Conveying device and conveying method

Abstract

The invention relates to a conveying device and a conveying method for conveying individual products along a conveying path, having at least one holding device (5) for holding an individual product, said holding device (5) comprising a first holding part (20) and a second holding part (30) which can be moved relative to each other between a holding position and a release position. The conveying path has a first drive rail (10) and a second drive rail (12) which run parallel to each other. The first holding part (20) can be moved along the first drive rail (10) by means of a first drive (40), and the second holding part (30) can be moved along the second drive rail (12) by means of a second drive (50). The first drive (40) and the second drive (50) are controlled by means of a control unit in such a way that the first holding part (20) and the second holding part (30) can be moved relative to each other between the holding position and the release position and can be moved together along the conveying path in the holding position.

Description

[0001] Funding institution and funding procedure

[0002] Technical field of the invention

[0003] The present invention relates to a conveying device and a conveying method for conveying individual products along a conveying path, wherein at least one holding device is provided for holding at least one individual product, which is movably mounted along a drive rail and can be driven along the conveying path by means of a drive. In particular, the invention relates to a conveying device and a conveying method for conveying containers, in particular bottle-like containers, that are conveyed along a circulating conveying path.

[0004] State of the art

[0005] Automated production lines are often used to produce industrial products, for example in the pharmaceutical industry and related fields. Products are automatically transported between multiple production units arranged in series or in parallel. For example, units are provided for raw material supply, substance production, formulation mixing, molding, quality control, packaging provision, cleaning, weighing, labeling, etc. Automated transport systems with multiple conveyor devices, such as conveyor belts, are used to transfer individual products, such as finished products, intermediate products, packaging material, etc., between production units. The conveyor devices are equipped with flights that are driven along a conveyor section of the conveyor and carry at least one individual product. The flights can, for example,be designed as sliders, shells, grippers, clamps or the like.

[0006] From WO 2016 / 1 89485 A1, for example, a conveyor system is known in which holding devices in the form of holding sleeves for piece goods are conveyed along a circulating conveyor track with two parallel linear sections and two curved deflection sections. The conveyor system has two conveyor belts arranged one above the other, which are guided around deflection pulleys in the deflection sections and are each driven independently of one another by motors on the deflection pulleys. A first group of holding sleeves is arranged on the upper conveyor belt and a second group of holding sleeves is arranged on the lower conveyor belt and can be transported along the conveyor track. The holding sleeves are not suitable for securely holding products. Furthermore, holding sleeves in a group can only be moved together. Individual drive of individual holding sleeves is not possible.

[0007] EP 3038959 B1 shows a circulating transport device having a fixed guide rail on which several transport units in the form of sliders are guided by rollers. The transport units are driven by an electromagnetic linear motor comprising a fixed stator unit parallel to the guide rail and permanent magnets on the transport units. The transport unit has a U-shaped base body that extends around the stator unit so that a permanent magnet is arranged on either side of the stator unit. By appropriately controlling the linear motor, the transport units can be moved independently of one another along the guide rail, with a product being pushed in front of it by the slider. Reversing the direction of movement is not possible. Furthermore, the products are not held securely, which can lead to failures, particularly in the reversal sections.

[0008] Furthermore, conveyor systems with holding devices in the form of grippers are known, particularly for transporting containers, for example, in the form of bottles. The grippers have two gripping jaws that are movable relative to one another and clamp a container between them. For example, DE 202005021 936 U1 discloses a gripper in which the gripping jaws are subjected to a holding force by magnetically interacting permanent magnets. Further grippers for conveyor systems are known, for example, from WO 2023 / 078629 A1 and EP 3613583 A1. All of these grippers share a complex mechanism and elaborate drive control, which complicates the design of a conveyor system.It is therefore an object of the present invention to provide a conveying device and a conveying method for conveying individual products along a conveying path, which have a simple structure, require little control effort, allow individual transport of individual products, are suitable for different sizes of individual products and ensure secure holding of the individual products during transport.

[0009] Summary of the invention

[0010] This object is achieved by the invention by a conveying device according to claim 1 and a conveying method according to claim 14. Advantageous embodiments and embodiments are described in the dependent claims.

