Method and device for transporting objects

Abstract

The invention relates to, inter alia, a method for transporting objects (12). The method comprises successively transporting the objects (12) from an inlet region (24) to an outlet region (26) by means of a plurality of movement devices (28). The movement devices (28) can be moved independently of one another and can be individually magnetically driven, preferably by means of a long-stator linear motor drive system, a short-stator linear motor drive system or a planar motor drive system. During transport, the plurality of movement devices (28) move along a circulating path (32) which connects the inlet region (24) and the outlet region (26). During transport, at least one movement device (28) carries out an empty run in which, during movement from the inlet region (24) to the outlet region (26), no object (12) is transported by means of the respective movement device (28).

Description

[0001] DESCRIPTION

[0002] Method and device for transporting objects

[0003] Technical field

[0004] The invention relates to a method and a device for transporting objects, preferably containers. The objects are transported from an inlet area to an outlet area by means of several moving devices that are independently movable and individually driveable.

[0005] Technical background

[0006] Flexible transport systems are increasingly being used in industrial and production facilities, such as container handling plants. One example of such a transport system is a long-stator linear motor conveyor (conveyor) that can transport objects using independently movable and individually driven motion devices (shuttles / mover).

[0007] Such a conveyor can, for example, function as a flexible machine infeed. The objects to be transported, in any desired order, are picked up by the conveyor in a synchronized manner and delivered to the machine according to the required spacing. The immediate positioning areas of the infeed and the outfeed can represent two zones in which the moving devices perform synchronous movement with the objects at the infeed and with the receiving transport elements (e.g., clamps or grippers) at the outfeed. Collisions between the moving devices must be avoided. Furthermore, the synchronous movement must not be obstructed by a preceding moving device. Therefore, an intelligent distribution of the moving devices is required.

[0008] Previous approaches primarily involve a so-called "cluster formation" of the moving devices on both sides at the inlet and outlet. This means that the moving devices line up (in a queue-like fashion) in front of the inlet and outlet areas. This ensures that the synchronous movements can be executed without collisions. The inherent stability of the clustered distribution of the moving devices arises from a simple logic: an object is picked up and an object is ejected. A disadvantage of this approach of bilateral "cluster formation" is that a desired cluster or queue can lead to extreme moving device dynamics (strong deceleration behind the synchronization zones, strong acceleration for synchronization with relatively short compensation distances). The moving devices within the cluster also constantly shift jerkily.This unfavorable dynamic behavior leads to extreme loads on the electromagnets or, more generally, on the drives, especially due to the close spacing of the moving devices in the group as well as the high dynamics of the moving devices.

[0009] The invention is based on the objective of creating an improved technology for transporting objects. Preferably, the loads on the drives when transporting objects using several of the aforementioned motion devices, preferably a conveyor, are to be reduced. Particularly preferably, a new logic or control approach is to be developed for this purpose.

[0010] Summary of the invention

[0011] The problem is solved by the features of the independent claims. Advantageous further developments are specified in the dependent claims and the description.

[0012] One aspect of the present disclosure relates to a method for transporting objects, preferably containers. The method involves the sequential transport of the objects from an inlet area of ​​an (e.g., intermediate) conveyor to an outlet area of ​​the conveyor by means of several conveyor motion devices that are independently movable and individually (e.g., electro-)magnetically driven, preferably by means of a long-stator linear motor drive system, a short-stator linear motor drive system, or a planar motor drive system. During transport, the several motion devices move along a circumferential (e.g., circular) path (e.g., physical guide track or virtual path) that connects the inlet area and the outlet area.During transport, at least one of the multiple moving devices performs a (desired / control-system-defined) empty run, during which no object is transported by the respective moving device while moving from the infeed to the outfeed area. This preferably serves to reduce or prevent moving device congestion (moving device clusters / moving device stop-and-go) along the path (e.g., before the infeed and / or before the outfeed area). Advantageously, the method enables the prevention or at least reduction of cluster formation by performing empty runs, so that, for example, even with comparatively irregularly arriving objects, cluster formation is not inevitable.Reducing the formation of traffic jams lowers the drive loads required to power the moving devices, as the positive and negative accelerations of multiple moving devices caused by traffic jams can be significantly reduced. Thus, despite the additional drive power required for the empty run, an overall reduction in drive load can be achieved, particularly in the sections immediately before the entry and exit points. This advantageously relieves the conventionally limiting system constraint of "segment load" or, more generally, the drive load, resulting in significantly higher machine performance. This approach also improves the energy balance of the drive system for the moving devices (power consumption / required cooling capacity).

[0013] Advantageous features of this method include, for example, the distribution of the moving devices based on the infeed to outfeed capacity, and the ability to manage any infeed situation (taking into account any system limitations, such as minimum object distances). The method can enable an optimized, as homogeneous as possible distribution of the moving devices and largely eliminate the conventional "stop and go" behavior.

[0014] Advantageously, a demand-oriented motion device dynamic can be achieved, for example, through long compensation distances and by specifically controlling gaps at the run-out.

[0015] Preferably, the motion devices can optionally transport an object or perform an empty run for each revolution of the track, e.g. depending on at least one characteristic parameter as disclosed herein.

[0016] Preferably, the objects in the inlet area can be taken over by an inlet conveyor, whereby a respective movement device can synchronize itself to the object to be taken over.

