Conveyor

Abstract

In a conveying device 1 as a planar motor, in order to at least temporarily simply increase the movement efficiency of the transported item O without adversely affecting the movement of the conveying unit 3i, it is proposed according to the present invention that at least one engagement portion EA is provided on at least two conveying units 3A, 3B, and the at least two conveying units 3A, 3B are movable in the direction of one engagement position back and forth in one movement direction BR within the conveying surface TE, and at least a portion of the multiple engagement portions EA of the multiple conveying units 3A, 3B are engaged at this engagement position, and the multiple engagement portions EA are formed so as to overlap at least in the movement direction BR at the engagement position so that the overall length dimension LG of the multiple conveying units 3A, 3B in the movement direction BR is smaller than the sum of the individual conveying unit dimensions LTEi in the movement direction BR of the multiple conveying units 3A, 3B.

Description

[Technical Field]

[0001] The present invention relates to a conveying device as a planar motor having at least one conveying section forming a conveying plane and at least two conveying units movable at least two-dimensionally independently of one another within the conveying plane, wherein a plurality of drive coils or a plurality of movable permanent magnets are arranged in the conveying section and a plurality of drive magnets are arranged in the conveying units, or a plurality of drive coils or a plurality of movable permanent magnets are arranged in the conveying units and a plurality of drive magnets are arranged in the conveying section, wherein the plurality of coils or the plurality of movable permanent magnets cooperate with the plurality of drive magnets to move the plurality of conveying units. Furthermore, the present invention relates to a conveying unit for a conveying device as a planar motor and to a method for operating the conveying device. [Background technology]

[0002] Planar motors are basically known in the prior art. Typically, a planar motor has a conveying plane, which is typically composed of one or more conveying sections. One or more conveying units can be moved at least two-dimensionally within the conveying plane. The driving force acting on the conveying units is generated by the cooperation of the magnetic fields of the conveying sections and the magnetic fields of the conveying units. To move the conveying units in a specific direction of movement, it is necessary to vary over time at least one of the magnetic fields of the conveying sections and / or the magnetic fields of the conveying units so as to follow the movement of the conveying units. However, in many cases, only one magnetic field, typically the magnetic field of the conveying section, varies over time, while the other magnetic fields, typically the magnetic fields of the conveying units, are usually constant. U.S. Pat. No. 9,202,719, for example, discloses the basic structure and function of such planar motors.

[0003] The time-varying magnetic field can be generated, for example, by a coil (electromagnet) or a (e.g., rotating) moving permanent magnet, which can be arranged both in the transport unit and in the transport section. Such coils are often called drive coils. A time-invariant, i.e., a constant, magnetic field is generally generated by a permanent magnet. These components are often called drive magnets. These components can also be arranged both in the transport unit and in the transport section, depending on the embodiment of the planar motor. For easier control, the drive coils are often arranged in the transport section of the planar motor, and the drive magnets are arranged in the transport unit.

[0004] To generate a moving magnetic field in the desired direction of movement, a drive coil is typically controlled by a control device. A plurality of drive magnets are arranged at least two-dimensionally on the transport unit. These drive magnets cooperate with the operating magnetic field so that predetermined forces and moments can be applied to the transport unit in the directions of multiple degrees of freedom of the transport unit (maximum of three translational and three rotational degrees of freedom). The force and moment that moves the transport unit in one of these degrees of freedom of movement is generally called a drive force. The force and moment that is applied to the transport unit by the transport section and maintains the actual state of movement is generally called a buoyant force. The buoyant force can, for example, maintain an air gap between the transport unit and the transport section and / or offset process forces or process moments. Even in the case of a non-horizontal transport surface, for example, the position of the transport unit can be maintained constant by appropriate buoyant forces.

[0005] To enable the two-dimensional movement of the transport unit inherent in planar motors, two-dimensional cooperation between the magnetic field of the transport section and the magnetic field of the transport unit is required. Either one of the two magnetic fields needs to be time-varying in at least two dimensions, or both magnetic fields need to be time-varying in at least one dimension. In this case, multiple drive coils and multiple drive magnets are advantageously arranged so that, in addition to the one-dimensional movement along multiple axes generated by the transport surface, more complex two-dimensional movement of the transport unit is also possible on the transport surface. Mechanical guidance can be eliminated if the drive coils and drive magnets are advantageously arranged so that the transport unit can be guided and moved in all six degrees of freedom by the drive force and buoyancy force. In this case, bearingless planar motors are often used.

[0006] Planar motors can be used in manufacturing processes, for example, as conveying devices. In this case, highly flexible conveying processes can be realized with complex movement paths. EP 3172156 and EP 3172134, for example, show such uses of planar motors as conveying devices. WO 2018 / 176137 discloses a conveying device as a planar motor, in which multiple conveying units are fixedly connected to one another by a relatively complex structure. This mechanical structure serves as a type of operating device. By moving these conveying units relative to one another, the operating device can be operated, for example, to perform vertical lifting movements. The relative movement of the multiple connected conveying units is limited by the mechanical coupling. As a result, these conveying units can no longer be moved separately.

[0007] In conventional planar motors, all six degrees of freedom of movement are possible (translation along the three spatial axes and rotation around the three spatial axes). In this case, two degrees of freedom (translation in the conveying plane), which allow almost unlimited movement, are usually used as the main movement route. The remaining four movement routes are only possible to a limited extent (up to a certain displacement range). In conventional planar motors, the two main movement routes are controlled identically, since the movement of the conveying unit within the two main movement routes is considered to be equally important. This is reflected in the design of the conveying units. Therefore, conventional planar motors usually use multiple reciprocating conveying units of the same size, and the base of these reciprocating conveying devices is square or rectangular. In this case, the conveyed object is positioned, in particular, at or near the geometric center of gravity of the conveying unit so as to exert as few disturbing dynamic external forces or moments on the conveying unit as possible during the movement.

[0008] However, when an article is transported during a manufacturing process, a predefined main process flow route generally exists. The article is moved along this main process flow route. For example, the article is moved between multiple work stations. Within the work stations, predetermined process steps are performed on the article. Therefore, in many cases, this main process flow route is considered to be a higher-level process flow route. Furthermore, lower-level sub-process flow routes may be established. For example, an article may be moved from the main process flow route, for example, perpendicular to the main process flow route, within a work station, or a defective article may be rejected.