[0011] The conveying device according to the present invention is designed for conveying individual products along a conveying path and for this purpose has at least one holding device for holding an individual product. The conveying path has a first drive rail and a second drive rail which are arranged so as to run parallel. The holding device comprises a first holding part and a second holding part which are movable relative to one another between a holding position and a release position. For this purpose, the first holding part can be moved along the first drive rail with a first drive and the second holding part can be moved along the second drive rail with a second drive. The first drive and the second drive can be controlled and coordinated with one another by means of a control unit such that the first holding part and the second holding part can be moved relative to one another between the holding position and the release position.For this purpose, the control unit controls the first and second drives in such a way that the distance between the holding parts decreases or increases in order to reach a holding position or a release position. For example, the holding parts move in opposite directions, or one of the holding parts moves away from or approaches the other holding part while the other holding part remains stationary. Furthermore, the control unit controls the first and second drives in such a way that the first holding part and the second holding part can move together along the conveyor line in the holding position. The first and second holding parts therefore do not move relative to one another, but rather move simultaneously along the conveyor line in a position that remains constant relative to one another.

[0012] Thus, in a conveying method according to the present invention, the control device controls the first drive for driving the first holding part along the first drive rail and the second drive for driving the second holding part along the second drive rail, in particular such that the holding parts are moved synchronously with one another on the drive rails such that the individual product is held between the first holding part and the second holding part in a holding position forming a clamping fit.

[0013] The control unit and the drives are designed, for example, as electrical units. To control the first and second drives, the control unit sends, for example, a first electrical control signal to the first drive and a second electrical control signal to the second drive. The control signals activate or deactivate the drives and determine the drive power of the drives for adjusting the speed of the holding parts. Furthermore, the control unit can, for example, comprise electronics or a computer unit for generating the control signals according to a control algorithm designed to operate the drives as described above.

[0014] In one embodiment, the conveyor device comprises, for example, a sensor system with a first position measuring system on the first drive and a second position measuring system on the second drive for determining the position and / or speed of the first and second holding parts relative to each other. Using the position measuring systems, the current consumption of each holding part can be measured and the clamping force can be determined. This allows the holding position and the release position of the holding parts to be monitored and controlled.

[0015] Furthermore, a sensor system with a first sensor unit on the first holding part and a second sensor unit on the second holding part can be provided, at least for determining the position of the first and second holding parts relative to each other. For example, the sensor units can comprise optical sensors that reference an opposing holding part and / or a drive rail. It is also possible for one or more sensor units to be provided on the first drive rail and / or second drive rail to determine the position of the holding parts.

[0016] The control device can receive a first sensor signal from the first position measuring system on the first drive or from the first sensor unit on the first holding part regarding a position and / or speed of the first holding part relative to the first drive rail and / or relative to the second holding part and / or a second sensor signal from the second position measuring system on the second drive or from a second sensor unit on the second holding part regarding a position and / or speed of the second holding part relative to the second drive rail and / or relative to the first holding part and, using the sensor signals, adjusts a position and / or speed of the first and second holding parts such that a clamping force is applied to the individual container, as explained above. The measurement from the position measuring systems can be transmitted to the control unit as a feedback signal and can be used to adjust the positioning of the holding parts or the drive of the holding parts.It is also possible for the sensor system to comprise force sensors on at least one of the holding parts, which carry out a force measurement and detect a clamping force on the at least one holding part, which can be used for control purposes.

[0017] In the conveying device according to the invention, the holding device and its holding parts can advantageously be driven independently of one another. In particular, the first holding part and the second holding part are mounted on the first and second drive rails, respectively, without contact with one another. This means that several holding devices can be conveyed independently of one another, and individual products in the holding devices can be released or held independently of one another. Furthermore, the holding devices can be flexibly adapted to different sizes of individual products by adjusting the distance between the holding parts. Different sizes and shapes of individual products can be securely held and reliably released during conveying.

[0018] In one embodiment of the conveyor system, the first drive rail and the second drive rail are provided, for example, fixed relative to one another on a common support structure. In an advantageous embodiment of the conveyor line, the first and second drive rails run horizontally, resulting in a horizontal conveying direction. Furthermore, the first and second drive rails are arranged vertically one above the other, so that together they span a vertical conveying plane. In principle, however, the drive rails can also have a different orientation, as long as they run parallel, allowing, for example, an inclined or even vertical conveying direction.