[0017] Preferably, the objects in the discharge area can be transferred to a discharge conveyor, whereby a respective motion device can synchronize with a receiving transport element of the discharge conveyor. Preferably, the movement of the transport elements can be controlled by a processing unit.

[0018] In one embodiment, the track comprises a transport track section extending from the inlet area to the outlet area and a return track section extending from the outlet area to the inlet area, and the at least one motion device performs the empty run such that: a number of the multiple motion devices located in the transport track section and a number of the multiple motion devices located in the return track section are substantially the same (e.g., ± 1, ± 2, ± 3, or ± 10%); and / or a number of the multiple motion devices located in the transport track section is kept substantially the same (e.g., ± 1, ± 2, ± 3, or ± 10%); and / or a number of the multiple motion devices located in the return track section is kept substantially the same (e.g., ± 1, ± 2, ± 3, or ± 10%).

[0019] It is also possible that, depending on the container inlet situation, the distribution of the moving devices between the transport track section and the return track section is (temporarily) very strongly shifted, e.g. very few moving devices in the transport track section and a very large number of moving devices in the return track section.

[0020] In another embodiment, the at least one motion device performs the empty run, thus preventing or at least reducing the formation of a traffic jam before the infeed area and / or ensuring that the multiple motion devices are distributed substantially evenly or more evenly along the track. In other words, the empty run can clear the return track section.

[0021] In one embodiment, the at least one motion device performs the idle movement based on at least one (e.g., actual or standardized) parameter, preferably the (e.g., actual or standardized) distance between two adjacent objects, or the inflow of objects to the inflow area. Advantageously, this allows the idle movements to be pre-controlled, meaning that, depending on the inflow flow, it can be planned when an idle movement becomes necessary to prevent clumping or to achieve the most homogeneous distribution possible among the motion devices. This prevents a delayed reaction when the object is to be transferred to the motion device, as this could lead to significant deviations from the desired homogeneous distribution.In a further embodiment, the method also includes transporting the incoming stream of objects to the infeed area by means of an infeed conveyor, wherein the objects are preferably transported at least partially different and / or random distances from one another. The method can optionally also include detecting the objects in the incoming stream by means of a sensor device and determining at least one actual parameter (e.g., by means of a processing unit), preferably the actual object distance between two adjacent objects, depending on the detection of the objects. Advantageously, the desired actual parameters can thus be reliably determined within the desired time window before the actual transfer of the respective objects by the moving devices.

[0022] Preferably, the inlet conveyor can be a linear conveyor (e.g., a belt, plate, mat or chain conveyor), be single-track and / or transport the objects in a row one after the other.

[0023] In one embodiment, the sensor device comprises a sensor, preferably a signal barrier, and particularly preferably a photoelectric barrier or an ultrasonic sensor, which preferably detects the objects transported by the infeed conveyor at a position upstream of the infeed area, the distance of which to the infeed area is preferably greater than the length of the path from the infeed area to the outfeed area. Advantageously, the large distance between the sensor and the infeed area allows for pre-control or planning of the empty runs in order to prevent clumping, as already explained, or to achieve the most homogeneous distribution of the moving devices possible.

[0024] Preferably, the actual parameters can be determined depending on a signal output from the sensor.

[0025] In a further embodiment, the sensor device includes an additional sensor, preferably a signal barrier, and more preferably a photoelectric barrier or an ultrasonic sensor, which detects the objects transported by the infeed conveyor at a further position upstream of the infeed area, between the position detected by the sensor and the infeed area, preferably directly adjacent to the infeed area. Advantageously, the additional sensor allows object positions initially determined, for example, by means of the sensor, to be corrected or determined even more precisely even if the objects subsequently shift. This advantageously improves the synchronization of the motion devices with the objects in the infeed area.Preferably, the objects in the inlet area can be taken over by the inlet conveyor, whereby a respective movement device synchronizes itself to the object to be taken over depending on a signal output of the (further) sensor.

[0026] In a further embodiment, the at least one motion device performs the idle run when an actual object distance (e.g., determined by the sensor) reaches or exceeds a predetermined limit value, preferably at least twice a predetermined nominal object distance. Advantageously, this allows, for example, if several excessively large object distances occur between successive objects in the incoming stream, corresponding idle runs can be performed, thereby advantageously preventing or at least reducing the formation of a clump in the incoming area.

[0027] In one embodiment, the method further comprises transporting a discharge stream of objects away from the discharge area by means of several moving transport elements, preferably object holders, of a discharge conveyor, wherein the several moving transport elements are arranged at a predetermined fixed (splitting) distance from one another. Preferably, the discharge conveyor is a rotary conveyor, and / or the discharge conveyor is part of an object handling device for treating, preferably filling, sealing, or labeling, the objects.

[0028] In a further embodiment, the method also includes creating a gap in the outflow stream by omitting an object transfer to the respective transport element, depending on at least one actual parameter (e.g., determined by the sensor), preferably the actual object distances between two adjacent objects, an inflow stream of objects to the inflow area, and at least one predetermined parameter (e.g., a target parameter, preferably a target object distance between two adjacent objects in the inflow stream). Advantageously, this technique can save on the number of trips made by moving devices and can advantageously counteract the formation of clumps.

[0029] Preferably, the actual parameter should be the same actual parameter that was considered during the empty run. It is also possible to consider a different actual parameter.

