Device for moving object and related moving method
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2023-03-17
- Publication Date
- 2026-03-25
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
[Technical Field]
[0001] The present invention relates to an apparatus for moving an object and an associated method for moving an object. [Background technology]
[0002] In particular, the invention relates to the technical field of systems for moving objects, for example for storage or sorting purposes, such as logistics or transport systems.
[0003] The term "object" is used in this context to mean parcels, items of baggage or bags of any shape, weight and dimensions, which are processed in the above-mentioned transfer system and are therefore moved by transfer devices between the infeed and outfeed stations and transported, sorted or oriented according to a preferred direction.
[0004] Traditionally, these transfer systems comprise a main conveyor, a transfer device, and one or more secondary conveyors, the main conveyor moving objects to be moved and / or sorted along a main path to the transfer device, the transfer device having various secondary conveyors connected thereto according to predetermined criteria, moving each object to the desired secondary conveyor for transporting the object, and the secondary conveyors transporting the object to an associated distribution station.
[0005] Different types of solutions for transfer devices have been developed over the years to allow multiple objects to leave the main conveyor and branch off along their path towards a secondary conveyor.
[0006] One of these solutions involves the use of special carriages to move objects, typically pucks, along the main conveyor, with laterally oriented rollers that are activated at the correct moment to guide the pucks onto the desired secondary conveyor.
[0007] Another solution comprises using a unit movable above the main conveyor and configured to laterally contact or engage the packs to guide them onto the secondary conveyor.
[0008] To allow for more complete and / or precise control of the position and movement parameters of objects, movement devices have recently become widespread on the market, comprising modular movement surfaces with a plurality of movement cells, preferably identical to one another, arranged on the movement surface in a matrix or checkerboard pattern and configured to operate in conjunction with one another to move objects sequentially from one or more infeed stations to one or more outfeed stations, in particular each movement cell having a movement direction that can be controlled independently of the other movement cells.
[0009] One example of these transfer devices is shown in EP 1 375 389 A1, which shows a transport device with a transport surface having a plurality of conveying sections configured to slide objects sequentially across the transport surface. Each of these conveying sections comprises a pair of parallel rollers having respective axes of rotation parallel to the transport surface, defining a transport direction perpendicular to the roller rotation axes. The rollers are mounted on a base that is rotatable about an axis perpendicular to the transport surface so as to change the direction of movement of the rollers.
[0010] These moving devices for objects advantageously make it possible to move the object on a moving surface at will and guide the object in a desired direction, even when there are no engaging mechanical components on the object.
[0011] A system for controlling the transfer device is typically provided for defining, for each object to be transferred within the transfer surface, a transfer trajectory from an object infeed station to an object outfeed station, and for this purpose the control system is configured to identify, among the plurality of transfer cells, a trajectory cell belonging to the transfer trajectory, and to guide the direction of movement of each trajectory cell on the transfer surface so as to move the object within the transfer trajectory in use.
[0012] When more than one object is present on the moving surface, an infeed station and an outfeed station are defined for each conveying track so that each object can be moved independently of the other object(s).
[0013] Slippage between the object to be moved and the moving cell, or impacts between any number of objects simultaneously present on the moving surface, can cause the object to lose the transport trajectory defined for it and move uncontrolled within the moving surface.
[0014] In this case, each object not only does not reach the associated delivery station, but also runs the risk of falling off the moving surface and damaging itself.
[0015] EP 3315436 A1 relates to an apparatus for transporting objects, capable of performing a translational movement and a rotational movement. The transport apparatus has a transport section with a belt that allows the positioning of the object, and a turntable that supports the transport section. The belt is a continuous element suspended between a pair of rollers, which are engaged and slid by a transport motor, while a rotational motor is engaged with the turntable. [Prior art documents] [Patent documents]
[0016] [Patent Document 1] European Patent Application Publication No. 1375389 [Patent Document 2] European Patent Application Publication No. 3315436 Summary of the Invention [Problem to be solved by the invention]
[0017] In view of the above, the technical object underlying the present invention is to provide an apparatus for moving an object and an associated method of moving an object, which overcomes at least some of the above-mentioned drawbacks of the prior art.
