Mover, device and method for mounting a fixture on a standalone cart

Abstract

A mover, apparatus, and method for mounting fixtures on a standalone cart are provided. A mover for a standalone cart system includes a drive member for a linear drive system, a power supply configured to supply power to at least one device mounted on the mover, and a mounting plate secured to the mover. The mounting plate is configured to selectively accommodate one of a plurality of fixtures. The mounting plate includes at least one electrical connector configured to engage a complementary electrical connector on each fixture, at least one connector configured to engage a complementary connector on each of the fixtures to securely hold each of the fixtures to the mounting plate, and a control circuit operable to transmit at least one control signal to or receive at least one feedback signal from each fixture.

Description

Technical Field

[0001] The subject matter disclosed herein relates to systems and methods for mounting fixtures on a self-contained trolley system. More specifically, the vehicle in the self-contained trolley system includes a base plate that provides electrical and mechanical connectors for quick exchange of different fixtures configured to be mounted to the base plate. Background Technology

[0002] Motion control systems utilizing independent trolleys and linear motors can be used in a variety of processes (e.g., packaging, manufacturing, and processing) and offer advantages over conventional conveyor systems, including enhanced flexibility, extremely high-speed motion, and mechanical simplicity. The motion control system comprises a set of independently controlled trolleys (also referred to herein as “movers”), each supported on a track for movement along the track. The track consists of multiple track segments, and a linear drive system controls the operation of the movers, causing them to travel along the track. Sensors can be located at fixed positions along the track and / or spaced apart on the movers to provide information about the position and velocity of the movers.

[0003] In a typical system, a track forms a path that each mover repeatedly travels on. In some applications, as the mover travels along the track, other actuators can interact with the product loaded on each mover. For example, the mover may stop at a loading station, where a first actuator places the product onto the mover. The mover can then move along a processing section of the track, where various other actuators can fill, process, position, or otherwise interact with the product on the mover. The mover can be programmed to stop at different locations or move at a controlled speed past each of the other actuators. After performing various processes, the mover may pass through or stop at an unloading station, where the product is removed from the mover.

[0004] In other applications, the mover may have a fixing device, including sensors, actuators, or tools mounted on the mover, and the mover may be configured to interact with products as it travels along a track. For example, the mover may have a gripper mounted on it. As the mover travels along the track, it may pass through a series of shelves or boxes, each containing different products. The gripper may be programmed to retrieve products from specific shelves or boxes and deliver them to an assembly or packaging station for further processing. Other movers may include, for example, labeling devices configured to, for example, imprint or roll labels onto products. The track may be positioned adjacent to another track or conveyor system, and each mover may include different labels. The mover may move to a labeling position adjacent to another track or conveyor belt to place the correct label on the different products passing through the labeling position.

[0005] Historically, it has been known that different movers were provided for each function required in an application. Regarding the gripper example, different grippers may be needed to handle different parts. Each gripper may require a different clamp shape, size, or orientation. A single gripper can be mounted onto a mover, and multiple movers are needed to accommodate each gripper in the system. Regarding the label example, different labels may have different widths, lengths, or application requirements. Different label applicators can be mounted onto each mover, and multiple movers are needed to accommodate each label applicator. A dedicated mover for each actuator requires track space for each mover. The track may need to have additional length or branches on which unused movers can be placed. Additional time may be required to select the desired actuator as movers with unused grippers or label applicators are repositioned so as not to obstruct the desired actuator.

[0006] Therefore, it is desirable to provide a system for selectively mounting multiple different fixed devices onto a single mobile device.

[0007] It is also expected that quick replacement between different fixing devices can be provided. Summary of the Invention

[0008] According to one embodiment of the present invention, a mover for an independent trolley system includes: a drive member for a linear drive system; a power source configured to supply power to at least one device mounted on the mover; and a mounting plate fixed to the mover. The mounting plate is configured to selectively accommodate one of a plurality of fixing devices. The mounting plate includes: at least one electrical connector configured to engage with a complementary electrical connector on each fixing device; at least one connector configured to engage with a complementary connector on each fixing device to reliably hold each fixing device to the mounting plate; and a control circuit operable to transmit at least one control signal to or receive at least one feedback signal from each fixing device.

[0009] According to another embodiment of the invention, an apparatus for selectively mounting fixtures on a mobile device for a stand-alone trolley system includes a mounting plate fixed to the mobile device. The mounting plate further includes: at least one electrical connector configured to engage with a complementary electrical connector on each of a plurality of fixtures; at least one connector configured to engage with the complementary connector on each of the fixtures to reliably hold each fixture to the mounting plate; and control circuitry operable to transmit at least one control signal between the mounting plate and each fixture.

[0010] According to another embodiment of the present invention, a method for selectively mounting a fixing device on a trolley system includes: aligning the trolley with a fixing device selected from a plurality of fixing devices; mounting the fixing device to a mounting plate on the trolley; and securing the fixing device to the mounting plate by engaging a complementary connector on the fixing device to at least one connector on the mounting plate. The mounting plate includes at least one electrical connector configured to engage a complementary electrical connector on the fixing device. The at least one connector is configured to engage the complementary connector on the fixing device to reliably hold the fixing device to the mounting plate. Control circuitry is operable to transmit at least one control signal between the mounting plate and the fixing device.

[0011] These advantages and features, as well as others, of the present invention will become apparent to those skilled in the art from the detailed description and accompanying drawings. However, it should be understood that while the detailed description and drawings indicate preferred embodiments of the invention, they are given by way of illustration rather than limitation. Many changes and modifications can be made within the scope of the invention without departing from its spirit, and the invention encompasses all such modifications. Attached Figure Description

[0012] Various exemplary embodiments of the subject matter disclosed herein are illustrated in the accompanying drawings, in which the same reference numerals consistently denote the same parts, and in the drawings:

[0013] Figure 1 This is an isometric view of an exemplary linear trolley system incorporating multiple movers traveling along a curved track, according to an embodiment of the present invention.

