System for conveying articles and packaging machine used to package products in flexible containers and incorporating said system

Abstract

The present invention relates to a system (100, 101) for conveying articles along several workstations (70, 71, 72, 73, 74) with shuttles (11, 11) that move by magnetic levitation with respect to a transit surface (12) having a given contour (14), following paths that can be predetermined in advance, the shuttles (11) being equipped with holding means (20) used to hold at least one article and configured such that they extend, or are capable of extending, outside the projection zn of their associated shuttle, wherein the projection zn is the projection of the shuttle in the direction normal to the transit surface (12) with respect to which said shuttles levitate, and the predeterminable paths comprise an operational section (T1, T2) along which the holding means (20) of the shuttles (11) that run along said operational section are arranged outside the projection ZN of the transit surface (12), wherein the projection ZN is the projection in the direction normal to said transit surface (12), enabling the shuttles (11) to convey the articles outside the given contour (14) of the transit surface (12) and via workstations (70, 71, 72, 73, 74) located to operate on the articles conveyed outside the contour (14) of the transit surface (12).

Description

[0001]

[0002] “A system for transporting items and a machine for packaging products in flexible packaging that incorporates the system”

[0003] Technical sector of the invention

[0004] The invention relates to a system for transporting articles. The system is adaptable for transporting flexible packaging in suspended mode. Consequently, the invention also relates to a machine for packaging products in containers, particularly suitable for packaging at least one pourable product in flexible packaging transported in suspended mode, which incorporates the system for transporting articles of the invention.

[0005] Background of the invention

[0006] In the field of packaging, and more specifically in the packaging of products in flexible packaging, automatic machines are known that comprise a container conveyor that combines a rail and a plurality of carriages coupled to the rail and capable of movement. Conventionally, the rail describes a closed path inscribed in a horizontal plane and generally oval, in which two straight sections and two curved sections connecting the straight sections are distinguished. The carriages have means that secure and transport the containers in suspended mode between work stations distributed, statically, along the closed path of the rail.

[0007] This type of machine, sometimes called a carousel, has evolved over time, and improvements have emerged. In any case, it is a constant task to hold a container by opposite edges, using arms equipped with gripping mechanisms. The unison movement of the arms allows the held container to be transported; and the movement of the arms toward or away from each other—that is, producing a change in their relative position—allows the container to be opened and closed. It is of interest to be able to do both simultaneously, that is, to transport a container while simultaneously attempting to open and / or close it.

[0008] Recently, conveyors have been introduced that allow the individual control of the movement of carriages coupled to a closed-path rail, using magnetic fields generated in the area of ​​influence of each carriage. An example of such a conveyor, commonly known as a magnetic rail conveyor, is the one described in EP 3955436. Adaptations of this conveyor for the transport of containers transported in suspended mode in a carousel packaging machine are the subject, for example, of patent documents JP 2018172140 and EP 3744649.

[0009] In the machines according to JP 2018172140 and EP 3744649, taking advantage of the fact that it is possible to individually control the movement of each carriage along the rail, each carriage is provided with at least one arm equipped with the corresponding gripper mechanism and the containers are transported by two adjacent carriages cooperating, specifically using the gripper mechanisms with which the arms of each carriage are equipped and which each grip, by one edge, the container.

[0010] By conveniently and individually controlling the movement of adjacent carriages that hold a container together, the packaging machine not only ensures proper transport of the container, but also its opening and / or closing to the desired extent or according to the needs of each case. This allows the packaging machine to easily adapt to a change in container format. It also allows the packaging machine to easily adapt to changes in the operations performed on the containers, for example, changes in processing times and / or changes in the number and arrangement of workstations located along the track.

[0011] The use of these magnetic rail conveyors in carousel packaging machines currently represents a relative economic barrier. These types of conveyors are expensive, and packaging machines that employ them try to maximize rail length. So much so that machines compliant with JP 2018172140 and EP 3744649 are designed to also utilize curved sections of the rail. This, however, requires mechanically linking the arms of adjacent carriages so that they remain parallel even on these curved sections, thus limiting the machine's ability to adapt to all packaging formats.

[0012] One purpose of the invention is to provide an alternative system for transporting articles to that used in the aforementioned packaging machines. Another objective of the invention is a packaging machine, comprising said system, suitable for packaging at least one pourable product in flexible containers transported in suspended mode, which represents an alternative to known carousel machines.

[0013] The use of magnetic rail conveyors is also known in packaging machines other than the carousel type. An example is described in patent document EP 3321196, which relates to a machine with a container receiving station with work stations on both sides thereof and which employs individually controlled carriages to move back and forth on a non-closed rail, more specifically several pairs of carriages which are coordinated to jointly hold the received containers on which an operation is being carried out at the receiving station and to dispatch these held containers alternately to one side and the other of the receiving station when the operation being carried out on them at said receiving station is completed.Advantageously, although the operation carried out on the containers at the work stations takes longer than the operation carried out at the receiving station, this does not constitute a bottleneck because the containers are transported each time from the receiving station to a different work station, in practice being dispatched to the work station that has operated not on the previously dispatched container but on the container dispatched two cycles earlier in the machine.

[0014] Despite these advantages, having a track that is not closed in on itself means that a first pair of carriages transporting a container from the receiving station to a work station, moving along a section of the track in one direction, must retrace their steps to return to the receiving station, moving along the same section of the track, albeit in the opposite direction. This return path, which meanwhile occupies the track along which the carriages are moving, prevents a new container from being transported, supported by another pair of carriages, to the same work station from which the first pair of carriages are moving toward the receiving station. Consequently, the machine may lose efficiency if the total execution time of the work stations on the same side of the receiving station exceeds twice the execution time of the operation performed on the containers at the receiving station.

[0015] It is also an object of the invention to provide a system for transporting articles, as well as a packaging machine incorporating it, the machine being particularly suitable for packaging at least one pourable product in flexible containers transported in suspended mode, which overcome the drawbacks of the machine according to EP 3321196.

[0016] Even more recently than the appearance of magnetic rail conveyors, conveyors capable of controlling the movement of mobile shuttles on a transit surface by levitation have been introduced, i.e., without the shuttles being coupled to a rail and subject to trajectories imposed by the rail. These conveyors also use magnetic fields to move the shuttles. These conveyors are commonly referred to as "planar motor" or "maglev" conveyors.

[0017] Examples of “planar motor” type conveyors are described, for example, in patent documents W02006 / 054243 and W02009 / 083889. Examples of commercial products of “planar motor” type conveyors are Acopos 6D from B&R Industrial Automation; XPIanar from Beckhoff Automation; or Xbots from Panar Motor. The use of “planar motor” type conveyors in food product packaging machines is described, for example, in EP4072948 and WO2022 / 184517, which adapt the shuttles to place a container to be transported on them between work stations placed above the transit surface on which the carriages move, at a level above the containers.