[0030] In one embodiment, the gap is created when the accumulated deviations of actual object distances (determined, e.g., by means of the sensor) between any two adjacent objects in the inflow stream of objects and a predetermined target object distance (e.g., actual or normalized by means of a nominal object distance) reach or exceed a predetermined limit value, preferably at least twice a predetermined nominal object distance or a quantity derived therefrom.

[0031] In another implementation variant, the execution of the empty travel of a respective motion device is modeled in the control system as the transport of a simulated object by means of the respective motion device from the inlet area to the outlet area. Advantageously, this eliminates the need for complex control system implementations of the empty travel.

[0032] It is possible for the conveyor to initially achieve the desired, as homogeneous as possible, distribution of the moving devices by lining up all of them. If this initial system start is preferably performed using purely simulated objects, this can advantageously support the reproducibility of the initial setup.

[0033] Another aspect of the present disclosure relates to a device for transporting objects, preferably containers. The device comprises a conveyor with several motion devices for transporting the objects. The several motion devices are independently movable and individually (e.g., electro-)magnetically driven, preferably by means of a long-stator linear motor drive system, a short-stator linear motor drive system, or a planar motor drive system of the device. The device further comprises a processing unit configured to operate the several motion devices for the successive transport of the objects from an inlet area of ​​the conveyor to an outlet area of ​​the conveyor, wherein during transport: the several motion devices move along a circumferential (e.g.,(Circular) track connecting the inlet area and the outlet area; and at least one of the moving devices of the several moving devices performs an empty run in which no object is transported by means of the respective moving device when moving from the inlet area to the outlet area, preferably to reduce or prevent moving device congestion along the track.

[0034] The device offers the same advantages as those already described with reference to the method.

[0035] In principle, the device can utilize any feature described herein with reference to the method, and vice versa. In one embodiment, the conveyor and the processing unit are configured to perform a method as disclosed herein. Preferably, the processing unit can be configured to operate the multiple motion devices according to a method as disclosed herein.

[0036] In another embodiment, the device has an inlet conveyor which is arranged to transport an inlet stream of objects to the inlet area.

[0037] In one embodiment, the device has a discharge conveyor which has several movable transport elements, preferably object holders, for transporting the discharge stream of objects away from the discharge area, wherein the several movable transport elements are arranged at a predetermined fixed (dividing) distance to each other.

[0038] In a further embodiment, the device comprises a sensor device arranged for detecting the objects of an inflow stream of objects to the inflow area, preferably with: a sensor, preferably a signal barrier, particularly preferably a light barrier or an ultrasonic sensor, which is arranged for detecting the objects upstream of the inflow area at a position whose distance to the inflow area is greater than the length of the path from the inflow area to the outlet area; and / or a (e.g., further) sensor, preferably a signal barrier, particularly preferably a light barrier or an ultrasonic sensor, which is arranged for detecting the objects downstream of the sensor and upstream of the inflow area, preferably directly adjacent to the inflow area.

[0039] Another aspect of the present disclosure relates to a container treatment plant (e.g., for tempering, manufacturing, cleaning, coating, testing, filling, closing, pasteurizing, labeling, printing, marking, laser marking, and / or packaging containers for liquid or pasty media, preferably beverages, liquid food products, or products from the pharmaceutical or healthcare industries). The container treatment plant may include the device as disclosed herein.

[0040] For example, the containers can be bottles, cans, canisters, cartons, vials, tubes, etc. Preferably, the term "processing device" can refer to electronics (e.g., implemented as a driver circuit or with microprocessor(s) and data storage) that, depending on its design, can perform control tasks, regulation tasks, and / or processing tasks. Although the term "control" is used here, it can also appropriately encompass or refer to "regulation" or "feedback control" and / or "processing."

[0041] The previously described preferred embodiments and features of the invention can be combined with one another in any way.

[0042] Brief description of the character

[0043] Further details and advantages of the invention are described below with reference to the accompanying drawing. It shows:

[0044] Figure 1 shows a schematic representation of a method and a device for transporting objects according to an embodiment of the present disclosure.

[0045] Detailed description of exemplary embodiments

[0046] Figure 1 shows a device 10 for transporting objects 12. Preferably, the objects 12 are designed as individual containers or container sets. Particularly preferably, the device 10 is integrated into a container handling system.

[0047] The device 10 comprises a (e.g., intermediate) conveyor (carrier) 22 with several motion devices 28 (only partially provided with their own reference numeral in Figure 1) and a processing unit 42. Optionally, the device 10 may also include, for example, an inlet conveyor 14, a sensor device 16, and / or an outlet conveyor 38.

[0048] The inlet conveyor 14 can transport the objects 12 to the conveyor 22.

[0049] The infeed conveyor 14 can transport the objects 12 preferably in an upright position and / or support them at ground level. For example, the infeed conveyor 14 can be a belt, plate, mat, or chain conveyor. Preferably, the infeed conveyor 14 can be a linear conveyor.

[0050] Preferably, the inlet conveyor 14 can transport the objects 12 in a row one after the other.

[0051] The infeed conveyor 14 is preferably single-lane. Specifically, the infeed conveyor 14 can transport an infeed stream of objects 12 to an infeed area 24 of the conveyor 22. In the infeed stream, the objects 12 can be positioned at at least partially different and / or random distances from one another.

