System and method for aligning an object

A system and method for defined aligning of an object. A first object with a first alignment is fed. The first alignment is detected and transmitted to a control device. The control device determines a first rotation angle on the basis of the first alignment and a predefined first alignment, and a speed profile of a first translational movement for a first rotor with a differential speed between the guiding device and the first rotor on the basis of the first rotation angle and a predefined speed of the guiding device. The control device controls the first rotor in the first translational movement along the aligning zone on the basis of the determined speed profile, and the first rotor, in interaction with the guiding device, turns the first object to the first predefined alignment in a first rotation about the first rotation angle on the basis of the differential speed.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application claims priority of German patent application DE 10 2017 119 084.8 filed Aug. 21, 2017, entitled SYSTEM UND VERFAHREN ZUM AUSRICHTEN EINES OBJEKTS, the disclosure and content of which is hereby incorporated by reference in the entirety and for all purposes.

FIELD

The present invention relates to a system for defined aligning of at least one object. The present invention relates further to a method for operating a system to orientate an object to a defined aligning.

BACKGROUND

DE 10 2014 226 965 A1 discloses an inspection apparatus for continuously inspecting fed containers, in particular bottles. The inspection apparatus comprises a feeding conveying device, a discharging conveying device and a run-through station arranged between the feeding conveying device and the discharging conveying device. The feeding conveying device feeds the containers to the run-through station one after the other. The discharging conveying device conveys the inspected containers away. The run-through station comprises a transporting device with an individual drive and a multiplicity of conveying means, which are movable individually and independently of one another by means of the individual drive and transport the containers from the feeding conveying device to the discharging conveying device. In this case, a first camera for the inspection of a first side of the container is arranged on the feeding conveying device and a second camera for the inspection of the discharged containers is arranged on the discharging conveying device. The transporting device turns the containers by the same angle in each case, in order that the containers can be inspected by the second camera from a different perspective.

A disadvantage here is that, if the containers are fed to the feeding device in an incorrect orientation, the incorrect orientation cannot be compensated by the transporting device, and so the camera at the discharging station inspects the containers in each case from the wrong angle. Furthermore, the inspection apparatus can only turn containers that are symmetrically formed. Furthermore, the inspection apparatus is of a very complex configuration and correspondingly expensive to obtain and maintain, because two opposing transporting devices that are formed identically to one another are necessary here. Furthermore, the control of the two opposing transporting devices is complex. The configuration of the Y-shaped holding elements of the transporting devices for turning the bottles also only allows a limited rotation angle.

SUMMARY

The present invention addresses concept for turning an object with one alignment to a predefined alignment.

According to an aspect an system for a defined aligning of an object can be provided, wherein the system comprising a control device, a detecting device, an aligning device, a guiding device and an aligning zone, wherein the aligning device and the guiding device are arranged at the aligning zone, wherein the control device is connected to the detecting device and the aligning device, the guiding device has a predefined speed, wherein the aligning device comprises a linear motor with a first rotor, wherein a first object with a first alignment can be fed to the aligning zone, wherein the detecting device is configured to detect the first alignment of the first object and to transmit the first alignment to the control device, wherein the control device is configured to determine a first rotation angle on the basis of the first alignment of the first object and a predefined first alignment, wherein the control device is configured to determine a speed profile of a first translational movement of the first rotor with a first differential speed between the first rotor and the guiding device on the basis of the determined first rotation angle and the predefined speed, wherein the control device is configured to control the first rotor in the first translational movement on the basis of the determined speed profile, wherein the first rotor in interaction with the guiding device turns the first object in a first rotation about the first rotation angle to the first predefined alignment on the basis of the first differential speed.

According to a further aspect another system for a defined aligning of an object can be provided, wherein the system comprises a control device, a detecting device, an aligning device, a guiding device and an aligning zone, wherein the aligning device and the guiding device are arranged at the aligning zone, wherein the control device is connected to the detecting device and the aligning device, wherein the guiding device has a predefined speed, wherein the aligning device comprises a linear motor with a first rotor, wherein a first object with a first alignment can be fed to the aligning zone, wherein the detecting device is configured to detect the first alignment of the first object and to transmit the first alignment to the control device, wherein the control device is configured to determine a first rotation angle on the basis of the first alignment of the first object and a predefined first alignment, wherein the control device is configured to determine a speed profile of a first translational movement of the first rotor with a first differential speed between the first rotor and the guiding device on the basis of the determined first rotation angle and the predefined speed, wherein the control device is configured to control the first rotor in the first translational movement on the basis of the determined speed profile, wherein the first rotor in interaction with the guiding device turns the first object in a first rotation about the first rotation angle to the first predefined alignment on the basis of the first differential speed, wherein the aligning device comprises a rotary table, wherein the rotary table is mounted on the first rotor rotatably about a rotary table axis, wherein the guiding device comprises a third rotor and a coupling means, wherein the coupling means mechanically couples the third rotor to the rotary table of the first rotor, wherein the control device is configured to determine a third speed profile for a third translational movement on the basis of the first rotation angle and the first speed profile, wherein the third speed profile has the differential speed, at least for a time, wherein the control device is configured to control the third rotor on the basis of the third translational movement in such a way that a distance between the first rotor and the third rotor is changed on the basis of the differential speed and the changing of the distance has the effect that the coupling means turns the rotary table about the rotary table axis.