[0014] Figure 2 This is an isometric view of an exemplary linear trolley system incorporating multiple movers traveling along a curved track, according to another embodiment of the present invention.

[0015] Figure 3 yes Figure 2 A partial side view of the linear trolley system;

[0016] Figure 4 yes Figure 1 An isometric view of the mobile units in the transportation system;

[0017] Figure 5 yes Figure 1 A partial cross-sectional view of the transportation system;

[0018] Figure 6 yes Figure 2 A side view of a mobile vehicle in a transportation system;

[0019] Figure 7 yes Figure 2 A partial cross-sectional view of the transportation system;

[0020] Figure 8 yes Figure 1 A partial side view of a section of one embodiment of a linear trolley system, showing activation coils distributed along a surface of the track section.

[0021] Figure 9 It is used for Figure 1 and Figure 2 A block diagram representation of an exemplary power and control system for a transportation system;

[0022] Figure 10 This is according to one embodiment of the present invention. Figure 2 A perspective view of a mover of a transportation system having a clamping arm mounted to a modular base plate;

[0023] Figure 11 yes Figure 10 Side view of the mover and gripper arm;

[0024] Figure 12 yes Figure 10 A front view of the mover in which the gripper has been removed;

[0025] Figure 13 yes Figure 10 A partial exploded view of a mover having a mounting assembly for holding a fixing device on a modular base plate in one embodiment.

[0026] Figure 14 yes Figure 10 A partial exploded view of a mover having an exemplary electromagnetic component for holding a fixing device on a modular substrate.

[0027] Figure 15 yes Figure 10 A partial exploded view of a mover having a mounting assembly for holding a fixing device on a modular base plate, according to another embodiment.

[0028] Figure 16 This is a top view of a mobile device positioned by a fixing device changer according to an embodiment of the present invention; and

[0029] Figure 17 yes Figure 16 Side view of the mover and the fixed device changer.

[0030] In describing the various embodiments of the invention illustrated in the accompanying drawings, specific terminology will be used for clarity. However, the invention is not intended to be limited to the specific terminology chosen so far, and it should be understood that each specific term includes all technical equivalents that operate in a similar manner to achieve a similar purpose. For example, the words "connection," "attachment," or similar terms are frequently used. This is not limited to direct connections but includes connections via other elements, where such connections are considered equivalent by those skilled in the art. Detailed Implementation

[0031] The various features and advantageous details of the subject matter disclosed herein will be more fully described with reference to the non-limiting embodiments described in detail below.

[0032] The subject matter disclosed herein describes a system for selectively mounting multiple different fixtures to a single mobile device. A base plate is mounted on the mobile device, thereby providing a configurable housing to which the different fixtures are mounted. The base plate may include one or more power modules, control modules, and / or communication modules. One or more electrical connectors are provided, with complementary connectors on each fixture connecting to the one or more electrical connectors. The electrical connectors can transmit control signals from the base plate to the fixture, receive feedback signals from the fixture to the base plate, or transmit data packets between the base plate and the fixture. A latching assembly is provided to secure each fixture to the base plate. The latching assembly may include a clip-on connector with an actuated release or an actuated connector. Optionally, the latching assembly may include a threaded fastener or an electromagnetic assembly that can be inserted manually or automatically. According to yet another option, a combination of latching assemblies may be used to secure each fixture to a modular base plate.

[0033] To facilitate rapid replacement between different fixtures, a fixture replacement station can be provided. The fixture replacement station may include a fixture storage device having multiple mounting positions for different fixtures. According to one aspect of the invention, the fixture station can be positioned adjacent to a track, and a mover with a modular base plate is selectively positioned by each desired fixture. If a fixture is already mounted on the mover, the mover is first positioned by an empty fixture position, allowing the mounted fixture to be transferred back to the fixture station. The mover is repositioned by the desired fixture, and the desired fixture is transferred onto the mover. According to another aspect of the invention, the fixture station may include a multi-axis fixture changer. The mover is positioned by the fixture station such that the fixture changer can reach the modular base plate. The fixture changer engages with fixtures mounted on the base plate or at each position of the fixture station. The fixture changer loads and unloads fixtures from the mover or the fixture station according to the desired fixture for the mover.

[0034] First, go to Figures 1 to 3Two embodiments of an exemplary transport system for moving articles or products are shown. The transport system includes a track 10 consisting of a plurality of segments 12, 14. According to the illustrated embodiment, the segments define a generally closed loop supporting a group of movers 100 movable along the track 10. Each of the illustrated tracks 10 includes four straight segments 12, wherein two straight segments 12 are positioned along each side of the track and spaced apart from another pair of straight segments. The track 10 also includes four curved segments 14, wherein a pair of curved segments 14 are located at each end of the track 10 to connect the pairs of straight segments 12. The four straight segments 12 and the four curved segments 14 form a generally elliptical track and define a closed path on which each of the movers 100 can travel. It should be understood that track segments of various sizes, lengths and shapes can be joined together to form the track 10 without departing from the scope of the invention.

[0035] exist Figure 1 In this configuration, the track 10 is oriented in a horizontal plane and supported on the ground by a base 15 extending vertically downward from the track 10. The base 15 includes a pair of generally planar support plates 17 located on opposite sides of the track 10, each support plate 17 having mounting feet 19 for securing the track 10 to the surface. Figure 2 In the diagram, track 10 is shown without a base. It is conceivable that track 10 can be installed in different orientations, such as inclined or vertical installation, and track 10 includes segments of various shapes, including but not limited to straight segments, inwardly curved segments, outwardly curved segments, upwardly inclined segments, downwardly inclined segments, and various combinations thereof. For convenience, this document will discuss... Figure 1 The horizontal orientation of track 10 is shown. Terms such as up, down, inside, and outside are used relative to the shown track orientation. These terms are related to the shown track and are not intended to be limiting. The mover 100 will travel along the track and take various orientations depending on the construction of track 10, and the relationships discussed herein may be changed accordingly.

