Robot and method for changing blow molds, transport device for transporting the robot and system for manufacturing containers

Abstract

The invention relates to a robot (10) for changing blow molds on systems (40) for manufacturing containers, comprising at least one base body (12) and at least one robot arm (14) movably attached to the base body (12), wherein, according to the invention, the base body (12) has at least one first positioning element (16, 18) for positioning the robot (10) on a transport device (30). A container manufacturing device of the system (40) can be manufactured cost-effectively by using the robot (10) for changing blow molds.

Description

[0001] The invention relates to a robot and a method for changing blow molds, a transport device for transporting the robot and a plant for producing containers.

[0002] For the production of plastic containers, preforms can be formed into containers in container manufacturing machines. For this purpose, the preforms are placed in blow molds and stretched into containers using, among other things, a pressurized fluid that is introduced into the preforms. The fluid presses the walls of the preforms against the walls of the respective blow mold, thereby forming them into containers. To produce containers with a different shape, the blow molds must be exchanged.

[0003] For this purpose, EP 2 918 391 B1 discloses the use of an automatic changing device for changing blow molds on a container forming device. The changing device can comprise a changing robot that can remove the blow molds from a storage device, for example, a magazine, and place them at a blow molding station of a forming device. Furthermore, the robot can also remove the molds from the blow molding station and place them in the storage device. Each forming device is assigned a changing device for this purpose.

[0004] The object of the invention is to provide a container manufacturing apparatus with a robot and a method for changing blow molds that are more cost-effective.

[0005] The problem is solved by the features of the independent claims. Advantageous further developments are the subject of the dependent claims and the following description.

[0006] In a robot for changing blow molds on systems for producing containers, comprising at least one base body and at least one robot arm which is movably fastened to the base body, the invention provides that the robot has at least one first positioning element for positioning the robot on a transport device.

[0007] The invention thus provides a robot for changing blow molds on systems for manufacturing containers, which robot can be moved to different positions using a transport device. Thus, after changing the blow molds on one container manufacturing device, the robot can be transported to another container manufacturing device where a further change of blow molds can take place. It is therefore no longer necessary for a robot to be assigned to each container manufacturing device in a system. Instead, the robot can be used on various container manufacturing machines. Using the first positioning element, the robot can be arranged in a predefined position on the transport device with which it is transported. The transport device can therefore also place the robot in a predefined position.Since the robot according to the invention can be used for multiple container manufacturing devices, dedicated changeover robots at the container manufacturing devices can be eliminated. Only when a blow mold change is needed can the robot be transported to the respective container manufacturing device. This reduces the costs for the container manufacturing devices and thus for systems that have multiple container manufacturing devices.

[0008] It is conceivable, for example, that the robot can have at least one releasable locking device for locking to a hall floor.

[0009] The robot can then be secured to the hall floor at the designated position using the removable locking device. By locking the robot to the hall floor with the locking device, the robot can be firmly connected to the hall floor, both to maintain its positional relationship to the container manufacturing machine and to increase the robot's stability, as opposed to simply positioning it in a fixed position, for example, in a recess.

[0010] It is also conceivable that the locking device can be designed, for example, as a pivoting floor lock.

[0011] The floor lock can have a first state in which it is unlocked and a second state in which it is locked to a hall floor. By pivoting the floor lock, the robot can be switched between the first and second states. This allows the robot to be locked to the hall floor and unlocked from the hall floor by pivoting the floor lock.

[0012] According to one example, the at least one first positioning element may comprise a first half of a first kinematically determined bearing.

[0013] By designing the first positioning element as a kinematically determined bearing, the robot can be positioned and transported on a transport device with a fixed positional relationship and orientation. The transport device can have a first counterpart for the first positioning element. This firmly defines how the robot is oriented on the transport device, allowing the robot to be placed with a predetermined orientation in the area where it is to perform a changeover from blow molding. This reduces the likelihood of incorrect positioning and simplifies handling.

[0014] According to a further example, the base body may have at least a second positioning element for positioning the robot on the hall floor.

[0015] The hall floor on which the robot is to be positioned can have a corresponding second counterpart in the relevant area, which interacts with the second positioning element to position the robot. The second positioning element allows the robot to be arranged at a predefined position on the hall floor.

[0016] Furthermore, the second positioning element can, for example, have a first half of a second kinematically determined bearing.

[0017] The kinematically determined mounting of the robot, which can be provided by the second positioning element, ensures precise positioning and alignment or orientation of the robot at the corresponding position. The second counterpart on the hall floor in the blow mold change area, as described above, can accommodate the other half of the second kinematically determined mounting. This reduces the likelihood of incorrect positioning of the robot relative to the container manufacturing device and simplifies handling.

[0018] According to a further example, the robot may comprise a cage that at least partially surrounds at least the robot arm and is preferably attached to the base body.