According to a further aspect of the invention a method for operating a system is provided wherein a first object with a first alignment is fed, wherein the first alignment of the first object is detected and the first alignment is transmitted to a control device, wherein the control device determines a first rotation angle on the basis of the first alignment of the first object and a predefined first alignment, wherein the control device determines a speed profile of a first translational movement for a first rotor with a differential speed between the guiding device and the first rotor on the basis of the determined first rotation angle and a predefined speed of a guiding device, wherein the control device controls the first rotor in the first translational movement along the aligning zone on the basis of the determined speed profile, wherein the first rotor in interaction with the guiding device turns the first object to the first predefined alignment in a first rotation about the first rotation angle on the basis of the differential speed.

This configuration has the advantage that it does not have to be ascertained by means of the system and the method with which alignment the object is guided to a specific station, but instead the object is in each case aligned by the system individually to a predefined or desired alignment ahead of the station. As a result, the alignment can be reliably and precisely established separately for each object and ensured for the station.

In a further embodiment, the linear motor comprises a second rotor, wherein the aligning zone can be fed a second object with a second alignment, wherein the control device is configured to determine a second rotation angle on the basis of the second alignment of the second object and a predefined second alignment, wherein the control device is configured to determine a second speed profile of a second translational movement for the second rotor with a second differential speed in relation to the guiding device on the basis of the determined second rotation angle, wherein the control device is configured to control the second rotor in the second translational movement on the basis of the determined second speed profile, wherein the second rotor in interaction with the guiding device turns the second object in a second rotation about the second rotation angle to the second predefined alignment on the basis of the second differential speed, wherein the second turning of the second object is brought about on the basis of the second differential speed, wherein the second translational movement takes place independently of the first translational movement. As a result, a particularly great number of objects can be turned quickly to the respective alignment.

In a further embodiment, the control device is configured to move the first rotor synchronously with the guiding device at the predefined speed along the aligning zone before turning by the first rotation angle and after turning by the first rotation angle. As a result, tipping and/or unwanted further turning of the first object can be avoided. In a further embodiment, the guiding device comprises a drive unit and a conveyor unit, for example a conveyor belt, wherein the drive unit is configured to move the conveyor unit at the predefined speed, wherein the conveyor unit is arranged at the aligning zone, wherein the aligning zone is arranged between the conveyor unit and the aligning device, and/or wherein the conveyor unit is arranged on the underside and/or upper side of the aligning zone. As a result, the object can for example be turned to the first predefined alignment between two stations.

In a further embodiment, the guiding device comprises at least one supporting element, wherein the supporting element is fixedly arranged, wherein the aligning zone is arranged between the aligning device and the supporting element, wherein the first rotor in the first translational movement presses the first object against the supporting element, at least for a time, and the first rotor in the first translational movement rolls the first object on the supporting element. As a result, the system can be kept particularly simple and inexpensive. Furthermore, tipping of the object within the aligning zone can be reliably avoided.

In a further embodiment, the aligning device comprises a frictional element, wherein the frictional element is coupled to the first rotor on a side facing away from the aligning zone, wherein the frictional element is in operative connection with the object along the aligning zone, wherein for example a contact surface of the frictional element is formed flat on a side facing the aligning zone.

In a further embodiment, the guiding device comprises a rotary table, wherein the rotary table is mounted on the conveyor unit rotatably about a rotary table axis, wherein for example circumferentially on the rotary table a further frictional element is at least partially arranged, wherein along the aligning zone the first rotor is coupled, for example with frictional engagement, to the rotary table and turns the rotary table about the rotary table axis.

In a further embodiment, the aligning device comprises a holder, a supporting element and a bearing arrangement, wherein the bearing arrangement is arranged at a first end of the holder and bears the rotary table rotatably on the holder, wherein the holder is connected to the first rotor on the side facing away from the bearing arrangement, wherein the supporting element is arranged at a second end of the holder, opposite from the first end, wherein the supporting element has a receptacle, wherein the first object engages in the receptacle, wherein the supporting element is configured to prevent tipping of the first object being caused by physical contact of the first object at the receptacle.

In a further embodiment, the guiding device comprises a third rotor and a coupling means, wherein the coupling means mechanically couples the third rotor to the rotary table of the first rotor, wherein the control device is configured to determine a third speed profile for a third translational movement on the basis of the first rotation angle and the first speed profile, wherein the third speed profile has the differential speed, at least for a time, wherein the control device is configured to control the third rotor on the basis of the third translational movement in such a way that a distance between the first rotor and the third rotor is changed on the basis of the differential speed and the changing of the distance has the effect that the coupling means turns the rotary table about the rotary table axis. As a result, the aligning zone can be designed geometrically independently.

In a further embodiment, the coupling means comprises a coupling rod and a coupling element, wherein the coupling rod is connected at one end to the third rotor and at the other end to the coupling element. The coupling element is connected to the rotary table. Preferably, the coupling rod comprises a toothed rack and the coupling element comprises a gear wheel. The toothed rack engages in the gear wheel in a meshing manner.

The same reference symbols can be used for the same features below. Furthermore, for the sake of clarity, provision is made for not all features to always be depicted in all drawings. A placeholder in the form of a geometric object is sometimes used for a group of features, for example.