[0052] The sensor device 16 can detect the objects 12 in the infeed stream. Preferably, the sensor device 16 can detect when a particular object 12 passes a specific position along the infeed conveyor 14. However, it is also possible for the sensor device 16 to, for example, directly detect the current positions of the objects 12 or directly detect spatial and / or temporal distances between the objects 12.

[0053] For example, the sensor device 16 can include a sensor 18 and / or a (further) sensor 20. The sensor 18 and / or the sensor 20 can preferably be arranged laterally next to or directly above the inlet conveyor 14.

[0054] Sensor 18 and / or sensor 20 is preferably configured as a signal barrier. For example, sensor 18 and / or 20 can be configured as a photoelectric sensor or an ultrasonic sensor. Sensor 18 and / or 20 can be oriented, for example, such that the respective signal barrier is perpendicular to the transport direction of the infeed conveyor 14. When an object 12 transported by the infeed conveyor 14 passes sensor 18 and / or 20, the respective signal barrier can be interrupted. However, it is also possible for sensor 18 and / or 20 to, for example, include a camera or use another, preferably non-contact, measuring principle to detect the objects 12 transported by the infeed conveyor 14.

[0055] Preferably, sensor 18 can detect the objects 12 of the inlet stream further away or further (object-)upstream from the inlet area 24 than sensor 20. For example, the distance of sensor 18 to the inlet area 24 of the conveyor 22 can be greater than the distance of sensor 20 to the inlet area 24 of the conveyor 22.

[0056] A signal output from the sensor device 16 (of the sensor 18 and / or the sensor 20) regarding the detected objects 12 can be received by the processing unit 42.

[0057] The conveyor 22 transports the objects 12 from its inlet area 24 to its outlet area 26. In the inlet area 24, the conveyor 22 can take over the objects 12 from the inlet conveyor 14. In the outlet area 26, the conveyor 22 can transfer the objects 12 to the outlet conveyor 38. The conveyor 22 has the motion devices 28 for transporting the objects 12. The motion devices 28 can also be referred to as movers or shuttles. Preferably, the objects 12 can each be transported individually by one of the motion devices 28.

[0058] For example, the movement devices 28 can each have a support plate on which an object 12 can stand upright. Alternatively or additionally, the movement devices 28 can have a clamp or gripper that can hold an object 12 by its body, neck and / or neck ring.

[0059] The motion devices 28 are independently movable and individually magnetically driven. Particularly preferably, the motion devices 28 can be driven by electromagnetic interaction with a stator 30. For example, the motion devices 28 can be driven by a long-stator linear motor drive system, a short-stator linear motor drive system, or a planar motor drive system of the device 10.

[0060] For example, Figure 1 schematically illustrates that the conveyor 22 is designed as a long-stator linear motor conveyor. The motion devices 28 and the stator 30 can together form a long-stator linear motor drive system. The stator 30 can be designed as a stationary long stator with electromagnets for effecting movement or driving the motion devices 28, which are equipped with permanent magnets. The long stator can be formed from several long stator segments arranged side by side, as schematically shown in Figure 1.

[0061] However, it is also possible, for example, that the conveyor 22 is a short stator linear motor conveyor or a planar motor conveyor.

[0062] In the short-stator linear motor conveyor, the motion devices 28 and a stator can together form a short-stator linear motor drive system (not shown in Figure 1). The motion devices 28 can have a short stator formed by electromagnets, which can interact magnetically with stationary permanent magnets to drive the respective motion device 28.

[0063] The planar motor conveyor can move the motion devices 28 with at least two degrees of freedom (x-direction and y-direction) via a preferably planar drive surface of a stator by means of magnetic interaction with the stator (not shown in Figure 1). The motion device 28 and the stator can together form a planar motor drive system. The stator can also be referred to as a platform or base element. It is also possible that a lifting movement (z-direction) and / or a tilting movement of the motion device 28 relative to the stator / base element can additionally be controlled by means of the magnetic interaction. The base element can preferably be segmented into tiles. Preferably, the drive surface can be oriented horizontally or vertically. The stator can be formed, for example, by movable, e.g., rotatable, permanent magnets or by stationary electromagnets. The motion devices 28 preferably have permanent magnets.

[0064] The motion devices 28 are movable along a closed / circular path 32. Preferably, the path 32 is a circular path. Other path configurations are also possible.

[0065] The track 32 can, for example, be a physical guideway, such as when the motion devices 28 are driven by the long-stator linear motor drive system or the short-stator linear motor drive system. The guideway can be, for example, a raceway or a slide. Each motion device 28 can, for instance, have at least one guide element that is (physically) guided on the guideway. This guide element can be, for example, a roller or a sliding shoe. It is possible that the motion devices 28 are supported on the guideway by means of the respective guide element(s). However, it is also possible that the conveyor 22 does not have a guideway, for example, if the conveyor 22 is designed as a planar motor conveyor.

[0066] Alternatively, path 32 can be, for example, a virtual path. The virtual path can specify a movement path for the motion devices 28. The motion devices 28 can follow path 32. For example, the processing unit 42 can operate the motion devices 28 so that they move along path 32.

[0067] Lane 32 connects the entry area 24 and the exit area 26.