[0018] It is a further object of the present invention to provide an apparatus for moving objects, and an associated method of moving objects, comprising a modular moving surface having a plurality of moving cells, preferably identical to one another, arranged in a matrix or checkerboard configuration on the moving surface and configured to operate in conjunction with one another to move at least one object sequentially from an infeed station to an outfeed station, which facilitates maintaining the object within a conveying path defined for the object.
[0019] Another object of the present invention is to provide an apparatus for moving objects and an associated method of moving objects that can increase the reliability of the movement of each object within the conveying track. [Means for solving the problem]
[0020] The stated technical and specified objects are substantially achieved by an apparatus for moving an object and a related method of moving an object, which comprises the technical features set forth in one or more of the appended claims.
[0021] The dependent claims correspond to possible embodiments of the invention.
[0022] Further features and advantages of the present invention will become more apparent in the following non-limiting description of preferred, non-limiting embodiments of an apparatus for moving an object and an associated method for moving an object.
[0023] The present specification will now be described with reference to the accompanying drawings, which are provided for illustrative purposes only, without limiting the scope of the invention. [Brief explanation of the drawings]
[0024] [Figure 1]FIG. 1 shows a perspective view of an apparatus for moving objects made in accordance with the present invention, comprising a moving surface having a plurality of moving cells arranged thereon in a matrix or checkerboard configuration, the moving cells constructed and arranged to operate in conjunction with one another and to move objects in series. [Figure 2] FIG. 2 is an enlarged view of the detail shown in FIG. [Figure 3] Figure 3 shows a schematic diagram of the transfer device of Figure 1 when, in use, there is an object on the transfer device moving on a conveying track defined on the transfer surface from an infeed station to an outfeed station, the object being shown at successive positions on the conveying track, being moved out of the conveying track, etc. DETAILED DESCRIPTION OF THE INVENTION
[0025] With reference to the accompanying drawings, the reference numeral 1 generally indicates an apparatus for moving an object 2.
[0026] The transfer device 1 is configured to receive at least one object 2 from one or more in-feed stations 3 and to move the object 2 towards one or more out-feed stations 4 .
[0027] It should be noted that FIG. 3 shows two infeed stations 301 and 302, two outfeed stations 401, a number of infeed stations 3 402 and a possible outfeed station 4 purely by way of example.
[0028] Preferably, the transfer device 1 is configured to receive several objects that are moved simultaneously from one or more of the feed stations 3 to one or more of the feed stations 4, but for simplicity, the presence of a single object in the transfer device 1 will be considered below.
[0029] The moving device 1 comprises a moving surface 101 having a plurality of moving cells 102 arranged thereon in a matrix or checkerboard pattern, the moving cells being constructed and arranged to operate in conjunction with one another and to move an object 2 in succession.
[0030] The object 2 is placed on the moving surface 101 in such a way that the associated lower surface (not shown) rests thereon.
[0031] The mobile device 1 comprises a frame 103 having respective feet 103a configured to allow the mobile device 1 to be placed on a floor (not shown) of a mobile system in the logistics or transportation sector on which the mobile device 1 can be placed.
[0032] A mobile device 1 is shown in its entirety in FIG.
[0033] The frame 103 comprises a support mask 104 with holes 104a, the frame 103 being configured to support each moving cell 102 and ensure that elements for moving the cells, shaped like balls 102a, can exit from the respective holes 104a to allow movement of the object 2, as shown in more detail in Figure 2.
[0034] In fact, each transfer cell 102 comprises a tubular support (not shown) with a vertically positioned axis Z, at the end of which a ball 102a is rotatably fixed.
[0035] The ball 102a is rotatable about a horizontal axis, not shown, parallel to the moving surface 101 and perpendicular to the longitudinal axis, which, in use, defines the direction of movement D of the moving cell 102.