[0019] The cage can then be transported with the robot on the transport device. The cage can have a window or opening for the robot arm, allowing the robot to work on the container production device, for example. This eliminates the need to provide cages or fence elements at the container production devices to provide a safety perimeter around the robot. This further reduces costs and reduces the number of obstacles located around the container production device when no mold changes are taking place.

[0020] Furthermore, in a second aspect, the invention relates to a transport device for transporting the robot according to the preceding description, comprising at least one driverless vehicle element and at least one carrier element for lifting and carrying the robot, which is fastened to the vehicle element, wherein the carrier element has at least one first counterpart for the first positioning element for positioning the robot on the carrier element.

[0021] The transport device can transport the robot as described above. The first counterpart for the first positioning element allows the robot to be arranged in a fixed position on the transport device when lifted by the carrier element. The carrier element can be moved away from and towards the vehicle element. This can provide a lifting or lowering movement of the carrier element with respect to the vehicle element. In preparation for transport, the transport device can lift and carry the robot with the carrier element. During transport, the transport device carries the robot with the carrier element and can set it down in its intended position by lowering the carrier element.

[0022] According to one example, the first counterpart may have a second half of a first kinematically determined bearing.

[0023] The first counterpart can thus establish a fixed positional relationship between the transport device and the robot with the first positioning element.

[0024] In a third aspect, the invention relates to a system for changing blow molds on plants for producing containers, comprising a robot according to the preceding description and a transport device according to the preceding description, wherein the first positioning element and the first counterpart are designed to match one another.

[0025] The first positioning element and the first counterpart can therefore cooperate to provide a predefined position for the robot on the transport device.

[0026] Further advantages and effects, as well as further developments of the system, arise from the advantages and effects, as well as further developments of the robot and transport device described above. To avoid repetition, reference is made to the previous description in this regard.

[0027] Furthermore, in a fourth aspect, the invention relates to a plant for producing containers, comprising at least one container production device and at least one blow mold changing area on at least part of a hall floor for arranging at least one robot for changing blow molds according to the preceding description and at least one storage device for blow mold parts, wherein the blow mold changing area is arranged adjacent to the container production device and the hall floor has at least one locking element for the locking device of the robot.

[0028] The system can preferably have at least two container manufacturing devices, between which the robot can be transported for changing the blow molds. At each of the container manufacturing devices, the robot can be locked in place by the locking device on the locking element arranged there in the associated adjacent blow mold changing area. In the blow mold changing area, the robot can then change blow mold parts of the container manufacturing device. The storage device can, for example, be a magazine for blow molds in which a plurality of receptacles for blow molds can be provided. The robot can be designed to remove the blow molds from the receptacles and to insert blow molds into the receptacles.

[0029] According to one example, the hall floor may further comprise at least one second counterpart for the second positioning element.

[0030] This allows the robot to be positioned in a fixed position when placed on the hall floor. The robot is placed in such a way that the second positioning element is positioned against the second counterpart. The second counterpart and the second positioning element work together to determine this position.

[0031] Furthermore, the second counterpart can, for example, as already explained above, have a second half of a second kinematically determined bearing.

[0032] The blow mold change area can further comprise, for example, at least one fence element, which is preferably designed to be foldable.

[0033] The fence element can be used to define a safety zone around the blow mold change area. Access to the blow mold change area can thus be restricted. If the fence element is foldable, it can be unfolded or unfolded before the robot is placed in the blow mold change area to create the safety zone. After the robot is removed from the blow mold change area, the fence element can be folded to save space and reduce the number of obstacles around the blow mold production device.

[0034] According to a further example, the system may comprise at least one system according to the preceding description, wherein the second positioning element and the second counterpart are designed to match each other.

[0035] Further advantages and effects, as well as further developments of the system, arise from the advantages and effects, as well as further developments of the robot and transport device described above. To avoid repetition, reference is made to the previous description in this regard.

[0036] In a fifth aspect, the invention relates to a method for changing blow molds on at least one plant for producing containers by means of a system according to the preceding description, wherein the plant has at least one container production device and at least one blow mold changing area with a hall floor for arranging at least one robot for changing blow molds according to the preceding description and at least one storage device for blow mold parts, wherein the blow mold changing area is arranged adjacent to the container production device and the hall floor has at least one locking element for the locking device of the robot, comprising at least the steps of: receiving the robot with the transport device such that the first positioning element is mounted on the first counterpart; transporting the robot into the blow mold changing area with the transport device;Placing the robot from the transport device onto the hall floor so that the locking device is arranged on the locking element; and locking the locking device to the locking element.

[0037] According to one example, the system can be designed at least in such a way that the hall floor further comprises at least one second counterpart for the second positioning element, and the step of placing the robot from the transport device on the hall floor further comprises at least the following sub-step: positioning the robot in such a way that the second positioning element is arranged on the second counterpart.

