track; and
wherein the curved portion comprises a modified spline geometry comprising at least two different adjacent non-constant radius spline segments having different generators.
34 . The track module of claim 33 , wherein the curved portion extends around approximately 90 degrees.
35 . The track module of claim 33 , wherein the curved portion extends around less than approximately 90 degrees.
36 . The track module of claim 33 , wherein the curved portion extends around approximately 45 degrees.
37 . The track module of claim 33 , wherein the curved portion extends around less than approximately 45 degrees.
38 . The track module of claim 33 , comprising two integral straight portions, an integral straight portion being disposed on both of two opposite ends of the curved portion.
39 . A track module for a controlled motion system, comprising:
a curved-straight track module configured to be interconnected with other track modules to form a continuous track, the curved-straight track module comprising a curved portion and an integral straight portion continuing from the curved portion;
wherein the curved and integral straight portions comprise a continuous stator in which a plurality of individually controlled electromagnetic coils are disposed that, in operation, are energized create electromagnetic fields to drive movers disposed along the continuous track; and
wherein at least part of the curved-straight track module is configured to permit flipping for assembly with other track modules.
40 . The track module of claim 39 , wherein the curved portion comprises a modified spline geometry.