[0036] It should be noted that the ball 102a can rotate in a clockwise or counterclockwise direction, thereby obtaining a different direction of movement D', which is corrected 180° relative to the direction of movement D, i.e., in the opposite direction.
[0037] In particular, the direction of movement D of each moving cell 102 is perpendicular to the horizontal axis about which the ball 102a rotates, in use.
[0038] The ball 102a is also rotatable about the longitudinal axis Z of the support, allowing the movement direction D of the movement cell 102 to be changed. By way of example, Figure 2 shows a further movement direction D1, a further movement direction D2, and corresponding opposite movement directions D1' and D2'.
[0039] Thus, each moving cell 102 can have a respective direction of movement D and a respective speed of movement in the direction of movement D when in use.
[0040] The rate of movement is a direct derivative of the rate of rotation of the ball 102a about the horizontal axis.
[0041] Each moving cell 102 is individually controllable in the sense that the direction of movement D and relative speed of movement of each moving cell 102 can be controlled independently of the other moving cells 102 that form part of the moving surface 101 .
[0042] In fact, each moving cell 102 has a pair of actuators (not shown) that are independent of each other and independently controllable, and these pair of actuators respectively control the rotation of the ball 102a around the vertical axis Z (and the direction of movement of the moving cell 102) and the rotation of the ball 102a around the horizontal axis (and, i.e., the speed of movement of the moving cell 102), as shown schematically in Figure 2.
[0043] The transfer cell 102 and transfer surface 101 as described herein are shown in detail in commonly owned European Patent Application No. 3643644, to which reference is made without limiting the scope of the present invention.
[0044] However, it should be noted that the objects of the invention as explained herein are also applicable to moving surfaces 101 provided with different types of moving cells, for example with two moving rollers, as explained in the aforementioned patent document EP 1 375 389 A1, which forms part of the prior art, since in that case each moving cell still has a direction of movement and a respective moving speed that can be controlled individually.
[0045] As described above, the moving cells 102 are constructed and arranged to operate in conjunction with one another and to move the object 2 in sequence.
[0046] In fact, since the multiple moving cells 102 are individually controllable, when an object 2 abuts on the moving surface 101, the direction and moving speed of each moving cell 102 can be coordinated with the direction and speed of its adjacent moving cells 102 to ensure that the object 2 is moved to a predetermined position on the moving surface 101.
[0047] In this way, the movement surface 101 may advantageously be suitable for objects and pucks having different dimensions, weights and characteristics to perform different types of movements, as will be explained below.
[0048] The transfer device 1 comprises a control system (not shown) configured to define a conveying trajectory in the transfer surface 101 for moving the objects 2 from the in-feed station 3 to the out-feed station 4 .
[0049] It should be noted that in general, the control device can be divided into separate functional modules, which can correspond to hardware units and / or software routines, and can also consist of a single electronic device, such as a control PLC or a control PC, that can be appropriately programmed to perform the functions described above. In this case, the various functional modules can form part of the programmed device. Alternatively or additionally, the control device can comprise multiple electronic devices on which the above-mentioned functional modules can be distributed. In fact, the control system can have one or more processors for executing the functional modules, which can be distributed on different control PLCs or different control PCs, locally or remotely (e.g., in the cloud), depending on the architecture of the communication network in which they reside.
[0050] The term "control system" is used to include all components necessary to run the control system, such as, for example, the above-mentioned electronic devices and / or hardware units and / or software routines and / or memory modules and / or communication networks.
[0051] The control system is also connected to each moving cell 102 for controlling a pair of actuators that define the direction D and speed of movement of each moving cell 102 .
[0052] 3, the moving device 1 can have two infeed stations 301 and 302 and two outfeed stations 401 and 402. It should be noted that the infeed stations 3 and 4 can be distributed circumferentially on the moving surface 101 and are typically arranged on the infeed side 101a and the outfeed side 101b facing each other, taking into account the extending longitudinal axis Y of the moving surface.