[0038] Advantages and effects, as well as further developments of the method, arise from the advantages and effects, as well as further developments of the robot described above, the transport device described above, and the system described above. To avoid repetition, reference is therefore made to the previous description in this regard.

[0039] The system can further be designed at least in such a way that the blow mold changing area has at least one fence element, which is preferably designed to be foldable, and the fence element has at least one gate element which can be pivoted about a pivot axis for opening and closing by means of a motor, wherein the step of transporting the robot into the blow mold changing area further comprises at least the following sub-step: opening the gate element by means of the motor when the transport device is moved into a predetermined distance range from the gate element; and crossing the fence element through the opened gate element with the transport device, wherein the method preferably further comprises at least the following step: closing the gate element after the step of depositing the robot from the transport device and after the transport device has moved out of the blow mold changing area and has reached the predetermined distance range.

[0040] The gate element can be opened and closed automatically by controlling the motor. The motor can be controlled when, for example, motion sensors detect that the transport device is moving into the predetermined distance range. When the transport device approaches the distance range in the direction of the blow mold change area, the gate element can be opened by the motor, allowing the transport device to traverse the fence element and move into the blow mold change area. Likewise, the gate element can be closed after the transport device has left the blow mold change area through the gate element, and when, for example, sensors detect that the transport device has moved into the predetermined distance range.

[0041] According to a further example, the system can comprise a control device which is designed to receive at least one registration signal from the robot and to send at least one control signal, wherein the robot is designed to send the registration signal and to receive the control signal, wherein the method, after the step of locking the locking device to the locking element, further comprises at least the following step: sending a registration signal by means of the robot for registering the robot with the control device and receiving the registration signal by means of the control device; and sending a control signal by means of the control device for controlling the robot and receiving the control signal by means of the robot.

[0042] With the registration signal, the robot can be registered with the system's control system to begin operation. After registration, the robot can then change the blow molds on the respective container production device. Furthermore, by registering the robot, control of the robot can begin to perform the blow mold change.

[0043] Furthermore, the system can, for example, have a safety area which extends at least around the container manufacturing device and which is designed such that the intrusion of objects triggers a warning signal, wherein the method, after the step of locking the locking device to the locking element, further comprises at least the following step: extending the safety area such that the safety area additionally extends around the blow mold change area.

[0044] The warning signal can be a signal perceptible to people in the immediate vicinity of the safety zone, for example an acoustic signal converted into a visual signal. Alternatively or additionally, the warning signal can trigger a warning on a control panel, for example by illuminating a lamp or an area of ​​a monitor. Because the robot can be removed from the mold change area after the molds have been changed, the safety zone can be reduced after the robot has been removed so that it no longer includes the mold change area. Once a robot has been transported and locked in the mold change area, the safety zone can be extended to include the mold change area, for example after the robot has registered with the control device. The mold change area is then also included in the safety zone.

[0045] The blow mold change area can be removed from the safety area again after logging out and, if necessary, after the robot has been removed.

[0046] It is further conceivable that the system can comprise a fence element which can be folded by means of a drive element and which, in an unfolded state, extends at least partially around the blow mould changing area and, in a folded state, leaves the blow mould changing area free, wherein the method, before the step of transporting the robot into the blow mould changing area, further comprises at least the following step: unfolding the fence element by means of the drive element; wherein the fence element is preferably folded when the robot is removed from the blow mould changing area.

[0047] According to a further example, the method may further comprise at least the following step: receiving a storage device that is at least partially filled with blow molded parts with the transport device; and transporting the storage device into the blow mold changing area with the transport device.

[0048] In this way, the transport device can automatically perform a change of storage devices if the storage device capacity is insufficient to accommodate all the blow molds of a container manufacturing device or to provide enough molds or blow mold parts for the change. The storage device can be designed as a magazine, as already explained above. This reduces the workload for the operating personnel.

[0049] Further advantages and effects, as well as further developments of the method, arise from the advantages and effects, as well as further developments of the robot described above, the transport device described above, and the system described above. To avoid repetition, reference is made to the previous description in this regard.

[0050] The invention is described below using an exemplary embodiment with reference to the accompanying drawings. They show: Fig. 1 a schematic representation of a plant for producing containers with a robot and a transport device; Fig. 2 a schematic representation of a plant with a plurality of container manufacturing devices, a robot and a transport device; Fig. 3 is a schematic representation of a plant with a plurality of container manufacturing devices, a plurality of storage devices, a robot and a transport device; Fig. 4a, b a schematic representation of a robot with a cage; Fig. 5a-c a schematic representation of a system with a distance range; and Fig. 6 a flow diagram of a process for changing blow molds.

[0051] In Fig. 1 shows a plant for producing containers, which is referenced in its entirety by the reference numeral 40.