[0009] When transporting articles during a manufacturing process, it is generally desirable to achieve the highest possible transport efficiency for the multiple articles being transported along at least a portion of the main process flow route. This high efficiency may be required only temporarily (e.g., at a work station or in a section transported at a slower speed during a given process step). Therefore, to increase the transport efficiency of the transport process, it is desirable to minimize the spacing between two articles being transported along the process flow route. However, the square configuration of conventional transport units limits this spacing because, when multiple transport units are directly adjacent to each other, the minimum spacing between the center points of two (arranged) articles approximately corresponds to the length of a side of one square transport unit.

[0010] Certainly, transport units with a rectangular base, whose length is shorter in the direction perpendicular to the direction of travel, allow the spacing between articles to be reduced compared to square transport units. However, this reduction in the spacing between articles is limited because the transport unit cannot or must not be reduced below a certain minimum length. This is because, particularly during dynamic travel (e.g., with large accelerations or decelerations in the direction of travel), a relatively large pitching moment occurs in the vertical direction due to the high center of gravity of the transport unit (including, in particular, the articles transported by the transport unit). Therefore, to prevent the transport unit from tipping, a counter moment that adequately counteracts the pitching moment must be generated by the planar motor. Therefore, to generate this counter moment, a certain leverage distance from the center of gravity in the direction of travel is required. Hence, a certain minimum length is required. [Prior art documents] [Patent documents]

[0011] [Patent Document 1] U.S. Patent No. 9,202,719 [Patent Document 2] European Patent No. 3172156 [Patent Document 3] European Patent No. 3172134 [Patent Document 4] International Patent Application Publication No. 2018 / 176137 [Non-patent literature]

[0012] [Non-Patent Document 1] Jansen, JW, 2007. Magnetically levitated planar actuator with moving magnets. In: electromechanical ANALYSIS and Design Eindhoven: Technische Universiteit Eindhoven DOI: 10.6100 / IR630846 Summary of the Invention [Problem to be solved by the invention]

[0013] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a conveying device in the form of a planar motor that can at least temporarily increase the efficiency of movement of the conveyed articles in a simple manner without adversely affecting the movement of the conveying unit. [Means for solving the problem]

[0014] According to the present invention, this problem is solved by providing at least one engaging portion on each of the at least two transport units, the at least two transport units being movable back and forth in one direction of movement within the transport plane toward one engaging position, and at least some of the engaging portions of the transport units engaging at this engaging position, and the engaging portions overlap at least in the direction of movement at the engaging position so that the overall length of the transport units in the direction of movement is smaller than the sum of the individual dimensions of the transport units in the direction of movement. This allows the transport units to move while engaging with each other almost entirely. As a result, the distance between two articles transported by the transport units can be reduced when the dimensions of a conventionally known transport unit are the same. This can at least temporarily improve the transport efficiency when multiple transport units having multiple engaging portions are used at one engaging position, compared to conventional transport units.

[0015] The plurality of engaging portions may be formed so as to overlap in a direction perpendicular to the conveying surface at the engaging position, thereby allowing, for example, the use of a plurality of conveying units each having a rectangular bottom surface, with the plurality of engaging portions of the conveying units partially overlapping each other.

[0016] In particular, the engaging portions are formed to be complementary to each other, so that the transport units can be positioned very closely adjacent to each other in the engaging position and can be positioned substantially integrally.

[0017] In particular, at least two engaging portions are provided on at least one of the at least two transport units. In this case, in particular, the engaging portions are arranged on opposite or adjacent sides of each transport unit. In this case, the at least two engaging portions can be formed identically or complementary. This can improve adaptability, since multiple transport units can be moved one after the other to an engaging position. In order to move multiple identically configured transport units one after the other to an engaging position, it is advantageous for the engaging portions to be located on opposite sides.

[0018] In particular, the at least two transport units have a bottom surface with a rectangular surface that minimally encloses a respective bottom surface facing the transport surface, with the minimally enclosing rectangular surfaces of the at least two transport units overlapping in the engagement position. In particular, the ratio of the minimally enclosing rectangular surface to the bottom surface of each transport unit is at most 2, in particular at most 1.5, in particular at least 1.1. This ensures that a sufficiently large area is available for arranging multiple drive magnets, while still allowing a sufficiently large engagement portion to be formed.

[0019] Furthermore, according to the conveying unit, the problem is solved by providing at least one engagement portion on the conveying unit, and the engagement portion is formed so as to engage with at least a portion of one of the engagement portions of one of the other conveying units when the one conveying unit and one of the other conveying units are moved back and forth in one movement direction within the conveying surface toward one engagement position, and the engagement portion of the conveying unit is formed so as to overlap with the engagement portion of one of the other conveying units at least in the movement direction at the engagement position with one of the other conveying units, so that the overall length dimension of the multiple conveying units in the movement direction is smaller than the sum of the dimensions of the individual conveying units in the movement direction of the multiple conveying units.

[0020] Furthermore, the problem is solved by the method in which the at least two transport units are moved back and forth in one movement direction within the transport plane so that the at least two transport units overlap at least in the movement direction and so that the total length dimension of the transport units in the movement direction is smaller than the sum of the dimensions of each of the transport units in the movement direction. According to this method, conventional transport units having a conventional square base can also be moved advantageously within the transport plane to at least temporarily improve the efficiency of transporting multiple items.

[0021] Preferably, at least three transport units are moved back and forth in one movement direction within the transport plane so that two consecutive transport units at least overlap in the movement direction so that the total length of the transport units in the movement direction is smaller than the sum of the dimensions of each of the transport units in the movement direction, and one article is transported by each of the at least three transport units, and these articles are positioned on the transport units so that the average article spacing between the articles in the movement direction coincides with the average transport unit dimension of the at least three transport units at most, and in particular, with two-thirds of the average transport unit dimension. This allows the articles to be placed at points other than the centers of the transport units, thereby improving transport efficiency even in the case of conventional transport units with square or rectangular bottoms.