[0053] In the illustrated case, the moving surface 101 has a rectangular shape, so that the infeed side 101a and the outfeed side 101b are the short sides of the rectangle facing each other.
[0054] However, the moving surface 101 does not have to be rectangular, as it may have a different shape depending on the positioning needs of the infeed station 3 and / or the outfeed station 4 within the system in which the moving device 1 is positioned.
[0055] In fact, the same circumferential position of each infeed station 3 and each outfeed station 4 depends on the specific needs of the system.
[0056] For example, the conveying track may be linear for moving the objects 2 linearly between an infeed station 3 and an outfeed station 4 positioned in line with each other.
[0057] As shown in FIG. 3, the conveying tracks can intersect to move objects diagonally between feed station 3, e.g., first feed station 301, and feed station 4, e.g., second feed station 402, which are offset from each other.
[0058] The different objects 2 received from the moving surface 101 can be sorted and / or separated to respective outfeed stations 4 in relation to the conveying trajectories set for each object 2. Furthermore, each object 2 can be rotated clockwise or counterclockwise about its vertical axis in order to change the orientation of the object 2 being moved in front of the outfeed station 4, if necessary.
[0059] It should be noted that the mobile device 1 can therefore perform a sorting function where multiple objects 2 need to be separated, directing each to a particular outgoing station 4 in relation to the characteristics of the objects 2.
[0060] The control system is configured to identify a plurality of track cells 105 belonging to the conveying track among the plurality of moving cells 102 and, when in use, to guide the movement direction D of each track cell 105 within the moving surface 101 so as to move the object 2 within the conveying track.
[0061] In use, when the object 2 is in the conveying track, the object 2 is moved in the conveying direction from the infeed station 3 to the outfeed station 4.
[0062] Therefore, the above-mentioned multiple track cells 105 are the only ones of all the moving cells 102 forming part of the moving surface 101 that act in conjunction with each other to move the object 2 between the feed station 3 and the feed station 4 established for the object 2 and to identify an area within the moving surface 101, not shown, for abutting the underside of the object 2.
[0063] In accordance with the present invention, the control system is also configured to identify, among the plurality of movement cells 102, a plurality of convergence cells 106 adjacent the conveying track and defining at least one convergence zone 107. The control system is configured, in use, to direct the direction of movement of each convergence cell 106 towards a centerline T of the conveying track so as to facilitate maintaining the object 2 within the conveying track.
[0064] 3, which shows a schematic representation of the moving surface 101, each arrow represents the direction of movement D of a respective moving cell 102, or the direction of movement D of a respective trajectory cell 105, or the direction of movement D of a respective convergence cell 106, and it should be noted that the conveying trajectory is the area between two lines, e.g., curved, along which the object 2 is intended to move. The center line T of the conveying trajectory is also curved and represents the line of symmetry of the conveying trajectory.
[0065] It should be noted that in Figure 3, reference numeral 102 indicates a movement cell whose control system is not defined in either a trajectory cell 105 or a convergence cell 106, as it is not involved in the movement of the object 2. The arrow indicating the movement cell 102 is shown in Figure 3 as a continuous line.
[0066] The arrows indicating the orbital cells 105 are dashed and of a non-uniform type, while the arrows indicating the convergent cells 106 are dashed and of a uniform type.
[0067] Due to the presence of the convergence cells 106 in the convergence zone 107 located adjacent to the conveying track, the emergence of the object 2 from the conveying track can be corrected.
[0068] Indeed, if, during use, the object 2 deviates from the conveying track and slides outside of it, as shown in Figure 3, which shows possible positions for the stray object 2', the convergence cells 106 of the convergence zone 107 will again guide the stray object 2' towards the conveying track, thus cancelling the veering.
[0069] Thus, an object 2 entering the conveying track can reach a predetermined delivery station 4 without the risk of reaching the wrong delivery station 4 or of falling off the moving surface 101 .