[0019] Preferably, the conveyor path of the conveyor device is designed as a circular path, which, for example, has two parallel linear segments and at least two curved deflection segments. The linear segments serve to convey the individual products from one location to another, remote location. The deflection segments serve to reverse the direction of movement, even though the holding device is driven in the same conveying direction. In principle, more than two linear segments and deflection segments can be provided, which can be arranged depending on the design of a production line. For example, three linear segments can be arranged in a triangle and connected by three deflection segments.In a row of holding devices, those holding devices that have released a product can be positioned at the back of the row of holding devices by circulating along the conveyor line so that they are ready to receive further individual products.

[0020] In an advantageous embodiment of the holding device, the first holding part and the second holding part are arranged in a holding position on a connecting line that is at least approximately perpendicular to the first drive rail and the second drive rail. In contrast, the holding parts are arranged offset from one another in a release position. In particular when passing through a deflection segment during the transition from one linear segment to the next linear segment, the holding position of the holding parts can be ensured if the holding devices come to lie at least approximately vertically one above the other on their drive rails. In a further embodiment of the conveyor device, the first holding part has a first holding arm and the second holding part has a second holding arm, which protrude from the holding parts essentially perpendicular to a conveying direction, preferably perpendicular to the conveying plane.At least one of the holding parts has a deflection such that the holding arms lie next to one another in the conveying direction in order to be able to hold the individual product between the holding arms. For example, the first holding arm projects directly perpendicular to the first holding part. The second holding part has a deflection for the second holding arm, for example in the form of a deflection strut which corresponds to a distance between the first drive rail and the second drive rail, so that the second holding arm can be brought to the height of the first drive rail and thus next to the first holding arm. Alternatively, it is also possible to bring the first holding arm to the height of the second holding arm by means of a deflection. Or each of the holding arms is provided offset from its drive rail by means of a deflection so that the two holding arms lie next to one another between the two drive rails in the conveying direction.

[0021] To hold a product in place, the holding arms clamp it between their opposing surfaces. This does not require any pivoting movement of the holding arms on the holding parts. To clamp it in place, the holding parts are moved along the respective drive rail using their drives. The first holding part and the second holding part form a type of gripper for grasping the individual products. The surfaces of the holding arms can, for example, have a non-slip surface or coating to assist the clamp fit through friction. Furthermore, the holding arms or the holding surfaces can have a profile that increases the contact surface on the product. For example, the holding surfaces can have a round or angled holding profile that wraps around a product so that it rests in the curve or angle. Both or just one holding arm can have this type of profile.In principle, it is also conceivable for the holding arms to be movably mounted on the holding parts. In particular, the holding arms can advantageously be mounted on the holding device in a height-adjustable manner at different distances from the first drive rail and / or can be provided so that they can be telescopically extended perpendicular to the conveying direction to assist in grasping products. It is also conceivable for the holding arms to be rotatable, so that a holding surface can be changed by rotating the holding arm.

[0022] In an advantageous embodiment of a conveyor device according to the invention, at least one guide rail runs between the first drive rail and the second drive rail parallel to the drive rails. The at least one guide rail can, for example, be fastened to the common support structure. The first holding part and the second holding part each have at least one guide piece which cooperates with the guide rail to guide the conveying movement. This means that the drive rails and the at least one guide rail are independent and separate from one another. The guide piece is designed, for example, as a roller or sliding element. Preferably, a first guide piece engages on a first side of the guide rail and a second guide piece engages on an opposite second side of the guide rail.The first and second guide pieces can be arranged at a fixed distance from each other on the holding part, for example, by means of a bracket. Both holding parts can be supported on a common guide rail. In this case, the guide pieces are provided offset along the conveying direction on the respective holding part, for example, so that the holding parts remain movable independently of each other along the guide rail in at least one direction.

[0023] Preferably, the conveyor device comprises a first guide rail for the first holding part and a second guide rail for the second holding part, wherein the first and second guide rails extend parallel to each other between the first and second drive rails. The holding parts are thus free to be moved independently of each other in any direction of the drive rail and can be securely guided by the guide rails.