[0052] The system 40 comprises at least one container manufacturing device 42 and at least one blow mold change area 44 arranged adjacent to the container manufacturing device 42. The blow mold change area 44 comprises at least part of a hall floor 26.

[0053] The container manufacturing device 42 may be surrounded by a safety zone 70, which may be delimited by a housing 56. In one example, the safety zone 70 may extend only along the hall floor 26. In another example, the safety zone 70 may be formed three-dimensionally around the container manufacturing device 42.

[0054] The safety area 70 can be further configured such that a warning signal is triggered when an object enters the safety area 70. The warning signal can be, for example, an acoustic or visual warning signal. Alternatively or additionally, a portion of a screen or a light on a control console of the container manufacturing device 42 can flash or illuminate.

[0055] At least one robot 10 for changing blow molds and at least one storage device 46 for blow molded parts can be arranged in the blow mold changing area 44. The blow mold changing area 44 can also be part of the safety area 70 and surrounded by at least one fence element 28. Furthermore, a gate element 50, which can be pivoted about a pivot axis 64 for opening and closing by a motor 66, can be connected to the fence element 28.

[0056] The blow mold changing area 44 further comprises at least one locking element 60, which can interact with a locking device 20 of a robot 10. The locking element 60 can be attached to the hall floor 26. Furthermore, the locking element 60 can be arranged such that a robot 10, which is attached to the locking element 60, is arranged at a distance from the container manufacturing device 42 so that it can exchange blow mold parts on the container manufacturing device 42.

[0057] The robot 10, which may be part of the system 40, is designed to change blow molds. Furthermore, the robot 10 is mobile and can therefore be repositioned at different locations, for example, to change blow mold parts on different container production devices 42.

[0058] The robot 10 has at least one base body 12 and at least one robot arm 14. The robot arm 14 is movably attached to the base body 12. The robot arm 14 can therefore be rotated or pivoted about at least one axis relative to the base body 12 of the robot 10 in order to grip and transport blow-molded parts.

[0059] The robot arm 14 may further comprise a plurality of joints and be pivotable or rotatable about each of these joints.

[0060] The robot 10 is further configured to be transported by means of the transport device 30. For this purpose, the transport device 30 can comprise at least one driverless vehicle element 32 and at least one support element 34. The support element 34 can be movably mounted on the vehicle element 32 such that the support element 34 can be lifted by the vehicle element 32 and lowered toward the vehicle element 32. A robot 10 can thus be lifted and carried by the support element 34.

[0061] For this purpose, the base body 12 has at least one first positioning element 16, 18, with which the robot 10 can be positioned on a transport device 30. The support element 34 has at least one counterpart 36, 38 for the first positioning element 16, 18. The first positioning element 16, 18 and the at least one counterpart 36, 38 can cooperate to correctly position the robot 10 on the support element 34.

[0062] For this purpose, the first positioning element 16, 18 can, for example, have one half of a first kinematically determined bearing. The other half of the first kinematically determined bearing can be arranged on the transport device 30 and formed by the first counterpart 36, 38. With the kinematically determined bearing, a predefined positional relationship can thus be established between the robot 10 and the transport device 30. With the predefined positional relationship, the robot 10 has a predefined orientation with respect to the transport device 30 and can thus be arranged correctly and with a predefined positional relationship at a blow mold change area 44.

[0063] The first positioning element 16, 18 can, for example, have at least two receptacles, which can be differently shaped. The first counterpart 36, 38 can have two elements that match the respective receptacles, e.g., projections, which can also be differently shaped according to the receptacles. In this example, the first positioning element 16, 18 has a hemispherical receptacle 16 and a pyramid-shaped receptacle 18. The at least one counterpart 36, 38 can have a matching hemispherical projection 36 and a pyramid-shaped projection 38. Since the projections 36, 38 only fit the receptacles 16, 18 assigned to them, a fixed, unambiguous orientation of the robot 10 on the support element 34 can be provided with the kinematically determined bearing.

[0064] According to another example, the first positioning element 16, 18 can have only one receptacle, with which a kinematically specific positioning can be achieved. A matching first counterpart 36, 38 can then be accommodated in one receptacle to provide the kinematically determined mounting.

[0065] Furthermore, the robot 10 has at least one releasable locking device 20, with which the robot 10 can be locked to the hall floor 26. The releasable locking device 20 can interact with the locking element 60 to lock the robot 10. Furthermore, the releasable locking device 20 can be released from the locking element 60 in order to be able to transport the robot 10 to another position. The releasable locking device 20 can have a pivotable floor lock. In a first state, the floor lock can be unlocked from the locking element 60. In a second state, the floor lock can be locked to the locking element 60. Furthermore, the locking element 60 can be, for example, a rod embedded in the floor, which can be gripped by the floor lock during the locking process.