[0018] Patent document US 2018 / 0229866 discloses a machine that uses a "planar motor" conveyor to transport and fill rigid containers, in the form of vials, which are transported suspended between workstations. US 2018 / 0229866 specifically mentions the machine's versatility, in that the movement of the shuttles is not subject to the rigidity imposed by their attachment to a rail. Furthermore, the machine has the advantage that performing sequential or fixed process steps is no longer absolutely necessary.

[0019] The use of these "planar motor" type conveyors in packaging machines, however, represents a much more significant economic barrier than that already posed by the use of magnetic rail conveyors.

[0020] The cost and complexity of machines that incorporate "planar motor" type conveyors is proportional to the extension of the transit surface, that is, to the extension of the surface on which the movement of the shuttles can be governed, since it multiplies the number of electrical energization means, which usually comprise electrical coils or windings conveniently distributed and configured to selectively generate the magnetic fields that will couple and interact magnetically with the shuttles to promote their movement, as well as their necessary connection during the use of the machine to a network for the selective supply of electrical energy that has adequate values ​​of voltage and electrical current.

[0021] It is also an object of the invention to provide a system for transporting articles with a "planar motor" type conveyor, as well as a packaging machine that incorporates it, the machine being particularly suitable for packaging at least one pourable product in flexible containers transported in suspended mode, which minimize the required extension of the transit surface.

[0022] It is interesting to note that in the machine according to US 2018 / 0229866, the transit surface is vertical. This can be a drawback because if the necessary connection to the grid for the aforementioned electrical power supply fails during use of the machine, the shuttles and transported containers would fall due to gravity. To overcome this drawback, even more complex conveyors are known, comprising magnetic safety means with at least one magnet device configured to assume a first inactive condition and a second active condition that generates a magnetic attraction force suitable for interacting with the shuttles and locking them with respect to the transit surface when a power failure occurs. An example is described, for example, in patent document WO2023 / 135616.

[0023] It is also an objective of the invention to provide a system for transporting articles, as well as a packaging machine that incorporates it, which overcomes the drawbacks associated with a machine with a vertical transit surface without requiring magnetic safety means of the type described in WO2023 / 135616.

[0024] Explanation of the invention

[0025] According to a first aspect of the invention, a system according to claim 1 is proposed.

[0026] The system comprises a conveyor with shuttles movable by magnetic levitation relative to an essentially flat transit surface, preferably horizontal, and with a given contour, the shuttles following predetermined trajectories and the shuttles being equipped with gripping means for gripping, by themselves or in cooperation with the gripping means of an adjacent shuttle, at least one article, which may be a container in suspended mode.

[0027] In essence, the system is characterized in that the gripping means are configured such that they extend, or are capable of extending, beyond the projection zn of their associated shuttle, the projection zn being the projection in the direction normal to the transit surface relative to which said shuttles levitate; and in that the predetermined trajectories comprise an operative section along which the gripping means of the shuttles that run along said operative section are arranged outside the projection ZN of the transit surface, the projection ZN being the projection in the direction normal to said transit surface, enabling the shuttles to transport articles, for example containers held in suspended mode, outside the given contour of the transit surface.

[0028] The system is especially advantageous when combined with at least several work stations located to operate on the transported items, for example, transported containers held in suspended mode outside the given contour of the transit surface, along the said operating section.

[0029] As explained later, since the articles are flexible packaging, the work stations can be of the type that provide filling and closing of the transported containers, then a machine incorporating the system of the invention is especially suitable for packaging products in containers.

[0030] Workstations may, however, be of the type that perform other operations on the transported items.

[0031] Please note that when items, for example, containers, are transported outside the given contour of the conveyor's transit surface, any residue and / or dirt that may be generated when performing operations on the items, for example, container filling operations, will not be deposited directly on the transit surface.

[0032] In an embodiment of interest, the holding means are configured such that, by extending beyond the projection zn of their associated shuttle, they can invade the projection zn of a neighboring shuttle without mechanically interfering with said neighboring shuttle; and the predetermined trajectories comprise a return section along which the holding means of shuttles that run along said return section without holding an article transit the projection zn of shuttles that are or run along the operating section. As explained in detail later, this measure makes it possible to reduce the dimensions of the transit surface, which directly affects the dimensions of the conveyor and this has a direct impact, reducing the cost of the system and that of a packaging machine that incorporates it.

[0033] As explained in detail later, this measure makes it possible to print trajectories on the shuttles without requiring them to change orientation along the way, thereby forgoing a degree of freedom of movement, specifically spin or rotation around an axis normal to the transit surface. This simplifies the system and has a direct impact on reducing the cost of the system and the cost of any packaging machine that incorporates it.

[0034] In an embodiment of interest, the transit surface is sized according to the shuttles, determining at least one operating area in which in a width dimension y there is only space for two shuttles and in a length dimension x, orthogonal to the width dimension y, there is space for a plurality of shuttles; the aforementioned operating section is in the direction of the length dimension x of the operating area and in a first direction x1; and the aforementioned return section is also in the direction of the length dimension x of the operating area, but in a second direction x2, opposite to the first direction x1.

[0035] In one aspect, the predetermined trajectories also comprise a withdrawal section in the direction of the width dimension and the operating area and in a first direction y1 ; and a disposition section also in the direction of the width dimension and the operating area, but in a second direction y2 , opposite to the first direction y1 .

[0036] Preferably, although optionally, between the operational and return sections, and vice versa, the shuttles do not change orientation of the predetermined trajectories.

[0037] According to one embodiment, the system comprises identical shuttles whose holding means comprise an arm with a proximal end fixedly or hingedly connected to the associated shuttle and with a distal end that is permanently located, or that can be located in a rotated position of the arm, outside the projection zn of the associated shuttle and that is equipped with a gripper mechanism actuatable between open and closed positions; and said arms are located with respect to the plan view of the shuttles such that the order of placement of two adjacent juxtaposed identical shuttles with their arms extending outside the projection zn and parallel to one side thereof changes the separation distance between their gripper mechanisms.

[0038] As explained further below, this measure simply enables the system, and a packaging machine that incorporates it, to transport items, for example, containers, of different formats, in particular to adapt to items, for example, containers, of different widths.

[0039] In a vahante, the plan view of the equal shuttles is a rectangular figure, such as, although optionally, square, and the arrangement of the arm of the holding means, parallel to two of the sides of the plan view, does not present symmetry with respect to the aforementioned plan view.