[0068] In the infeed area 24, the moving devices 28 can successively take over the objects 12 from the infeed conveyor 14. Preferably, the moving devices 28 can each move at a speed corresponding to the speed of the object 12 being taken over (= conveying speed of the infeed conveyor 14). In the outfeed area 26, the moving devices 28 can successively transfer the transported objects 12 to the outfeed conveyor 38. Preferably, the moving devices 28 can each move at a speed corresponding to the conveying speed of the outfeed conveyor 38 or of a respective transport element 40 of the outfeed conveyor 38.

[0069] Preferably, track 32 can have a transport track section 34 and a return track section 36.

[0070] The transport track section 34 can begin at the inlet area 24 and end at the outlet area 26. The moving devices 28 can move within the transport track section 34 from the inlet area 24 to the outlet area 26.

[0071] The return path section 36 can begin at the discharge area 26 and end at the inlet area 24. The moving devices 28 can move in the return path section 36 from the discharge area 26 back to the inlet area 24. The moving devices 28 can, so to speak, be guided in the return path section 36 from the discharge area 26 back to the inlet area 24.

[0072] Preferably, the transport track section 34 and the return track section 36 can together form track 32. Preferably, sections 34 and 36 adjoin each other on one side in the inlet area 24 and on the other side in the outlet area 26.

[0073] For example, the transport track section 34 can be ring-segment shaped, and / or the return track section 36 can be ring-segment shaped. Preferably, the two ring-segment shaped sections 34 and 36 together form a ring shape for the track 32.

[0074] The sensor 18 can preferably detect the objects 12 at a position whose distance to the inlet area 24 is greater than one track length of the track 32 from the inlet area 24 to the outlet area 26, or than one track length of the transport track section 34. The further sensor 20 can preferably detect the objects 12 at a further position that is closer to the inlet area 24. Preferably, the further sensor 20 can detect the objects 12 directly adjacent to the inlet area 24.

[0075] The discharge conveyor 38 can transport the objects 12 away from the conveyor 22. Preferably, the discharge conveyor 38 can take over the objects 12 in the discharge area 26 of the conveyor 22 and transport them away. The discharge conveyor 38 can have several transport elements 40, of which only some are labeled with their own reference numerals in Figure 1. The objects 12 can be transported by means of the transport elements 40. Specifically, the transport elements 40 can successively transport the discharge stream of objects 12 from the discharge area 26 of the conveyor 22 away.

[0076] The transport elements 40 can, for example, be designed as object holders, preferably container holders. Preferably, each transport element 40 can have a support plate on which an object 12 can stand upright. Alternatively or additionally, the transport elements 40 can, for example, have a clamp or gripper that can hold an object 12 by its body, neck, and / or neck ring.

[0077] The transport elements 40 are movable for transporting the objects 12. The discharge conveyor 38 is preferably designed as a rotary conveyor. The transport elements 40 can be moved along a circular path (partial circle) of the rotary conveyor to transport the objects 12.

[0078] It is preferred that the discharge conveyor 38 itself is part of an object handling device for handling the objects 12. For example, the object handling device can fill, seal, or label the objects 12, which are preferably designed as containers, while transporting the objects 12 by means of the transport elements 40.

[0079] For example, the object handling device can be configured as a filling device for filling the objects 12. The filling device can include the discharge conveyor 38. The filling device can fill the objects (e.g., containers) 12, preferably with a liquid or pasty medium. The filling device is preferably designed as a rotary filling device. The filling device can have several filling valves for simultaneously or overlappingly filling several objects 12. For example, the filling valves can be arranged around the circumference of a filling carousel of the rotary filling device.

[0080] Alternatively, the object handling device can, for example, be a sealing device for sealing the objects 12. The sealing device can include the discharge conveyor 38. The sealing device can seal the objects (e.g., containers) 12, for example, with a lid, a cork, a crown cap, or a screw cap. The sealing device can preferably be designed as a rotary sealing device. The sealing device can have several sealing stations for sealing several objects 12 simultaneously or overlapping in time. For example, the sealing stations can be arranged around the circumference of a sealing carousel of the rotary sealing device.

[0081] Alternatively, the object handling device can, for example, be a labeling device for labeling the objects 12. The labeling device can include the discharge conveyor 38. The labeling device can label the objects (e.g., containers) 12, for example, with self-adhesive labels, cold glue labels, or roll labels. The labeling device can preferably be designed as a rotary labeling device. In the labeling device, the transport elements 40 can, for example, be designed as rotatable object holders (e.g., object turntables) for the objects, which are arranged around the circumference of a labeling carousel of the rotary labeling device. The transport elements 40 with the objects 12 held therein or on them can be moved past at least one labeling unit of the labeling device. The at least one labeling unit can, for example, be abe located on a periphery of the rotary labeling device.

[0082] Preferably, adjacent transport elements 40 are arranged at a predetermined fixed (split) distance d_a from one another. The distance d_a can, for example, extend from the center point of one transport element 40 to the center point of a directly adjacent transport element 40, as illustrated in Figure 1. The distance d_a can, for example, be measured along a ring-segment-shaped section of a partial circle of the discharge conveyor 38.

[0083] The processing unit 42 is configured to operate the motion devices 28 as desired and described below.

[0084] During operation, the moving devices 28 successively transport the objects 12 from the inlet area 24 along the transport track section 34 to the outlet area 26. After the transfer of each transported object 12, the respective moving device 28 moves from the outlet area 26 along the return track section 36 to the inlet area 24.