DETAILED DESCRIPTION

In the followingFIGS. 1 and 4 to 17, a system of coordinates5with an x axis, a y axis and a z axis is represented. By way of example, the system of coordinates5is formed as a rectangular system and serves for easier orientation in the figures. In this case, the x axis is also referred to as the longitudinal direction, the y axis as the transverse direction and the z axis as the vertical direction.

FIG. 1shows a schematic representation of a system10.

The system10comprises a control device15, a detecting device20, an aligning device25, a guiding device30and an aligning zone35. The system10also comprises a feeding zone55and a discharging zone60.

The aligning zone35extends in a straight line along a longitudinal direction. The aligning zone35is arranged between the feeding zone55and the discharging zone60in the longitudinal direction. The aligning device25is arranged next to the aligning zone35, adjacent to the aligning zone35in the transverse direction. The guiding device30is arranged underneath the aligning zone35and similarly extends over the feeding zone55and the discharging zone60. Furthermore, the detecting device20is arranged at the feeding zone55.

By means of the feeding zone55, at least one first object65, possibly also at least one second object70, is fed to the aligning zone35. After running through the aligning zone35, the objects65,70are transported away by means of the discharging zone60. The reference to the aligning zone35, the feeding zone55and the discharging zone60indicates here a region of the system10in which the object65,70is transported.

For reasons of clarity, only the two objects65,70that are given by way of example are discussed below. However, the number of objects65,70is not limited. The first object65has a first alignment and the second object70has a second alignment. The alignments of the objects65,70relate in each case to an object axis of rotation100,105of the respective object65,70. The object axis of rotation100,105runs in the vertical direction.

In the embodiment represented, the first object65and the second object70are formed identically, at least in two spatial directions (for example in the longitudinal direction and in the transverse direction) and are configured for example as containers, in particular as bottles or drinks packs.

The control device15comprises an interface45, a data memory40and a control unit50. The control unit50is connected to the data memory40and the interface45. The interface45is connected to the detecting device20by means of a first connection75.

The guiding device30comprises a drive unit90and a conveyor belt95, configured as a conveyor unit94. The drive unit90is connected to the interface45by means of a second connection85.

The drive unit90drives the conveyor belt95. The first object65and the second object70are arranged on the conveyor belt95. In this case, the first object65is arranged at a distance from the second object70in the conveying direction (longitudinal direction) of the conveyor belt95. Furthermore, the first object65and the second object70are positioned at the same level in the transverse direction on the conveyor belt95. The object axes of rotation100,105of the objects65,70are aligned parallel to one another and are arranged upright perpendicularly to an upper side96of the conveyor belt95.

The control device15activates the drive unit90in such a way that the conveyor belt95runs at a constant predefined speed vF. As a result, the objects65,70are conveyed at a constant speed vFin the feeding zone55, in the aligning zone35and in the discharging zone60.

The detecting device20comprises a camera106and an image evaluation device107. The image evaluation device107is connected to the camera106. The image evaluation device107may also be integrated in the control device15, in particular the control unit50. A detecting region108of the camera106is directed at a portion of the feeding zone55. It goes without saying that the orientation of the object65,70may also be detected in some other way. In particular, optical detection is not absolutely necessary.

The aligning device25comprises a running rail121and a linear motor with a fixedly arranged stator110, a movable first rotor115and at least one movable second rotor120. Altogether, the system10represented inFIG. 1has for example eight rotors115,120, the number of rotors115,120being freely selectable. The first rotor115and the second rotor120are secured on the running rail121. In the movement of the first rotor115and the second rotor120, the running rail121guides the rotors115,120. Furthermore, the rotors115,120use the running rail121for supporting forces.

The stator110is connected by means of a third connection80to the interface45of the control device15. The stator110comprises a coil arrangement122with a multiplicity of coils125(some coils125are represented by way of example inFIG. 1). The coil arrangement122is arranged running parallel to the running rail121. The coils125are arranged next to one another and can be supplied with current separately from one another. The aligning device25also comprises for each rotor115,120in each case a magnet arrangement130arranged on the rotor115,120(represented by way of example inFIG. 1only on one rotor115—the other rotors115,120are formed analogously). Seen in the vertical direction, inFIG. 1the magnet arrangement130is arranged respectively above and below the stator110.

The control unit50controls a first total coil current through a first predefined number of coils125. The first total coil current of the first predefined number of coils125produces a first traveling magnetic field, which interacts with the magnet arrangement130of the first rotor115. Similarly, the control unit50controls a second total coil current through a second predefined number of coils125. The second total coil current produces a second traveling magnetic field, which interacts with the magnet arrangement130of the second rotor120. The control unit50is configured for the purpose of controlling the movement of the rotors115,120individually and independently of one another. In this case, the control unit50controls the first and second total coil currents through the respectively predefined number of coils125in an open-loop or closed-loop manner in such a way that a force directed along or longitudinally in relation to the stator110is exerted on the rotor or rotors115,120by means of the interaction of the magnet arrangement130with the traveling magnetic fields produced by the coils125.

FIG. 2shows a flow diagram of a method for operating the system10shown inFIG. 1. The individual method steps are discussed further in the course of the further description in connection with the further figures.

FIG. 3shows a first speed profile170of the first rotor during the method described inFIG. 2.