[0022] In particular, the transport units are positioned opposite each other so that the articles are aligned linearly in the direction of movement, and the articles are arranged relative to the transport units. This configuration may be useful, for example, to ensure a constant distance between the articles and a work station. The present invention will now be described in detail with reference to Figures 1 to 6, which show exemplary, schematic, and non-limiting examples of preferred embodiments of the present invention. [Brief explanation of the drawings]

[0023] [Figure 1a] FIG. [Figure 1b] FIG. [Figure 2a] FIG. 10 is a front view of a pair of transport units having different engagement portions at different engagement positions. [Figure 2b] FIG. 10 is a front view of a pair of transport units having different engagement portions at different engagement positions. [Figure 2c] FIG. 10 is a front view of a pair of transport units having different engagement portions at different engagement positions. [Figure 2d] FIG. 10 is a front view of a pair of transport units having different engagement portions at different engagement positions. [Figure 2e] FIG. 10 is a front view of a pair of transport units having different engagement portions at different engagement positions. [Figure 2f] FIG. 10 is a front view of a pair of transport units having different engagement portions at different engagement positions. [Figure 2g] FIG. 10 is a front view of a pair of transport units having different engagement portions at different engagement positions. [Figure 3a] 10A and 10B are front views of three transport units in two different engagement positions. [Figure 3b] 10A and 10B are front views of three transport units in two different engagement positions. [Figure 3c] FIG. 10 is a side view of two transport units in one engagement position. [Figure 4] FIG. 2 is a front view of a conveying device for performing a conveying step. [Figure 5] FIG. 2 is a front view of a conveying device for illustrating the method of the present invention. [Figure 6] FIG. 10 is a front view of a conveying device having another configuration. DETAILED DESCRIPTION OF THE INVENTION

[0024] FIG. 1a is a front view of a typical configuration of a conveying device 1 according to the present invention. FIG. 1b is a side view of the conveying device 1. A stator 2 is provided in the conveying device 1, forming a conveying plane TE. In the illustrated example, the conveying plane TE is a horizontal plane having a vertical axis Z, a longitudinal axis X, and a transverse axis Y. However, other arrangements are naturally possible, for example, at right angles or inclined at an angle. This configuration primarily depends on the desired use of the conveying device 1. Here, the stator 2 is composed of a number i of adjacent conveying sections TSi. This allows a single stator 2 to be constructed modularly, allowing conveying planes TEi with various surface areas to be realized. Of course, this modular construction is optional; a single stator 2 may also be composed of only one component. Within the conveying plane TE of the stator 2, one or more conveying units (hereinafter commonly referred to as 3) can be moved independently of one another in at least two dimensions. In the illustrated example, the transport units 3A, 3B can be moved independently of each other in at least two dimensions. For example, only one axial movement along the longitudinal axis X or the transverse axis Y is possible, or a two-dimensional movement trajectory along the X and Y axes is also possible, as shown by the movement trajectory BP of the transport unit 3B. In the case of a suitable configuration of the transport device 1, four other degrees of freedom of movement may also be utilized, at least to a limited extent: a translational degree of freedom, a rotational degree of freedom in the direction Z or about the vertical axis Z, a specific rotational degree of freedom about the X axis, and a specific rotational degree of freedom about the Y axis.

[0025] A plurality of drive coils 6 controlled by one (or more) planar motor controllers 5 (hardware and / or software) are provided in the transport sections TSi. For example, wound wire coils or so-called PCB coils (PCB = printed circuit board) are used as the drive coils 6. To generate a magnetic field, a current can be passed through the drive coils 6. Any power electronics required for this purpose can be arranged in the planar motor controller 5 or in the stator 2 (e.g., in the transport sections TSi). By appropriately controlling the parallel drive coils 6, a movable main magnetic field can be generated. To achieve a suitable movement trajectory of the transport units 3, the drive coils 6 are preferably arranged on the stator 2 so that the magnetic field extends in any direction within the transport plane TE. The transport plane TE is not to be understood as a plane in the mathematical sense, but rather as a flat transport surface defined by the stator 2 along which the transport units 3 can move. The drive coils 6 can be arranged in the plane of the stator 2, for example, in groups of coils offset by 90° (see FIG. 2) or in a fishbone configuration (see, for example, Jansen, JW, 2007. Magnetically levitated planar actuator with moving magnets. In: electromechanical ANALYSIS and Design Eindhoven: Technische Universiteit Eindhoven DOI: 10.6100 / IR630846). However, as will be explained below, the drive coils 6 can also be arranged in overlapping planes. However, instead of the drive coils 6, a number of movable permanent magnets (not shown) can also be provided in one or more transport sections TSi in a known manner. These permanent magnets can be controlled by the control device 5 in a known manner to be moved in order to generate a time-varying (moving) magnetic field, which will not be described in detail here.

[0026] A plurality of drive magnets, e.g., a plurality of permanent magnets, which cooperate with the drive coils 6 to exert a driving force on the transport units 3, are arranged on each transport unit 3. Accordingly, a moving magnetic field, which cooperates with the drive magnets 4, is generated in response to the control of the drive coils 6 to move the transport units 3. During operation, an air gap is provided between the drive coils 6 of the planar motor 2 and the drive magnets 4 of the transport units 3. In addition to two-dimensional movement within the transport plane TE, a certain movement of the transport units 3 in the vertical direction, i.e., perpendicular to the transport plane TE, here in the Z direction, is also possible. Therefore, the drive coils 6 also provide a (buoyant) force in the Z direction. The air gap can be raised and lowered to a limited extent by appropriately controlling the drive coils 6. This allows the transport units 3 to move vertically. In this case, the achievable vertical movement route depends on the structure of the transport device 1, in particular on the maximum magnetic field that can be generated by the drive coils 6 and the drive magnets 4, and on the weight and load of the transport unit (e.g., the weight of the object being transported). The achievable vertical movement route can be, for example, a few millimeters to a few centimeters, depending on the size and dimensions of the transport device 1. Rotational movement of the transport units 3A, 3B about the Z axis is also possible, and limited rotational movement about the Y axis and X axis is also possible.

[0027] In the example shown in FIGS. 1a and 1b, the drive coils 6 are arranged in two layers stacked in the Z direction. In the first layer, the drive coils 6y are oriented so that they can be used to generate forces in the Y and Z directions on the transport unit 3. In the second layer, the drive coils 6x are oriented so that they can be used to generate forces in the X and Z directions on the transport unit 3. To form the largest possible movement route, both layers extend almost completely across the entire transport surface TE. In the illustrated example, as is clear from FIG. 1b, the first layer with the drive coils 6y is closer to the surface of the transport unit 3 and thus closer to the transport unit 3 in the Z direction than the second layer with the drive coils 6x. Of course, this example is merely illustrative, and the arrangement may be reversed. The drive coils 6x and the drive coils 6y do not have to be aligned orthogonally to each other. One or more additional layers of drive coils 6 may also be provided. Furthermore, the drive coils 6 of one layer may be arranged at any angle relative to the drive coils 6 of an adjacent layer. However, the entire set of drive coils 6 allows movement in both the X and Y directions. To reduce or avoid the attractive force of the permanent magnets between the transport units 3 and the transport sections TSi, the drive coils 6 are configured as so-called air-core coils, in particular without an iron core. This prevents the transport units 3 from being strongly attracted by the drive magnets 4 in the direction of the transport plane TE.