[0085] A special feature is that the moving devices 28 can partially perform an empty run (a run without transporting objects) from the inlet area 24 to the outlet area 26, even during the transport operation of the conveyor 22. In other words, while the objects 12 are being transported from the inlet area 24 to the outlet area 26 by means of the moving devices 28, at least one of the moving devices 28 performs an empty run from the inlet area 24 along the transport track section 34 to the outlet area 26. During this empty run of the respective moving device 28, no object 12 is transported from the inlet area 24 to the outlet area 26. This preferably prevents or at least reduces moving device congestion (movement device clusters / stop-and-go situations for the moving devices 28) along the track 32.

[0086] It is understood that not always the same moving devices 28 perform (or have to perform) the empty runs. Instead, the moving devices 28 can, for each revolution of the track 32, either transport an object 12 or perform an empty run, e.g., depending on different parameters, as will be explained in detail below.

[0087] For example, the at least one empty run can be carried out such that a first number of the multiple motion devices 28, which are in the transport track section 34, and a second number of the multiple motion devices 28, which are in the return track section 36, are substantially the same and / or are each kept substantially equal. For example, the first number can be ± 1, ± 2, ± 3 equal to the second number, or the first number can be ± 10% of the second number.

[0088] For example, at least one empty run can be carried out in such a way as to prevent or at least reduce the formation of traffic jams along track 32 in front of the exit area 26 and / or in front of the entry area 24.

[0089] For example, at least one empty run can be carried out in such a way that the several moving devices 28 are distributed essentially evenly over the track 32.

[0090] Particularly preferably, at least one empty run can be carried out depending on at least one actual characteristic parameter (e.g. actual object distances to each other) of the inlet flow of the objects 12, which is transported by the inlet conveyor 14.

[0091] The at least one actual characteristic value is preferably determined by means of the processing device 42 depending on the signal output of the sensor device 16, particularly preferably of the sensor 18.

[0092] The at least one actual parameter can be, for example, actual object distances d_e(i) of successive objects 12 of the inlet stream to each other, as schematically shown in Figure 1 for six actual object distances d_el to d_e6 for seven successive objects 12.

[0093] Preferably, a run-through is performed when an actual object distance d_e(i) (e.g. determined by the sensor) reaches or exceeds a predetermined limit, e.g. at least 2*nominal object distance, as described below by way of example.

[0094] The actual object distances d_e(i) can be determined, for example, from trigger signals of the sensor 18, taking into account, for example, a current conveying speed of the inlet conveyor 14 and / or a known (stored) or recorded dimensioning (e.g., diameter or radius) of the objects 12.

[0095] Preferably, the actual object distances d_e(i) are spatial distance values. However, it is also possible, for example, that the actual object distances d_e(i) are temporal distance values.

[0096] The actual object distances d_e(i) can be specified, for example, with a unit of measurement such as mm or s. However, it is preferred that the actual object distances d_e(i) are each normalized to a nominal / defined object distance (at the inlet). For example, an actual object distance might be 110 mm and the nominal object distance might be 100 mm. The normalized actual object distance is then 1.1 (= 110 mm / 100 mm). The nominal object distance preferably corresponds essentially to the predetermined fixed distance d_a of the outlet conveyor 38. In practice, however, the nominal object distance will typically deviate from the predetermined fixed distance d_a.

[0097] Another special feature of the technology described here is that the conveyor 22 can be operated in such a way that gaps can be created in the discharge flow at the discharge conveyor 38, as described below.

[0098] Preferably, for each determined (actual or normalized) actual object distance d_e(i), a deviation from a (actual or normalized) target object distance (e.g., 100 mm) can be determined successively. The normalized target object distance can be derived from the actual target object distance normalized using the nominal object distance (e.g., 100 mm). For example, this can allow the normalized values ​​of the actual object distance d_e(i) and the target object distance to be compared. The normalized target object distance can, for example, be 1 (e.g., d_e = 100 mm / 100 mm). The actual target object distance can, for example, essentially correspond to the predetermined fixed distance d_a of the discharge conveyor 38 (e.g., d_a = 100 mm). In practice, however, the actual target object distance will typically deviate from the predetermined fixed distance d_a.

[0099] As a purely exemplary example, a (normalized) deviation of 0.3 can be determined for the first actual object distance d_el, a (normalized) deviation of 0.4 for the second actual object distance d_e2, and a (normalized) deviation of -0.1 for the third actual object distance d_e3.

[0100] The determined deviations can then be continuously summed, e.g., starting at 0 or starting at 1. As soon as the sum reaches or exceeds a limit, a gap can be introduced into the discharge flow at the discharge conveyor 38. The limit can be, for example, 1 (e.g., if the summation started at 0). The limit can be, for example, 2 (e.g., if the summation started at 1). Introducing a gap in the discharge flow or at the discharge conveyor 38 is achieved, for example, by not transferring an object 12 to one of the transport elements 40. This transport element 40 is, in effect, skipped by the movement devices 28 or not supplied with an object 12. This creates a defined gap in the discharge flow of objects 12. Once a gap has been introduced into the discharge flow, the current sum can be reduced by 1 again.

[0101] The logic described above for introducing a gap in the outflow flow is described again in other words below to improve understanding.

[0102] The approach is based on a rough cycle ratio, whereby the distribution of the motion devices 28 is determined via the object infeed capacity at the infeed conveyor 14 to the object outfeed capacity at the outfeed conveyor 38.