[0024] In yet another embodiment of the conveyor device according to the present invention, at least one of the drives is designed as a linear induction drive. The induction drive has at least one row of stators along the first or second drive rail and at least one rotor unit (coils) on the first or second holding part. Preferably, the first drive and the second drive are designed as linear induction drives. To configure an induction drive, the holding parts have a U-shaped holding element with parallel legs. The holding element surrounds the drive rail in such a way that the drive rail with the row of stators comes to rest between the legs and a rotor unit is arranged on one or both legs opposite the row of stators.The control unit can apply a drive control signal to the stator row, so that a driving force acts on the holding part via the rotor units in a known manner. Advantageously, the first and second holding parts are supported on the at least one guide rail and mounted contactlessly on the first and second drive rails, respectively.

[0025] In principle, however, other drives are also possible, such as rotating electric drives and the like. In an alternative variant of the conveyor device according to the invention, the first drive rail and the second drive rail serve as guide rails for guiding the first and second holding parts. The drive rails thus serve both to provide the drive force and to position the holding parts. For example, the drives can be designed as belt or chain drives, in which a conveyor belt or conveyor chain runs along a drive rail or serves as a drive rail. Two independent, parallel belt or chain drives are provided, and the holding parts of the holding device are arranged on the conveyor belt or conveyor chain.

[0026] A conveyor system and a conveyor method according to the present invention can be used to convey various types of individual products. Each product can be moved independently of a preceding or following product. The products are reliably guided and securely held, even around deflection segments of the circulating conveyor line. Furthermore, the products can be conveyed quickly and precisely over long distances. The conveyor system features a compact and flexible design.

[0027] The invention has been illustrated using several embodiments. The individual technical features of one embodiment can also be used in combination with another embodiment with the described advantages. The description of the technical features according to the invention is therefore not limited to the respective embodiment.

[0028] Brief description of the drawings

[0029] An advantageous embodiment of the invention is presented below with reference to the figures, which are for illustrative purposes only and are not to be interpreted in a restrictive manner. Features of the invention revealed by the figures, individually and in any combination, are to be considered as part of the disclosure of the invention. The figures show:

[0030] Fig. I is a three-dimensional partial view of an embodiment of a conveyor device according to the present invention,

[0031] Fig. 2 is a three-dimensional representation of a holding device on the conveyor device from Figure 1,

[0032] Fig. 3 a three-dimensional view from above of the holding device from Figure 3 and

[0033] Fig. 4 is a further three-dimensional partial view of the conveyor device from Figure 1 from an opposite perspective.

[0034] A preferred embodiment of the invention

[0035] In the following, certain terms are used for convenience and are not to be construed as limiting. For example, the words "right", "left", "bottom" and "top" indicate directions in the figures to which reference is made. The terms "inside", "outside", "below", "above", "left", "right" or similar terms may be used to describe the arrangement or movement of designated components relative to one another as shown in the figures. Such spatial relative terms also include positions and orientations other than those shown in the figures. For example, if an element shown in the figures is turned over, components or features described as "below" will then be "above". The terminology includes the terms expressly mentioned above, derivatives thereof, and terms of similar meaning.

[0036] Figure 1 shows an embodiment of a conveyor device for conveying individual products along a conveyor line according to the present invention. The conveyor device has a circumferential conveyor line. In Figure 1, only one end of the conveyor line is shown, wherein a first linear segment 1, a second linear segment 2 arranged parallel thereto, and a bending segment 3 lying between the linear segments are illustrated. The bending segment 3 serves to deflect the conveyor line from the linear segment 1 to the linear segment 2. An opposite, other end of the conveyor line is designed essentially analogously with a further bending segment. As mentioned at the beginning, more than two linear segments can also be provided; for example, three linear segments can be arranged in a triangular geometry. The course of the conveyor line can thus be flexibly adapted to the requirements of a production line.

[0037] As shown in Figures 1 and 4, the conveyor line has a first drive rail 10 and a second drive rail 12, which are arranged parallel one above the other. In the example shown, the two drive rails 10 and 12 are aligned horizontally and define a vertical drive plane that is designed to run circumferentially along the conveyor line. Between the first drive rail 10 and the second drive rail 12, a first guide rail 14 and a second guide rail 16 are arranged, which run parallel to one another and parallel to the drive rails 10 and 12. The first and second guide rails 14 and 16 are arranged offset inward relative to the conveyor plane. The first guide rail 14 extends at a constant, defined distance from the first drive rail 10, and the second guide rail 16 extends at a constant, defined distance from the second drive rail 12.The distances do not have to be identical. Furthermore, the first and second drive rails 10 and 12 are located at a constant, defined distance, and the guide rails 14 and 16 are also located at a constant, defined distance. The first drive rail 10, the second drive rail 12, the first guide rail 14, and the second guide rail 16 are fixedly attached to a common support structure 18.