[0028] In the illustrated example, external mounting of the transport unit 3 can be omitted. The transport unit 3 is levitated solely by magnetic forces (levitation) acting in the Z direction generated by the drive magnets 4 of the transport unit 3 and the drive coils 6 of the transport sections TSi. However, the desired air gap between the drive coils 6 and the transport magnets 4 does not necessarily have to be generated or maintained exclusively magnetically; the transport unit 3 can be supported in any other manner. For this purpose, any suitable mechanism, such as a mechanical mechanism, an electromagnetic mechanism, a pneumatic mechanism, etc., can cooperate. In the illustrated example, a planar motor control device 5 is provided. The drive coils 6 of the stators 2 can be controlled by the planar motor control device 5. For example, to jointly control and synchronize multiple transport devices 1, the planar motor control device 5 can be connected to, for example, a higher-level control device (not shown). However, it goes without saying that the planar motor control device 5 can also be integrated into the higher-level control device. It is also possible to provide one section control device (hardware and / or software) for each transport section TSi or for each group of multiple transport sections TSi. The section controller may be integrated into the planar motor controller 5 or the higher-level controller, or may be configured as an independent device. The planar motor controller 5 and / or the higher-level controller may be connected to, for example, a user interface (not shown), e.g., a computer capable of controlling the transport units 1. For example, to avoid collisions between the transport units 3 or between the objects transported by these transport units 3, the movement trajectories of the transport units 3 may be synchronized or adjusted with one another by the planar motor controller 5 and / or the higher-level controller. A control program for realizing a desired movement profile of the transport units 3 runs on the planar motor controller 5. However, the structure and function of planar motors are basically known. Therefore, a detailed description will not be given here. It should be noted that the above configuration is merely exemplary, and the reverse configuration is naturally also possible. That is, the drive coil 6 or the movable permanent magnet may be arranged in the transport unit 3, and the drive magnet 4 may be arranged in the stator 2. In this case, an energy supply source is provided in the transport unit 3 to control the drive coil 6 or the movable permanent magnet.However, in this case, the basic functionality remains the same.

[0029] The transport unit 3 comprises a base 9 having a specific bottom surface. A plurality of drive magnets 4 are arranged in a known manner on the underside facing the transport surface TE during operation. For example, the articles O to be transported may be arranged on the opposite surface of the base 9. Basically, the arrangement of the drive magnets 4 is divided into known one-dimensional and two-dimensional arrays. In the case of a one-dimensional array, the drive magnets 4 are divided into magnet groups, similar to the drive coils 6 in the transport sections TSi. A certain number of rectangular drive magnets 4 are provided for each magnet group. In this case, these drive magnets 4 are arranged side by side, with drive magnets 4 of different magnetic poles or magnetization directions arranged alternately. The drive magnets 4 of one magnet group are oriented geometrically differently from the drive magnets 4 of each of the other magnet groups.

[0030] The known Halbach array has also proven to be useful. In this Halbach array, the magnetization directions of adjacent drive magnets 4 are rotated by 90° relative to each other. However, in general, the magnetization directions of adjacent drive magnets 4 in each magnet group may be rotated by another angle, for example, 45° relative to each other. The Halbach array has the advantage that the magnetic flux on one side of the magnet group (particularly the side facing the conveying surface TE) is greater than the magnetic flux on the opposite side. When the magnet width and height of the individual drive magnets 4 in a magnet group are appropriately arranged, for example, when the outermost drive magnets 4 in the magnet group have a magnet width shorter than, and particularly half the magnet width of, the drive magnets 4 between the outermost drive magnets 4 in the magnet group, a particularly suitable sinusoidal magnetic field can be generated in the magnet group.

[0031] In particular, the drive magnets 4 of adjacent magnet groups form an angle of 90°. Each of the magnet groups oriented in one direction cooperates with a drive coil 6y configured as shown in FIGS. 1a and 1b, allowing these magnet groups to move the transport unit 3, for example, in the Y direction. Similarly, each of the magnet groups oriented in another direction allows the transport unit 3 to move in the X direction. Therefore, these magnet groups can cooperate with a drive coil 6x configured as shown in FIGS. 1a and 1b. When the transport unit 3 is rotated by 90°, these magnet groups cooperate with a drive coil of another respective coil group.

[0032] In the two-dimensional array, the individual drive magnets 4 of different polarities or magnetization directions are arranged in a checkerboard pattern, as shown by the hatching in the transport unit 3B in FIG. 1a. This allows for a flexible bottom surface of the transport unit 3, since the drive magnets 4 of the two-dimensional array can be divided very flexibly. However, it should be understood that the illustrated one-dimensional and two-dimensional arrays are merely exemplary, and it is clear that many different possibilities can be provided for the one-dimensional and two-dimensional arrays. However, the specific configuration of the drive magnets does not play a critical role in the present invention. Therefore, a detailed description will be omitted below.

[0033] According to the present invention, at least two transport units 3A, 3B are provided in the transport device 1. In this case, at least one engaging portion EA is provided in each of the transport units 3A, 3B. However, it goes without saying that another transport unit 3i (not shown) may also be provided. Similarly, at least one engaging portion EA is provided in the transport unit 3i. It goes without saying that further transport units 3i having any different configuration may also be provided in the transport device 1. The at least two transport units 3A, 3B can be moved to an engaging position in the transport plane TE in a movement direction BR, and at least some of the engaging portions EA of these transport units 3A, 3B engage at the engaging position. The engaging position is shown in the upper area of ​​FIG. 1a. In this case, the common movement direction BR is the X direction. However, since the transport units 3A, 3B can move at least two-dimensionally in the transport plane TE, it goes without saying that different movement directions BR are also possible in the transport plane TE.

[0034] The engaging portions EA are configured so that the overall length LG of the transport units 3A, 3B in the movement direction BR is smaller than the sum of the individual transport unit dimensions LTEA, LTEB in the movement direction BR of the transport units 3A, 3B. In this case, the transport unit dimension can be interpreted as the overall length of one transport unit in the movement direction BR. In particular, at least one engaging portion EA of one transport unit 3A is formed complementary to at least one engaging portion EA of another transport unit 3B. In the illustrated example, the right engaging portion EA of the transport unit 3A is formed complementary to the left engaging portion EA of the right transport unit 3B. In this case, the term "complementary" can be interpreted as the engaging portions EA being formed in a mirror image. Therefore, almost the entire engaging portions EA are complementary, for example, in a concave / convex shape, or, as shown, in the form of an arrow-shaped protrusion and an arrow-shaped recess. Other variations are described in more detail below with reference to Figures 2a-2g. This allows the transport units 3A and 3B to move very close to each other at the engagement position without any gap between them, allowing the transport units 3A and 3B to move in almost complete engagement with each other.