The first speed profile170is represented by means of a graph which is plotted over time t (x axis) and the speed v (y axis) of the first rotor. The speed profile170is divided into a first to sixth portion175-180. Each of the portions175-180depicts a progression of a speed between two points in time tn, tn+1and in each case the speed v assigned to the two points in time tn, tn+1.

The first portion175is arranged between a first point in time t1and a second point in time t2. The second portion176runs between the second point in time t2and a third point in time t3. The third portion177runs between the third point in time t3and a fourth point in time t4. The fourth portion178runs between the fourth point in time t4and a fifth point in time t5. The fifth portion179runs between the fifth point in time t5and a sixth point in time t6. The sixth portion180runs between the sixth point in time t6and a seventh point in time t7. The individual points in time, speeds and the configuration of the portions175-180of the speed profile170are discussed in still more detail in the further description.

FIG. 4shows a schematic representation of the system10shown inFIG. 1during the first method step200.FIG. 5shows a schematic representation of the system10shown inFIG. 1after a third method step210.FIG. 6shows a schematic representation of the system10shown inFIG. 1after a fifth method step220.FIG. 7shows a schematic representation of the system10shown inFIG. 1during a twelfth method step255.FIG. 8shows a schematic representation of the system10shown inFIG. 1during a fourteenth method step265. InFIGS. 4 to 8, only the components of the system10that are respectively described in method steps200to265are shown for reasons of overall clarity.

In a first method step200(cf.FIG. 4) beginning at the first point in time t1(cf.FIG. 3), the first object65with the first alignment is conveyed over the feeding zone55in the direction of the aligning zone35. The first rotor115is located at a distance in the transverse direction from the feeding zone55and is arranged waiting in a first waiting position136ahead of the aligning zone35in the conveying direction of the conveyor belt95, and is for example not moved.

In a second method step205(cf.FIG. 5), the first object65is guided through the detecting region108of the camera106. The camera106detects the first object65and provides a first camera image with the first object65to the image evaluation device107.

In a third method step210, the image evaluation device107determines the first alignment of the first object65on the basis of the first camera image. The image evaluation device107provides the first alignment to the control device15. Furthermore, the image evaluation device107determines by way of example a first object position of the first object65with respect to the longitudinal and transverse directions on the basis of the first camera image. The image evaluation device107provides the first object position to the control device15. Alternatively, the first camera image or a plurality of first camera images may also be transmitted directly from the camera106to the control device15, and the image evaluation and further processing of the first camera image take place directly in the control device15.

Alternatively, the object position may also be determined in some other way in the third method step210. Thus, for example, the object position may also be determined by means of a light barrier, which is arranged shortly before the beginning of the aligning zone35, by the light barrier detecting the running of the first object65through the light barrier and informing the control device15of the run-through as the first object position. The first object position may also be determined for example from information of the guiding device30.

The constant predefined speed vFof the conveyor belt95has the effect that the first object65is conveyed continuously in the longitudinal direction to the aligning zone35.

In a fourth method step215, the control unit50determines a first angle α, by which the first object65deviates from the first predefined alignment, on the basis of the detected first alignment of the first object65and a first predefined alignment for the first object65stored in the data memory40.

In a fifth method step220(cf.FIG. 6), the control unit50determines a first object distance a1on the basis of the first object position and a beginning of the aligning zone35.

In a sixth method step225, the control unit50determines the third point in time t3, at which the first object65is conveyed into the aligning zone35, on the basis of the predefined speed vFof the conveyor belt95and the first object distance a1.

In a seventh method step230, the control unit50determines the first speed profile170of a first translational movement150of the first rotor115on the basis of the predefined speed vFof the conveyor belt95, the first angle α and the third point in time t3.

In this case, the control unit50determines a formation, for example a progression, of the second portion176of the first speed profile170and the second point in time t2on the basis of the third point in time t3, at which the first object65enters the aligning zone35, and the predefined speed vF. The first speed v1corresponds essentially to the predefined speed vF, wherein, on reaching the first speed v1, the first rotor115and the first object enter the aligning zone35at the third point in time t3simultaneously and with synchronous speed. On the basis of the progression of the second portion176, the control unit50also determines the second point in time t2, at which the acceleration process of the first rotor115begins. The acceleration process from the first speed v1to the second speed v2takes place for example with constant acceleration.

Furthermore, the control unit30determines the fourth portion178of the first speed profile170on the basis of the determined first angle α and the predefined speed vF.

In the fourth portion178, the speed profile170has for the first rotor115an acceleration of the first rotor115from the first speed v1to a second speed v2, which is different from the first speed v1(in the embodiment, the second speed v2is greater than the first speed v1). In this case, the second speed v2may for example be kept constant after the acceleration or be continually changed between the fourth point in time t4and the fifth point in time t5. In particular, a radius of the rotary table may also be taken into account in the determination of the second speed v2.

In addition, the control unit30determines the fourth point in time t4on the basis of the second speed v2and a length l of the aligning zone35and the fifth point in time t5on the basis of the formation of the fourth portion178of the speed profile170and the fourth point in time t4as well as the predefined speed vF. At the fifth point in time t5, a turning of the first object65has been completed. The fifth point in time t5occurs before the first object65leaves the aligning zone35.