[0036] Each track segment 12, 14 includes a plurality of independently attached guide rails 20, on which each mover 100 runs. According to the illustrated embodiment, the guide rails 20 generally extend along the outer periphery of the track 10. A first guide rail 20 extends along the upper surface 11 of each segment, and a second guide rail 20 extends along the lower surface 13 of each segment. It is contemplated that each guide rail 20 may be a single molded or extruded component, or formed from multiple components. It is also contemplated that, without departing from the scope of the invention, the cross-section of the guide rail 20 may be circular, square, rectangular, or any other desired cross-sectional shape. The guide rails 20 generally conform to the curvature of the track 10, thus extending along a straight track segment 12 in a straight path and along a curved track segment 14 in a curved path. The guide rails 20 may be relatively thin relative to the dimensions of the track 10 and may only extend across a portion of the width of the surface of the track 10 to which they are attached.

[0037] Also refer to Figure 5 A first embodiment of the guide rail 20 includes a base portion 22 mounted to a track section and a track portion 24 along which a mover 100 travels. Each mover 100 includes complementary rollers 110 for engaging with the track portion 24 of the guide rail 20 to move along the track 10. Each side of the track portion 24 is wedge-shaped, and each roller 110 includes a complementary groove configured to receive the wedge-shaped side of the track portion.

[0038] Also refer to Figure 7 A second embodiment of the guide rail 20 includes two track portions 26, 28, wherein the first track portion 26 is generally rectangular and positioned along the top surface 11 of the track. The second track portion 28 is generally rectangular and positioned to project from a side of the track that is generally orthogonal to the first track portion 26. A first roller and a second roller 110 engage each side of the first track portion 26 of the upper guide rail, and a third roller 110 engages a surface of the second track portion 28 of the upper guide rail. The first track portion 26 of the lower guide rail 20 is along the lower surface 13 of the track, and a fourth roller and a fifth roller 110 engage each side of the first track portion 26 of the lower guide rail. The second track portion 28 of the lower guide rail 20 projects from a side of the track portion orthogonal to the orientation of the first track portion 26, and a sixth roller 110 engages a surface of the second track portion 28 of the lower guide rail.

[0039] One or more movers 100 are mounted to and movable along guide rails 20 on track 10. (See again...) Figure 5A first embodiment of an exemplary mover 100 is shown. Each mover 100 includes a side member 102, a top member 104, and a bottom member 106. The side member 102 extends at least across the distance between the guide rail 20 on the top surface 11 of the track 10 and the guide rail 20 on the bottom surface 13 of the track 10, and the side member 102 is oriented generally parallel to the side surface 21 when mounted to the track 10. The top member 104 extends generally orthogonally to the side member 102 at its top end, and extends across the guide rail 20 on the top surface 11 of the track 10. The top member 104 includes a first segment 103 that extends orthogonally from the side member 102 to the width of the guide rail 20, the width of which is generally the same as the width of the side member 102.

[0040] A set of rollers 110 is mounted on the underside of the first section 103 and configured to engage with the track portion 24 of the guide rail 20 mounted to the upper surface 11 of the track section. According to the illustrated embodiment, two pairs of rollers 110 are mounted on the underside of the first section 103, wherein the first pair of rollers is positioned along a first edge of the track portion 24 of the guide rail, and the second pair of rollers is positioned along a second edge of the track portion 24 of the guide rail 20. The first and second edges, and thus the first and second pairs of rollers 110, are located on opposite sides of the guide rail 20 and reliably hold the mover 100 to the guide rail 20. A bottom member 106 extends substantially orthogonally to the side member 102 at the bottom end of the side member 102, and extends a distance sufficient to accommodate a third pair of rollers 110 along the bottom of the mover 100. The third pair of rollers 110 engages with the outer edge of the track portion 24 of the guide rail 20 mounted to the lower surface 13 of the track section. Therefore, the mover 100 rides along the guide rail 20 on the rollers 110 mounted to both the top member 104 and the bottom member 106 of each mover 100.

[0041] The top member 104 also includes a second segment 120 that protrudes from the first segment 103 beyond the guide rail 20 by an additional distance and is configured to hold the positioning magnet 130. According to the illustrated embodiment, the second segment 120 of the top member 104 includes a first portion 122 that extends generally parallel to the guide rail 20 and tapers to a width smaller than the first segment 103 of the top member 104. The second segment 120 also includes a second portion 124 that extends downward from and is generally orthogonal to the first portion 122. The downward extension of the second portion 124 is less than the distance to the upper surface 11 of the track segment, but sufficient to allow the positioning magnet 130 to be mounted to the second portion 124. According to the illustrated embodiment, the positioning magnet 130 is mounted within a recess 126 on the second portion 124 and is configured to align with a sensor 150 mounted within the top surface 11 of the track segment. Each mover 100 also includes a mounting plate 160 fastened to a side member 102. When the mover 100 is mounted on a track, the mounting plate 160 faces outward relative to the track 10. The mounting plate 160 is configured to selectively accommodate one of a plurality of different fixing devices and provides a uniform interface for connecting tools to the mover 100, as will be discussed in more detail below.

