CONTROL CONCEPT FOR LINEAR ELECTRIC DRIVE CONVEYORS

Description

Technical field

[0001] The invention relates to a method for operating a linear electric drive conveyor. The invention further relates to a linear electric drive conveyor. The invention further relates to an industrial plant with a linear electric drive conveyor. Technical background

[0002] A current development trend in the transport of containers, such as bottles or cans, in systems and machines for the production, filling, and packaging of beverages and liquid foods is linear motor technology, for example, in the form of long-stator linear drive systems or short-stator linear drive systems. These motion devices, also called "shuttles" or "mover," can each move one or more containers. A major advantage of linear motor technology is that the motion devices can be controlled and moved individually, separately, and independently of one another.

[0003] EP 3 045 399 A1 discloses a method according to the preamble of claim 1 and a group of movers (moving devices) consisting of two movers that jointly transport a container. The container is held between the shoulders of two pockets, each attached to one of the two movers. The free distance between the two movers determines a distance between the two shoulders that is equal to the length of the container.

[0004] A disadvantage of conventional state-of-the-art technology is that controlling the motion devices in systems where several motion devices jointly transport a single load is challenging, technically complex, and difficult to maintain. Particularly significant effort can arise, for example, when a change in the type of goods being transported needs to be implemented in the control system.

[0005] The invention is based on the objective of creating a simple and / or improved control system for a linear electric drive conveyor for transporting goods. Summary of the invention

[0006] The problem is solved by the features of the independent claims. Advantageous further developments are specified in the dependent claims and the description.

[0007] One aspect of the present disclosure relates to a method for operating a linear electric drive conveyor (e.g., in an industrial plant or a container handling plant) comprising several electromagnetically and independently movable motion devices, which are grouped into several groups (e.g., first group and second group) (or which form several groups). The multiple motion devices in each group are movable for the joint transport of a conveyed item (e.g., comprising one or more objects or containers), preferably clamped or held together. The method involves creating a virtual motion path for each model object (e.g., first model object and second model object) in a virtual model representing the linear electric drive conveyor. In the virtual model, each group is represented by a separate model object.The generated virtual motion paths each specify a time-dependent position profile of the respective model object along a static part of the virtual model. The method further comprises controlling the linear electric drive conveyor to move a first motion device and a second motion device per group along a static part of the linear electric drive conveyor, depending on, preferably coupled to or moving in sync with, the virtual motion path of the model object representing the respective group.

[0008] This method can advantageously simplify the control of the linear electric drive conveyor. In particular, settings can be made very quickly and easily, since all motion devices in a group depend on a single (virtual) motion path. By changing this virtual motion path, changes can therefore be made directly to the real motion paths of all motion devices in the respective group. It is thus no longer necessary to create a separate motion path for each individual motion device in the group, tailored to each other. This also makes the conveyor easier to maintain. Furthermore, adjustments and changes, for example, when different goods need to be transported, can be implemented easily. For this purpose, the virtual motion path for each model object can remain unchanged.Only the dependence of the movement of the motion devices per group on this virtual motion path needs to be adjusted, e.g. to the changed size of the transport object.

[0009] Preferably, when controlling the linear electric drive conveyor, electromagnets of the linear electric drive conveyor can be controlled.

[0010] For example, the movements of the first and second motion devices in each group can be directly dependent on the virtual motion path of the model object representing that group. However, it is also possible, for instance, as an intermediate step, for the first and second motion devices in each group to each derive their own motion path from the virtual motion path of the model object representing that group, and for the first and second motion devices in each group to move according to their derived motion paths.

[0011] In one embodiment, the linear electric drive conveyor is controlled such that the first motion device for each group moves synchronously, preferably ahead, at least temporarily at a first distance from the virtual motion path of the model object representing that group. Alternatively or additionally, the linear electric drive conveyor is controlled such that the second motion device for each group moves synchronously, preferably following, at least temporarily at a second distance from the virtual motion path of the model object representing that group. Advantageously, this allows for very simple adaptation to different transported goods during a changeover, as only the distances need to be adjusted to the dimensions of the goods to be transported after the changeover.

[0012] In a further embodiment, the method also includes specifying the first distance and / or the second distance, preferably by means of a user interface. Advantageously, this allows for very simple user-side adjustments.