[0035] It should be understood that the configuration in the figure is merely an example for explaining the principles of the present invention. In particular, as shown by the dashed lines in Figure 1a, it is natural that more than two conveying units 3A, 3B, ... 3i are moved in a similar manner one after the other. This can improve the conveying efficiency of the conveyed articles in the moving direction BR compared to a conventional conveying unit having a square base and the same conveying unit dimensions. This is because the average interval between these articles conveyed in the moving direction BR (average article interval) is reduced. The average article interval OAM is

[0036]

number

[0037] Here, OAi is the distance between the objects O of each of the two transport units 3 arranged one behind the other, and n is the number of the transport units 3 in the engagement position.

[0038] In the example shown in FIG. 1a, the transport units 3A and 3B partially overlap in the movement direction BR and completely overlap in a direction perpendicular to the movement direction BR (here, the y-direction) so that the side of the transport unit 3A and the side of the transport unit 3B are aligned. However, other types of overlap are of course possible. For example, as shown in FIG. 3c, the complementary engagement portions EA may be formed so that, in the engagement position, they overlap not only in the movement direction BR but also in a direction perpendicular to the transport plane, here, the Z-direction. Alternatively or additionally, offset engagement positions are also possible, for example, when the complementary engagement portions EA are formed as shown in FIGS. 3a and 3b.

[0039] Although only one engaging portion EA may be provided on each of the transport units 3A, 3B, as shown in FIG. 2g, multiple engaging portions EA may also be provided on one transport unit 3A, 3B. As shown in FIGS. 1a and 2a-2f, for example, two engaging portions EA may be provided on opposite side surfaces of each of the engaging portions 3A, 3B. This configuration is useful for moving multiple transport units back and forth in the movement direction BR to the engaging position, as shown in FIG. 4. If multiple engaging portions EA are provided on one transport unit 3A, as shown in FIG. 1a, for example, this transport unit 3A is particularly configured complementary to each other. This allows multiple identical transport units 3A, 3B to be used. If multiple engaging portions EA are provided on one transport unit 3A, 3B, as in the case of the transport units 3A, 3B with a cross-shaped base shown in FIG. 2e, these engaging portions EA may be arranged on adjacent side surfaces of the respective transport units 3A, 3B, offset from each other by 90°, for example, around the vertical axis. Due to the cross-shaped bottom surfaces of these transport units 3A, 3B, these transport units 3A, 3B have one engaging portion EA on each of all four side surfaces.

[0040] However, multiple engagement portions EA of one transport unit may be formed similarly, particularly complementary, to at least one engagement portion EA of another transport unit. For example, two arrow-shaped recesses (similar to the right side of each transport unit 3A, 3B in FIG. 1a) may be arranged on the side of one transport unit 3A facing the movement direction BR, and correspondingly, two arrow-shaped protrusions (similar to the left side of each transport unit 3A, 3B in FIG. 1a) may be arranged on the side of one transport unit 3B facing the movement direction BR. In this case, these transport units 3A, 3B can be moved to the engagement position in the same way, but in this case, these transport units 3A, 3B are not formed identically. The same applies to engagement portions EA formed arbitrarily differently. Within the scope of the present invention, similar engagement portions EA can be understood to mean engagement portions EA having similar shapes, with the same or different sizes. For example, two arrow-shaped protrusions of different sizes can be arranged on one transport unit 3. Therefore, these protrusions are similar. If these arrow-shaped protrusions also have the same size, then these arrow-shaped protrusions are not only similar but also identical, and of course, this also applies to all other embodiments of the engaging portion EA.

[0041] Figures 2a-2g illustrate various embodiments of transport units 3A, 3B with different engagement portions EA, each in a front view. The movement direction BR extends along the X axis. As illustrated by the hatched surface of transport unit 3A in Figure 2a, these transport units 3A, 3B each have a bottom surface facing the transport surface TE. The bottom surface of each transport unit 3A, 3B can be defined by a minimum enclosing rectangle. This minimum enclosing rectangle represents the smallest possible axis-parallel rectangle that encloses the bottom surface of the transport unit 3A, 3B. In Figure 2a, the minimum enclosing rectangles of the two transport units 3A, 3B have lengths LMURA and LMURB in the X direction and widths BMURA and BMURB in the Y direction. As indicated by the cross-hatching in Figure 2a, without exception, the minimum enclosing rectangles of the two transport units 3A, 3B overlap at the engagement position of the two transport units. The bottom surface and the surface of the minimum enclosing rectangle are shown in detail only in FIG. 2a. The same applies to the other embodiments in FIGS. 2b-2g. In these figures, the surface of the minimum enclosing rectangle is shown only by dashed or dashed lines. In particular, the ratio of the minimum enclosing rectangle (LMURAxBMUR) to the bottom surface of one transport unit 3A, 3B is at most 2, and more particularly at most 1.5. This ensures that the surface available for arranging the drive magnets 4 is sufficiently large to generate sufficiently large drive and buoyant forces. Furthermore, in order to form a sufficiently large engagement area EA, the ratio of the surface of the minimum enclosing rectangle to the bottom surface of one transport unit 3A, 3B is at least 1.1, and particularly preferably 1.2.

[0042] In the embodiment according to Figures 2a-d and 2f-g, the complementary engaging portions EA of the transport unit 3A and the complementary engaging portions EA of the transport unit 3B partially overlap in the movement direction BR so that their sides are aligned, and the transport units 3A and 3B completely overlap in a direction perpendicular to the movement direction BR, here in the Y direction. In the example of Figure 2e, each of the transport units 3A and 3B has a substantially cross-shaped bottom surface. This allows not only one engagement position, as shown in Figures 3a and 3b, but also several different engagement positions. In this case, the engaging portions EA partially overlap in the movement direction BR (corresponding to the X direction), and the transport units 3A and 3B partially overlap in a direction perpendicular to the movement direction BR, here in the Y direction. Unlike the other embodiments, here the transport units 3A and 3B only partially overlap in the Y direction, i.e., they are offset from each other.

[0043] In the embodiment according to Fig. 2f, the complementary engagement portions EA are formed substantially concave / convex, and in the engagement position, a certain play S is provided between them in the direction perpendicular to the movement direction BR. This allows a certain relative movement between the transport units 3A, 3B even when they are moved together in the engagement position. This allows, for example, serpentine movement patterns to be implemented. In general, two transport units 3i in the engagement position do not need to touch each other; it is sufficient for the transport units 3i to be sufficiently close together so that the overall dimension in the movement direction is smaller than the sum of the dimensions of the individual transport units in the movement direction.