[0066] The system 40 can further comprise at least one control device 68, which can be configured to receive at least one registration signal from the robot 10. Furthermore, the control device 68 can be configured to transmit at least one control signal to the robot 10. For this purpose, the robot 10 can be configured to transmit the registration signal and receive the control signal.

[0067] As soon as the robot 10 has been transported, for example, by the transport device 30 into the blow mold change area 44 and placed there, and the robot 10 has been locked with the locking device 20, the robot 10 can transmit the registration signal. Upon receipt of the registration signal, the control device 68 can register the robot 10 and transmit control signals to it. The control signals can be used to start and stop the operation of the robot 10 and to control the robot 10 during operation.

[0068] Furthermore, the safety zone 70 can be expanded to include the blow mold change area 44, in which the robot 10 is locked as soon as the robot 10 has been logged on to the control device 68. After the robot 10 has been logged off from the control device 68, the part of the safety zone 70 that includes the blow mold change area 44 can be released again, so that the blow mold change area 44 no longer belongs to the safety zone 70.

[0069] The control device 68 can further be configured to open the gate element 50 when a transport device 30 is to transport a robot 10 or another object into the blow mold change area 44. Furthermore, the control device 68 can be configured to close the gate element 50 when the transport device 30 has deposited the robot 10 or the other object in the blow mold change area 44 and has been moved out of the blow mold change area 44.

[0070] The robot 10 can further comprise at least one second positioning element 22, 24. The blow mold changing area 44 can comprise a second counterpart 52, 54 on the hall floor 26, which is designed to match the second positioning element 22, 24. When the robot 10 is set down, the transport device 30 can position the robot 10 such that the at least one second positioning element 22, 24 is placed on the second counterpart 52, 54. The robot 10 can thus be arranged at a fixed position in the blow mold changing area 44.

[0071] The second positioning element 22, 24 and the second counterpart 52, 54 can each form one half of a second kinematically determined bearing arrangement. For this purpose, the second positioning element 22, 24 can have at least two receptacles that are designed differently. Furthermore, the second counterpart 52, 54 can have two projections that are designed to match the respective receptacles. One element 52 of the second counterpart can, for example, be designed to match the element 22 of the second positioning element. The other element 54 of the second counterpart can then be designed to match the other element 24 of the second positioning element. The robot 10 can thus be arranged in a fixed positional relationship and orientation to the container production device 42.

[0072] As in Fig. As shown in Figure 2, the system 40 can have multiple container manufacturing devices 42. The robot 10 can be assigned to each of these container manufacturing devices 42 in order to change the blow molds there. The number of container manufacturing devices 42 is not limited. A single robot 10 can thus be used for a plurality of container manufacturing devices 42 to change the blow molds. This avoids having to provide each container manufacturing device 42 with its own permanently installed robot, thus reducing costs in the manufacture of the system 40 and the container manufacturing devices 42.

[0073] Furthermore, several robots 10 can of course be provided to change blow molds on the container manufacturing devices 42. The number of robots 10 can advantageously be smaller than the number of container manufacturing devices 42.

[0074] Furthermore, the transport device 30 can transport the robot 10 as shown in Fig. 3, transport them one after the other to different container manufacturing devices 42. Furthermore, the transport device 30 can be designed to transport storage devices 46 that can store blow molded parts. The storage devices 46 can then also be transported into the blow mold changing areas 44, so that the robot 10 can remove blow molded parts from the storage devices 46 or insert them into the storage devices 46. The change of the blow molded parts can be carried out in such a way that the robot 10 first removes a blow molded part from the container manufacturing device 42 and inserts it into the storage device 46 and then removes a new blow molded part from the storage device 46 and inserts it into the container manufacturing device 42.

[0075] The storage devices 46 can be designed, for example, as magazines for the blow-molded parts. Furthermore, the storage devices 46 can optionally also have first positioning elements 16, 18, with which the storage devices 46 can be positioned on the transport device 30. Furthermore, the first positioning elements 16, 18 of the storage device 46 can be shaped like the first positioning elements of the robot 10. These positioning elements can also be designed as one half of kinematically determined bearings, which can interact with the first counterparts 36, 38 on the transport devices 30.

[0076] As soon as the robot 10 has attached all the blow molded parts to be replaced from a storage device 46 to the container manufacturing device 42 or has placed the blow molded parts to be replaced from the container manufacturing device 42 into the storage device 46, the transport device 30 can replace the storage device 46 with another storage device 46 that contains additional blow molded parts to be replaced. The replacement can, for example, take place in such a way that the robot 10 first removes a blow molded part from the container manufacturing device 42 and places it in the storage device 46. The robot 10 can then remove a blow molded part from the storage device 46 and place it in the position in which the previously removed blow molded part was located.