[0042] Refer again Figure 7 A second embodiment of an exemplary mover 100 is shown. Each mover 100 includes a side member 102, a top member 104, and a bottom member 106. The side member 102 extends at least across the distance between the guide rail 20 on the top surface 11 of the track 10 and the guide rail 20 on the bottom surface 13 of the track 10, and is oriented generally parallel to the side surface 21 when mounted to the track 10. The top member 104 extends generally orthogonally to the side member 102 at its top end, and extends across the guide rail 20 on the top surface 11 of the track 10. According to the illustrated embodiment, a positioning magnet 130 is mounted within the top member 104 and configured to align with a sensor 150 mounted within the top surface 11 of the track segment. Each mover 100 also includes a mounting plate 160 fastened to the side member 102. When the mover 100 is mounted on the track, the mounting plate 160 faces outward relative to the track 10. Mounting plate 160 is configured to selectively accommodate one of several different fixing devices and provides a unified interface for connecting tools to mover 100, as will be discussed in more detail below.

[0043] A first set of rollers 110 is mounted on the underside of the top member 104 and configured to engage either side of the first track portion 26 of the guide rail 20 mounted to the upper surface 11 of the track section. According to the illustrated embodiment, two pairs of rollers 110 are mounted on the underside of the top member 104, wherein the first pair of rollers is positioned along a first side of the first track portion 26, and the second pair of rollers is positioned along a second side of the first track portion 26 of the upper guide rail 20. A third pair of rollers 110 is mounted on the side member 102 and extends below the second track portion 28 of the upper guide rail. A bottom member 106 extends substantially orthogonally to the side member 102 at its bottom end, and extends a distance sufficient to accommodate a fourth pair of rollers and a fifth pair of rollers 110 along the bottom of the mover 100. The fourth pair of rollers and the fifth pair of rollers 110 each engage one side of the first track portion 26 of the lower guide rail 20. A sixth pair of rollers 110 is mounted on the side member 102 and extends above the second track portion 28 of the lower guide rail. The rollers 110 work together to engage the various surfaces of the guide rail 20, thereby allowing the mover 100 to travel along the guide rail 20 while maintaining the orientation of the mover 100 relative to the track 10.

[0044] Reference Figure 5 and Figure 7 Both, the linear drive system is partially integrated onto each mover 100 and partially integrated within each track segment 12, 14 to control the movement of each mover 100 along the segment. A coil 50 (see also) is mounted along the length of the track 10. Figure 8 The first driving member is used. Each mover 100 includes a second driving member 140, which is configured to interact with the electromagnetic field generated by the coil 50 to propel the mover 100 along the track 10. It is conceivable that the driving member 140 on each mover 100 may be a driving magnet, a steel back iron and teeth, a conductor, or any other suitable member that will interact with the electromagnetic field generated by the coil 50. Typically, the driving member 140 on each mover 100 includes a permanent magnet that emits a magnetic field. The magnetic field generated by the driving member 140 on each mover 100 improves the interaction between the mover and the electromagnetic field generated by the coil 50 compared to a magnetic salient pole structure without a magnetic field. For convenience, the present invention will be discussed with regard to the driving magnet 140 used as a driving member within each mover 100. However, it should be understood that other magnetic salient pole structures may be employed without departing from the scope of the invention.

[0045] Reference Figure 8A series of coils 50 are positioned along the length of track 10. Each mover 100 includes at least one drive magnet 140 configured to interact with an electromagnetic field generated in the coils. Successive activation of the coils 50 establishes a moving electromagnetic field that interacts with the magnetic field generated by each permanent magnet 140 mounted on the mover 100, and causes the mover 100 to travel along track 10. A controlled voltage is applied to each coil 50 to achieve the desired operation of the mover. The drive magnets 140 are mounted on the inner surface of the side member 102 and are spaced apart from the series of coils 50 extending along track 10 when mounted to track 10. Figure 5 and Figure 7 As shown, an air gap 141 is provided between each set of drive magnets 140 and the coils 50 along the track 10. According to the illustrated embodiment, each coil 50 is placed in a channel 23 extending longitudinally along one surface of the track segment 12. The electromagnetic field generated by each coil 50 crosses the air gap 141 and interacts with the drive magnets 140 mounted to the mover 100 to control the operation of the mover 100.

[0046] Next, turn to Figure 9 An exemplary power and control system for track 10 and a linear drive system is shown. A section controller 200 is installed within each track section 12, 14. The section controller 200 receives command signals from a system controller 30 and generates switching signals for driving the section, which in turn control the activation of each coil 50. The activation of the control coils 50 drives and positions each of the movers 100 along the track section 12 according to the command signals received from the system controller 30.

[0047] The illustrated motion control system includes a system controller 30 having a processor 32 and a memory device 34. It is conceivable that the processor 32 and memory device 34 may each be a single electronic device or formed by multiple devices. The processor 32 may be a microprocessor. Optionally, the processor 32 and / or memory device 34 may be integrated on a field-programmable array (FPGA) or application-specific integrated circuit (ASIC). The memory device 34 may include volatile memory, non-volatile memory, or a combination thereof. The system controller 30 may be a programmable logic controller (PLC). A user interface 36 is provided for the operator to configure the system controller 30 and to load or configure the desired motion trajectory of the mover 100 on the system controller 30. It is conceivable that the system controller 30 and the user interface 36 may be a single device, such as a laptop, notebook, tablet, or other mobile computing device. Optionally, the user interface 36 may include one or more separate devices, such as a keyboard, mouse, display, touchscreen, interface port, removable storage medium, or media reader, for receiving information from and displaying information to the user. Optionally, the system controller 30 and user interface 36 can be integrated into an industrial computer installed within a control cabinet and configured to withstand harsh operating environments. It is conceivable that other combinations of computing devices and peripheral devices, as will be understood in the art, can still be utilized or incorporated into the system controller 30 and user interface 36 without departing from the scope of the invention.