[0040] As previously mentioned, the conveyor's transit surface is preferably a horizontal surface.

[0041] In the context of the invention, a horizontal surface is understood to be a surface that is located in a horizontal plane when the system rests or is supported stably on a facility floor. Obviously, slight variations in inclination are contemplated due to the tolerances that the system's support frames and / or floor may have, as is common to any other horizontal article transport system.

[0042] In one embodiment, the walking surface faces upward, levitating the shuttles above the walking surface. In another embodiment, however, the walking surface faces downward, levitating the shuttles below the walking surface.

[0043] As explained later, this second option has associated advantages. Although this is not a complete list, it prevents the unwanted accumulation of dirt or foreign elements on the transit surface; and it facilitates, simplifies, and streamlines the solutions required for supplying items, such as packaging, to the system.

[0044] In the case where the transit surface of the system is oriented downwards, the invention conceives that the shuttles comprise two opposite and parallel flat faces, of which one is an active face facing and interacting magnetically with the transit surface of the conveyor and the other is a support face;and that the system conveyor comprises a containment element that, while encompassing the transit surface, extends below and at a distance from the shuttles when the shuttles are magnetically coupled and levitate with respect to the transit surface, said containment element offering a flat surface, parallel to the transit surface and on which the shuttles can rest by gravity and by their support face in a state of rest in the event that there is no magnetic link between said shuttles and the transit surface of the conveyor and from which state of rest the shuttles can adopt a state of levitation if a magnetic link is established between said shuttles and the transit surface of the conveyor.;

[0045] In one vane, the containment element is configured as a grid.

[0046] In one vane, the containment element is mounted so that it can move closer to or further away from the traffic surface.

[0047] According to another aspect of the invention, a machine for packaging products in containers is proposed that combines a system according to the invention with a plurality of work stations.

[0048] The shuttle's holding means are configured to grasp at least one container by its sides, either by themselves or in cooperation with the holding means of an adjacent shuttle. As explained below, for this purpose, the holding means may be equipped with clamps or accessory elements for grasping each clamp or accessory element on a portion of the container by a side edge thereof.

[0049] The plurality of work stations comprises stations located to operate on the containers attached and transported in suspended mode outside the contour of the transit surface when the system's shuttles run along the operating section.

[0050] In one embodiment, the machine is equipped with a container receiving station, which may be capable of performing a first operation on the received containers; with at least a first work station on a first side of the receiving station and capable of performing a second operation on the container or containers transported and placed within its reach; and with at least a second work station on a second side of the receiving station and capable of performing a third operation on the container or containers transported and placed within its reach, where said second and third operations may be identical.It is conceived that in this embodiment the system conveyor is capable of printing trajectories to the shuttles so that one by one, or in pairs, in a sequence they start from the reception station, beginning their operational section but altering their direction of movement, in order to transport the containers received at the reception station each time to a different side of the aforementioned reception station.

[0051] As explained later, this optimizes the machine speed especially when the execution time of an operation that can be carried out on the containers at the receiving station is less than the execution time of the operation that can be carried out on the containers at a work station, preferably at least at two work stations each on one side of the receiving station.

[0052] In one section of the machine, the conveyor has a transit surface sized according to the shuttles, determining at least one operational zone in which in a width dimension y there is only space for two shuttles and in a length dimension x, orthogonal to the width dimension y, there is space for a plurality of shuttles; and the operational section of the trajectories that the system prints on the shuttles is in the direction of the length dimension x of the operational zone and in a first direction x1.

[0053] In one case, it is conceived that the trajectories that the system prints on the shuttles include a return section also in the direction of the length dimension x of the operating area, but in a second direction x2, contrary to the first direction x1; and that along the length dimension x of the operating area the machine is equipped on one side of the receiving station with at least N work stations, where N>1, and the predetermined trajectories include trajectories whose withdrawal sections occur without the shuttles having passed through the N work stations, being trajectories that are printed on the shuttles in case of fulfilling pre-established conditions and after the clamping means have been activated to release the transported container.

[0054] This variant takes advantage of the fact that the shuttles are not mechanically coupled to a rail and subject to trajectories imposed by the rail.

[0055] Pre-established conditions may be, by way of example only, conditions that determine whether the packaging meets the desired quality parameters.

[0056] A pre-established condition may be or may come as a function of, as explained later, a measured weight value.

[0057] In one vane of the machine, at least one work station on each side of the receiving station is a station capable of closing the conveyed container.

[0058] According to another aspect of the invention, it relates to a method for moving shuttles in a conveyor with movable shuttles, by magnetic levitation, with respect to a transit surface that is essentially flat, horizontal, and with a given contour, the shuttles being equipped with holding or supporting means, for holding or supporting by themselves or in cooperation with the holding or supporting means of an adjacent shuttle, at least one article in suspended mode, the method comprising printing on the shuttles trajectories comprising sections in which the holding or supporting means are arranged outside the projection ZN of the transit surface, the projection ZN being the projection in the normal direction to said transit surface, enabling the shuttles to transport the articles in suspended mode outside the given contour of the transit surface.

[0059] In one variant of the method, this comprises printing trajectories on the shuttles that comprise sections in which the fastening or support means invade the projection zn of nearby shuttles, the projection zn being the projection of the shuttle in the normal direction to the transit surface with respect to which the shuttles of the conveyor levitate.

[0060] Throughout this specification, the term "comprises" or variations such as "has" or "with" shall be deemed to imply the inclusion of a cited item or group of items, but not the exclusion of any other item or group of items.

[0061] Brief description of the drawings

[0062] Fig. 1 is a simplified perspective view of a packaging machine according to the invention, without any work stations being shown;

[0063] Fig. 2 is a schematic side view of the machine of Fig. 1, showing two shuttles which are adjacent at an instant along respective operating and return sections;

[0064] Fig. 3 is a simplified plan view of the machine according to Fig. 1 on which a particular arrangement of the work stations and a possible path that can be printed on the shuttles have been indicated;

[0065] Fig. 4 is another simplified plan view of the machine according to Fig. 1 on which the same arrangement of the work stations has been indicated, but another possible path that can be printed on the shuttles;

[0066] Figs. 5a, 5b and 5c are perspective views of a shuttle and the clamping mechanism of its holding means in closed and open positions, respectively;

[0067] Figs. 6a and 6b show an alternative clamp mechanism, adopting closed and open positions, respectively;

[0068] Fig. 7 shows four identical shuttles that cooperate in pairs to transport, each pair, a container with different formats;

[0069] Fig. 8 is a view of the machine according to Fig. 1 which serves to illustrate the capacity of the machine to adapt and transport containers of different formats simply by changing the order and / or arrangement of the shuttles as previously illustrated in Fig. 6;

[0070] Fig. 9 is a simplified and sectional view according to a cross-sectional plane of another packaging machine according to the invention, without having represented work stations, but having represented a packaging supply system adopting two different positions;

[0071] Fig. 10 is a perspective view of a shuttle of the machine according to Fig. 9; and

[0072] Figs. 11 and 12 are simplified top and bottom perspective views, respectively, of the machine according to Fig. 8, without any work stations being represented.

