Linear motor system, corresponding forming assembly and method
A linear motor system includes a track and at least one movable member coupled to the track and configured to move along the track. The at least one movable member includes a first element, a second element relatively movable with respect to the first element, and at least one movement detector configured to transmit a movement signal. A processing unit is configured to calculate a movement of the movable member, the second element and/or the first element as a function of the movement signal received from the movement detector.
1 . A forming assembly configured to form a plurality of packages, the forming assembly comprising:
a pair of endless tracks;
a pair of movable members, each one of which movably coupled to, and cyclically movable along, one respective track;
each movable member of said pair of movable members comprising:
a coupling element configured to couple the movable member to the respective track,
a second element, relatively movable so as to move linearly or angularly with respect to the coupling element and the respective track,
a forming unit cyclically movable and configured to form the packages,
wherein at least one movable member of the pair comprises at least one movement detector mounted on the second element and configured to transmit a movement signal indicative of movement of at least the second element, and
wherein the forming assembly comprises a processing unit configured to calculate a movement of the second element as a function of the movement signal received from the movement detector.
2 . The forming assembly of claim 1 , wherein the processing unit is configured to calculate a position of the second element as a function of the movement signal.
3 . The forming assembly of claim 2 , wherein the processing unit is configured to calculate a position of the second element with respect to the coupling element.
4 . The forming assembly of claim 1 , comprising a packaging assembly configured to form and seal a plurality of packages containing a pourable food product starting from a tube of packaging material, the packaging assembly comprising a pair of endless tracks between which said tube is fed along a straight advancement direction, and
wherein each movable member of said pair of movable members comprises a respective forming unit and a respective sealing unit linearly movable towards said tube, transversally to said advancement direction, to cyclically cooperate in contact with successive tube portions, so as to form and seal at least corresponding pack portions of respective packs, respectively.
5 . A linear motor system, comprising:
a track;
at least one movable member coupled to the track and configured to move along said track, the at least one movable member comprising:
a coupling element coupling the movable member to the track,
a second element, relatively movable so as to move linearly or angularly with respect to the coupling element and the track, and
at least one movement detector, mounted on the second element and configured to transmit a movement signal indicative of movement of at least the second element; and
a processing unit, configured to calculate a position of the second element as a function of the movement signal received from the movement detector.
6 . The linear motor system of claim 5 , wherein the processing unit is configured to calculate a position of the second element with respect to the coupling element.
7 . The linear motor system of claim 5 , wherein the processing unit is configured to calculate, as a function of the movement signal, a vibration pattern of the movable member, the vibration pattern being indicative of a coupling of the movable member to the track.
8 . The linear motor system of claim 5 , wherein the processing unit is configured to interrupt operation of the at least one movable member and/or transmit an alert signal to a user interface, if the calculated position and/or vibration pattern differ from a predetermined position and/or predetermined vibration pattern, respectively.
9 . The linear motor system of claim 5 , comprising a plurality of movement detectors configured to transmit a respective movement signal indicative of movement of the coupling element and the second element.
10 . The linear motor system of claim 9 , wherein the processing unit is configured to calculate a position of the second element with respect to the coupling element as a function of said movement signals.
11 . The linear motor system of claim 5 , wherein the movement detector comprises at least one inertial sensor, preferably comprising at least one motion sensor and at least one rotation sensor.
12 . A movable member couplable to a track, the movable member comprising:
a coupling element couplable to the track and configured to move along said track,
a second element, relatively movable so as to move linearly or angularly with respect to the coupling element and the track,
at least one movement detector mounted at the second element and configured to transmit a movement signal indicative of movement of at least the second element, and
a processing unit configured to calculate a movement of the second element as a function of the movement signal received from the movement detector.
13 . The movable member according to claim 12 , wherein the control unit is configured to calculate a position of the second element as a function of the movement signal.
14 . The movable member according to claim 13 , wherein the control unit is configured to calculate a position of the second element with respect to the coupling element.
15 . The movable member according to claim 12 , comprising a plurality of movement detectors configured to transmit a respective movement signal indicative of movement of the coupling element and the movement of the second element.
16 . The movable member of claim 15 , wherein the processing unit is configured to calculate a position of the second element with respect to the coupling element as a function of the movement signals.
17 . The movable member of claim 12 , wherein the plurality of movement detectors is mounted on the second element and on the coupling element.
18 . The movable member of claim 12 , wherein the movement detector comprises at least one inertial sensor, preferably comprising at least one motion sensor and at least one rotation sensor.
19 . The movable member of claim 12 , wherein the movement detector comprises an inertial sensor comprising a motion sensor and a rotation sensor, wherein:
the movement signal is indicative of an acceleration and an angular velocity of the second element, and
the processing unit is configured to calculate the movement of the second element as a function of said acceleration and angular velocity.
20 . The movable member of claim 12 , wherein the processing unit is configured to:
receive the movement signal comprising a first signal indicative of an acceleration of the second element,
receive the movement signal comprising a second signal indicative of an angular velocity of the second element,
calculate an orientation of second element as a function of the second signal and preferably an initial estimate of an attitude of the second element,
calculate an acceleration of the second element as a function of the first signal, the calculated orientation and an initial reference coordinate system,
calculate a gravity acceleration compensation as a function of the calculated orientation,
summing the calculated acceleration and the gravity acceleration compensation, and
calculate a position of the second element as a function of said sum and a predetermined initial position.
21 . The movable member of claim 12 , wherein the at least one movement detector is potted with epoxy resin and fixed to the movable member.