[0077] In the Fig. 4a and Fig. Figure 4b shows a further embodiment of the robot 10. In this example, the robot 10 has a cage 48. The cage 48 at least partially surrounds the robot arm 14. Furthermore, the cage 48 can be attached to the base body 12. This allows the cage 48 to be transported with the robot 10 when the transport device 30 lifts and moves the robot 10. The cage 48 can further have a gate element 50 that can be automatically opened and closed by a motor 66. The motor 66 can be controlled, for example, by the control device 68.

[0078] Furthermore, the cage 48 can have a window 62 or an opening through which the robot arm 14 can be moved in order, for example, to be able to attach blow molded parts to a container manufacturing device 42 through the window 62.

[0079] Fig. 4a shows the transport of the robot 10 with the cage 48 on the transport device 30.

[0080] In Fig. 4b, the robot 10 is arranged with the cage 48 in the blow mold changing area 44. The window 62 faces the container manufacturing device 46, so that the robot arm 14 can be moved through the window 62 to the container manufacturing device 46. Furthermore, a storage device 46 can also be placed in the cage 48, from which the robot 10 can remove blow molded parts or into which the robot 10 can insert blow molded parts.

[0081] The cage 48 can be designed such that the locking device 20 can engage the locking element 60 in order to lock the robot 10 together with the cage 48 in the blow mold changing area 44.

[0082] In the Fig. Figures 5a to 5c show a further embodiment of the system 40. This system can also have a plurality of container manufacturing devices 42. At least one container manufacturing device 42 has a blow mold change area 44, at which a foldable fence element 28 can be arranged.

[0083] The foldable fence element 28 has at least two states. In an unfolded state, it extends at least partially around the blow mold change area 44. In a folded state, it leaves the blow mold change area 44 free. It can be arranged further along an edge of the blow mold change area 44. In this example, the foldable fence element 28 is arranged on the container manufacturing device 42. The system 40 can have a drive element 72 for folding or unfolding the fence element 28.

[0084] Furthermore, a distance zone 58 can be arranged on the container manufacturing device 42 at a predefined distance from the container manufacturing device 42. The distance zone 58 can be arranged such that a transport device 30 transporting a robot 10 into the blow mold change area 44 must traverse the predefined distance zone 58. Furthermore, sensors can, for example, detect whether a transport device 30 traverses the distance zone 58 and from which direction the transport device 30 enters the distance zone 58. The control device 68 can be configured to detect and evaluate the sensor signals to determine whether the transport device 30 is traversing or will traverse the distance zone 58.

[0085] As soon as the transport device 30 passes through the spacing area 58 in the direction of the blow mold changing area 44, the foldable fence element 28 can be unfolded. Fig. Figure 5a shows the fence element 28 in a folded state. The blow mold change area 44 is not fenced and is therefore freely accessible.

[0086] As soon as the foldable fence element 28 unfolds and thus changes from the folded state to the unfolded state, the blow mold change area 44 is gradually encompassed by the fence element 28. An intermediate state is in Fig. 5b, in which the transport device 30 can be arranged within the distance area 58.

[0087] The transition from the folded state to the unfolded state, which is Fig. 5c, can be timed such that the fence element is in the unfolded state as soon as the transport device 30 can pass through the fence element through a gate element 50. For this purpose, the gate element 50 can be opened in time by means of the motor 66 about the pivot axis 64 to allow the transport device 30 with the robot 10 to pass through.

[0088] As in Fig. As shown in Figure 5c, the transport device 30 can move through the gate element 50 into the now fenced-in blow mold change area 44 to deposit the robot 10 at the appropriate location. The robot 10 can be positioned on second counterparts 52, 54 using second positioning elements 22, 24. The robot 10 can then be locked in place. As already explained above, after the robot 10 has been logged on, the safety area 70 can also be expanded to include the blow mold change area 44.

[0089] In Fig. Figure 6 shows a flowchart for a method for changing blow molds on at least one container manufacturing system 40. The method is referenced in its entirety by reference numeral 100.

[0090] The system 40 has at least one container manufacturing device 42 and at least one blow mold changing area 44, which is arranged adjacent to the container manufacturing device 42 and has at least one locking element 60 for the locking device 20 of the robot 10 on a hall floor 26.

[0091] In a first step 102, the robot 10 is picked up by the transport device 30, wherein, during the pick-up, the first positioning element 16, 18 is mounted on the first counterpart 36, 38 of the transport device 30. The robot 10 is thus arranged in a predefined position on the support element 34 of the transport device 30. If the first positioning element 16, 18 and the first counterpart 36, 38 form a kinematically determined mounting, an orientation of the robot 10 on the transport device 30 can also be specified.

[0092] The robot 10 can be picked up by lifting the support element 34 of the transport device 40. For this purpose, the transport device 30 with the driverless vehicle element 32 can first move underneath the robot 10. The support element 34 is then moved downward and can be in its closest possible position to the vehicle element 32.