[0073] Detailed description of an embodiment

[0074] The machine 1 which in Fig. 1 exemplifies a first variant of the invention comprises in a known manner several work stations (not shown in Fig. 1) and a system 100 for transporting articles with a conveyor 10 of the “planar motor” type with a platform that determines a transit surface 12 on which several shuttles 11 levitate in a controlled manner.

[0075] A control unit controls the movement of the shuttles 11. The control unit is programmable and comprises programs which, when executed, produce the coordinated movement of the shuttles 11 following predetermined trajectories above, without contact with, the transit surface 12.

[0076] According to some embodiments of the present invention, the system 100 of the machine 1 also comprises position sensors associated with at least one of the transit surface 12 and the shuttles 11, suitable for detecting one or more of the position, the forward speed or possibly other parameters correlated with the movement of the shuttles and transmitting the data to the control unit.

[0077] In system 100 of the exemplary machine 1, the walking surface 12 is horizontal. The walking surface may, however, be inclined at a desired angle relative to a horizontal plane.

[0078] Associated with the transit surface are electrical energizing means of a known type, not shown, which are configured to selectively generate one or more locally distributed magnetic fields in specific areas of the transit surface 12.

[0079] For example, the electrical energizing means may comprise a plurality of electrical coils or windings suitably arranged and connected, during use of the machine, to a network for the supply of electrical energy capable of injecting adequate values ​​of voltage and electrical current.

[0080] The platform may be a single body and contain the aforementioned electrical energizing means arranged in a predefined pattern.

[0081] In the system 100 of the exemplary machine 1, however, the transit surface 12 is subdivided into partial surfaces 12a. Each partial surface 12a is associated with a motor unit 10a of the conveyor 10 of the “planar motor” type. The motor units 10a, each comprising its own electrical energizing means, as if in a modular construction, are placed adjacent to each other to form the platform and its partial surfaces 12a the transit surface 12 without discontinuities that impede the transit of the shuttles from the area of ​​influence of one partial surface 12a to another adjacent to it.

[0082] The motor units 10a can be placed, for example, attached to each other, creating a sort of grid with various shapes.

[0083] In the system 100 of the machine 1 exemplifying the invention, the motor units 10a are arranged in a single-row arrangement, the partial surfaces 12a together forming a transit surface 12 for the shuttles 11, which is rectangular in plan with a contour 14, with a width dimension y, and a length dimension x.

[0084] This rectangular shape can also be provided by placing motor units in rows and columns.

[0085] In some embodiments of the present invention, each shuttle 11 is provided with corresponding magnetic means, such as permanent magnets, for example, which are not shown in the drawings, to interact with the magnetic fields of one or more of the electrical energizing means of the platform, for example, of the motor units 10a that make up the platform, so that each shuttle 11 can be driven to move autonomously with respect to the transit surface 12 slightly distanced from it, that is, without contact with said transit surface 12.

[0086] It is a peculiarity of the system 100 of this machine 1 which exemplifies the invention that the shuttles 11 are sized such that in the width dimension y of the transit surface 12 no more than two shuttles fit while in the length dimension x of the transit surface 12 several shuttles 11 fit.

[0087] In the system 100 of the machine 1 exemplifying the invention, the shuttles 11 have corresponding holding means 20 for holding, in cooperation with the holding means of an adjacent shuttle, at least one container 2 in suspended mode.

[0088] In the system 100 of the machine 1 exemplifying the invention, said clamping means 20 comprise a structure with an arm 21 having a proximal end 21a, fixedly connected to the associated shuttle 11, and a distal end 21b, which is equipped with a clamping mechanism 22 actuatable between open and closed positions suitable for releasing or grasping, respectively, a container 2 by a side edge thereof, all as illustrated in Fig. 5a.

[0089] The invention provides that the gripper mechanisms 22 can be actuated by members not installed or not traveling with the shuttles 11. By way of example only, the gripper mechanisms 22 can default to an open or closed position, preferably closed, and be forced to adopt the other of their open or closed position, preferably open, by mechanical interference with moving or fixed parts of the system, or of the machine, but mechanically disconnected from the shuttles 11.

[0090] In this sense, the sequence of Fig. 5a and 5b shows in detail a gripper mechanism prepared to be actuated by a mobile or active component, such as a pusher, which, when the shuttle is static, exerts a thrust in the direction of the arrow on a resistance arm of a lever component of the gripper mechanism so that the gripper mechanism adopts the open position, overcoming the force that an elastic means exerts on the lever component to place it by default in a position such that the gripper mechanism adopts the closed position.

[0091] The sequence of Figs. 6a and 6b shows an alternative gripper mechanism, in this case prepared to be actuated by a fixed or passive component, such as a pusher, which by moving the shuttle touches and exerts a thrust in the direction of the arrow on a resistance arm of a lever component of the gripper mechanism so that the gripper mechanism adopts the open position, overcoming the force that an elastic means exerts on the lever component to place it by default in a position such that the gripper mechanism adopts the closed position.

[0092] It is a first peculiarity of the system 100 of the example machine 1 that the distal end 21 b equipped with the gripper mechanism 22 of the arm 21 is permanently located outside the projection zn of the associated shuttle, the projection zn being the projection of the shuttle in the direction normal to the transit surface 12 relative to which the shuttles 11 levitate.

[0093] In the case of the example, the transit surface 12 being horizontal, the distal end 21b referred to above is permanently located outside the vertical projection of the associated shuttle 11, vertical projection whose imaginary lateral limits have been illustrated by means of discontinuous lines in Fig. 1 and 2.

[0094] It is another peculiarity of the system 100 of the exemplary machine 1 that the predetermined paths impressed on the shuttles 11 comprise an operating section T1 along which the gripper mechanisms 22, which extend outside the aforementioned projection zn, also extend outside the projection ZN of the transit surface 12 in the direction normal thereto, thus enabling the shuttles 11 to grip and transport a container 2 in suspended mode and to be able to do so by arranging the container 2 outside the contour 14 of the transit surface 12, that is, also outside the projection ZN of the transit surface 12 in the direction normal thereto.