[0044] 3a and 3b show three transport units 3A, 3B, and 3C in two different engagement positions. In FIG. 3a, the movement direction BR extends at an angle relative to the X and Y directions. In FIG. 3b, the movement direction extends in the X direction. In these two figures, the complementary engagement portions EA of each of the two transport units 3A, 3B, and 3B+3C overlap each other so that the total length of all transport units 3A, 3B, and 3C in the movement direction is smaller than the sum of the transport unit dimensions LTEA, LTEB, and LTEC of each of the transport units 3A, 3B, and 3C. FIG. 3c illustrates a variation of the complementary engagement portions EA of the two transport units 3A and 3B. These complementary engagement portions EA overlap not only in the movement direction BR but also in a vertical direction perpendicular to the transport plane TE, here the Z direction. This allows, for example, a rectangular or square base to be realized. Naturally, various variations can be combined, for example by the embodiments of the complementary engagement portions EA shown in Figures 2a-2e being further overlapped in the vertical direction so that an almost total three-dimensional overlap is obtained in three mutually perpendicular directions.

[0045] In the example shown in FIG. 3b, it is clear that the transport unit 3B in the engagement position is offset in the Y direction, perpendicular to the movement direction BR, relative to the other two transport units 3A and 3C. Therefore, some of these transport units 3A, 3B, and 3C can be moved laterally in parallel and do not need to be aligned, as is the case, for example, with the configuration shown in FIG. 1a. In other words, in general, multiple transport units 3i can be moved offset from one another in the movement direction BR. This provides greater flexibility than transport devices known as long-stator linear motors. For example, the transport units 3A, 3B, and 3C in the engagement position shown in FIG. 3b can be moved together in the movement direction BR, and during their joint movement in the movement direction BR (or while stopped), individual transport units 3i can be moved laterally from their engagement positions. Similarly, while these transport units 3A, 3B, and 3C are moving in the movement direction BR, one or more other transport units 3i can be moved laterally toward one of the engagement positions together with these transport units 3A, 3B, and 3C.

[0046] FIG. 4 shows a plan view of the conveying device 1 as a planar motor. The conveying sections TSi are configured in a ring shape, resulting in a ring-shaped conveying plane TE with a central free space. A number of conveying units 3i are arranged in the conveying plane TE, each of which can be moved independently of one another at least in two dimensions in the conveying plane TE to convey one object O. Some of the conveying units 3i do not have an object O because the object O has not yet been loaded or has already been unloaded. The movement of the conveying units 3i is controlled in a known manner by a planar motor control device 5, which controls the drive coils 6 of the conveying sections TSi. Two work stations AS1, AS2 are arranged in the conveying device 1. At each of these work stations, a specific work step is performed on the conveyed object O. Various work steps are conceivable, depending on the production process.

[0047] For example, the object O may be a container to be filled at the workstation ASi. The object O may also be a product of a given machining step performed at the workstation ASi. As mentioned above, there is often a main process flow route along which the highest possible transport efficiency for the object O can be expected. Here, the main process flow route extends parallel to the workstations AS1 and AS2 along a closed loop, as indicated by the arrows. It may be required that as many objects O as possible be moved closely together within the area of ​​the workstations AS1 and AS2. That is, the objective is to minimize the average article spacing OAM. The previously known design of a transport unit with a rectangular base is insufficient because the average article spacing OAM roughly corresponds to the length of one transport unit. In contrast, with the configuration of the transport unit 3i of the present invention, the average article spacing OAM between multiple transport units 3i moving one after the other can be significantly reduced despite the same transport unit dimensions. This is because at least a portion of these transport units 3i overlap at least in the movement direction BR (here, corresponding to the main process flow route).

[0048] As can be seen in FIG. 4, multiple transport units 3i are moved into an engagement position within the area of ​​the workstations AS1 and AS2. In this engagement position, the complementary engagement portions EA of consecutive transport units 3i overlap in the direction of travel BR. These transport units 3i can then be moved together in this engagement position in the direction of travel BR throughout the area of ​​the workstations AS1 and AS2. In this case, corresponding work steps can be performed on multiple articles, respectively. For example, since the article spacing OA is not important outside the workstations, these transport units 3i can be released from the engagement position again in front of and behind the workstations AS1 and AS2, and the article spacing OAi for each transport unit 3i traveling behind in the direction of travel BR can be increased again. To ensure sufficient time to perform the work steps, for example, the multiple transport units 3i can be moved through the workstations AS1 and AS2 at a relatively slow speed in the engagement position.

[0049] In order to reach the next work station ASi or the unloading station as quickly as possible, the leading transport unit 3i can be accelerated individually after the completion of its work process. As can be seen in FIG. 4, individual transport units 3i can also overtake the transport units 3i currently in their engagement position in the area of ​​the work station ASi. To remove defective articles O from the work process, the transport units 3i can also be moved transversely to the direction of movement BR from their engagement position. This allows for a much more flexible transport process compared to known transport devices, particularly those known as long-stator linear motors, in which several transport units are moved back and forth in only one direction. Here, the transport units 3i are identically configured according to the embodiment shown in FIG. 2a. However, other shapes may of course be used, or several different embodiments may be combined.

[0050] FIG. 5 shows a conveying apparatus 1. A method for operating the conveying apparatus 1 according to the present invention will be described below with reference to the conveying apparatus 1. The conveying apparatus 1 has a plurality of conveying sections TSi that form a common, closed conveying plane TE. Here, eight conveying units 3i, each with a square bottom, are arranged in the conveying plane TE. However, the conveying units 3i may have bottoms with any other shape. Furthermore, the conveying units 3i do not need to be identical and may have different shapes. The conveying apparatus 1 is controlled by at least one planar motor control device or a higher-level control device (not shown). An article O to be conveyed is arranged in each conveying unit 3i. According to the present invention, the conveying units 3i are at least partially overlapped in the moving direction BR in the conveying plane TE such that the overall dimension LG of each conveying unit 3i in the moving direction BR is smaller than the sum of the individual conveying unit dimensions LTEi of each conveying unit 3i in the moving direction BR. By controlling these transport units 3i in accordance with the present invention, the average article spacing OAM can be reduced even in the case of transport units 3i that do not have complementary engaging portions EA.

[0051] In this case, the articles O are preferably positioned on the transport units 3i such that the average article spacing OAM between the articles O in the movement direction BR is at most the average transport unit dimension LTEm of the transport units 3i in the movement direction BR. However, in particular, the average article spacing OAM is at most two-thirds of the average transport unit dimension LTEm. In this case, it is particularly advantageous if the transport units 3i are arranged opposite each other and the articles O are arranged relative to the transport units 3i so that the articles O are aligned in a straight line in the movement direction BR. This allows, for example, a constant spacing between the articles O and a work station in a direction perpendicular to the movement direction BR. In this case, it is particularly advantageous if the articles O are positioned such that the average article spacing OAM corresponds at most to the average transport unit dimension LTEm in the movement direction BR of the transport units 3i.