The control unit50may determine the fourth portion178and also the third portion177and the fifth portion179of the speed profile170in such a way that, before turning of the first object65, the first rotor115is moved synchronously with the first object65in the third portion177(between the third point in time t3and the fourth point in time t4) and, after turning of the first object65, the first rotor115is moved synchronously at the first speed v1with the first object65and the conveyor belt95in the fifth portion179(between the fifth point in time t5and the sixth point in time t6).

The control unit50determines the sixth point in time t6, at which the first object65leaves the aligning zone, on the basis of the length l of the aligning zone35. Alternatively, the control unit50may determine the sixth point in time on the basis of the third to fifth portions177,178,179.

The control unit50determines a formation or a progression of the sixth portion180in such a way that the first rotor115is ready in time for a renewed run-through for the turning of a further object. In this case, the first rotor115may be accelerated in the sixth portion180to a third speed v3, which is greater than the first and second speeds v1, v2. From the third speed v3, the first rotor115is decelerated to a standstill.

The determined first speed profile170may be stored in the data memory40.

In an eighth method step235, the control unit waits between the first point in time t1and the second point in time t2for the second point in time t2to be reached. In this time, the conveyor unit94conveys the first object65in the direction of the aligning zone35.

In a ninth method step240, on reaching the second point in time t2, the control unit50activates the first rotor115in dependence on the determined second portion176of the first speed profile170by means of the stator110. In this case, the first rotor115is accelerated (constantly) from a standstill to the first speed v1.

In a tenth method step245, the first rotor115and the first object65enter the aligning zone35simultaneously at the third point in time t3. In this case, the first rotor115comes into operative connection with the first object65.

In the eleventh method step250between the third point in time t3and the fourth point in time t4, the first rotor115is activated by means of the stator110according to the third portion177of the first speed profile170in such a way that the first rotor115moves at the first speed v1along the aligning zone35. As a result, the first rotor115has no first differential speed Δv in relation to the first object65, and so the first detected alignment is maintained.

On reaching the fourth point in time t4, in a twelfth method step255(cf.FIG. 7) the control unit50activates the first rotor115by means of the stator110according to the fourth portion178of the first speed profile170in such a way that the first rotor115is accelerated to the second speed v2, while the first object65moves at the predefined speed vFalong the aligning zone35.

As a result, in the twelfth method step255the first rotor115has the first differential speed Δv in relation to the predefined speed vF. The first differential speed Δv brings about a turning of the first object65along the aligning zone35counterclockwise about the object axis of rotation100.

Shortly before reaching the desired first turning by the determined first angle α, according to the fourth portion178, the first rotor115is decelerated from the second speed v2to the first speed v1again, wherein, on reaching the first speed v1, and consequently reaching the fifth point in time t5, there is no longer a first differential speed Δv and the turning about the first angle α has been completed.

In the thirteenth method step260, between the fifth point in time t5and the sixth point in time t6, the first rotor115is activated by means of the stator110according to the fifth portion179of the first speed profile170in such a way that the first rotor115moves at the first speed v1along the aligning zone35. As a result, the first rotor115has no differential speed Δv in relation to the first object65, and so the first predefined alignment of the first object65is maintained.

At the sixth point in time t6, the first rotor115and the first object65reach the end of the aligning zone35and the beginning of the discharging zone60. At the sixth point in time t6, the operative connection between the first rotor115and the first object65is ended.

In a fourteenth method step265(cf.FIG. 8), the first object65is transported away in the predefined first alignment over the discharging zone60and for example transported to a packaging device or an application device135, for example for applying a drinking straw to the container. At the same time, between the sixth point in time t6and the seventh point in time t7, the first rotor115is activated by means of the stator110according to the sixth portion180of the first speed profile170in such a way that the first rotor115is accelerated to the third speed v3, and is moved at the third speed v3in the direction of the first waiting position. Before reaching the first waiting position, the first rotor115is decelerated in such a way that the first rotor115comes to a standstill in the first waiting position at the seventh point in time t7.

For the second object70, method steps200to265are repeated in a correspondingly adapted manner. In this case, a second speed profile with a second differential speed in relation to the guiding device is determined by the control unit50on the basis of a second detected alignment for a second translational movement of the second rotor for turning the second object to a predefined second alignment. The control device15activates the second rotor120on the basis of the second determined speed profile in the second translational movement. The second rotor120in interaction with the guiding device30turns the second object70in a second rotation about the second rotation angle to the second predefined alignment on the basis of the second differential speed. The first predefined alignment and the second predefined alignment may be essentially identical or different.

In this case, the first object65may still be in the aligning zone35and the second object70may follow at a distance from the first object65. The turning of the first object65and the second object70then takes place along the aligning zone35more or less at the same time, but independently of one another. However, the individual rotors115,120are activated in such a way that a collision between the first rotor115and the second rotor120is avoided.

FIG. 9shows a plan view of a first structural configuration of the system10shown inFIG. 1. The method described above may be carried out for example with the system10shown inFIG. 9.

The running rail121is formed as an uninterrupted path. The running rail121circumferentially encloses the stator110. The running rail121may also be arranged at a distance from the drive module305,306. The rotors115,120are arranged at a distance from one another on the running rail121and are guided by the running rail121. The first rotor115and the second rotor120are formed essentially identically.