[0095] In the example case, the transit surface 12 being horizontal, the projection ZN is a vertical projection, whose imaginary lateral limits have also been illustrated by means of dashed lines in Figs. 1 and 2. In the example machine 1, the clamping means 20 of two adjacent shuttles 11 cooperate to transport a container 2, each gripper mechanism 22 holding a lateral edge of the container, in the form of a flexible bag or sachet type container.

[0096] Although not shown, the invention also provides other solutions for holding or securing containers.

[0097] For example, in an alternative variant of a machine according to the invention, the holding means of one or more shuttles may have two arms, each equipped at their distal end with a gripper mechanism for holding and transporting a container without having to cooperate with an adjacent launcher for this purpose. In this case, too, the distal ends equipped with respective gripper mechanisms will be permanently located, or may be located, outside the projection zn of the associated shuttle in the direction normal to the transit surface in order to hold and transport a container in suspended mode outside the contour of the transit surface, that is, also outside the projection ZN of the transit surface in an operational section T1 of its trajectory.

[0098] For example, in another alternative variant of a machine according to the invention, the arms 21 of the holding means 20 may be articulated by their proximal end 20a to the associated shuttle; or they may be articulated between their proximal and distal ends, providing, in any case, in this or another way, the holding means 20 with the capacity to adopt a retracted position, in which they do not extend outside the projection zn of the associated shuttle; and an extended position, in which they extend outside the projection zn of the associated shuttle in a way that allows, in collaboration with the holding means of a nearby shuttle, to hold and transport a container in suspended mode outside the contour 14 of the transit surface 12, that is, also outside the projection ZN of the transit surface 12 in the direction normal to it.It is contemplated that the shuttle carries drive means for changing the position of the holding means 20 with respect to the associated shuttle 11. It is also contemplated, in that machine bay with at least one shuttle whose holding means are prepared to hold and transport a container without having to cooperate with an adjacent shuttle for this purpose, that these holding means also have the capacity to adopt a retracted position, in which said holding means do not extend outside the projection zn of the associated shuttle; and an extended position, in which they extend outside the projection zn of the associated shuttle in a manner such as to allow a container to be held and transported in a suspended mode outside the contour 14 of the transit surface 12, that is, also outside the projection ZN of the transit surface in the direction normal to it.In this case, it is also contemplated that the shuttle carries with it drive means to change the position of the fastening means 20 with respect to the associated shuttle 11.

[0099] Returning to the specific machine 1 that exemplifies the invention, it is another peculiarity of the machine 1 that it has up to five work stations 70, 71, 72, 73, 74 (see Fig. 3) that are located to operate on the containers 2 that are held and transported in suspended mode outside the contour 14 of the transit surface 12 of the system 100.

[0100] Advantageously, the height dimension of the transported containers 2 does not condition or interfere with the construction of the conveyor 10 of the system 100, since the containers 2 can extend vertically any length without interfering with the conveyor 10.

[0101] Fig. 2 shows another peculiarity of the system 100 of the exemplary machine 1. Specifically, it shows that the clamping means 20 are configured such that, by extending outside the projection zn of the associated shuttle 11, they can invade the projection zn of a neighboring shuttle without mechanically interfering with it.

[0102] Advantageously, the extension of the traffic surface 12 is minimized.

[0103] Consequently, the number or size of the 10a motor units is also reduced.

[0104] These advantages will be better understood from the following explanation, with reference to example machine 1.

[0105] In said exemplary machine 1, the work stations comprise a receiving station 70 for pre-packaged containers; on a first side of the receiving station 70 in the direction of the x-dimension of the transit surface 12, two work stations 71 and 73; and on a second side of the receiving station 70, also in the direction of the x-dimension of the transit surface 12, two further work stations 72 and 74.

[0106] In one section of the machine 1, the receiving station 70 may be arranged to carry out an operation on the received containers 2, such as a filling operation, in a conventional manner, by pouring a product into the containers within reach. The details of the filling means are not described because the options are known to those skilled in the art and because their implementation method does not affect the practice of the invention.

[0107] Whether or not in combination with the above, the work stations 71 and 72 may also be arranged to carry out filling operations, for example, arranged to pour a different product into the containers placed within reach from that introduced into the containers at the receiving station 70 if a filling operation is also carried out at said receiving station; and the work stations 73 and 74 may be closing stations for the containers placed within reach. This arrangement is particularly suitable for dispatching the containers, which are sequentially and partially filled with a first product at the receiving station 70, each time to a different work station 71, 72, in an alternating manner, that is, each time to a different side of the receiving station 70.

[0108] The details of the filling / closing means of the work stations 71 to 74 are not described because the options are known and are within the reach of the expert and because their implementation method does not affect the practice of the invention.

[0109] In a specific mode of operation of the machine 1, the receiving station 70 performs an operation on the containers with an execution time t; and the execution time of the slowest operation carried out at the work stations 71 and 73 or 72 and 74 is an execution time T, where T>t is fulfilled, and preferably, approximately, T=2t.

[0110] Continuing with this example, the shuttles 11 of the system 100 can be organized into two groups, each group having an even number of shuttles that exceeds the number of work stations on the same side of the receiving station 70.

[0111] The predetermined paths followed in pairs by the shuttles 11 of a group comprise looped paths with sections indicated by arrows in Fig. 3, which in turn comprise an operative section T1 in the direction of the length dimension x of the transit surface and in a first sense x1 , to the left with reference to Fig. 3, their holding means 20 extending outside the vertical projection ZN of the transit surface 12 and the shuttles of each pair cooperating with each other to hold and transport a container 2 by first placing it within reach of the work station 71 and then within reach of the work station 73, preferably stopping temporarily in front of said stations and preferably approaching each other the shuttles of each pair to ensure the closure of the container after transiting through the work station 71 , being able to do so also once the container is stopped and within reach of the work station 73;a withdrawal section W1 in the direction of the width dimension and of the transit surface and in a first direction y1 , preferably without changing the orientation of the shuttles and which occurs after an actuation of the gripper mechanisms 22 to adopt their open position and release the containers; a return section R1 in the direction of the length dimension x of the transit surface and in a second direction x2, opposite to the first direction x1 , to the right with reference to Fig. 3, and along which the transit of the holding means 20 of the shuttles 11, which travel empty, occurs along the projection zn of shuttles located along their operating section T 1 holding and transporting containers;and a section of arrangement Q1 in the direction of the width dimension and the transit surface, but now in a second direction y2, contrary to the first direction y1 that arranges the shuttles 11 in pairs to receive and hold a new container in the work station 70 with the actuation of the clamp mechanisms 22 to adopt its closed position and hold the container, to start the loop again once the operation carried out on the recently held container in the aforementioned reception station 70 has been completed.;