[0048] One or more programs may be stored in memory device 34 for execution by processor 32. System controller 30 receives one or more motion trajectories followed by the mobile device 100 along track 10. The programs executing on processor 32 communicate with segment controllers 200 on each track segment 12 via control network 201, such as an Ethernet / IP network. System controller 30 may transmit the desired motion trajectory to each segment controller 200, or alternatively, system controller 30 may perform some initial processing based on the motion trajectory to transmit the motion trajectory of that segment to each segment controller 200 according to a portion of the motion trajectory to be executed along the segment. Optionally, system controller 30 may perform further processing on the motion trajectory and generate a desired switching sequence for each segment 12 that can be transmitted to segment controller 200.

[0049] The gateway 202 in each section controller 200 receives communication from the system controller 30 and forwards the communication to the processor executing in the section controller 200. Figure 9In the illustrated embodiment, the industrial network 201 is configured in a daisy-chain configuration. The system controller 30 is connected to a gateway 202 in one segment 14D, and gateways 202 in each of the other segments are connected in series via inter-segment connectors. Alternatively, the industrial network 201 can be configured in a star topology, where the system controller 30 is directly connected to a gateway 202 in each segment controller 200. According to other embodiments, the industrial network 201 can be configured in a combination of serial or parallel configurations depending on application requirements. The processor may be a microprocessor. Optionally, the processor and / or memory device within the segment controller 200 may be integrated on a field-programmable array (FPGA) or application-specific integrated circuit (ASIC). It is conceivable that the processor and memory device may each be a single electronic device or formed by multiple devices. The memory device may include volatile memory, non-volatile memory, or a combination thereof. The segment controller 200 receives a motion trajectory or a portion thereof or a switching sequence transmitted from the system controller 30, and uses the motion trajectory or switching sequence to control the mover 100, controlled by the system controller 30, existing along the track segment 12.

[0050] According to the illustrated embodiment, AC converter 222 can receive single-phase AC voltage or multi-phase AC voltage 224 from the power grid. AC converter 222 then uses an active rectifier front end or a passive rectifier front end to convert the AC voltage into DC voltage. The DC voltage can be transferred between AC converter 222 and one or more DC power sources 228 via DC bus 231 (at least partially defining DC bus 230 for the power system). DC power sources 228 can also provide a distributed DC bus 230 from power source 228 to the input terminals of rail section 12. DC power source 228 can be configured to regulate the DC voltage to approximately the same voltage level as the voltage level provided from AC converter 222. Alternatively, DC power source 228 can be configured as a buck converter or boost converter to decrease or increase the voltage level from the voltage level provided by AC converter 222. According to another embodiment of the invention, DC power source 228 can be configured as a buck-boost converter capable of selectively regulating the current level of DC voltage, increasing or decreasing the voltage level.

[0051] Then, DC bus 230 is supplied from DC power supply 228 to each track segment 12, 14. According to the illustrated embodiment, first DC power supply 228A provides a first voltage on first DC bus 230A to DC bus connection 235 on one of the curved track segments 14D. Each DC bus connection 235 can be configured to receive DC voltage from outside DC power supply 228, or to receive DC voltage via an internal connection between adjacent track segments 12, 14. First DC bus 230A is connected between each curved track segment 14 and is connected to three straight track segments 12A, 12B, and 12C. Second DC power supply 228B provides a second voltage on second DC bus 230B to one of the straight track segments 12D. The remaining straight track segments 12E and 12F each receive voltage on second DC bus 230B via an internal connection between adjacent segments.

[0052] Next, turn to Figure 10 and Figure 11 The illustration shows a mover 100 mounted to a base plate 160, having an exemplary robotic arm 195 and a gripper G. The robotic arm 195 is mounted to a first base 194. The base 194 will generally be used herein to indicate tools or fixtures to be mounted to the mover 100. Different bases 194 can accommodate different tools or fixtures and have different functions depending on application requirements. Tools providing gripping, marking, scanning, etc., can be mounted. Fixtures may include sensors providing operational analysis of each mover 100, including but not limited to accelerometers, gyroscopes, light-emitting diodes (LEDs) as visual indicators, machine vision systems, etc. Fixtures may also provide security for independent cart systems by enabling proximity sensors, light curtains, auxiliary encoders, etc. The base 194 is mounted to or integrally formed with an auxiliary mounting plate 190. The auxiliary mounting plate 190 complements the mounting plate 160 fixed to the mover 100 and provides quick replacement between tools or fixtures to be mounted to the mover. Mounting hole 192 is shown extending through auxiliary mounting plate 190. Mounting hole 192 provides an exemplary method of securing auxiliary mounting plate 190 to mounting plate 160 on mover 100.

[0053] Also refer to Figures 13 to 15 The mover 100 can utilize one or more different options to secure the auxiliary mounting plate 190 to the mounting plate 160 of the mover 100. Figure 13In this device, an automatic latch 170 is provided within each mounting plate 160 on the mover 100. The automatic latch 170 is typically in a latched position when power is removed and in an unlocked position when power is applied. Therefore, it is not necessary to continuously apply power to the automatic latch 170 to hold the auxiliary mounting plate 190 for securing the device 194 to the mounting plate 160 on the mover 100. The hole 192 shown on the auxiliary mounting plate 190 may not extend all the way through the auxiliary mounting plate, but may be a threaded channel or the like on the surface of the auxiliary mounting plate 190 facing the mounting plate 160 for the mover 100. The hole 192 provides a mounting position for securing the complementary latch member 171 to the auxiliary mounting plate 190. When the auxiliary mounting plate 190 is attached to the mounting plate 160 on the mover, an actuator is energized, thereby moving the latch 170 on the mover 100 from an engaged position to a disengaged position. For example, the locking plate may slide to one side, or the hook may pivot from the engaged position to the disengaged position. The auxiliary mounting plate 190 is fitted to the mounting plate 160, and the actuator of the latch 170 is de-energized. The locking plate slides back, or the hook pivots back to the latched position, thereby engaging with the complementary latching member 171, such as a slot or ring, fixed to the auxiliary mounting plate 190 to reliably hold the auxiliary mounting plate 190 to the mounting plate 160 on the mover.