[0070] This makes it possible to have a moving device 1 that is virtually insensitive to external disturbances, and there is a maximum correct moving efficiency of the object 2 even at the maximum moving speed that can be set for the track cell 105. Therefore, there is no need to reduce the moving speed of the track cell 105 to ensure that the object 2 remains abutted on the track cell 105 from the feed-in station 3 to the unloading station 4.
[0071] For each convergence cell 106, the control system is configured to set a respective longitudinal component of the movement velocity (extending parallel to the elongation longitudinal axis Y of the movement surface 101) that is less than or equal to the longitudinal component of the movement velocity of the corresponding orbital cell 105.
[0072] For each convergence cell 106, the control system is configured to set the respective transverse component of the movement speed, perpendicular to the longitudinal axis of extension Y, to be the maximum value that can be reached.
[0073] In fact, each convergence cell 106 can be associated with a track cell 105, which can be, for example, one positioned along an axis perpendicular to the elongated longitudinal axis Y and passing through the convergence cell 106, or, for example, one positioned at a minimum distance on the center line T of the conveying track.
[0074] The maximum attainable speed means the maximum speed at which the convergence cell 106 can be set.
[0075] In other words, each moving cell 102 has a respective moving speed in the moving direction D, which can be controlled independently relative to the other moving cells 102 and can be up to a respective maximum speed, which is the maximum speed that can be reached.
[0076] The control system is configured to set, for each convergence cell 106, a respective transverse component of the movement speed, extending perpendicular to the longitudinal axis of extension Y, equal to the above-mentioned maximum speed.
[0077] The control system may be configured to define a convergence zone 107 and a further convergence zone 107a, also comprising a convergence cell 106, the convergence zone 107 and the further convergence zone 107a being located on either side of the conveying track.
[0078] In this way, the return of the object 2 to the conveying track is facilitated on both sides of the conveying track.
[0079] According to an embodiment not shown, further or alternatively, with regard to the presence of multiple convergence zones on both sides of the conveying track, the control system can be configured to detect the position of the object 2 in the conveying track and define a convergence area (not shown) downstream of the object 2 and another convergence area (not shown) upstream of the object 2 in the conveying direction from the feed station 3 to the discharge station 4.
[0080] In the latter case, the control system may be configured to set the speed of movement of the convergence cells 106 of the convergence region to be different from the speed of movement of the convergence cells 106 of the other convergence regions.
[0081] In particular, the movement speed of the orbital cells 105 positioned on the object 2 can be greater than the movement speed of the convergence cells 106 of the convergence region positioned downstream of the object, slowing down the convergence cells 106 of the convergence region.
[0082] At the same time, the movement speed of the orbital cell 105 positioned on the object 2 can be made smaller than the movement speed of the convergence cells 106 of other convergence regions positioned upstream of the object 2, accelerating the convergence cells 106 of the other convergence regions.
[0083] In other words, this allows the convergence cells 106 downstream of the object 2 to be decelerated while accelerating the convergence cells 106 upstream of the object, ensuring that the object is braked in the event of a deviation downstream of the object's position, while accelerating the object in the event of a deviation upstream of the object's position to facilitate the return of the object 2 to the conveying trajectory.
[0084] To detect the position of the object 2, the control system may comprise an image capture device configured to capture multiple successive images of the moving surface 101 in use, and a processing unit configured to process the captured images and ascertain the position of the object 2 on the moving surface 101 at successive points in time as the object 2 moves within the conveying track.
[0085] However, an image capture device is not necessary.
[0086] In fact, instead, the processing unit can calculate the position of the object taking into account the moment when the object 2 is received in the feed station 3 and the speed of movement of each track cell 105 that the object 2 subsequently abuts, so that the position of the object can be detected by the control system performing predictive processing during use.
[0087] When the moving device 1 receives two different objects 2 in the moving surface 101 from two respective input stations 3 and must move these objects 2 to two respective output stations 4, the control system is configured to define two different conveying tracks in the moving surface 101, each associated with a respective object 2 to be moved, and to identify, for each conveying track, a respective track cell 105 among the plurality of moving cells 102.