[0112] The predetermined trajectories followed by the pairs of shuttles 11 of the other group comprise mirror-loop trajectories with those of the first group, also indicated by arrows in Fig. 3, coinciding spatially, although not temporally, in their arrangement section Q2, thus comprising an operational section T2 in the direction of the length dimension x of the transit surface and in the second direction x2, to the right with reference to Fig. 3, their holding means 20 extending outside the vertical projection ZN of the transit surface 12 and the shuttles of each pair cooperating with each other to hold and transport a container 2, placing it first within reach of the work station 72 and then within reach of the work station 74,preferably stopping temporarily in front of said stations and preferably approaching each other the shuttles of each pair to ensure the closure of the container after transiting the work station 72, being able to do so also once the container is stopped and within reach of the work station 74; a withdrawal section W2 in the direction of the width dimension and of the transit surface and in the first sense y1 , preferably without changing the orientation of the shuttles and which occurs after an actuation of the gripper mechanisms 22 to adopt their open position and release the containers; a return section R2 in the direction of the length dimension x of the transit surface and in the first sense x1 , opposite to the second sense x2, to the left with reference to Fig. 3, and along which the transit of the holding means 20 of the shuttles 11 takes place, which travel empty,by the projection zn of shuttles located along its operational section T2 holding and transporting containers; and an arrangement section Q2 in the direction of the width dimension and the transit surface, but now in the second direction y2, contrary to the first direction y1 which arranges the shuttles 11 in pairs, alternately with pairs of shuttles of the first group, to receive and hold a new container in the receiving station 70 with the actuation of the gripper mechanisms 22 to adopt its closed position and catch the container, to start the loop again once the operation carried out on the container recently held in the aforementioned receiving station 70 has been completed.

[0113] It is worth noting that the movement technique used in "flat motor" type conveyors allows the shuttles to have more than two degrees of freedom, since a spin movement (to rotate on themselves), inclination with respect to the transit surface on which they levitate, or approaching and moving away from it can also be transmitted to the shuttles.

[0114] In the system 100 of the exemplary machine 1, these other degrees of freedom may be dispensed with if desired and the machine 1 may be operated with a system 100 having a conveyor 10 whose motor units 10a and matching shuttles allow said shuttles to be granted only two degrees of freedom to move in a plane parallel to the transit surface 12, for example, in directions coinciding with the length x and width dimensions y of said transit surface 12 of the exemplary system 100. In particular, in the exemplary system 100, the spin movement may be dispensed with. It is contemplated, however, that a machine according to the invention employs the capabilities provided by certain known “flat motor” type conveyors, for example, to weigh containers supported and transported in suspended mode.Techniques for performing weight measurements of articles transported by shuttles on a “flat motor” type conveyor are described, for example, in patent document WO 2017 / 174286.

[0115] In a variant of a machine according to the invention with work stations that are filling stations, the weight measuring techniques as referred to above are applied, for example, after completion of a filling operation.

[0116] The obtained weight values ​​can be used to trigger actions based on these values.

[0117] For example, in a vahante where several filling operations are performed on a container at different work stations, a deviation from a target weight measured after completion of a filling operation at a first work station is used to control the filling apparatus or means at a second work station following it so that the cumulative weight of product introduced into the containers at the first and second work stations approaches a total target weight.

[0118] In another example, a deviation from a target weight measured after completion of a filling operation at at least one workstation may trigger control of the gripper mechanisms of the gripping means to release a gripped container and promote movement of the associated shuttle or shuttles in a withdrawal leg, preferably without changing orientation, followed by a return leg to initiate a new loop of its trajectory.

[0119] The system 100 of a machine 1 such as the one exemplifying the invention can be operated in other ways. By way of example only, Fig. 4 shows an alternative to the method of moving the shuttles shown in Fig. 3. In this case, the shuttles, also in pairs, describe repeated figure-eight paths that allow alternating sending of pairs of shuttles to one side and the other of the receiving station 70, as occurred in the example shown in Fig. 3, as well as arranging pairs of shuttles sequentially at the aforementioned receiving station 70.

[0120] Another peculiarity of the system 100 of the example machine 1 is shown in Fig. 7.

[0121] The shuttles 11 may have a base, i.e. a plan figure, which is polygonal, regular or irregular, in particular quadrangular, for example, square or rectangular, or have other polygonal shapes defined by a closed broken line or by a combination of straight and curved lines.

[0122] In any case, it is envisaged that the machine system comprises shuttles 11 that are equal but whose respective clamping means 20 are located with respect to the plan view of the associated shuttles in such a way that the order of placement of two equal shuttles, juxtaposed or adjacent one to the other and the clamping means extending in the same direction outside the projection zn, changes the separation distance d, D between their gripper mechanisms 22.

[0123] This feature is understood from the aforementioned Fig. 7. The drawing shows the shuttles of the system 100 of the exemplary machine 1 having an essentially square plan view, specifically showing two identical shuttles 11 , 1 T but placed close together in a different order. It can be noted that the shuttles 11 , 1 T are not symmetrical because the arms 21 , 2 T of the respective holding means 20, 20' are offset to one side of the plane of symmetry of the square plan view.

[0124] In the case of the pair of shuttles 11, 1 T arranged on the left in Fig. 6, the order in which the shuttles 11', 11 are placed entails a distance D between the gripper mechanisms 22 that cannot be reduced, thus creating a barrier for holding and transporting containers 2 with a format with small width dimensions, at least for holding and transporting containers whose width dimensions are such that in order to open them the gripper mechanisms 22', 22 would have to be brought together by a distance less than D.

[0125] In the case of the pair of shuttles 11, 1 T arranged on the right in Fig. 6, the order of placement of the shuttles 11, 1 T entails being able to assume a distance d between gripper mechanisms 22, 22' that complies with the relation d <D, lo que significa que supera la barrera que para la sujeción y transporte de envases 2 de formato con dimensiones en anchura pequeña tenía la colocación de las lanzaderas 11’, 11 del par dispuesto a la izquierda de la Fig. 6. No obstante, la contrapartida es que de usar este orden de colocación para la sujeción y transporte de envases cuya anchura sea tal que para cerrarlos debieran de alejarse los mecanismos de pinza 22, 22’ por ejemplo una distancia D se precisará más extensión de superficie de tránsito 12 en su dimensión de longitud x lo que conlleva mayores unidades de motor o un mayor número de unidades de motor y consecuentemente un incremento en costes de la máquina.