[0038] Figure 1 shows a holding device 5 of the conveyor device designed to hold an individual product. However, several such holding devices can be provided along the conveyor line. As can be seen in Figure 2, the holding device 5 has a first holding part 20 and a second holding part 30. The first holding part 20 has a U-shaped first holding element 22 with two U-legs 23 and 23' and a U-shaped base 24. The holding element 22 accommodates the first drive rail 10 between it in such a way that one of the U-legs 23 lies on an upper side of the drive rail 10 and the other of the U-legs 23' lies on an underside of the drive rail 10. The U-shaped base 24, which connects the U-legs, is located in front of the drive rail 10 and runs vertically to the conveying plane. A holding arm 25 protrudes from the holding element 22 perpendicular to the conveying plane.In the example shown, the holding arm 25 is fastened with a screw 26 to a holding rail 27 which is on the U-base.

[0039] 24 of the holding element 22 and runs perpendicular to the conveying direction, or to the drive rail 10 and the guide rail 14. The holding arm

[0040] 25 is slidably mounted along the holding rail 27 and can be fastened with the screw 26 at different heights relative to the drive rail 10 and the holding element 22.

[0041] Furthermore, the first holding part 20 has three guide pieces 28 in the form of rollers, of which a first guide piece 28' in Figure 2 and a second guide piece 28'' and a third guide piece 27''' are shown in Figure 4. The first guide piece 28' and the second guide piece 28' are arranged on an outer side of the lower U-leg 23' of the first holding element 22 such that they are supported on an outer side of the guide bar 14 oriented outwards from the conveyor device. The third guide piece 28''' is provided on an extension 29 which extends between the first drive rail 10 and the first guide bar 14 over the guide bar 14. The third guide piece 28''' is arranged on the extension 29 such that it is supported on an inner side of the guide bar 14 oriented inwards towards the conveyor device.The guide pieces 28', 28", and 28" enclose the guide rail 14 with a precise fit between them, so that the first holding part 20 is securely guided and held by the guide rail 14. For this purpose, the guide pieces 27 have a V-shaped groove on the outer circumference, which can roll along a V-shaped outer edge of the guide rail 14 along the conveying direction. The guide pieces 27 are blocked from movement perpendicular to the conveying direction by a V-shaped fit. The holding part 20, or the holding arm 25, is thus securely guided along the guide rail 14 and held in its relative position perpendicular to the drive rail 10.

[0042] The second holding part 30 is largely designed analogously to the first holding part 20. This means that the holding part 30 has a second U-shaped holding element 32, an extension 39 on the holding element 32, guide pieces 38, a holding rail 37, a screw 36, and a holding arm 35. The holding element 32 accommodates the second drive rail 12 between a U-shaped leg 33, which lies on an upper side of the drive rail 12, and a U-shaped leg 33', which lies on an underside of the drive rail 12. A U-shaped base 34, which connects the U-shaped legs 33 and 33', is located in front of the drive rail 12 and runs vertically to the conveying plane. The holding elements 22 and 32 thus encompass the drive rails 10 and 12 on three sides.

[0043] A first guide piece 38' and a second guide piece 38' are arranged on an outer side of the upper U-leg 33 of the second holding element 32 and are supported on a front side of the guide bar 16. A third guide piece 28' ' ' is provided on the extension 39, which extends between the second guide bar 16 and the second drive rail 12. The third guide piece 38' is arranged on the extension 39 such that it rests against a rear side of the guide rail 16. The guide pieces 38', 38", and 38' enclose the guide rail 16 precisely between them, so that the second holding part 30 is securely guided and held by the guide rail 16. The guide pieces 38 have a V-shaped groove on the outer circumference, and the guide rail 16 has a V-shaped outer edge to form a V-shaped fit.The holding part 30 is guided along the guide rail 16 and held stably in its relative position perpendicular to the drive rail 12. The holding arm 35 of the second holding part 30 is provided on a strut 31 that projects from an outer side of the U-shaped base 34 parallel to the latter in the direction of the first holding part 20. The strut 31 forms a deflection for the holding arm 35. The strut 31 runs contactlessly parallel to the U-shaped base 24 of the first holding part 20 and ends approximately at the height of the upper U-leg 23 of the first holding part 20. By means of the strut 31, the holding arm 35 is spaced a distance A from the U-shaped base 24 of the first holding part 20. The holding rail 37 is arranged at the end of the strut 31 and the holding arm 35 is slidably mounted in the strut 31, so that the holding arm 35 protrudes at the end of the strut 31 perpendicular to the conveying plane.The holding arm 35 is fastened to the holding rail 37 with the screw 36 such that it is at the same height as the first holding arm 25 in the conveying plane and lies parallel to the conveying direction next to the first holding arm 25. The holding part 30, or the holding arm 35, is securely guided along the guide rail 16 by the tight fit between the second guide rail 16 and the guide pieces 38 and is held in its position relative to the holding arm 25.