[0013] In a further embodiment, the first distance and / or the second distance are specified depending on the size of the transported goods. Preferably, the larger the transported goods, the larger the first distance and / or the second distance can be specified. Alternatively or additionally, for example, the sum of the first distance and the second distance can correspond essentially to the width or diameter of the transported goods.

[0014] In a further embodiment, the method also includes selecting the transported goods from a selection of goods of different sizes. Preferably, the first distance and / or the second distance can be specified depending on the size of the selected transported goods.

[0015] In one embodiment, the method further includes changing the first distance and / or the second distance when changing the transported goods format, preferably when changing the container format.

[0016] In a further embodiment, the method also includes a temporary override of the first distance and / or the second distance to effect a relative movement between the first and second motion devices of each group, preferably for receiving, holding, clamping, transferring, and / or releasing the transported goods. Advantageously, additional functions of the conveyor can be implemented very simply by means of the temporary override.

[0017] In a further embodiment, the temporary override of the first distance and / or the second distance is achieved depending on a variable parameter value, preferably a size parameter value, of the model object representing the respective group. Preferably, the variable parameter value can be larger before the transported goods are clamped than during clamping, the variable parameter value can decrease during clamping, the variable parameter value can increase during release of the transported goods, and / or the variable parameter value can be larger during release of the transported goods than during clamping. Advantageously, this also ensures that the parameter value of the model object alone can prevent a collision of the movement devices for each group.

[0018] Preferably, the parameter value can change along the virtual motion path.

[0019] Preferably, a change in the parameter value along the virtual motion path can be specified, preferably via a user interface.

[0020] In one embodiment, the method further includes setting one of the first and second distances to a constant value. Preferably, the method can also include temporarily overriding the other of the first and second distances by means of a force-controlled movement of the respective moving device (e.g., the moving device whose distance, i.e., the first or second distance, is overridden) to clamp the transported goods between the first and second moving devices. Advantageously, a holding function for the transported goods can be implemented very simply in this way.

[0021] In another embodiment, the linear electric drive conveyor is controlled in such a way that the first motion device and the second motion device of each group move along the static part of the linear electric drive conveyor at least temporarily, performing a relative movement to each other, in order to clamp, hold and / or release the transported goods, along the virtual motion path of the model object that represents the respective group.

[0022] In a further embodiment, the method also includes controlling the linear electric drive conveyor to move a third motion device for each group along the static part of the linear electric drive conveyor, depending on, preferably coupled to or moving in sync with, the virtual motion path of the model object representing the respective group. Advantageously, due to its functional encapsulation, the control concept can be used for different group sizes and is very easy to adapt to different group sizes. This can particularly benefit from reducing the testing effort required for new applications.

[0023] Preferably, the features mentioned relating to the first and second motion devices can also be applied to the third motion device per group, e.g. third distance, etc.

[0024] In one embodiment, the virtual movement path for each model object has a path segment that extends from a goods receiving point for receiving the goods to a goods handover point for handing over the goods.

[0025] In another embodiment, the linear electric drive conveyor is a long stator linear drive conveyor, a short stator linear drive conveyor, or a planar linear drive conveyor.

[0026] Another aspect of the present disclosure relates to a linear electric drive conveyor for an industrial plant, preferably a container handling plant. The linear electric drive conveyor has several electromagnetically and independently movable motion devices, which are grouped or can be grouped together. The several motion devices in each group are movable for the joint transport of a conveyed item (e.g., comprising one or more objects or containers), preferably clamped or held together. The linear electric drive conveyor has a control unit configured to execute a method as disclosed herein. Advantageously, the linear electric drive conveyor achieves the same advantages already described with reference to the method.

[0027] Another aspect of the present disclosure relates to an industrial plant, preferably a tank treatment plant. The industrial plant includes a linear electric drive conveyor as disclosed herein.

[0028] Preferably, the container treatment plant is designed for manufacturing, cleaning, coating, testing, filling, closing, labeling, printing and / or packaging containers for liquid media, preferably beverages or liquid foodstuffs.

[0029] Preferably, the goods being transported can be in the form of containers. For example, the containers can be bottles, cans, canisters, cartons, vials, etc.