[0054] exist Figure 14 An electromagnet 175 is provided to secure the auxiliary mounting plate 190 to the mounting plate 160. The electromagnet 175 is configured to complement the mechanical linkage between the two plates. Mechanical fittings may be provided between the auxiliary mounting plate 190 and the mounting plate 160 on the mover 100, wherein the mechanical fittings provide sufficient holding force between the auxiliary mounting plate 190 and the mounting plate 160 to retain the fixture 194 when power is removed. Optionally, an electrical connector between the mounting plate 160 and the auxiliary mounting plate 190 may provide sufficient mechanical connection to retain the auxiliary mounting plate 190 to the mounting plate 160 when the mover 100 is stationary and / or power is removed from the system. When the auxiliary mounting plate 190 is mounted on the mover 100, the electromagnet 175 is energized, and the electromagnetic field generated by the electromagnet 175 exerts a force on the magnetic receiving surface on the auxiliary mounting plate 190. For example, an iron plate may be mounted on the surface of the auxiliary mounting plate 190 opposite to the electromagnet 175 in the mounting plate 160. When the mover 100 travels along the track 10 or when a tool or fixture on the base 194 engages with a payload present on the mover 100 or another target outside the mover 100, the additional holding force provided by the electromagnet 175 provides stability to the auxiliary mounting plate 190.

[0055] exist Figure 15In the diagram, threaded fasteners 193, such as bolts or screws, are shown passing through holes 192 in the auxiliary mounting plate 190 and inserted into additional threaded channels 168 formed in the mounting plate 160 on the mover 100. Threaded fasteners 193 can be used to secure the auxiliary mounting plate 190, to which heavier tools or fixing devices 194 are attached. Similarly, threaded fasteners 193 can provide a more secure connection for applications where tools or fixing devices 194 are configured to receive heavy payloads or apply greater forces to objects outside the mover 100. To provide quick replacement between fixing devices 194 mounted on the auxiliary plate 190, a tool changing station can be provided, where a technician can readily access the threaded fasteners 193. A technician can remove the threaded fasteners 193 from the mover, allowing one auxiliary plate 190 to be removed, and the fixing device changer positions a new auxiliary plate 190 via the mover 100, enabling the technician to reinsert the threaded fasteners 193 into the new auxiliary plate 190. Optionally, the steps of removing and inserting the threaded fastener 193 can be automated or performed by a fastener changer.

[0056] Next, turn to Figure 12 It is conceivable that the mounting plate 160 on the mobile device includes a modular interior that provides different configurations of the mounting plate 160 according to application requirements. The illustrated mounting plate 160 includes three cavities for accommodating modules. The number of cavities can vary depending on the size of the modules used and the available space within the mounting plate 160. The first module 162 shown is a power module, the second module 164 shown is a control module, and the third module 166 shown is a communication module. The modules 162, 164, and 166 shown are intended to be illustrative and not limiting. In some applications, the functionality described for one module can be combined with the functionality of another module.

[0057] When the auxiliary mounting plate 190 is connected to the mounting plate 160, the power module 162 serves as a power source for other devices mounted on the mobile device 100 and / or tools or fixtures present on the auxiliary mounting plate 190. According to one aspect of the invention, the power module 162 includes one or more batteries, capacitors, or other energy storage devices. The batteries may be disposable or rechargeable. See also... Figure 4The mobile device 100 may include a pickup coil 142, which acts as a secondary coil and is configured to wirelessly receive power from a primary coil or from a series of primary coils spaced apart along the track 10. The pickup coil 142 is operable and can perform wireless power transfer, as described in U.S. Patent 10,985,685 entitled “System and Method for Wireless Power Transfer in a Linear Cart System.” U.S. Patent 10,985,685 is owned by the assignee of this application, and the entire contents thereof are incorporated herein by reference. The pickup coil 142 is connected to a power module 162 within the substrate 160, and the wireless power transfer allows for the recharging of batteries, capacitors, or other energy storage devices within the power module 162. The power module 162 may also include one or more power regulators to supply desired operating voltages to other devices within the mounting plate 160 or mounted on an auxiliary mounting plate 190.

[0058] Control module 164 is configured to communicate between substrate 160 and fixture 194 mounted on substrate to achieve desired operation of fixture 194. Control module 164 may include a non-transitory memory for storing instructions and a processor configured to execute the instructions. Control module 164 may also include additional logic circuitry configured to, for example, provide wireless communication with an external mobile device 100, provide wired or wireless communication with fixture 194, generate control signals to be transmitted to fixture 194, or receive feedback signals from sensors present on fixture 194. Optionally, communication may be provided by a dedicated communication module 166. The illustrated communication module includes two electrical connectors 167 on the surface of module 166. Each electrical connector 167 is configured to mate with a complementary electrical connector 169 on auxiliary mounting plate 190. Electrical connectors 167 may be plugs having discrete analog or digital signals transmitted by individual pins, or the plugs may utilize serial or parallel communication interfaces. One of the electrical connectors 167 may be configured to supply power to fixture 194. The power connector can be configured to receive one voltage or multiple different voltages from the power module 162. Alternatively, the power connector can be mounted on the power module 162 to deliver power to the fixture 194.