The stator110comprises a number of drive modules305,306. In this case, a number of first drive modules305, which by way of example are configured as straight modules, are arranged parallel to the aligning zone35in the longitudinal direction. The number of first drive modules305is freely selectable. For forming the round path, a second drive module306is arranged in each case at the respective ends of the arrangement of the first drive modules305. The second drive module306is by way of example configured as a 180° module. Some other configuration of the drive module306is also possible. At the second drive module306, an alignment of the rotor115,120is changed, and so the rotor115,120can be returned on a side120facing away from the aligning zone35to the waiting position136,137, with the result that, by contrast with a classic linear motor, the return path advantageously takes a different route than the aligning zone35, and therefore the throughput rate can be increased.

The coil arrangement122is arranged parallel to the running rail121and extends along the drive modules305,306. In this case, the coils125are arranged in a row running parallel to the running rail121.

The guiding device30comprises at least one, in one embodiment a number of, rotary table(s)310and for each rotary table310in each case a base320. The bases320are secured on the conveyor unit95at a distance from one another in the longitudinal direction. The rotary table310is mounted on the base320rotatably about a rotary table axis315. The rotary table axis315is aligned perpendicularly to the upper side96of the conveyor unit95. In each case, one of the objects65,70is arranged on the rotary table310. The object axis of rotation100,105may overlap with the rotary table axis315.

FIG. 10shows a sectional view along a sectional plane A-A shown inFIG. 9through the system10shown inFIG. 9, without hatching of the sectional areas for a better overview.

The base320is formed in the manner of a plate and is connected to the conveyor belt95by means of a securing means321, for example screws. Furthermore, the guiding device30comprises a bearing arrangement325for each rotary table310. The bearing arrangement325serves the purpose of bearing the rotary table310on the base320rotatably about the rotary table axis315.

On a side of the rotary table310that is facing away from the base320, the rotary table310is upwardly open and has an object receptacle340. The object65,70is arranged in the object receptacle340. The object receptacle340may be formed in a way corresponding to the object65,70, and so the object65,70is carried stably in the object receptacle340and tipping of the object65,70during the conveyance of the object65,70is avoided. Alternatively, the object receptacle340may be formed in a way corresponding to a surrounding circle with respect to the object axis of rotation100,105.

On an outer circumferential surface of the rotary table310, a first frictional element345is arranged. The first frictional element345may be configured in the form of a ring with a circular cross section. For axial fixing with respect to the rotary table axis315, a peripherally formed annular groove346, into which the first frictional element345engages, is provided by way of example circumferentially on the rotary table310.

The first rotor115comprises a rotor body350, a running roller arrangement355and a holder365. The rotor body350is U-shaped, for example configured in the form of a horseshoe, and reaches around the running rail121and also an outer portion of the drive module305,306.

On the inner side of the rotor body350, the running roller arrangement355is arranged. The running roller arrangement355positions the rotor body350on the running rail121, uses the running rail121for supporting the forces acting on the first rotor115and, furthermore, guides the first rotor115along the running rail121.

The magnet arrangement130is arranged on a side of the rotor body350that is facing away from the guiding device30, seen in the vertical direction above and below the drive module305,306. In addition, a signal lug370for determining a position of the first rotor115in relation to the stator110may be provided on the rotor body350, wherein the signal lug370is arranged on the rotor body350on a side of the rotor body350that is facing away from the guiding device30.

The holder365is arranged on a side of the rotor body350that is facing away from the stator110and is connected to the rotor body350. The holder365is configured by way of example in the form of a plate and extends in a parallel plane in relation to the upper side56of the conveyor unit94. In addition, a second frictional element375may be secured on the holder365, on a side of the holder365that is facing away from the stator110.

If the method described above is carried out with the system10, the first object65is turned by the first rotor115and the guiding device30interacting along the aligning zone35. In this case, the first frictional element345lies against the second frictional element375and forms a frictional contact. The frictional contact has the effect that reliable force transmission between the first rotor115and the rotary table310is ensured. The first differential speed Δv of the first speed profile in the first translational movement150has the effect that a torque about the rotary table axis315is brought about in the rotary table310for turning the object65,70, and the rotary table310turns about the rotary table axis315. Furthermore, the frictional contact by means of the frictional elements345,375has the effect that slipping between the first rotor115and the rotary table310is kept small.

Also, the first frictional element345may be partially or completely formed as a surface structure on the circumferential side of the rotary table310. Similarly, the second frictional element375may also be formed as a surface structure on the side of the holder365that is facing the guiding device30. Alternatively, it would also be conceivable that a toothed rack is arranged on the first rotor115and a gear wheel is arranged on the rotary table310, and the gear wheel and the toothed rack engage in one another in a meshing manner along the aligning zone35.

FIG. 11shows an enlarged detail of the plan view of the system10that is shown inFIG. 9.

The second frictional element375has a contact surface376, with which the second frictional element375lies against the first frictional element345during interaction with the rotary table310.

The contact surface376comprises by way of example a first contact surface portion380, a second contact surface portion385and a third contact surface portion390. The second contact surface portion385is arranged between the first contact surface portion380and the third contact surface portion390in the longitudinal direction. In this case, the second contact surface portion385is by way of example formed flat and aligned parallel to the conveyor unit95along the aligning zone35.