[0052] FIG. 6 shows another preferred embodiment of the conveying device 1. Here, the stator 2 is likewise formed by a plurality of adjacent conveying sections TSi, which form a common conveying plane TE. A plurality of conveying units 3, which are movable independently of one another at least two-dimensionally within the conveying plane TE, are arranged within the conveying plane TE. Similarly, at least one planar motor control device (not shown) or a higher-level control device controls the conveying device 1, in particular the movement of the plurality of conveying units 3i. Here, the conveying units 3i each have a base body 9 that is identically shaped and has a square base. Naturally, the conveying units 3i are merely exemplary, and various conveying units 3i with different shapes may be provided. As is known, a plurality of drive magnets 4 are arranged on the underside of the base body 9 facing the conveying plane TE, as shown in the top right conveying unit 3i of FIG. 6 (part of the base body is shown cut away). To move the conveying units 3i, the drive magnets 4 cooperate with a plurality of drive coils (not shown) of the stator 2. Here, the drive magnets 4 are arranged in the transport unit in a known one-dimensional arrangement, although of course a two-dimensional arrangement is also possible, as shown in FIG. 1a.

[0053] One article carrier 7, which is part of each transport unit 3i, is arranged on the surface of each transport unit 3i facing the drive magnets 4. Here, this article carrier 7 has a rectangular bottom and extends laterally from the bottom surface of the base body 9 by an overhang length a. This forms an overhang surface AF facing the transport surface TE, which is illustrated in the two transport units 3i by the hatched areas. This allows these transport units 3i to be moved back and forth in one movement direction BR (here, the X direction) as shown in the figure, so that parts of each two consecutive transport units 3i in the movement direction BR (here, parts of one alternating upper transport unit 3i and one lower transport unit 3i) overlap in the movement direction BR and also in a direction perpendicular to the movement direction BR (here, the Y direction), so that the overall dimension LG of these transport units 3i in the movement direction BR is smaller than the sum of the individual transport unit dimensions LTEi of these transport units 3i in the movement direction BR.

[0054] In the illustrated array of multiple transport units 3i, the base bodies 9 of each two consecutive transport units 3i (here, alternating upper and lower transport units 3i and 3i) in the moving direction BR are spaced apart in the Y direction by an overhang length a. Therefore, the overhang length a is the distance between the two transport units 3i overlapping in the Y direction. However, the distance in the Y direction may be further reduced so that the base bodies 9 in the Y direction are directly adjacent to each other and a portion of the overhang surface AF of the article carrier 7 of one transport unit 3i further overlaps the base body 9 of each of the other transport units 3i in the Z direction. In the illustrated example, each transport unit 3i transports one article O located within the area of ​​the overhang surface AF of the article carrier 7. This allows the average article spacing OAM between the multiple articles O in the moving direction BR to be smaller than the average transport unit dimension LTEi between the multiple transport units 3i in the moving direction BR. By placing one article carrier 7 on one transport unit 3i with a rectangular or square base, one engagement portion EA can be easily realized without having to change the shape of the base.

[0055] The illustrated embodiment is even more advantageous because one or more transport units 3i can be easily removed from the engagement position. For example, as indicated by the arrow and the transport unit 3y shown in dashed line, the transport unit 3y can be moved from the engagement position in the Y direction and then optionally further moved within the transport plane TE. This allows, for example, defective articles O to be removed from the production process. In this case, this removal can be performed while the transport unit 3i is stationary or moving. This also allows, for example, the transport unit 3i to be newly inserted at the same or another position in order to repeat a given work process.

[0056] Naturally, any other variations are possible in the illustrated example. For example, as shown by dashed lines in Fig. 6, another article carrier 7a may be arranged on one or more transport units 3i, for example on the opposite side of one transport unit 3i. In this case, for example, the two article carriers 7, 7a may be formed by a single elongated article carrier protruding from opposite sides of the base body 9. Naturally, instead of this, as shown in Figs. 1a-2g, one engagement element EA may be provided on one transport unit 3i of the plurality of transport units 3i in Fig. 6. From this, it is clear that the adaptability of the transport process may be improved compared to conventional transport devices.

[0057] In particular, significant improvements are possible compared to known linear conveying devices, such as long-stator linear motors, because the reduction in the average article spacing OAm is not limited to a specific direction of movement. In particular, due to the two-dimensional movability of the conveying units 3i of the conveying device 1 as a planar motor, the overlapping of the present invention can be advantageously utilized in any direction of movement BR to reduce the average article spacing OAm and thereby increase the efficiency of article conveyance in that direction. [Explanation of symbols]

[0058] 1. Conveyor device 2 Stator 3,3i,3A,3B,3C,3x transport unit 3y Transport unit shown by dashed line 4 Drive magnet 5 Planar motor control device 6,6x,6y drive coil 7. Goods Carrier 7a Another goods carrier 9 Base TE conveying surface X Longitudinal Axis Y horizontal axis Z vertical axis LG Overall length LTEA, LTEB, LTEC, LTEi transport unit dimensions LTEm Average transport unit size EA engaging part TSi transport section BR moving direction BP movement trajectory ASi, AS1, AS2 Work Station O Goods OAi article spacing OAm Average article spacing LMURA,LMURB Length of the minimum bounding rectangle BMURA,BMURB Width of the minimum bounding rectangle AF overhang surface n Number of transport units in the engaged position a Extension length