[0059] In operation, the mounting plate 160 is used to selectively install different fixing devices 194 onto the mover 100. Next, we proceed to... Figure 16 and Figure 17A fixture changer 260 can be provided to facilitate quick replacement between different fixtures. The fixture changer 260 includes a fixture station 250 having multiple mounting positions for the fixture 194. Each mounting position may include a mounting aid 255. The mounting aid 255 can vary depending on the mounting position and the function of the fixture 194 to be stored at the mounting position. The mounting aid can be pneumatic, hydraulic, or electro-actuated and engages with the fixture 194 to assist each fixture 194 in moving away from or toward the corresponding mounting position. According to another aspect of the invention, the mounting aid 255 can be a spring-actuated device to apply a compressive force on the fixture and toward the mounting plate 160 when the fixture 194 and the auxiliary mounting plate 190 are mounted to the mounting plate.

[0060] According to one embodiment of the invention, a fixing station 250 is positioned adjacent to track 10. A mover 100 is configured to align with each mounting position to mount or remove one of the fixing devices 194 from mounting plate 160. A mounting aid 255 extends from the fixing station 250 sufficiently that the fixing device 194 clears other fixing devices remaining on the fixing station 250. The fixing device 194 and the corresponding auxiliary mounting plate 190 for that fixing device are secured to mounting plate 160 via one of the latching mechanisms discussed above. The mounting aid 255 then retracts toward the fixing station 250, thereby allowing the mover 100 to travel along track 10. When a different fixing device 194 is required, the mover 100 first aligns with an empty mounting position. The mounting aid 255 extends and attaches to the fixing device 194. The latching mechanism between mounting plate 160 and auxiliary mounting plate 190 is released, and mounting aid 255 retracts to fixture station 250, thereby bringing the most recently used fixture back to fixture station 250. The mover 100 can then be positioned in front of the next fixture 194 to be mounted on the mover, and the mounting aid 255 at the new position extends toward the mover 100 such that the auxiliary mounting plate 190 for the new fixture 194 engages with the mounting plate 160 on the mover 100.

[0061] According to another aspect of the invention, the fixture changer 260 includes a platform 265 mounted on a multi-axis shuttle 270 to facilitate the replacement of fixtures 194 on the mover 100. The mover 100 can position itself at a fixture replacement location, rather than moving between positions of fixture stations 250. The fixture replacement location can be in front of the fixture station 250 and aligned with or offset from one of the positions on the fixture station, or the fixture replacement location can be positioned offset from the fixture station. The platform 265 is movable on a first motion axis 275 parallel to the fixture station 250 and on a second motion axis 280 orthogonal to the fixture station 250. The platform 265 is configured to accommodate each of the fixtures 194. According to the illustrated embodiment, the platform 265 engages with the bottom surface of an auxiliary mounting plate 190. The platform 265 may include a gripper, actuator, or other mechanical coupler to hold the auxiliary mounting plate 190 on the platform 265. Platform 265 is capable of moving to each of the positions on the fixture station 250 to approach each of the fixtures 194 mounted on the fixture station. Platform 265 is also capable of moving to the fixture replacement position to engage with the mover 100 when the mover is present at the fixture replacement position. Platform 265 is selectively positioned by one of the fixture positions to retrieve the desired fixture 194. Platform 265 moves on the multi-axis shuttle to the mover 100 such that the auxiliary mounting plate 190 on the desired fixture engages with the mounting plate 160 on the mover. A latching mechanism on the mounting plate 160 secures the desired fixture 194 to the mover 100, and platform 265 moves away from the fixture replacement position, thereby allowing the mover 100 to travel along the track 10. When an existing fixture 194 is present on the mover 100 and a new fixture 194 is required, the mover 100 travels to the fixture replacement position. Platform 265 is positioned below auxiliary mounting plate 190 for attachment to fixture 194 on the mover, and a latching mechanism on the mover 100 disengages auxiliary mounting plate 190 from the mounting plate. Before a new fixture 194 is loaded onto the mover 100, platform 265 returns the old fixture 194 to its position on fixture station 250.

[0062] According to another aspect of the invention, mounting plate 160 and auxiliary mounting plate 190 each include at least half of a pair of complementary alignment devices to facilitate alignment of auxiliary mounting plate 190 with mounting plate 160. According to the illustrated embodiment, mounting plate 160 includes a first alignment channel 176 and a second alignment channel 176. Each of the alignment channels 176 is located near one end of mounting plate 160 and on an opposite side of mounting plate 160. Alignment channels 176 may have a wider perimeter near the opening and taper to a smaller perimeter near the bottom of the channel 176. Complementary guide pins 196 extend from auxiliary mounting plate 190 to engage with the alignment channels as auxiliary mounting plate 190 approaches mounting plate 160. The wider perimeter at the opening of alignment channel 176 allows for some misalignment between auxiliary mounting plate 190 and mounting plate 160, while still allowing guide pin 196 to enter alignment channel 176. The peripheral dimension of guide pin 196 corresponds to the peripheral dimension of the bottom of channel 176. Therefore, as the guide pin is further inserted into the alignment channel, it pulls the auxiliary mounting plate 190 to align with the mounting plate 160. It is conceivable that the guide pin 196 can be mounted on the mounting plate 160, and the alignment channel 176 can be mounted on the auxiliary mounting plate 190.