[0093] Once the vehicle element 32 has positioned the support element 34 such that the first positioning element 16, 18 is positioned above the first counterpart 36, 38 of the support element 34, the vehicle element 32 can stop and the support element 34 can be raised. During the lifting process, the first counterpart 36, 38 of the support element 34 engages the first positioning element 16, 18.

[0094] If the system 40 has a foldable fence element 28 that can be unfolded and folded, for example, by means of a drive element 72, the method 100 can further include sub-step 122. The fence element 28 can be unfolded by means of the drive element 72 when the transport device 30 moves, for example, at a predefined distance range 58 toward the blow mold change area 44. The drive element 72 can be controlled by the control device 68.

[0095] The unfolding of the fence element 28 can be timed such that the fence element 28 is unfolded in good time before the transport device 30 reaches the blow mold change area 44 and can traverse the fence element 28.

[0096] In a further step 104, the robot 10 is transported into the blow mold change area 44. The transport takes place using the transport device 30. The transport of the robot 10 can take place immediately after step 102. If a fence element 28 is present that at least partially encloses the blow mold change area 44, an opening can be provided in the fence element 28 through which the transport device 30 with the robot 10 can pass.

[0097] If the system 40 has a fence element 28 with at least one gate element 50, wherein the gate element 50 can be pivoted about a pivot axis 64 by a motor 66, step 104 can optionally have the sub-steps 112 and 114.

[0098] In sub-step 112, the gate element 50 can be pivoted about the pivot axis 64 by the motor 66 to open it, so that the transport device 30 with the robot 10 can move into the blow mold change area 44. The opening of the gate element 50 can be initiated, for example, by a control device 68 when the transport device 30 is moved into the predetermined distance range 58.

[0099] In a further sub-step 114, the transport device 30 can traverse the fence element 28 through the opened gate element 50. The transport device 30 can then transport the robot 10 to its intended position.

[0100] Once the robot 10 has been transported by the transport device 30 into the blow mold change area 44 to its designated position, the robot 10 can be placed on the hall floor 26 by the transport device 30 in a further step 106. The designated position is defined such that the robot 10 is arranged with the locking device 20 on the locking element 60, so that the locking device 20 can interact with the locking element 60 to lock the robot 10 to the hall floor 26 or in the blow mold change area 44.

[0101] If the robot 10 has at least one second positioning element 22, 24 and the blow mold changing area 44 has at least one second counterpart 52, 54, in an optional sub-step 110 of step 106, the robot 10 can be positioned such that the second positioning element 22, 24 is arranged on the second counterpart 52, 54 of the blow mold changing area 44. Through this positioning, the robot 10 can be automatically arranged such that the locking device 22 is correctly arranged on the locking element 60 for locking.

[0102] After the robot 10 has been correctly positioned and deposited by the transport device 30, the locking device 20 can be locked with the locking element 60 in a further step 108. If the locking device 20 is a pivotable floor lock, the floor lock can be pivoted toward the locking element 60 to lock the robot 10 to the hall floor 26 in the blow mold change area 44.

[0103] After the robot 10 has been deposited, the transport device 30 can move out of the blow mold changing area 44 in order to transport further objects, e.g., storage devices 46.

[0104] If sub-steps 112 and 114 are carried out, after the robot 10 has been locked and after the transport device 30 has left the blow mold change area 44, the gate element 50 can be closed in a further sub-step 116 by controlling the motor 66.

[0105] The gate element 50 can be opened and closed again as required when the transport device 30 has to pass through the fence element 28, for example when the transport device 30 is to move a storage device 46 into or out of the blow mold changing area 44.

[0106] After step 108, steps 118 and 120 can optionally be provided if the system 40 has a control device 68. The control device 68 can be configured to receive at least one registration signal from the robot 10 and to transmit at least one control signal, and the robot 10 can be configured to transmit the registration signal and to receive the control signal.

[0107] In step 118, the robot 10 can transmit a registration signal to register it with the control device 68. After the control device 68 receives the registration signal, the robot 10 is registered with the respective container manufacturing device 42.

[0108] The control device 68 can then, in the further optional step 120, send a control signal to control the robot 10, for example, so that the robot 10 starts exchanging blow mold parts after receiving the control signal.

[0109] If the system 40 has a safety zone 70 that extends at least around the container manufacturing device 42, the safety zone 70 can be extended to additionally encompass the blow mold change zone 44 after the robot 10 has logged on to the container manufacturing device 42. After the robot 10 has logged off, the blow mold change zone 44 can be removed from the safety zone 70 again.

[0110] The method 100 may further include an optional step 124 in which the transport device 30 receives a storage device 46, which can be transported into the blow mold change area 44 in a further optional step 126. The storage device 46 may be at least partially filled with blow molded parts. Furthermore, the storage device 46 may be configured such that the robot 10 can insert the blow molded parts into the storage device 46 or remove them from the storage device 46.