[0030] Preferably, the term "control unit" can refer to electronics (e.g., with microprocessor(s) and data storage) that, depending on its design, can perform control tasks, regulation tasks, and / or processing tasks. Although the term "control" is used here, it can also appropriately encompass or refer to "regulation" or "feedback control" and / or "processing."

[0031] The previously described preferred embodiments and features of the invention can be combined with one another in any way. Brief description of the characters

[0032] Further details and advantages of the invention are described below with reference to the accompanying drawings. These show: Figure 1 is a schematic representation of a linear electric drive conveyor for transporting goods; Figure 2 is a schematic representation of several motion paths of the conveyor's motion devices. Figure 1 Figure 3 is a schematic representation of a linear electric drive conveyor for transporting goods; Figure 4 is a schematic representation of several motion paths of the conveyor's motion devices. Figure 3 Figure 5 is a schematic representation of a linear electric drive conveyor according to an embodiment of the present disclosure; Figure 6 is a virtual model of the linear electric drive conveyor of Figure 5 according to an embodiment of the present disclosure; Figure 7 a schematic representation of several virtual motion paths of several model objects of the virtual model of Figure 6 according to an embodiment of the present disclosure; Figure 8 a schematic representation of a movement of several motion devices relative to one of the virtual motion paths of Figure 7according to an embodiment of the present disclosure; Figure 9 a schematic representation of a control system for several motion devices for transporting a transported item according to an embodiment of the present disclosure; and Figure 10 a schematic representation of embodiment variants of a linear electric drive conveyor for applying the techniques of the present disclosure:

[0033] The embodiments shown in the figures are at least partially identical, so that similar or identical parts are provided with the same reference numerals and, to avoid repetition, reference is also made to the description of the other embodiments or figures for their explanation. Detailed description

[0034] The following are the first of the Figures 1 to 4 This will be explained in more detail. Building on this, the following are then... Figures 5 to 8further described, illustrating an embodiment of the present disclosure. Finally, various modification examples are presented with reference to the Figures 9 and 10 described.

[0035] The Figure 1 Figure 10 shows a linear electric drive conveyor with several motion devices 12, 14, 16, 18. To simplify the illustration, no transfer areas for transferring the transported goods or payload units 20 onto the motion devices 12-18, no transfer areas for transferring the transported goods 20 from the motion devices 12-18, no optional treatment stations along the conveyor 10, and only four motion devices 12-18 are shown as examples.

[0036] The motion devices 12-18 are individually controlled. Specific tasks can be performed using the motion devices 12-18. For example, tasks are processed sequentially using individual motion devices 12-18. Each motion device 12-18 grasps a transport item 20, such as a container or several containers, and moves this transport item 20 as desired. Communication with an optional processing station for the transport items 20 is required for each motion device 12-18 individually. Controlling the motion devices 12-18 is simple in that each motion device 12-18 performs the same task. Ultimately, only a single sequence or sequence structure needs to be designed.

[0037] The Figure 2Figure 22 shows the respective motion paths 22-28 as examples. Motion paths 22-28 specify a position x of the motion devices 12-18 along a static section of the conveyor 10 as a function of a time t. Motion device 12 is controlled according to motion path 22. Motion device 14 is controlled according to motion path 24. Motion device 16 is controlled according to motion path 26. Motion device 18 is controlled according to motion path 28. The motion paths 22-28 are identical in themselves, but are offset in time from one motion device to the next.

[0038] The Figure 3Figure 3 shows a linear electric drive conveyor 30 with several motion devices 32A, 32B, 34A, 34B. To simplify the illustration, no transfer areas for transferring the transported goods 36 onto the motion devices 32A, 32B, 34A, 34B, no transfer areas for transferring the transported goods 36 from the motion devices 32A, 32B, 34A, 34B, no optional treatment stations along the conveyor 30, and only four motion devices 32A, 32B, 34A, 34B are shown as examples.

[0039] The motion devices 32A and 32B are grouped together to form a first group 32. The motion devices 34A and 34B are grouped together to form a second group 34. The motion devices 32A and 32B of the first group 32 have the task of jointly transporting a transport item 36. The motion devices 34A and 34B of the second group 34 have the task of jointly transporting another transport item 36.