[0126] Depending on the format of the containers to be transported, the optimal order of placement of the shuttles can be chosen. The system, and the machine that incorporates it, thus become highly versatile.

[0127] In fact, nothing prevents combining pairs of shuttles in different placement orders, as shown in Fig. 8.

[0128] Machine T, which in Figs. 9, 11 and 12 exemplifies a second variant of the invention, shares essential characteristics with machine 1 in Fig. 1.

[0129] Although in the system 101 of the machine T of Figs. 9, 11 and 12 the transit surface 12 is also horizontal, in this case it is oriented downwards unlike in the system 100 of the machine 1 of Fig. 1, whose transit surface was oriented upwards.

[0130] The proposal of system 101 of this variant of machine T lies therefore, with respect to system 100, in “inverting” the latter so that the shuttles 11 levitate at a distance from the transit surface 12 but below the transit surface instead of on or above the transit surface, as was the case of system 100 in machine 1.

[0131] For ease of explanation, the parts and components that the T machine with system 101 has in common with the 1 machine with system 100 are designated with the same numerical references in the drawings, specifically in Figs. 9 to 12.

[0132] The particular configuration of system 101, with the transit surface 12 oriented downwards, offers some advantages to machine T with respect to machine 1 with system 100 with the transit surface 12 oriented upwards.

[0133] Firstly, the downward orientation of the transit surface 12 contributes to it not becoming dirty, in particular to the fact that residues and / or foreign elements that could affect the movement of the shuttles 11 cannot accumulate on it.

[0134] Secondly, the motor units 10a required by the conveyor 10 extend above the transit surface and not below it. This leaves more space below the transit surface that is usable for components of the machine T or for parts of the installation to which the system 101 and the machine T belong, space that is not available on a machine 1 with a system 100 whose transit surface 12 of the conveyor 10 faces upwards.

[0135] The machine T exemplifying the second variant of the invention is illustrated equipped with a supply system 30 of containers 2.

[0136] The referred supply system 30 comprises a rotating structure 32 around a rotation axis 33 which is oriented parallel to the transit surface 12. The rotating structure 32 is equipped at its distal end with a container gripping mechanism configured to grasp a container 2' waiting in an accumulation of containers and to deliver the grasped container to the system 101 of the machine T and in particular to the pair of shuttles 11 which will appropriately wait at the receiving station 70 (see Fig. 10).

[0137] In the example, the clamping mechanism comprises a pair of clamp mechanisms 31 capable of holding, each by a lateral edge, the container 2' waiting in an accumulation of containers.

[0138] In the example, the rotating structure 32 must rotate through an angle of 90° to transfer the container 2' from the container accumulation (not shown) to the receiving station 70 of the machine T.

[0139] This turning maneuver is simple, and it is also possible to give the rotating structure 32 a straight shape.

[0140] This same configuration might not be possible if the transit surface 12 were oriented upwards since there would be mechanical interference with the motor groups 10a of the conveyor 10 which would project or extend downwards from said transit surface 12.

[0141] Consequently, if a supply system 30 similar to that which equips machine T in Fig. 9 is to be used in a machine 1 such as that in Fig. 1, the rotating structure 32 would have to adopt shapes other than a straight shape in order to avoid mechanical interference with the motor groups, and a non-straight shape is not compatible with gripper mechanisms 31 integral with the rotating structure and which at the same time adopt the position necessary to grasp containers from the accumulation of waiting containers, substantially oriented horizontally, and to deliver containers to the receiving station, substantially vertical, by simply rotating a rotating structure 90°.

[0142] In other words, if a supply system 30 similar to that equipped with machine T in Fig. 9 is to be used in a machine that uses a system 100, as in the case of machine 1 in Fig. 1 , the option must be either to accumulate the containers outside the vertical projection of the transit surface, thus increasing the total space required by the assembly formed by the machine, supply system and accumulation of containers; or to use more complex supply systems.

[0143] On the other hand, Fig. 10 shows a shuttle 11 suitable or especially suitable for the conveyor 10 of the system 101 of the machine T, with the transit surface 12 facing downwards.

[0144] The shuttle 11 comprises two opposite and parallel flat faces, one of which is an active face 11a facing and interacting magnetically with the transit surface 12 of the conveyor 10 and the other is a support face 11b.

[0145] The conveyor 10 of the system 101 comprises a containment element 40 that spans the transit surface 12 and that extends below and at a distance from the shuttles 11 when they are levitated with respect to the transport surface 12.

[0146] The containment element 40 offers a flat surface 40b which is parallel to the transit surface 12 and on which the shuttles 11 can rest by gravity and by their support face 11b in a state of rest in case there is no magnetic link between said shuttles 11 and the transit surface 12 of the conveyor 10. Advantageously, moreover, the position of the containment element 40 with respect to the transit surface 12 is such that, from the state of rest, the shuttles 11 can automatically adopt a state of levitation if a magnetic link is established between said shuttles 11 and the transit surface 12 of the conveyor 10.

[0147] Thus, the containment element 40 not only prevents an uncontrolled fall of the shuttles 11 when there is no or interrupted magnetic coupling with the transit surface 12 of the conveyor 10, but also allows the shuttles to be magnetically coupled or re-coupled with the transit surface 12 when the magnetic links for this purpose are established or re-established.

[0148] As best shown in Fig. 12, in the machine 1' which exemplifies the second variant of the invention, the containment element 40 is configured as a grid, so as to prevent the accumulation of dirt between the transit surface 12 and the containment element itself. The mesh density of the grid is selected to allow the type of dirt that can be generated in use of the machine T to pass through. The invention conceives that in a system 101 the containment element 40 can move with respect to the transit surface 12, for example, to bring the shuttles 11 closer to, or to move the shuttles 11 until they contact, said transit surface 12 in order to establish or re-establish previously interrupted magnetic links, accidentally or in a controlled manner.