The first contact surface portion380is by way of example aligned such that it is inclined obliquely in relation to the second contact surface portion385. The third contact surface portion390is by way of example similarly aligned such that it is inclined obliquely in relation to the second contact surface portion385. In this case, a transition between the first contact surface portion380and the second contact surface portion385and also between the second contact surface portion385and the third contact surface portion390may in each case be configured in a rounded form. Preferably, the first contact surface portion380and the third contact surface portion390are essentially similarly formed flat. The first contact surface portion380and the third contact surface portion390are arranged such that they are inclined away from the guiding device30. This configuration has the advantage that catching or canting of the second frictional element375at the beginning of physical contact between the rotary table310and the first rotor115or the first frictional element345is avoided. Similarly, the first translational movement150of the rotor115,120at the end of physical contact during the interaction with the rotary table310at the aligning zone35is not blocked by the inclined arrangement of the third contact surface portion390. Furthermore, as a result, the aligning device25can also be formed particularly compactly in the longitudinal direction.

The configuration shown inFIGS. 9 to 11has the advantage that the objects65,70can be configured geometrically differently from one another, for example by a different form and/or size, but can nevertheless be turned to the predefined alignment by the aligning device25.

A further advantage is that, since the object position is defined by the rotary table315secured fixedly on the conveyor belt95, there is no further need for object position detection, but only a detection of the alignment of the object65,70. The object position can be determined in the method described above from the predefined speed of the conveyor belt95and the arrangement of the rotary table315on the conveyor belt95.

FIG. 12shows a perspective representation of a system10according to a second embodiment.

Essentially, and insofar as no differences are described below, the system10is formed identically to the system10described inFIGS. 1 to 11. One difference is that it dispenses with the rotary table illustrated inFIGS. 9 to 11, the securing means and the base. Instead of the rotary table and the base, the guiding device30comprises along with the conveyor unit95a, in one embodiment a number of, fixed supporting element(s)395. In the embodiment, two supporting elements395are arranged in parallel one above the other on one side of the aligning zone35. Opposite the two supporting elements395there is the aligning device25, and so the aligning zone35is bounded between the two supporting elements395and the aligning device25and on the underside by the conveyor unit94.

The supporting element395has a guiding surface400arranged on a side facing the aligning device25. In the embodiment, the guiding surface400is arranged parallel to the aligning zone35and formed flat. Adjoining the guiding surface400on both sides in the longitudinal direction, an aligning surface405is in each case additionally provided on the supporting element395, in order to guide objects65,70incorrectly positioned in the transverse direction in the transverse direction toward the guiding surface400and to establish the position of the object65,70in the transverse direction. In this case, the aligning surfaces405are arranged such that they are inclined away from the aligning device25.

In order to turn the object65,70into the predefined alignment, the method described inFIG. 2is carried out by the system10. The object65,70is guided over the feeding zone55standing upright on the conveyor unit94into the aligning zone35. In the aligning zone35, the second frictional element375of the rotor115,120circumferentially lies against the respective object65,70. On the side facing away from the aligning device25, the object65,70lies against the guiding surface400of the supporting element395. In this case, the object65,70is transported by the conveyor unit94along the aligning zone35in the longitudinal direction. In addition, the first rotor115in the first translational movement150turns the first object65in a rolling movement on the guiding surface400. The second rotor120turns the second object70in the second translational movement160in a rolling movement on the guiding surface400. Alternatively, the supporting element395may also be configured as a conveyor belt, and so the guiding surface is moved with the predefined speed vF.

The parallel-arranged supporting elements395have the effect of avoiding tipping of the object65,70or the object being thrown over by the first rotor115. It is a particular advantage here if the supporting elements395are positioned in the vertical direction above and below the holder365oppositely in relation to the holder365.

FIG. 13shows a perspective representation of the system10shown inFIG. 12from a different viewing angle than that shown inFIG. 12.

The embodiment shown inFIGS. 12 and 13is particularly simple and inexpensive, and is suitable in particular if the objects65,70are formed with a round cross section of the same size.

FIG. 14shows a perspective representation of a system10according to a third embodiment.

The system10is essentially, and insofar as no differences are described below, formed identically to the system10described inFIGS. 1 to 13. One difference from the configuration shown inFIGS. 9 to 11is that the guiding device30is arranged tilted by 90°, and so the aligning zone35is arranged between the conveyor belt95and the aligning device25. Furthermore, it dispenses with the feeding zone55and the discharging zone60.

Furthermore, the rotor115,120additionally comprises in each case a rotary table415, a supporting element420and a bearing arrangement425. The holder365comprises a first leg430and a second leg435. The first leg430is connected about halfway up to the rotor body350. The second leg435of the holder365is arranged at a first end of the first leg430and is for example aligned perpendicularly to the first leg430. The second leg435extends essentially away from the running rail121and along the aligning zone35in the direction of the conveyor unit95. At the second end, opposite from the first end, of the first leg430, the supporting element420is connected to the first leg430. The supporting element420and the second leg435are aligned parallel to one another and extend in each case away from the running rail121.

Also provided is a device for setting up the first object65onto the rotary table415and into the supporting element420and/or removing it.

FIG. 15shows a sectional view along a sectional plane C-C shown inFIG. 14through the system10shown inFIG. 14, without hatching of the sectional areas for a better overview.

Arranged on the second leg435is the bearing arrangement425. The bearing arrangement425and the rotary table415are formed identically to the bearing arrangement and the rotary table illustrated inFIG. 10. The bearing arrangement425bears the rotary table415on the second leg435about a rotary table axis440. The rotary table axis440is by way of example aligned perpendicularly to the first translational movement150that the first rotor115carries out.