[0088] If two objects are moved simultaneously within the moving surface 101, the control system will define, for each conveying trajectory, at least one respective convergence zone 107 associated with each conveying trajectory.
[0089] In use, the method for moving an object 2 according to the invention comprises the steps of receiving at least one object 2 from an in-feed station 3 and moving the object 2 towards an out-feed station 4 . This method of movement is providing a moving surface 101 having a plurality of moving cells 102 arranged thereon in a matrix or checkerboard pattern; controlling the movement direction D of each moving cell 102 independently of the other moving cells 102 and operating the plurality of moving cells 102 in conjunction to move at least one object 2 successively; defining a conveying trajectory on a moving surface 101 for conveying the object 2 from the infeed station 3 to the outfeed station 4;
[0090] Control of each movement direction and cooperation between multiple moving cells 102 makes it possible to transport the object 2 to a predetermined position on the moving surface 101 regardless of the size, weight and characteristics of the object 2, thereby ensuring high flexibility in the possible movements on the moving surface.
[0091] The method also includes a step of identifying track cells 105 belonging to the conveying track among the plurality of moving cells 102 and guiding the moving direction D of each track cell 105 within the moving surface 101 so as to move the object 2 within the conveying track.
[0092] In other words, the method comprises defining a conveying trajectory for the object 2 from the feed station 3 to the unload station 4 and identifying those trajectory cells 105 among all the moving cells 102 of the moving surface 101 that are involved in the conveying trajectory and that are required to appropriately guide the moving direction D so that the object 2 moves within the conveying trajectory.
[0093] The movement method advantageously comprises the steps of identifying a plurality of convergence cells 106 among the plurality of movement cells 102, the convergence cells 106 defining at least one convergence zone 107 adjacent to the conveying track, and for each convergence cell 106, directing a movement direction D towards a center line T of the conveying track to facilitate maintaining the object 2 within the conveying track.
[0094] By identifying at least one convergence zone 107 comprising a plurality of convergence cells 106, any uncontrolled deviation of the object 2 from the conveying trajectory is corrected in order to redirect it back into the conveying trajectory.
[0095] It should be noted that by defining both the convergence zone 107 and the conveying trajectory, before the object 2 is received in the feed station 3 or when the object 2 is already present in the moving surface 101, the state of possible positioning correction of the object 2 within the moving surface 101 is always active, thereby ensuring high correction efficiency in the event that the object 2 attempts to deviate.
[0096] The movement further comprises a step of controlling the movement speed in the movement direction of each movement cell 102 independently of the others, and a step of setting, for each convergence cell 106, a respective longitudinal component of the movement speed, parallel to the respective extension longitudinal axis Y of the movement surface 101, having a value smaller than or equal to the longitudinal component of the corresponding orbit cell 105.
[0097] Indeed, the movement method further comprises the step of associating to each convergence cell 106 at least one corresponding trajectory cell 105 .
[0098] The trajectory cell 105 associated with the convergence cell 106 may, for example, lie along a transverse axis that is perpendicular to the elongated longitudinal axis Y of the moving surface 101 and passes through the convergence cell 106 .
[0099] This association causes an object 2' that has deviated and is resting on the convergence cell 106 to move in the conveying direction towards the delivery station 4 at the same longitudinal speed as if the object 2' were in the conveying track.
[0100] The movement method also comprises the step of setting, for each convergence cell 106, a respective transverse component of the movement speed, perpendicular to the longitudinal axis of extension Y, equal to the maximum speed that can be reached.
[0101] In other words, the method comprises a step of controlling the movement speed in the movement direction of each moving cell 102 independently of the other moving cells 102, which is less than or equal to the respective maximum speed, which is the maximum speed that can be achieved, and further a step of setting, for each converging cell 106, a respective transverse component of the movement speed, perpendicular to the elongation longitudinal axis Y, equal to the above-mentioned maximum speed.
[0102] This facilitates the return of the stray object 2' to the conveying path at the maximum possible speed.
[0103] The method also comprises the step of defining a convergence zone 107 and a further convergence zone 107a on either side of the conveying track.