[0103] It can be assumed that a nominal object spacing of the objects 12 in the infeed stream is normalized to a so-called coarse rate. A coarse rate at the infeed conveyor 14 can, for example, essentially correspond to or deviate from a pitch spacing d_a at the outfeed conveyor 38. Extended object spacings at the infeed conveyor 14 can be expressed in coarse rates (for example, 1.1; 1.2 up to 1.99999, since a gap is introduced from twice the object spacing). If the coarse rate infeed rate corresponds to the coarse rate outfeed rate, a stable and uniform distribution of the moving devices 28 results.

[0104] If, due to differing actual object distances at the inlet conveyor 14, the calculated rough cycle ratio shifts (corresponding to a performance difference), this is corrected by selectively controlling the gap in the discharge flow. A gap in the discharge flow, in turn, reduces the calculated rough cycle ratio by 1.

[0105] For example, several objects 12, each with a pitch spacing d_a of 1.1 times the actual pitch, enter the infeed conveyor 14. It is understandable that after ten objects 12, the calculated rough cycle ratio increased by 1.0 (change = ((actual container spacing / nominal pitch spacing) - 1). If each moving device 28 had delivered its object 12 directly to the outlet without gaps, the distribution of the moving devices 28 would have shifted by one rough cycle. Therefore, for a stable distribution of the moving devices 28, there is a limit value regarding the rough cycle ratio, which defines when a gap at the outlet must be introduced.

[0106] Gaps in the outflow of objects 12 (or empty runs of the transport elements 40) can thus arise in principle in two ways. The "natural" gap occurs if the next possible transport element 40 is no longer reachable while adhering to the specified motion device dynamic limits. In this case, the current total (see explanations above) can also be reduced by 1. The "explicitly requested" gap occurs when the aforementioned limit is exceeded. As mentioned, the current total (see explanations above) can then be reduced by 1. On the other hand, for example, performing an empty run of one of the motion devices 12 cannot have any effect on the current total.

[0107] It is possible that there is a control logic stored in the processing unit to prevent duplicate gaps.

[0108] Particularly preferably, the execution of the empty run of a respective motion device 28 can be represented in the control system as the transport of a simulated (virtual) object 12* by means of the respective motion device 28 from the inlet area 24 to the outlet area 26. The position of the simulated object 12* in the inlet stream of objects 12 can preferably be set such that the simulated object 12* is positioned at the nominal object distance to the last object 12 considered (= the object 12 whose actual object distance led to reaching or exceeding the limit value) in the inlet stream.

[0109] The above explanation regarding the determination of when to introduce a gap into the discharge flow was illustrated using the actual object distances d_e(i) as actual parameters and the target object distance as the target parameter. It is understood that – depending on the application – additional or alternative actual and target parameters can be used, such as actual object infeed rate, actual number of objects in the infeed flow, actual conveying speed of the infeed conveyor 14, target object outfeed rate, target number of objects in the discharge flow, and / or target conveying speed of the discharge conveyor 38. The invention is not limited to the preferred embodiments described above. Rather, a multitude of variants and modifications are possible that also utilize the inventive concept and therefore fall within the scope of protection.In particular, the invention also claims protection for the subject matter and features of the dependent claims independently of the referenced claims. Specifically, the individual features of independent claim 1 are each disclosed independently of one another. Additionally, the features of the dependent claims are also disclosed independently of all features of independent claim 1. All range specifications herein are to be understood as disclosed in such a way that all values ​​falling within the respective range are disclosed individually, e.g., also as preferred narrower outer limits of the respective range.

[0110] Reference symbol list

[0111] 10 Device for transporting

[0112] 12 objects

[0113] 12* simulated / virtual object

[0114] 14 inlet conveyors

[0115] 16 Sensor device

[0116] 18 (first) sensor

[0117] 20 (second) sensor

[0118] 22 sponsors

[0119] 24 Inlet area

[0120] 26 Outlet area

[0121] 28 Motion device

[0122] 30 Stator

[0123] 32 lane

[0124] 34 Transport railway section

[0125] 36 Return track section

[0126] 38 discharge conveyors

[0127] 40 transport element

[0128] 42 Processing unit

Claims

REQUIREMENTS 1. Method for transporting objects (12), preferably containers, wherein the method comprises: successive transport of the objects (12) from an inlet area (24) of a conveyor (22) to an outlet area (26) of the conveyor (22) by means of several motion devices (28) of the conveyor (22) which are independently movable and individually magnetically driven, preferably by means of a long stator linear motor drive system, a short stator linear motor drive system or a planar motor drive system, wherein during transport: the several motion devices (28) move along a circumferential track (32) which connects the inlet area (24) and the outlet area (26);and at least one of the several motion devices (28) performs an empty run in which no object (12) is transported by means of the respective motion device (28) when moving from the inlet area (24) to the outlet area (26), preferably to reduce or prevent motion device congestion along the track (32).

2. The method of claim 1, wherein: the track (32) comprises a transport track section (34) extending from the inlet area (24) to the outlet area (26), and a return track section (36) extending from the outlet area (26) to the inlet area (24); and the at least one motion device (28) performs the empty run such that: a number of the multiple motion devices (28) located in the transport track section (34) and a number of the multiple motion devices (28) located in the return track section (36) are substantially the same; and / or a number of the multiple motion devices (28) located in the transport track section (34) is kept substantially the same; and / or a number of the multiple motion devices (28) located in the return track section (36) is kept substantially the same.