[0040] To control the motion devices 32A, 32B, 34A, 34B, it is now possible to create different sequences or motion paths for the different motion devices 32A, 32B, 34A, 34B. These would then have to be completely revised for different sized transport goods 36.

[0041] The Figure 4Figure 38-44 illustrates the respective motion paths. These paths define the position x of the motion devices 32A, 32B, 34A, and 34B along a static section of the conveyor 30 as a function of time t. The first motion device 32A of the first group 32 is controlled according to motion path 38. The second motion device 32B of the first group 32 is controlled according to the second motion path 40. The first motion device 34A of the second group 34 is controlled according to motion path 42. The second motion device 34B of the second group 34 is controlled according to motion path 44.

[0042] The motion paths 38-44 differ from one another. Motion paths 38 and 40, as well as 42 and 44, must also be complexly adapted to each other to allow the respective transported goods 36 to be clamped between them during goods receipt, transported together, and released at the end of transport. If the linear electric drive conveyor 30 were also to be operated with transported goods 36 of different sizes, the control effort could increase many times over, since the motion paths 38-44 would have to be created separately for each transported goods format (indicated in Figure 4 (through the dashed lines).

[0043] The following is with reference to the Figures 5 to 8 A control concept according to an embodiment of the present disclosure is described which can overcome the aforementioned disadvantages.

[0044] The Figure 5 Figure 46 shows a linear electric drive conveyor with several motion devices 48A, 48B, 50A, 50B. To simplify the illustration, no transfer areas for transferring the transported goods 52 onto the motion devices 48A, 48B, 50A, 50B, no transfer areas for transferring the transported goods 52 from the motion devices 48A, 48B, 50A, 50B, no optional treatment stations along the conveyor 46, and only four motion devices 48A, 48B, 50A, 50B are shown as examples.

[0045] For example, the conveyor 46 can be included in an industrial plant for transporting the transported goods 52. The transported goods 52 can each comprise one or more items, preferably containers. Preferably, the conveyor 46 can be designed for transporting transported goods 52 that are designed as containers. Particularly preferably, the conveyor 46 can be included in a container treatment plant for treating containers, for example, to transport the containers between container treatment devices of the container treatment plant.

[0046] The motion devices 48A, 48B, 50A, and 50B are electromagnetically movable. The motion devices 48A, 48B, 50A, and 50B can be moved independently of each other. The motion devices 48A, 48B, 50A, and 50B can be individually controlled by a control unit (not separately in Figure 5 (as shown) of the conveyor 46 can be controlled, e.g. directly or indirectly.

[0047] For example, the conveyor 46 can be a long stator linear drive conveyor, a short stator linear drive conveyor, or a planar linear drive conveyor.

[0048] The long-stator or short-stator linear drive conveyor can have several motion devices 48A, 48B, 50A, 50B, which are guided along a preferably circumferential guide track, e.g., by means of rollers or sliding shoes. The motion devices 48A, 48B, 50A, 50B can be driven by magnetic interaction between permanent magnets and electromagnets. The long-stator linear drive conveyor can include a stationary long stator with electromagnets for effecting movement of the motion devices 48A, 48B, 50A, 50B equipped with permanent magnets. In contrast, in the short-stator linear drive conveyor, the motion devices 48A, 48B, 50A, 50B can each have a short stator formed by electromagnets, which can enter into magnetic interaction with stationary permanent magnets to move the motion devices 48A, 48B, 50A, 50B.

[0049] The planar linear drive conveyor or the planar motor linear drive conveyor can have several motion devices 48A, 48B, 50A, 50B, which can be moved independently of one another with at least two degrees of freedom (x-direction and y-direction) via a preferably planar drive surface by means of magnetic interaction with the drive surface. It is also possible that a lifting movement (z-direction) and / or a tilting movement of the motion devices 48A, 48B, 50A, 50B relative to the drive surface can additionally be controlled by means of magnetic interaction. Preferably, the drive surface can be oriented horizontally or vertically.

[0050] The motion devices 48A and 48B are grouped together to form a first group 48. The motion devices 48A and 48B of the first group 48 have the task of jointly transporting a transport item 52. Preferably, the motion devices 48A and 48B can clamp the transport item 52 between themselves for transport. It is possible that the first group 48, consisting of the first motion device 48A and the second motion device 48B, is extended by at least one further motion device (not in Figure 5 (shown) is extended to transport the cargo 52 together.