[0104] Alternatively or additionally, the method comprises the steps of detecting the position of the object 2 on the conveying track and defining, in addition to the convergence zone 107, a convergence region downstream of the object 2 in the conveying direction on the conveying track and another convergence region upstream of the object 2 in the conveying direction.
[0105] Indeed, in addition to the convergence zone 107 associated with the initially convergent trajectory, it is possible to simultaneously activate and deactivate, when detected, a downstream and upstream convergence area and another convergence area respectively relative to the position of the object 2. This allows for even better control of the correction of any deviation of the object 2 from the conveying trajectory in real time relative to the position of the object 2.
[0106] The method also includes setting a moving speed of the convergence cells 106 of the convergence region to be different from the moving speed of the convergence cells 106 of the other convergence regions.
[0107] In particular, the method includes the steps of setting the movement speed of the trajectory cells 105 in the object 2 to be greater than the movement speed of the convergence cells 106 in the convergence region and less than the movement speed of the convergence cells 106 in other convergence regions, decelerating the convergence cells 106 in the convergence region downstream of the object 2, and accelerating the convergence cells 106 in the other convergence regions upstream of the object 2.
[0108] Thus, at the same time, by defining the convergence area and the other convergence area relative to the position of the object 2, the movement of the object 2 on the moving surface 101 may advantageously be further controlled.
[0109] It should therefore be noted that the moving device 1 and moving method of the present invention facilitate keeping the object 2 inside the conveying track, and eliminate the need to slow down the object 2 even in the presence of intersecting or non-linear conveying tracks, improving the reliability of movement of each object 2 inside the conveying track.
Claims
1. A moving device (1) for moving an object (2), configured to receive at least one object (2) from a feeding station (3) and move the object toward a sending station (4), wherein the moving device (1) A moving surface (101) comprising a plurality of moving cells (102) arranged thereon in a matrix or checkerboard pattern, wherein the plurality of moving cells (102) are configured and arranged to operate continuously with respect to the object (2), and each of the moving cells (102) has its own individually controllable direction of movement (D), the moving surface (101) and A control system configured to define a transport trajectory within the moving surface (101) for transporting the object (2) from the feeding station (3) to the sending station (4), A plurality of identification track cells (105) belonging to the transport track between the plurality of moving cells (102), wherein, when in use, the direction of movement of each track cell (105) is guided toward the moving surface (101) so as to move an object along the transport track, A moving device (1) for moving an object (2), comprising a plurality of identification convergence cells (106) between the plurality of moving cells (102), wherein the plurality of identification convergence cells (106) define at least one convergence zone (107) adjacent to the transport track and guide each convergence cell (106) toward the center line (T) of the transport track when in use, in order to facilitate keeping the object (2) inside the preceding transport track.
2. The moving surface (101) has its own extended longitudinal axis (Y), and each moving cell (102) has its own moving speed in its respective moving direction (D), which can be controlled independently of the others. The moving device (1) according to claim 1, wherein the control system is configured to set the longitudinal component of the moving speed for each convergence cell (106) such that it is parallel to the extended longitudinal axis (Y) and has a value less than or equal to the longitudinal component of the corresponding track cell (105).
3. The moving surface (101) has its respective extended longitudinal axis (Y), Each moving cell (102) has a moving speed in the direction of movement (D) that can be controlled independently of other moving cells (102), and which can be set to less than or equal to its respective maximum value. The moving device (1) according to claim 1, wherein the control system is configured to set each transverse component of the moving speed for each convergence cell (106) that extends perpendicular to the extended longitudinal axis (Y) and is equal to the maximum value.
4. The moving device (1) according to claim 2, wherein the control system is configured to associate at least one corresponding orbital cell (105) with each convergence cell (106).
5. The moving device (1) comprises a convergence zone (107) having a plurality of convergence cells (106), and a further convergence zone (107a), The moving device (1) according to claim 1, wherein the convergence zone (107) and the further convergence zone (107a) are located on both sides of the transport track.