The rotary table415is arranged in the vertical direction between the supporting element420and the second leg435. The first frictional element345is secured circumferentially on the rotary table415. The object receptacle340is formed in a way corresponding to the side of the first object65with which the first object65lies against the object receptacle340, a lower end of the first object65, for example the bottom of a bottle.

The supporting element420comprises a receptacle445. The receptacle445is formed in a way corresponding to an upper end of the first object65, for example the top of a bottle. The first object65engages with the upper end in the receptacle445. The engagement has the effect that, by physical contact of the upper end of the first object65, for example the top of the bottle, with the receptacle445, the supporting element420secures the object65against tipping and at the same time allows the turning of the first object65.

In order to turn the first object65, the method described inFIG. 2is carried out. In this case, the first frictional element345lies against the conveyor unit95along the aligning zone35and is in frictional contact with the conveyor unit95. In dependence on the first translational movement150of the first rotor115, in particular the differential speed in the fourth portion of the first speed profile, a torque about the rotary table axis440is brought about on the rotary table415, with the effect of turning the rotary table415, and consequently the first object65arranged on the rotary table415. Depending on how the translational movement150is carried out or on the first differential speed, the turning of the rotary table415can take place in both circumferential directions about the rotary table axis440.

The third embodiment, shown inFIGS. 14 and 15, is suitable particularly well for unstable objects65,70that are to be transported stably in terms of tipping, the objects for example being formed geometrically identically to one another.

FIG. 16shows a perspective representation of a system10according to a fourth embodiment.

Insofar as no differences are described, the system10represented inFIG. 16is formed analogously to the system described inFIGS. 14 and 15. One difference is that it dispenses with the holder on the first rotor115. The rotary table415is mounted rotatably about the rotary table axis440above the first rotor body350.

The guiding device30comprises for the first rotor115and for the second rotor120in each case a third rotor450. The third rotor450is formed essentially identically to the first rotor115and the second rotor120, but dispenses with the rotary table415and the bearing arrangement425for the third rotor450. The third rotor450is arranged on the running rail121and is arranged at a close distance from the respectively assigned first rotor115or second rotor120.

The aligning device25comprises a coupling means455. The coupling means455mechanically couples the third rotor450to the respectively assigned first rotor115or second rotor120.

FIG. 17shows a sectional view along a sectional plane D-D shown inFIG. 16through the system10shown inFIG. 16, without hatching of the sectional areas for a better overview.

The coupling means455comprises a coupling rod460and a coupling element464, which is formed as a gear wheel465. The gear wheel465circumferentially has a first toothing470. The coupling rod460is formed in a certain portion as a toothed rack466and has on a side facing the gear wheel465a second toothing475. The first toothing470and the second toothing475are formed corresponding to one another, wherein the second toothing475and the first toothing470engage in one another in a meshing manner. Alternatively, a frictional engagement may also be provided between the coupling rod460and the coupling element464, in order to couple the first rotor65to the third rotor450.

The gear wheel465is in torque-locking connection with the rotary table415(represented by dashed lines inFIG. 17).

In order to ensure reliable meshing of the first toothing470and the second toothing475, provided on the rear side, on a side facing away from the gear wheel465, is a supporting bolt485, which is connected to the rotor body350. The coupling rod460supports itself on the supporting bolt485on the rear side. As a result, slipping out of the coupling rod460, in particular the second toothing475from the first toothing470, is reliably avoided.

The coupling rod460is coupled at its other end to the third rotor450by means of a rotary joint490. The rotary joint490has a rotary joint axis495, which is aligned parallel to the rotary table axis440and about which the coupling rod460is pivotable.

For turning the first object65, the method described inFIG. 2is used, wherein the control unit50determines a third speed profile for the third rotor450, the third speed profile corresponding essentially to the first speed profile, as shown inFIG. 3. As a difference, in the fourth portion of the third speed profile the speed of the third rotor450in relation to the first rotor115is changed, and so the first rotor115and the third rotor450are moved in relation to one another with the differential speed that is obtained from the difference between the first speed profile and the third speed profile. As a result, a distance a between the first rotor115and the third rotor450is varied. This brings about an actuation of the coupling rod460by the third rotor450and a relative movement of the coupling rod460with respect to the first rotor115. In this case, the coupling rod460turns the gear wheel465by means of the second toothing475. The torque-locked connection of the gear wheel465with the rotary table415has the effect that the latter is turned about the rotary table axis440. The direction of rotation of the rotary table415, for example counterclockwise, is achieved by the distance a between the first rotor115and the third rotor450being reduced. If the distance a between the first rotor115and the third rotor450is increased, this brings about a turning of the rotary table415in the clockwise direction.

The fourth embodiment, shown inFIGS. 16 and 17, is particularly inexpensive, since it is possible to dispense with the conveyor unit95. Furthermore, the object65,70can be turned to the predefined alignment irrespective of the geometrical configuration of the running rail121. In this case, the aligning zone can be freely designed.

This invention has been described with respect to exemplary embodiments. It is understood that changes can be made and equivalents can be substituted to adapt these disclosures to different materials and situations, while remaining with the scope of the invention. The invention is thus not limited to the particular examples that are disclosed, but encompasses all the embodiments that fall within the scope of the claims.