[0051] The motion devices 50A and 50B are combined into a second group 50, or form the second group 50. The motion devices 50A and 50B of the second group 50 have the task of jointly transporting another transport item 52. Preferably, the motion devices 50A and 50B can clamp the additional transport item 52 between themselves for transport. It is possible that the second group 50, consisting of the first motion device 50A and the second motion device 50B, is extended by at least one further motion device (not in Figure 5 (shown) is extended to transport the additional cargo 52 together.

[0052] As mentioned, it is possible that the conveyor has 46 additional groups of moving devices for transporting further goods (not shown in the diagram). Figure 5 (shown).

[0053] The Figure 6Figure 54 schematically depicts a virtual model 54 that can be used to support the control of the conveyor 46. The virtual model 54 can represent the conveyor 46 in an abstract way. Preferably, the virtual model 54 abstracts the conveyor 46 in such a way that not every single real motion device 48A, 48B, 50A, 50B is modeled, but only the groups 48 and 50 as a whole. Accordingly, the virtual model 54 includes a model object 56 that represents the first group 48, and a model object 58 that represents the second group 50, and possibly further model objects for additional groups (not shown in Figure 54). Figure 6 (shown) on.

[0054] The virtual model 54 can also be interpreted as follows. The model objects 56 and 58 can be interpreted as virtual motion devices, each capable of individually moving a transported item. Thus, there is an assignment of one motion device to each transported item. As explained, this contrasts with the actual conveyor 46, in which at least two motion devices 48A, 48B and 50A, 50B jointly move each transported item 52. The virtual model 54 can therefore abstract the conveyor 46 from a real assignment, in which several motion devices 48A, 48B and 50A, 50B jointly transport each transported item 52, to a simplified assignment, in which each motion device transports each transported item. In other words, the virtual model 54 can act as if the conveyor 46 were controlled by Figure 5 like the sponsor 10 of Figure 1 executed.

[0055] In Figure 7It is shown that a virtual motion path 60, 62 can be created for each of the model objects 56 and 58. The first virtual motion path 60 specifies a time-dependent position profile of the first model object 56 along the static part of the virtual model 54. The second virtual motion path 62 can specify a time-dependent position profile of the second model object 56 along the static part of the virtual model 54. The static part of the virtual model 54 can, for example, represent or model a circumferential guide track, a long stator, a series of permanent magnets (e.g., in a short stator drive), or a drive surface.

[0056] The virtual movement paths 60, 62 preferably have at least one path segment extending from a goods receiving point for receiving the goods to a goods transfer point for handing over the goods. Preferably, the virtual movement paths 60, 62 each have a further path segment for returning the model object 56, 58 from the goods transfer point to the goods receiving point.

[0057] The virtual model 54 can represent a preferred top-level functional interface for controlling the conveyor 46. This top-level functional interface can form the external interface within the control system, for example, for synchronizing with the transported goods 52, the transfer conveyor (e.g., transfer star), the treatment station, etc. The actual conveyor 46 with its motion devices 48A, 48B, 50A, 50B can be located on a lower-level functional interface.

[0058] The (real) motion devices 48A, 48B, 50A, 50B are controlled depending on the created virtual motion paths 60, 62. Preferably, the motion devices 48A, 48B, 50A, 50B synchronize with the virtual motion paths 60, 62 or the model objects 56, 58 and preferably move substantially synchronously with them throughout the entire production process.

[0059] Specifically, the first motion device 48A and the second motion device 48B of the first group 48 are controlled for movement along a static part of the conveyor 46 depending on the first virtual motion path 60 of the first model object 56. Preferably, the motion devices 48A and 48B can move coupled, preferably in sync, with the first virtual motion path 60. For example, the static part of the conveyor 46 can have a circumferential guide track, a long stator, a series of permanent magnets (e.g., in a short stator drive), or a drive surface.

[0060] The first motion device 50A and the second motion device 50B of the second group 50 are controlled for movement along the static part of the conveyor 46 depending on the second virtual motion path 62 of the second model object 58. Preferably, the motion devices 50A and 50B can move coupled, preferably in sync, with the second virtual motion path 62.