Claims

1. A conveying device (1) as a planar motor having at least one conveying section (TSi) forming one conveying surface (TE) and at least two conveying units (3A, 3B) movable at least two-dimensionally within the conveying surface (TE), A plurality of drive coils (6) or a plurality of movable permanent magnets are arranged in the transport section (TSi), and a plurality of drive magnets (4) are arranged in the plurality of transport units (3A, 3B), or a plurality of drive coils (6) or a plurality of movable permanent magnets are arranged in the plurality of transport units (3A, 3B), and a plurality of drive magnets (4) are arranged in the transport section (TSi), The coils (6) or the movable permanent magnets cooperate with the drive magnets (4) to move the transport units (3A, 3B); At least one engaging portion (EA) is provided on each of the at least two transport units (3A, 3B), the at least two transport units (3A, 3B) are movable back and forth in one movement direction (BR) within the transport surface (TE) toward one engagement position, and at least some of the engagement portions (EA) of the plurality of transport units (3A, 3B) are engaged at this engagement position; In the conveying device (1), the plurality of engaging portions (EA) are formed to overlap at least in the movement direction (BR) at the engagement position so that the total length dimension (LG) of the plurality of conveying units (3A, 3B) in the movement direction (BR) after the conveying units (3A, 3B) are engaged is smaller than the sum of the individual conveying unit dimensions (LTEi) of the plurality of conveying units (3A, 3B) in the movement direction (BR) by the total length of the engaging portions (EA) in the movement direction, At least two engaging portions (EA) are provided on at least one of the at least two transport units (3A, 3B), and the plurality of engaging portions (EA) are arranged on opposing sides of each of the transport units (3A, 3B); and The plurality of transport units (3A, 3B) are movable independently of each other within the transport plane (TE), When a plurality of the drive magnets (4) are arranged on a plurality of the transport units (3A, 3B), after the transport units (3A, 3B) are engaged, the drive magnets (4) arranged on each of the at least two transport units (3A, 3B) partially contact each other.

2. The conveying device (1) according to claim 1, characterized in that the multiple engagement portions (EA) are formed so as to overlap in a direction (Z) perpendicular to the conveying surface (TE) at the engagement position.

3. 3. The transport device (1) according to claim 1 or 2, wherein the plurality of engaging portions (EA) of the plurality of transport units (3A, 3B) are formed complementarily.

4. 4. The transport device (1) according to any one of claims 1 to 3, characterized in that the at least two engagement portions (EA) of the at least one transport unit are formed identically or complementary.

5. The at least two transport units (3A, 3B) each have a bottom surface facing the transport surface (TE) and having a rectangular surface that minimally encloses the bottom surface, The conveying device (1) according to any one of claims 1 to 4, characterized in that the faces of the minimum enclosing rectangles of the at least two conveying units (3A, 3B) overlap each other in the engagement position.

6. the ratio between the surface of the smallest enclosing rectangle and the bottom surface of each conveying unit (3A, 3B) is at most 2; and / or 6. The transport device (1) according to claim 5, characterized in that the ratio of the surface of the smallest enclosing rectangle to the bottom surface of each transport unit (3A, 3B) is at least 1.

1.

7. A transport unit (3A, 3B) for use in a transport device (1) according to any one of claims 1 to 6, comprising: At least one engaging portion (EA) is provided on the transport unit (3A, 3B), and the engaging portion (EA) is formed so as to engage with at least a part of one engaging portion (EA) of one of the other transport units (3A, 3B) when the one of the transport units (3A, 3B) and the other of the transport units (3A, 3B) are moved back and forth in one moving direction (BR) within the transport plane (TE) toward one engaging position, In the transport unit (3A, 3B), the engaging portion (EA) of the transport unit (3A, 3B) is formed so as to overlap with the engaging portion (EA) of one of the other transport units (3A, 3B) at least in the movement direction (BR) at an engagement position with one of the other transport units (3A, 3B), so that the overall length dimension (LG) of the plurality of transport units (3A, 3B) in the movement direction (BR) after engagement of the transport units (3A, 3B) is smaller than the sum of the individual transport unit dimensions (LTEi) of the plurality of transport units (3A, 3B) in the movement direction (BR) by the total length of the engaging portion (EA) in the movement direction, At least two engaging portions (EA) are provided on the transport units (3A, 3B), and the plurality of engaging portions (EA) are arranged on opposing sides of the transport units (3A, 3B); and The transport units (3A, 3B) are movable at least two-dimensionally within the transport plane (TE) of the transport device (1) independently of each other transport units (3A, 3B) outside the engagement position.

8. The transport unit (3A, 3B) described in claim 7, characterized in that the multiple engagement portions (EA) are formed so as to overlap with the other transport unit (3A, 3B) in a direction perpendicular to the transport surface (TE) at the engagement position.

9. 9. The transport unit (3A, 3B) according to claim 7 or 8, characterized in that the at least two engaging portions (EA) are formed identically or complementary to each other.

10. The conveying unit (3A, 3B) has a bottom surface having a rectangular surface that minimally surrounds one of the facing bottom surfaces, A transport unit (3A, 3B) according to any one of claims 7 to 9, characterized in that the surface of the minimum bounding rectangle of the transport unit (3A, 3B) overlaps with the surface of the minimum bounding rectangle of one of the other transport units (3A, 3B) at the engagement position with the other transport unit (3A, 3B).

11. 11. The transport unit (3A, 3B) according to claim 10, characterized in that the ratio of the surface of the smallest enclosing rectangle to the bottom surface of each transport unit (3A, 3B) is at most 2 and at least 1.

1.

12. A method for operating a conveying device (1) according to any one of claims 1 to 6, comprising: the at least two transport units (3A, 3B) are moved independently of each other within the transport plane (TE); and A method for operating a conveying device (1) described in any one of claims 1 to 6, characterized in that the plurality of conveying units (3A, 3B) are moved back and forth in the movement direction (BR) within the conveying plane (TE) so that the at least two conveying units (3A, 3B) overlap at least in the movement direction (BR) so that the total length dimension (LG) of one of the plurality of conveying units (3A, 3B) in the movement direction (BR) is smaller than the sum of the individual conveying unit dimensions (LTEi) of the plurality of conveying units (3A, 3B) in the movement direction (BR).

13. At least three transport units (3A, 3B) are moved back and forth in one movement direction (BR) within the transport plane (TE) such that each two consecutive transport units (3A, 3B) overlap at least in the movement direction (BR) so that a total length dimension (LG) of the plurality of transport units (3A, 3B) in the movement direction (BR) is smaller than a sum of individual transport unit dimensions (LTEi) of the plurality of transport units (3A, 3B) in the movement direction (BR), One article (O) is transported by each of the at least three transport units (3A, 3B), 13. The method according to claim 12, characterized in that the articles (O) are positioned on the plurality of transport units (3A, 3B) so that the average article spacing (OAM) between the articles (O) in the direction of movement (BR) corresponds at most to the average transport unit dimension (LTEi) in the direction of movement (BR) of the at least three transport units (3A, 3B) or to two-thirds of the average transport unit dimension (LTEi).

14. 14. The method according to claim 13, wherein the transport units (3A, 3B) are positioned opposite each other so that the articles (O) are aligned linearly in the direction of movement (BR), and the articles (O) are positioned relative to the transport units (3A, 3B).

15. 15. A method according to any one of claims 12 to 14, characterized in that at least two transport units (3A, 3B) are moved offset from one another in a direction perpendicular to the direction of movement (BR).

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