3. Method according to claim 1 or claim 2, wherein: the at least one moving device (28) performs the empty run, so that a build-up of moving devices in front of the inlet area (24) is prevented or at least reduced and / or so that the multiple moving devices (28) are distributed substantially evenly or more evenly over the track (32).

4. Method according to one of the preceding claims, wherein: the at least one movement device (28) performs the empty run depending on at least one actual characteristic parameter, preferably an actual object distance (d_e(i)) of two adjacent objects, of an inflow flow of the objects (12) to the inflow area (24).

5. The method of claim 4, further comprising: Transporting the inlet stream of objects (12) to the inlet area (24) by means of an inlet conveyor (14), wherein preferably the objects (12) are transported at least partially different and / or random distances to each other; Detecting the objects (12) of the inflow stream by means of a sensor device (16); and Determining at least one actual characteristic, preferably an actual object distance (d_e(i)) of two adjacent objects, depending on the detection of the objects (12).

6. Method according to claim 5, wherein the sensor device (16) comprises: a sensor (18), preferably a signal barrier, particularly preferably a light barrier or an ultrasonic sensor, which detects the objects (12) transported by the infeed conveyor (14) at a position upstream of the infeed area (24), the distance of which to the infeed area (24) is greater than a length of the path (32) from the infeed area (24) to the discharge area (26); and optionally a further sensor (20), preferably a signal barrier, particularly preferably a light barrier or an ultrasonic sensor, which detects the objects (12) transported by the infeed conveyor (14) at a further position upstream of the infeed area (24) between the position detected by the sensor (18) and the infeed area (24), preferably directly adjacent to the infeed area (24).

7. Method according to any one of the preceding claims, wherein: the at least one motion device (28) performs the idle movement when an actual object distance (d_e(i)) reaches or exceeds a predetermined limit value, preferably at least twice a predetermined nominal object distance.

8. Method according to any of the preceding claims, further comprising: Transporting an outflow stream of objects (12) away from the discharge area (26) by means of several moving transport elements (40), preferably object holders, of an outflow conveyor (38), wherein the several moving transport elements (40) are arranged at a predetermined fixed distance (d_a) from each other.

9. Method according to claim 8, wherein: the discharge conveyor (38) is a rotary conveyor; and / or the discharge conveyor (38) is part of an object handling device for handling, preferably filling, closing or labeling, objects (12).

10. Method according to claim 8 or claim 9, further comprising: Creating a gap in the outflow stream by omitting an object transfer to the respective transport element (40) depending on at least one actual parameter, preferably actual object distances (d_e(i)) of each two adjacent objects (12), an inflow stream of the objects (12) to the inflow area (24) and at least one predetermined target parameter, preferably a target object distance of two adjacent objects (12) of the inflow stream.

11. Method according to claim 10, wherein: the gap is created when the summed deviations of actual object distances of any two adjacent objects (12) of the inlet flow of the objects (12) to a predetermined target object distance reach or exceed a predetermined limit value, preferably at least twice a predetermined nominal object distance or a quantity derived therefrom.

12. Method according to one of the preceding claims, wherein: the execution of the empty run of a respective motion device (28) is represented in control technology as a transport of a simulated object (12*) by means of the respective motion device (28) from the inlet area (24) to the outlet area (26).

13. Device (10) for transporting objects (12), preferably containers, wherein the device (10) comprises: a conveyor (22) with several motion devices (28) for transporting the objects (12), wherein the several motion devices (28) are independently movable and individually magnetically driven, preferably by means of a long stator linear motor drive system, a short stator linear motor drive system or a planar motor drive system of the device (10); and a processing device (42) configured to operate the several motion devices (28) for successive transport of the objects (12) from an inlet area (24) of the conveyor (22) to an outlet area (26) of the conveyor (22), wherein during transport: the several motion devices (28) move along a circumferential track (32) connecting the inlet area (24) and the outlet area (26);and at least one of the several motion devices (28) performs an empty run in which no object (12) is transported by means of the respective motion device (28) when moving from the inlet area (24) to the outlet area (26), preferably to reduce or prevent motion device congestion along the track (32).

14. Device (10) according to claim 13, wherein: the conveyor and the processing device (42) are configured to perform a method according to any one of claims 1 to 12.

15. Device (10) according to claim 13 or claim 14, further comprising at least one of: an inlet conveyor (14) arranged for transporting an inlet stream of objects (12) to the inlet area (24); an outlet conveyor (38) comprising several movable transport elements (40), preferably object holders, for transporting the outlet stream of objects (12) away from the outlet area (26), wherein the several movable transport elements (40) are arranged at a predetermined fixed distance (d_a) from one another; a sensor device (16) arranged for detecting the objects (12) of an inlet stream of objects (12) to the inlet area (24), preferably comprising: a sensor (18), preferably a signal barrier, particularly preferably a light barrier, which is arranged to detect the objects (12) upstream of the inlet area (24) at a position whose distance to the inlet area (24) is greater than a length of the path (32) from the inlet area (24) to the outlet area (26); and optionally a further sensor (20), preferably a signal barrier, particularly preferably a light barrier, which is arranged to detect the objects (12) downstream of the sensor (18) and upstream of the inlet area (24), preferably directly adjacent to the inlet area (24).

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