[0061] The Figure 8 Figure 1 shows in detail, by way of example, how the dependence of the control of the motion devices 48A, 48B on the created virtual motion path 60 can be implemented.

[0062] In Figure 8Relative motion paths 64 and 66 are shown. The first motion path 64 can specify the course of a relative position x_rel of the first motion device 48A relative to the first virtual motion path 60 (or to the first model object 56) as a function of time t. The second motion path 66 can specify the course of a relative position x_rel of the second motion device 48B relative to the first virtual motion path 60 (or to the first model object 56) as a function of time t.

[0063] Preferably, the motion devices 48A, 48B can move at least temporarily synchronously with the first virtual motion path 60. This is in Figure 8 schematically illustrated in time periods T1 and T3.

[0064] As can be seen from the relative motion path 64, the first motion device 48A can be controlled, at least temporarily, to move synchronously at a first distance d1 from the first virtual motion path 60. Preferably, the first motion device 48A leads the first virtual motion path 60 at the first distance d1. As can be seen from the relative motion path 66, the second motion device 48B can, in turn, be controlled, at least temporarily, to move synchronously at a second distance d2 from the first virtual motion path 60. Preferably, the second motion device 48B follows the first virtual motion path 60 at the second distance d2.

[0065] The first distance d1 and / or the second distance d2 can be specified. Preferably, the first distance d1 and / or the second distance d2 can be entered via a user interface (not shown separately) of the conveyor 46.

[0066] Preferably, the first distance d1 and / or the second distance d2 can be predetermined depending on the size of the transported item 52. The larger the transported item 52, the larger the first distance d1 and / or the second distance d2 can be. If the first motion device 48A precedes the first virtual motion path 60 and the second motion device 48B follows the first virtual motion path, then preferably the sum of the first distance d1 and the second distance d2 can correspond substantially to the width or diameter of the transported item 52.

[0067] This control system can therefore be adapted in a particularly simple way when a change in the transported goods format, preferably a change in container format, occurs. For example, the transported goods 52 can be selected from several transported goods of different sizes, and the first distance d1 and / or the second distance d2 can be predefined depending on the size of the selected transported goods 52. If a larger or smaller transported goods 52 is selected from the several transported goods of different sizes at a later time, the distances d1 and / or d2 can be easily adjusted to this selected transported goods 52. An adjustment of the first distance d1 and / or the second distance d2 has no effect on the first virtual motion path 60 or on the movement of the first model object 56.

[0068] The first motion device 48A and the second motion device 48B of the first group 48 (and optionally of each further group) can move relative to each other during coupling, preferably co-movement, along the virtual motion path 60. This allows, for example, different functions to be performed.

[0069] For example, the motion devices 48A and 48B can be controlled to move relative to each other, for example, to clamp or hold the transported goods 52 between them. Preferably, the first motion device 48A can move relative to the second motion device 48B to assume the first distance d1, and / or the second motion device 48B can move relative to the first motion device 48A to assume the second distance d2. This can be achieved, for example, by temporarily accelerating the second motion device 48B and / or temporarily decelerating the first motion device 48A.

[0070] In another example, the motion devices 48A and 48B can be controlled to move away from each other, for example, to release the transported item 52 that is clamped or held between them. Preferably, the first motion device 48A can move away from the second motion device 48B starting from the first distance d1, and / or the second motion device 48B can move away from the first motion device 48A starting from the second distance d2. This can be achieved, for example, by temporarily accelerating the first motion device 48A and / or temporarily decelerating the second motion device 48B.

[0071] Specifically, special functions, such as clamping, holding, and releasing a transported item 52, can be implemented as an override of the coupling, in which the motion devices 48A and 48B are coupled to the first virtual motion path 60 or the first model object by means of the distances d1, d2. This is, for example, in Figure 8 illustrated in time period T2. As shown by the relative motion paths 64, 66 in Figure 8As can be understood, in time interval T2, the motion devices 48A and 48B initially increase their distance to the first virtual motion path 60 and the first model object 56, respectively, starting from distances d1 and d2. Later in time interval T2, the motion devices 48A and 48B decrease their distances to the first virtual motion path 60 and the first model object 56, respectively, back to distances d1 and d2. For example, in time interval T2, a transport item 52 could be released, followed by the clamping or holding of another transport item 52. Therefore, in time interval T2, the first distance d1 and / or the second distance d2 can be overridden by the corresponding function for relative movement. The dashed lines in time interval T2 illustrate that any functions for the relative movement of the motion devices 48A and 48B relative to each other can be implemented.