Claims

1. A system (100, 101) for transporting articles along several work stations (70, 71, 72, 73, 74), the system comprising a conveyor (10) with shuttles (11, 11') movable by magnetic levitation relative to a transit surface (12), essentially flat and with a given contour (14), following trajectories predetermined in advance, the shuttles (11) being equipped with holding means (20) for holding, by themselves or in cooperation with the holding means (20) of an adjacent shuttle (11), at least one article, the system (100, 101) being characterized in that - the holding means (20) are configured such that they extend, or are capable of extending, outside the projection zn of their associated shuttle (11), the projection zn being the projection of the shuttle in the direction normal to the transit surface (12) relative to which said shuttles levitate; because - the predetermined trajectories comprise an operational section (T1, T2) along which the clamping means (20) of the shuttles (11) that run along said operational section are arranged outside the projection ZN of the transit surface (12), the projection ZN being the projection in the normal direction to said transit surface (12), enabling the shuttles (11) to transport the articles outside the given contour (14) of the transit surface (12) and by work stations (70, 71, 72, 73, 74) located to operate on the articles transported outside the contour (14) of the transit surface (12). 2.- A system (100, 101) according to claim 1, characterized in that - the fastening means (20) are configured such that, extending outside the projection zn of their associated shuttle (11), they can invade the projection zn of a nearby shuttle (20') without mechanically interfering with said nearby shuttle; and because - the predetermined trajectories comprise a return section (R1, R2) along which the holding means (20') of shuttles (11') that run along said return section without holding an article pass through the projection zn of shuttles (11) that are or run along the operating section (T1, T2). 3.- A system (100, 101) according to claim 2, characterized in that - the transit surface (12) is sized according to the shuttles (11) determining at least one operational zone in which in a width dimension y there is only space for two shuttles and in a length dimension x, orthogonal to the width dimension y, there is space for a plurality of shuttles; because - the operating section (T 1 , T2) is in the direction of the length dimension x of the operating zone and in a first sense x1 ; and because - the return section (R1, R2) is also in the direction of the length dimension x of the operating area, but in a second direction x2, opposite to the first direction x1. 4.- A system (100, 101) according to the preceding claim, characterized in that the predetermined trajectories comprise - a withdrawal section (W1, W2) in the direction of the width dimension and the operational area and in a first direction y1 and - a layout section (Q1, Q2) also in the direction of the width dimension and the operating area, but in a second direction y2, opposite to the first direction y1. 5.- A system (100, 101) according to the preceding claim, characterized in that between the operational sections (T1, T2) and return sections (R1, R2), and vice versa, of the predetermined trajectories the shuttles (11) do not change orientation.

6. A system (100, 101) according to any one of the preceding claims, characterized in that it comprises equal shuttles (11) whose holding means (20) comprise an arm (21) with a proximal end (21a) fixedly or articulately connected to the associated shuttle and with a distal end (21b) which is permanently located, or which can be located in a rotated position of the arm (21), outside the projection zn of the associated shuttle and which is equipped with a clamping mechanism (22) acting between open and closed positions; and in that said arm (21) is located with respect to the plan view of the shuttles (11) such that the order of placement of two equal shuttles juxtaposed adjacent with their arms (21) extending outside the projection zn and parallel to the same side of the same changes the separation distance (d, D) between their gripper mechanisms (22). 7.- A system (100, 101) according to the previous claim, characterized in that the plan view of the identical shuttles (11) is a rectangular view, such as a square view, and in that the arrangement of the arm (21) of the fastening means (20), parallel to two of the sides of the plan view, does not present symmetry with respect to said plan view. 8.- A system (100, 101) according to any one of the preceding claims, characterized in that the transit surface (12) of the conveyor (10) is a horizontal surface. 9.- A system (101) according to the preceding claim, characterized in that the transit surface (12) of the conveyor (10) is oriented downwards, levitating the shuttles (11) below said transit surface (12). 10.- A system (101) according to the preceding claim, characterized in that the shuttles (11) comprise two opposite and parallel flat faces, of which one is an active face (11a) facing and interacting magnetically with the transit surface (12) of the conveyor (10) and the other is a support face (11b);and because the conveyor (10) comprises a containment element (40) that encompasses the transit surface (12) and extends below and at a distance from the shuttles (11) when the shuttles are magnetically coupled and levitate with respect to the transit surface, said containment element (40) offering a flat surface (40b), parallel to the transit surface (12) and on which the shuttles (11) can rest by gravity and by their support face (11b) in a state of rest in case there is no magnetic link between said shuttles and the transit surface (12) of the conveyor (10) and from which state of rest the shuttles (11) can adopt a state of levitation if a magnetic link is established between said shuttles and the transit surface (12) of the conveyor (10).; 11.- A system (101) according to the preceding claim, characterized in that the containment element (40) is configured as a grid. 12.- A system (101) according to claims 10 or 11, characterized in that the containment element (40) is movable to approach or move away from the transit surface (12).

13. A machine (1, 1') for packaging products in packages (2), having a system (100, 101) according to any one of the preceding claims, the holding means (20) of whose shuttles (11) are configured to grip by their sides, by themselves or in cooperation with the holding means (20) of an adjacent shuttle (11), at least one package; and several work stations (70, 71, 72, 73, 74), located to operate on the packages (2) gripped and transported in suspended mode outside the contour (14) of the transit surface (12) when the shuttles run along the operating section (T1, T2).

14. A machine (1 , T) according to claim 13, characterized in that the transit surface (12) of the system (100, 101) comprises a contour along which, on the outer side, several work stations are located, preferably in alignment, comprising a reception station (70) for containers (2), which can be capable of performing a first operation on the received containers, at least one first work station (71, 73) on a first side of the reception station (70) and capable of performing a second operation on the container or containers transported and placed within its reach, at least one second work station (72, 74) on a second side of the reception station (70) and capable of performing a third operation on the container or containers transported and placed within its reach, where said second and third operations can be equal; and because the system conveyor (100, 101) is capable of printing trajectories to the shuttles (11) so that one by one, or in pairs, in a sequence they start from the reception station (70) beginning their operational section but altering their direction of movement, in order to transport the containers received at the reception station (70) each time to a different side of the aforementioned reception station (70). 15.- A machine (1, T) according to claim 13 or 14, characterized in that at least one work station (73, 74) on each side of the receiving station (70) is a work station capable of closing the transported container. 16.- A method for moving shuttles (11) on a conveyor (10) with mobile shuttles (11) by magnetic levitation with respect to a transit surface (12), essentially flat and with a given contour (14), the shuttles (11) being equipped with holding or supporting means (20) for holding or supporting by themselves or in cooperation with the holding or supporting means (20') of an adjacent shuttle (11'), at least one article in suspended mode, the method comprising printing on the shuttles trajectories comprising sections in which the holding or supporting means (20) are arranged outside the projection ZN of the transit surface (12), the projection ZN being the projection in the normal direction to said transit surface (12), enabling the shuttles (11) to transport the articles in suspended mode outside the given contour (14) of the transit surface (12). 17.- A method according to claim 16, characterized in that it comprises printing on the shuttles (11) trajectories comprising sections in which the fastening means (20) or support invade the projection zn of nearby shuttles, the projection zn being the projection of the shuttle in the normal direction to the transit surface (12) with respect to which the shuttles of the conveyor (10) levitate.

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