6. The control system detects the position of the object (2) in the transport track, and The moving device (1) according to claim 1, configured to define a convergence region downstream of the object (2) and another convergence region upstream of the object (2) comprising a plurality of convergence cells (106), in the transport direction of the transport track from the feed station (3) to the dispatch station (4).
7. Each moving cell (102) has its own moving speed in the direction of movement, which can be controlled independently of other moving cells (102). The moving device (1) according to claim 6, wherein the control system is configured to set the moving speed of the plurality of convergence cells (106) in the convergence region to be different from the moving speed of the convergence cells (106) in the other convergence regions.
8. The moving device (1) according to claim 7, wherein, in order to decelerate the converging cell (106) in the converging region and accelerate the converging cell (106) in the other converging region, the moving speed of the orbital cell (105) in the object (2) is greater than the moving speed of the converging cell (106) in the converging region and less than the moving speed of the converging cell (106) in the other converging region.
9. In a method of moving object (2), The aforementioned method of movement is The system comprises the steps of receiving at least one object (2) from a feeding station (3) and moving the object (2) toward a sending station (4), The aforementioned method of movement is The steps include preparing a movable surface (101) having a plurality of movable cells (102) arranged thereon in a matrix or checkerboard pattern, The steps include independently controlling the direction of movement of each moving cell (102) relative to other moving cells (102), and operating the plurality of moving cells (102) in conjunction to move the at least one object (2) continuously, A step of defining a transport trajectory on the moving surface (101) for transporting the object (2) from the feeding station (3) to the sending station (4), The steps include identifying among the plurality of moving cells (102) which belong to the transport track, and guiding the direction of movement (D) of each orbital cell (105) toward the moving surface (101) so that the object (2) moves along the transport track, A moving method comprising the steps of identifying a plurality of converging cells (106) among the plurality of moving cells (102) that define at least one converging zone (107) adjacent to the transport track, and guiding the direction of movement (D) toward the centerline (T) of the transport track for each converging cell (106) in order to facilitate the maintenance of the object (2) within the transport track.
10. The aforementioned method of movement is The steps include controlling the movement speed of each moving cell (102) in its direction of movement independently of other moving cells (102), The movement method according to claim 9, comprising the step of setting each longitudinal component of the movement speed for each convergence cell (106) to be parallel to the respective extended longitudinal axis (Y) of the moving surface (101), having a value less than or equal to the longitudinal component of the corresponding orbital cell (105).
11. The movement method according to claim 10, further comprising the step of associating at least one corresponding orbital cell (105) with each convergence cell (106).
12. The aforementioned method of movement is A step of controlling the movement speed of each moving cell (102) in its direction of movement independently of other moving cells (102), wherein the movement speed of each moving cell (102) is less than or equal to its maximum speed, The moving method according to claim 9, further comprising the step of setting, for each converging cell (106), each transverse component of the moving speed which is equal to the maximum speed and perpendicular to the respective extended longitudinal axis (Z) of the moving surface (101).
13. The moving method according to claim 9, further comprising the step of defining a convergence zone (107) and a further convergence zone (107a), each having a convergence cell (106) on both sides of the transport track.
14. The moving method according to claim 9, further comprising the steps of detecting the position of the object (2) in the transport track and defining a convergence region downstream of the object (2) and another convergence region upstream of the object (2) in the transport direction of the transport track from the feed station (3) to the discharge station (4).
15. The movement method according to claim 14, comprising the steps of: controlling the movement speed of each movement cell (102) in the direction of movement independently of others; and setting the movement speed of the convergence cell (106) in the convergence region to be different from the movement speed of the convergence cell (106) in the other convergence regions.
16. The movement method according to claim 15, further comprising the step of setting the movement speed of the orbital cell (105) in the object (2) to be greater than the movement speed of the convergent cell (106) in the convergent region and less than the movement speed of the convergent cell (106) in the other convergent zone, so as to decelerate the convergent cell (106) in the convergent region and accelerate the convergent cell in the other convergent zone.