Apparatus that controls motion of proximate independent movers along a path

An apparatus that controls the motion of independent movers located in different lanes along a path, said apparatus comprising:

• a track that forms a path for movers;
• a first lane, a second lane, and a third lane that are parallel to said path;
• a first mover, a second mover, and a third mover movably mounted on the track for moving along said path in sequential order,
• said first mover comprising a first driven member that is oriented to travel in the first lane and to be contacted by at least one drive element at any position along the path;
• said second mover comprising a second driven member that is oriented to travel in the second lane and to be contacted by at least one drive element at any position along the path;
• said third mover comprising a third driven member that is oriented to travel in the third lane and to be contacted by at least one drive element at any position along the path;
• a first plurality of drive elements fixedly arranged along the first lane of the track, said drive elements each comprising a surface that is oriented to contact the first driven member of said first mover, wherein said drive elements are configured to sequentially engage the first driven member of said movers to provide controlled motion of said first mover independently around said track, wherein the drive elements are each driven by a rotary motor;
• a second plurality of drive elements fixedly arranged along the second lane of the track, said drive elements each comprising a surface that is oriented to contact the second driven member of said second mover, wherein said drive elements are configured to sequentially engage the second driven member of said movers to provide controlled motion of said second mover independently around said track, wherein the drive elements are each driven by a rotary motor;
• a third plurality of drive elements fixedly arranged along the first lane of the track, said drive elements each comprising a surface that is oriented to contact the third driven member of said third mover, wherein said drive elements are configured to sequentially engage the third driven member of said movers to provide controlled motion of said third mover independently around said track, wherein the drive elements are each driven by a rotary motor;
• and
• a programmable computer control system in communication with the rotary motors for controlling the motion of the rotary motors.

An apparatus that controls the motion of independent movers located in different lanes along a path, said apparatus comprising:

• a track that forms a path for movers;
• a first lane and a second lane that are parallel to said path;
• a first mover movably mounted on the track for moving along said path, said first mover comprising a first driven member that is oriented to travel in the first lane and to be contacted by at least one drive element at any position along the path;
• a second mover movably mounted on the track for moving along said path, said second mover comprises a second driven member that is oriented to travel in the second lane and to be contacted by at least one drive element at any position along the path;
• a first plurality of drive elements arranged along the first lane of the track, said drive elements each comprising a surface that is oriented to contact the first driven member of said first mover, wherein said drive elements are configured to sequentially engage the first driven member of said movers to provide controlled motion of said first mover independently around said track, wherein the drive elements are each driven by a rotary motor;
• a second plurality of drive elements fixedly arranged along the second lane of the track, said drive elements each comprising a surface that is oriented to contact the second driven member of said second mover, wherein said drive elements are configured to sequentially engage the second driven member of said movers to provide controlled motion of said second mover independently around said track, wherein the drive elements are each driven by a rotary motor;
• a programmable computer control system in communication with the rotary motors for controlling the motion of the rotary motors;
• wherein said path is in the form of a closed loop;
• wherein the closed loop path has a race track configuration having two linear sides, two curvilinear ends, and transitions between each of the linear sides and the curvilinear ends, wherein the transitions and curvilinear portions at the ends of the track form a spline curve, and the portions of the belt that drive the movers along the spline curves are supported by a plurality of backup rollers configured to allow the belt to drive the movers around the spline curve due to engagement of the timing belt teeth and the rack teeth.

An apparatus that controls the motion of independent movers located in different lanes along a path, said apparatus comprising:

• a track that forms a path for movers;
• a first lane and a second lane that are parallel to said path;
• a first mover movably mounted on the track for moving along said path, said first mover comprising a first driven member that is oriented to travel in the first lane and to be contacted by at least one drive element at any position along the path;
• a second mover movably mounted on the track for moving along said path, said second mover comprises a second driven member that is oriented to travel in the second lane and to be contacted by at least one drive element at any position along the path;
• a first plurality of drive elements arranged along the first lane of the track, said drive elements each comprising a surface that is oriented to contact the first driven member of said first mover, wherein said drive elements are configured to sequentially engage the first driven member of said movers to provide controlled motion of said first mover independently around said track, wherein the drive elements are each driven by a rotary motor;
• a second plurality of drive elements fixedly arranged along the second lane of the track, said drive elements each comprising a surface that is oriented to contact the second driven member of said second mover, wherein said drive elements are configured to sequentially engage the second driven member of said movers to provide controlled motion of said second mover independently around said track, wherein the drive elements are each driven by a rotary motor;
• and
• a programmable computer control system in communication with the rotary motors for controlling the motion of the rotary motors;
• wherein said rotary motors are capable of changing rotational position, velocity, acceleration, and jerk, and wherein changes to rotational position, velocity, acceleration, and jerk of the rotary motor with a drive element in engagement with the first driven element for the first mover;
• results in proportional changes in tangential position, velocity, acceleration, and jerk of the first mover;
• and
• wherein independently, changes to rotational position, velocity, acceleration, and jerk of the rotary motor with a drive element in engagement with the second driven element for the second mover results in proportional changes in tangential position, velocity, acceleration, and jerk of the second mover.