[0044] The first holding arm 25 and the second holding arm 35 protrude outwards at the same height perpendicular to the conveying plane from the first holding part 20 and from the strut 31 of the second holding part 30, respectively. They are thus located horizontally next to one another so that they can clamp an individual product between them. The first and second holding arms 25 and 35 thus form a type of gripper of the holding device 5 for holding an individual product, such as a bottle F. The first holding part 20 and the second holding part 30 are guided on the guide rails 14 and 16 and are movably mounted along the drive rails 10 and 12. The snug fit between the guide rails 14 and 16 and the guide pieces 28 and 38 ensures that the first and second holding arms 25 and 35 are reliably held at the same height relative to the drive rails 10 and 12. According to the invention, the first holding part 20 and the second holding part 30 are arranged without contact with each other on the first 10 orsecond drive rail 12, as can be seen from Figures 2 and 3.

[0045] As shown in Figure 3, the holding arm 20 has an angle of 60° on its side opposite the holding arm 30. The individual product, such as a round bottle F, can be held from three sides in this configuration and is thus secured against slipping along the holding arms. Furthermore, Figure 3 shows that the individual product provides the only movable connection between the first holding part 20 and the second holding part 30.

[0046] According to the invention, the first holding part 20 has a first drive 40 and the second holding part 30 has a second drive 50, wherein the first drive 40 drives the first holding part 20 along the first drive rail 10 and the second drive 50 drives the second holding part 30 along the second drive rail 12 independently of one another. In this embodiment of the conveyor device according to the invention, the drives 40 and 50 are designed as linear induction drives. The first drive 40 has a first stator row 42 along the drive rail 10 and several rotor units (not shown), also called movers, in the form of coils on the first holding part 20. The stator row 42 is provided on an upper side of the drive rail 10 circumferentially around the conveyor section. The rotor units are arranged on an inner side of the U-leg 23, which is opposite the upper side of the drive rail 10 and thus opposite the stator row 42.Similarly, a second stator row is provided circumferentially on a lower side of the drive rail 10, and rotor units are provided on an inner side of the U-leg 23', which is opposite the underside of the drive rail 10. In a similar embodiment, the drive 50 has a first stator row 52 and a second stator row along the top and bottom sides of the drive rail 12, respectively, and several rotor units on the U-legs 33 and 33' on the second holding part 30. In the induction drives 40 and 50, the rotor units and stator rows are located on both sides of the respective drive rail 10 and 12, whereby a uniform drive force can be exerted independently of one another in the direction of conveyance along the drive rails 10 and 12 onto the holding parts 20 and 30. The holding parts 20 and 30 are guided along the guide rails 14 and 16.The drives 40 and 50 allow the holding parts 20 and 30, or the holding arms 25 and 35, to be moved towards and away from each other in and against the conveying direction. The first holding part 20 and the second holding part 30 are movable relative to each other between a holding position, in which they clamp an individual product between them, and a release position, in which an individual product is released. Contact between the holding parts 20 and 30 is not necessary. In order to adapt the holding device to different shapes of individual products, the holding arms 25 and 35 can be moved along the holding rails 27 and 37. It is also possible to mount the holding arms so that they can rotate in order to be able to align the contact surfaces of the holding arms in different directions towards the individual product. Finally, differently shaped holding arms can also be attached to the holding rails 27 and 37, or to the holding parts 20 and 30.