[0063] According to another aspect of the invention, each fixture 194 may include an identification tag 198 mounted on the fixture, which can be read by the mobile device 100 to verify the presence of the desired fixture 194 on the mobile device 100. A near-field communication (NFC) device 178 is included on a mounting plate 160 and configured to read the identification tag 198 present on an auxiliary mounting plate. According to another aspect of the invention, the NFC device communicates according to a radio frequency identification (RFID) protocol. The identification tag 198 is an RFID tag that receives power from an RFID reader 178 and transmits a unique identifier value for the RFID tag 198 on the fixture 194. A control module 164 on the mounting plate 160 may be configured to read the identifier and generate control signals to the fixture 194 based on the detected RFID tag 198. Optionally, the control module 164 may be configured to communicate with a section controller 200 or a system controller 30 to transmit the identifier to the controller and receive control signals corresponding to the desired operation of the fixture 194 mounted to the mobile device 100. According to other embodiments of the present invention, other short-range communication protocols such as Bluetooth, Bluetooth Low Energy, Zigbee, etc. can be used to communicate between the reader 178 present on the mounting plate 160 and the identification tag 198 present on the auxiliary mounting plate 190.

[0064] It should be understood that the invention is not limited in its application to the details of the construction and arrangement of the components described herein. The invention can have other embodiments and can be practiced or implemented in various ways. All the foregoing variations and modifications are within the scope of the invention. It should also be understood that the invention disclosed and defined herein extends to all alternative combinations of two or more individual features mentioned in or apparent from the text and / or drawings. All these different combinations constitute various alternative aspects of the invention. The embodiments described herein illustrate the best mode known for carrying out the invention and will enable others skilled in the art to utilize the invention.

[0065] Various embodiments have been described in the foregoing description with reference to the accompanying drawings. However, it will be apparent that various modifications and alterations can be made to the invention without departing from the broader scope of the invention as set forth in the appended claims, and additional embodiments can be implemented. Therefore, the description and drawings are to be considered illustrative rather than restrictive.

Claims

1. An apparatus for selectively mounting a fixing device on a mobile device for a stand-alone trolley system, the apparatus comprising: A mounting plate fixed to the mover, wherein the mounting plate includes: At least one electrical connector, the at least one electrical connector being configured to engage with a complementary electrical connector on each of a plurality of fixing devices; At least one connector configured to engage with a complementary connector on each of the plurality of fixing devices to reliably retain each of the plurality of fixing devices to the mounting plate; and A control circuit, operable to transmit at least one control signal between the mounting plate and each of the plurality of fixing devices; and A fixture station having multiple installation locations, wherein each of the multiple fixtures is stored at one of the multiple installation locations of the fixture station.

2. The device according to claim 1 further includes a fixing device changer, wherein, The fixture changer is selectively positioned at each of the plurality of mounting positions to transfer one of the plurality of fixtures between the fixture changer and the corresponding mounting position, and The fixture changer is selectively positioned via the mover to transfer one of the plurality of fixtures between the fixture changer and the mover.

3. The device according to claim 1, wherein, The mover is selectively positioned at each of the plurality of mounting locations to mount or remove a corresponding fixing device from the mover.

4. The device according to claim 1, wherein, The at least one connector includes an actuator for engaging and disengaging the at least one connector with a complementary connector on each of the plurality of fixtures.

5. The device according to claim 1, wherein, The at least one electrical connector receives power from at least one secondary coil mounted on the mobile device; The at least one secondary coil is configured to receive power across an air gap from at least one primary coil mounted on a track along the movement of the vehicle. The at least one primary coil receives power from a power supply device installed outside the mobile device; and The at least one electrical connector transmits power to a complementary electrical connector on each of the plurality of fixtures.

6. The device of claim 1 further includes a power source configured to supply power to at least one device mounted on the mobile device.

7. The device according to claim 6, wherein, The power source also includes a first power coupling member configured to engage with a complementary second power coupling member, wherein the second power coupling member receives power from a power supply device mounted external to the mobile device.

8. The device according to claim 7, wherein, The first power coupling component is at least one secondary pickup coil mounted on the mobile device; and The second power coupling component is at least one primary coil installed along the track along which the mobilizer travels.

9. The device according to claim 6, wherein, The power source is an energy storage device installed on the mobile device.

10. A method for selectively mounting a fixing device on a mobile device for a stand-alone trolley system, the method comprising the steps of: The locator is aligned with a stationary fixture having multiple mounting positions, wherein each of the multiple mounting positions houses one of a plurality of fixtures, and wherein the fixture to be installed is selected from the plurality of fixtures. A mounting plate is attached to the moving device, wherein the mounting plate comprises: At least one electrical connector, the at least one electrical connector being configured to engage with a complementary electrical connector on the fixing device; At least one connector configured to engage with a complementary connector on the fixing device to reliably retain the fixing device to the mounting plate; and A control circuit, operable to transmit at least one control signal between the mounting plate and the fixing device; and The fixing device is secured to the mounting plate by engaging a complementary connector on the fixing device to at least one connector on the mounting plate.

11. The method according to claim 10, wherein, The step of aligning the mobile device with a fixed station having multiple installation positions further includes the following steps: Position the mobile device at the fixed device replacement location of the fixed device station; Transferring one of the plurality of fixing devices from one of the plurality of mounting locations to a fixing device changer; and Position the fixing device changer at the fixing device replacement location.

12. The method according to claim 10, wherein, The step of aligning the mobile device with a fixed station having multiple mounting positions further includes the step of positioning the mobile device at one of the multiple mounting positions of the fixed station.

13. The method according to claim 10, wherein, The at least one connector includes an actuator for engaging and disengaging the at least one connector from a complementary connector on the fixing device.

14. The method of claim 10, further comprising the step of: Power is transmitted from a power supply device installed outside the mobile device to the mobile device via a first power coupling member mounted on the mobile device. The first power coupling member is configured to engage with a complementary second power coupling member, which receives power from the power supply device.

15. The method according to claim 14, wherein, The first power coupling component is at least one secondary pickup coil mounted on the mobile device; and The second power coupling component is at least one primary coil installed along the track along which the mobilizer travels.

16. The method of claim 10, further comprising the step of: Electricity is supplied from an energy storage device installed on the mobile device to at least one device installed on the mobile device.

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