[0072] From a control engineering perspective, the temporary override of the first distance d1 and / or the second distance d2 can be implemented, for example, such that the temporary override depends on a variable parameter value of the model object 56. The parameter value can preferably be a size parameter value that specifies a virtual size of the model object 56. As long as the parameter value is constant, the distances d1 and d2 can be maintained, for example. To increase the distance between the motion devices 48A and 48B, the parameter value can be increased, for example, to release a transport item 52. To decrease the distance between the motion devices 48A and 48B, the parameter value can be decreased, for example, to clamp the transport item 52.

[0073] The Figure 9 shows a modified embodiment.

[0074] For example, the second motion device 48B can be rigidly coupled to the first virtual motion path 60 or the first model object 56. The first motion device 48A, in turn, can be moved temporarily using force control to clamp the transported item 52 between the motion devices 48A and 48B. The roles of the first motion device 48A and the second motion device 48B can also be reversed.

[0075] From a control engineering perspective, this can be implemented such that the second distance d2 (or the first distance d1) is set to a constant value. The first distance d1 (or the second distance d2), on the other hand, can be temporarily controlled to realize a force-controlled movement against the transported item 52 or against the first moving device 48A (or the second moving device 48B), so that the transported item 52 can preferably be clamped between the moving devices 48A and 48B.

[0076] In Figure 10This is purely an example to show that the control concept of the present disclosure is not only applicable to groups of two motion devices 48A, 48B. Instead, the control concept can be applied to groups of any number of motion devices, for example, to groups of three motion devices 48A, 48B, 48C. Accordingly, the third motion device 48C, like the first and second motion devices 48A, 48B, of the group 48', can be controlled to move along the static part of the conveyor 46 depending on, preferably coupled to or moving in sync with, the first virtual motion path 60 of the first model object 56, etc. Reference symbol list

[0077] 10 Linear electric drive conveyor 46 Linear electric drive conveyor 12 Motion device 48 first group 14 Motion device 48A first motion device 16 Motion device 48B second motion device 18 Motion device 48C third motion device 20 Goods being transported 50 second group 22 Movement path 50A first motion device 24 Movement path 50B second motion device 26 Movement path 52 Goods being transported 28 Movement path 54 virtual model 30 Linear electric drive conveyor 56 first model object 32 first group 58 second model object 32A first motion device 60 first virtual movement path 32B second motion device 62 second virtual movement path 34 second group 64 relative path of motion 34A first motion device 66 relative path of motion 34B second motion device 36 Goods being transported d1 first distance 38 Movement path d2 second distance 40 Movement path T1 first period 42 Movement path T2 second period 44 Movement path T3 third period

Claims

1. A method for operating a linear electric drive conveyor (46) having multiple electromagnetically and independently movable moving devices (48A, 48B, 50A, 50B) which are combined into multiple groups (48, 50), wherein the multiple moving devices (48A, 48B, 50A, 50B) are movable in each group (48, 50) in order to jointly transport a transport item (52) which is preferably clamped between them or jointly held, characterized in that the method comprises: creating a virtual movement path (60, 62) for each model object (56, 58) in a virtual model (54) that represents the linear electric drive conveyor (46), wherein in the virtual model (54) each group (48, 50) is represented by a model object (56, 58) and the created virtual movement paths (60, 62) each indicate a time-dependent position progression of the respective model object (56, 58) along a static part of the virtual model (54); and controlling the linear electric drive conveyor (46) in order to move a first moving device (48A, 50A) and a second moving device (48B, 50B), per group (48, 50), along a static part of the linear electric drive conveyor (46) according to, preferably coupled or co-moving with, the virtual movement path (60, 62) of the model object (56, 58) that represents the respective group (48, 50).

2. The method according to claim 1, wherein: the linear electric drive conveyor (46) is controlled in such a way that the first moving device (48A, 50A) for each group (48, 50) moves synchronously, preferably in advance, at least temporarily at a first distance (d1) from the virtual movement path (60, 62) of the model object (56, 58) representing the respective group (48, 50); and / or the linear electric drive conveyor (46) is controlled in such a way that the second moving device (48B, 50B) for each group (48, 50) moves synchronously, preferably follows, at least temporarily at a second distance (d2) from the virtual movement path (60, 62) of the model object (56, 58) representing the respective group (48, 50).