[0047] To control the drives 40 and 50, the conveying device has a control unit (not shown) that coordinates the movement of the first holding part 20 and the second holding part 30. The control unit can be formed by a computer on which a control algorithm in the form of a computer program can be executed. The control algorithm can be stored on and operated from a suitable medium, such as an optical storage medium or a solid-state medium provided together with or as part of other hardware of the computer. In particular, the computer program can be designed to implement a conveying method, in particular the conveying method according to the invention.

[0048] A sensor system (not shown) can comprise a first sensor unit on the first holding part 20 and a second sensor unit on the second holding part 30. Furthermore, the sensor system can have sensor units, for example, on the drive rails 10 and 12 and the guide rails 14 and 16. By means of the sensor system, a position, speed, and clamping force of the first and second holding parts 20 and 30 relative to one another and relative to the drive rails 10 and 12 or the guide rails 14 and 16 can typically be detected and transmitted to the control unit as a sensor signal in the form of an input signal.

[0049] In a conveying method according to the invention, the control device sends a control signal as an output signal to the drives 40 and 50 depending on the sensor signals. To form a holding position of the holding device 5, the control device controls the first drive 40 for driving the first holding part 20 along the first drive rail 10 and the second drive 50 for driving the second holding part 30 along the second drive rail 12 such that an individual product is held between the first holding part 20 and the second holding part 30 in a clamp fit between the holding arms 25 and 35. To convey the individual product along the conveying path of the conveying device, the drives 40 and 50 are controlled by the control unit such that the holding parts 20 and 30 are moved synchronously with one another along the respective drive rail.Thus, the holding parts are movable relative to each other between the holding position and the release position and can be driven together along the conveyor line in the holding position without the holding parts being mechanically coupled or having to touch each other.

[0050] The geometric arrangement of the first holding arm 25 on the first holding part 20, as well as the strut 31 and the second holding arm 35 on the second holding part 30, is preferably coordinated such that the holding arms 25 and 35 lie parallel to one another, as described above. At the same time, the first holding part 20 and the second holding part 30 are arranged in a holding position on a connecting line S that is at least approximately perpendicular to the first drive rail 10 and the second drive rail 12 when the holding device is in the holding position. This means that the holding parts are arranged vertically one above the other in such a way that the guide pieces of the two holding parts simultaneously reach and pass through a bending segment of the conveyor line, thus initiating and carrying out a curved movement of the holding parts simultaneously. This prevents the holding arms from spreading apart in the bending segment, and the individual product is also held securely in the bending area of ​​the conveyor line.The position of the retaining parts may deviate slightly from the vertical connecting line; for example, deviations of approximately 5-10 mm are tolerated without compromising the clamping fit in a bending segment. In a release position, at least one of the retaining parts is offset from the vertical connecting line S, thereby increasing the distance between the retaining arms 25 and 35.

[0051] An exemplary embodiment of a conveyor device according to the present invention has been described in detail with reference to the figures. However, modifications and alternative configurations are also possible within the scope of the inventive concept, as described above. For example, a guide for the holding device along the drive rails, in particular the guide strips, can have alternative configurations. For example, sliding shoes can be used as guide pieces that run in sliding rails. Furthermore, other types of drives can be used, such as belt or chain drives, without deviating from the inventive concept of independently drivable holding parts of a holding device for forming a clamp fit for holding individual products.

[0052] In any case, with the conveyor system according to the invention, a multitude of individual products can be independently grasped, moved, and released in a multitude of holding devices. Since the holding parts of the holding device do not touch each other, control of the conveyor system is simplified and installation space is saved. This also supports maintenance of the conveyor system. The holding devices can be adapted to different types of individual products without having to intervene in the design of the holding device.

[0053] Reference numeral first linear segment 30 second holding part second linear segment 31 strut bending segment 32 second holding element holding device 33, 33' U-leg first drive rail 34 U-base second drive rail 35 holding arm first guide rail 36 screw second guide rail 37 holding rail supporting structure 38', 38”, 38' ” guide piece first holding part 40 first drive first holding element 42 stator row , 23' U-leg 50 second drive U-base 52 stator row holding arm 60 angle screw holding rail A distance ', 28”, 28” ' guide piece extension

Claims

Patent claims 1. Conveying device for conveying individual products along a conveying path, which has at least one holding device (5) for holding an individual product, wherein the holding device (5) is movably mounted along a drive rail and can be driven by means of a drive, characterized in that - the holding device (5) comprises a first holding part (20) and a second holding part (30) which are movable relative to each other between a holding position and a release position, - the conveyor line has a first drive rail (10) and a second drive rail (12) which are arranged in parallel, - the first holding part (20) is movable along the first drive rail (10) with a first drive (40) and the second holding part (30) is movable along the second drive rail (12) with a second drive (50), - wherein the first drive (40) and the second drive (50) are controllable by means of a control unit such that the first holding part (20) and the second holding part (30) are movable relative to one another between the holding position and the release position and are movable together along the conveyor path in the holding position.

2. Conveyor device according to claim 1, characterized in that the first holding part (20) and the second holding part (30) are mounted on the first and second drive rails (10, 12) without contact with one another.

3. Conveyor device according to claim 1 or 2, characterized in that the first holding part (20) and the second holding part (30) are arranged in a holding position on a connecting line that is at least approximately perpendicular to the first drive rail (10) and the second drive rail (12).

4. Conveyor device according to the preceding claim, characterized in that the conveyor line is designed as a circulating line is formed with at least two parallel linear segments (1, 2) and at least two deflection segments (3).

5. Conveying device according to the preceding claim, characterized in that several holding devices (5) are provided which can be moved independently of one another.

6. Conveyor device according to one of the preceding claims, characterized in that the first drive rail (10) and the second drive rail (12) are provided fixed to one another on a common support structure (18).

7. Conveying device according to one of the preceding claims, characterized in that the first holding part (20) has a first holding arm (25) and the second holding part (30) has a second holding arm (35), which protrude from the holding parts (20, 30) essentially perpendicular to a conveying direction, wherein at least one of the holding parts has a deflection (31) such that the holding arms (25, 35) come to lie next to one another.

8. Conveying device according to one of the preceding claims, characterized in that a sensor system with a first position measuring system on the first drive (40) and a second position measuring system on the second drive (50) is provided for determining the position and / or speed of the first and second holding part (20, 30) relative to one another.

9. Conveyor device according to one of the preceding claims, characterized in that at least one of the drives (40, 50) is designed as a linear induction drive, wherein at least one stator row (42, 52) is provided along the first or second drive rail (10, 12) and at least one rotor unit is provided on the first or second holding part (20, 30).

10. Conveying device according to the preceding claim, characterized in that at least one guide rail (14) runs between the first drive rail (10) and the second drive rail (12) parallel to these and the first holding part (20) and the second holding part (30) each have at least one guide piece (28, 38) which cooperates with the guide rail (14) to guide the conveying movement. 1 1. Conveyor device according to the preceding claim, characterized in that the first and the second holding part (20, 30) are supported on the at least one guide rail (14) and are mounted contactlessly on the first and second drive rails (10, 12), respectively.

12. Conveyor device according to one of claims 10 or 11, characterized in that a first guide rail (14) for the first holding part (20) and a second guide rail (16) for the second holding part (30) are provided, wherein the first and the second guide rail (14, 16) run parallel to one another between the first and the second drive rail (10, 12).

13. Conveyor device according to one of the preceding claims, characterized in that the first drive rail (10) and the second drive rail (12) serve as guide rails for guiding the first and second holding parts.

14. Conveying method for conveying individual products along a conveyor device which has a conveyor section and at least one holding device for holding an individual product according to one of claims 1 to 13, wherein a control device controls a first drive (40) for driving the first holding part (20) along the first drive rail (10) and a second drive (50) for driving the second holding part (30) along the second drive rail (12) in such a way that the holding parts (20, 30) are moved synchronously with one another on the drive rails (10, 12) in such a way that the individual product is held between the first holding part (20) and the second holding part (30) in a holding position forming a clamping fit.

15. Conveying method for conveying individual products according to claim 14, wherein the control device receives a first sensor signal from a first sensor unit on the first holding part (20) about a position and / or speed of the first holding part (20) relative to the first drive rail (10) and / or relative to the second holding part (30) and / or a second sensor signal from a second sensor unit on the second holding part (30) about a position and / or speed of the second holding part (30) relative to the second drive rail (12) and / or relative to the first holding part (20) and adjusts a speed of the first and second holding parts (20, 30) such that a clamping force is exerted on the individual container.