3. The method according to claim 2, further comprising: specifying the first distance (d1) and / or the second distance (d2), preferably by means of a user interface.

4. The method according to claim 3, wherein: the first distance (d1) and / or the second distance (d2) is specified depending on a size of the transport item (52), wherein preferably: the larger the transport item (52), the larger the specified first distance (d1) and / or the second distance (d2); and / or a sum of the first distance (d1) and the second distance (d2) substantially corresponds to a width of the transport item (52) or substantially corresponds to a diameter of the transport item (52).

5. The method according to claim 3 or claim 4, further comprising: selecting the transport item (52) from a selection of transport items of different sizes, wherein the first distance (d1) and / or the second distance (d2) is specified depending on a size of the selected transport item (52).

6. The method according to any of claims 2 to 5, further comprising: changing the first distance (d1) and / or the second distance (d2) when changing the transport item format, preferably when changing the container format.

7. The method according to any of claims 2 to 6, further comprising: temporarily overriding the first distance (d1) and / or the second distance (d2) in order to effect a relative movement between the first moving device (48A, 50A) and the second moving device (48B, 50B) per group (48, 50), preferably in order to take over the transport item (52), hold the transport item (52), clamp the transport item (52), transfer the transport item (52) and / or release the transport item (52).

8. The method according to any of claims 2 to 7, wherein: the temporary overriding of the first distance (d1) and / or of the second distance (d2) is dependent on a variable parameter value, preferably size parameter value, of the model object (56, 58) that represents the respective group (48, 50), wherein preferably: - the variable parameter value is greater before the transport item (52) is clamped than when it is clamped; - the variable parameter value is reduced to clamp the transport item (52); - the variable parameter value is increased to release the transport item (52); and / or - the variable parameter value is greater when the transport item (52) is being released than when it is being clamped.

9. The method according to any of claims 2 to 8, further comprising: setting one of the first distance (d1) and the second distance (d2) to a constant value; and temporarily overriding the other of the first distance (d1) and the second distance (d2) with a force-controlled movement of the respective moving device (48A, 48B, 50A, 50B) in order to clamp the transport item (52) between the first moving device (48A, 50A) and the second moving device (48B, 50B).

10. The method according to any of the preceding claims, wherein: the linear electric drive conveyor (46) is controlled in such a way that the first moving device (48A, 50A) and the second moving device (48B, 50B), per group (48, 50), move along the static part of the linear electric drive conveyor (46) at least temporarily while performing a relative movement to one another for clamping, holding and / or releasing the transport item (52) with the virtual movement path (60, 62) of the model object (56, 58) that represents the respective group (48, 50).

11. The method according to any of the preceding claims, further comprising: controlling the linear electric drive conveyor (46) in order to move a third moving device (48C), per group (48, 50), along a static part of the linear electric drive conveyor (46) according to, preferably coupled or co-moving with, the virtual movement path (60, 62) of the model object (56, 58) that represents the respective group (48, 50).

12. The method according to any of the preceding claims, wherein: the virtual movement path (60, 62) has, for each model object (56, 58), a path section which extends from a transport item takeover point for taking over the transport item (52) to a transport item transfer point for transferring the transport item (52).

13. The method according to any of the preceding claims, wherein: the linear electric drive conveyor (46) is a long-stator linear drive conveyor, a short-stator linear drive conveyor or a planar linear drive conveyor.

14. A linear electric drive conveyor for an industrial system, preferably a container treatment system, wherein the linear electric drive conveyor (46) comprises: multiple electromagnetically and independently movable moving devices (48A, 48B, 50A, 50B) which are combined into multiple groups (48, 50), wherein the multiple moving devices (48A, 48B, 50A, 50B) are movable in each group (48, 50) in order to jointly transport a transport item (52) which is preferably clamped between them or jointly held; and a control unit configured to carry out a method according to any of the preceding claims.

15. An industrial system, preferably container treatment system, comprising: a linear electric drive conveyor (46) according to claim 14.