[0111] The examples described above do not limit the invention in any way. Rather, the invention can be modified in many ways. All of the features of the invention described above can be essential to the invention alone or in combination with one another. List of reference symbols 10 robots 12 basic bodies 14 Robot arm 16 first positioning element 18 first positioning element 20 locking device 22 second positioning element 24 second positioning element 26 Hall floor 28 fence elements 30 Transport device 32 vehicle element 34 support element 36 first counterpart 38 first counterpart 40 Appendix 42 Container manufacturing device 44 Blow mold change area 46 Storage facility 48 cage 50 gate elements 52 second counterpart 54 second counterpart 56 housings 58 Distance range 60 locking element 62 windows 64 swivel axis 66 engine 68 Control device 70 Security area 72 drive element QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] EP 2 918 391 B1

[0003]

Claims

[1] Robot (10) for changing blow moulds on plants (40) for producing containers, comprising at least one base body (12) and at least one robot arm (14) which is movably attached to the base body (12), characterized by that the robot (10) has at least one first positioning element (16, 18) for positioning the robot (10) on a transport device (30). [2] Robot (10) according to claim 1, characterized by that the robot (10) has at least one releasable locking device (20) for locking to a hall floor (26), wherein the locking device (20) is preferably designed as a pivotable floor lock. [3] Robot (10) according to one of the preceding claims, characterized by that the at least one first positioning element (16, 18) has a first half of a first kinematically determined bearing. [4] Robot (10) according to one of the preceding claims, characterized bythat the base body (12) has at least one second positioning element (22, 24) for positioning the robot (10) on the hall floor (26), wherein the second positioning element (22, 24) preferably has a first half of a second kinematically determined bearing. [5] Robot (10) according to one of the preceding claims, characterized by that the robot (10) has a cage (48) which at least partially surrounds at least the robot arm (14) and is preferably fastened to the base body (12). [6] Transport device (30) for transporting the robot (10) according to one of the preceding claims, comprising at least one driverless vehicle element (32), characterized by that the vehicle element (32) has at least one first counterpart (36, 38) for the first positioning element (16, 18) for positioning the robot (10) on the vehicle element (32). [7] Transport device (30) according to claim 6, characterized bythat the transport device (30) has at least one carrier element (34) for lifting and / or carrying the robot (10), which is fastened and / or formed on the vehicle element (32). [8] Transport device (30) according to one of claims 6 or 7, characterized by that the first counterpart (36, 38) has a second half of a first kinematically determined bearing. [9] System for changing blow molds on plants (40) for producing containers, comprising a robot (10) according to one of claims 1 to 5 and a transport device (30) according to one of claims 6 to 8, wherein the at least one first positioning element (16, 18) of the robot (10) and the first counterpart (36, 38) are designed to match one another. [10] Plant (40) for producing containers, comprising - at least one container manufacturing device (42); - at least one blow mold changing area (44), wherein within the blow mold changing area (44) on at least part of a hall floor (26) there is provided an arrangement of at least one robot (10) for changing blow molds according to one of claims 1 to 5; and - at least one storage device (46) for blow-molded parts, wherein the blow-mold changing area (44) is arranged adjacent to the container manufacturing device (42) and the hall floor (26) has at least one locking element (60) for the locking device (20) of the robot (10). [11] System (40) according to claim 10, characterized by that the hall floor (26) further comprises at least one second counterpart (52, 54) for the second positioning element (22, 24), wherein the second counterpart (52, 54) preferably comprises a second half of a second kinematically determined bearing. [12] Installation (40) according to one of claims 10 to 11, characterized bythat the blow mold changing area (44) has at least one fence element (28) which is preferably designed to be foldable. [13] Installation (40) according to one of claims 10 to 12, characterized by that the system (40) comprises at least one system according to claim 9, wherein the second positioning element (22, 24) and the second counterpart (52, 54) are designed to match one another. [14] Method (100) for changing blow molds on at least one plant (40) for producing containers, which is designed at least according to one of claims 10 to 13, by means of a system according to claim 9, comprising at least the steps: - picking up (102) the robot (10) with the transport device (30) such that the first positioning element (16, 18) is mounted on the first counterpart (36, 38); - transporting (104) the robot (10) into the blow mould changing area (44) with the transport device (30); - depositing (106) the robot (10) from the transport device (30) on the hall floor (26) such that the locking device (20) is arranged on the locking element (60); and - Locking (108) the locking device (20) on the locking element (60). [15] Method according to claim 14, characterized by that the system (40) is designed at least according to claim 11 and the step (106) of depositing the robot (10) from the transport device (30) on the hall floor (26) further comprises at least the following sub-step: - Positioning (110) the robot (10) such that the second positioning element (22, 24) is arranged on the second counterpart (52, 54). [16] Method according to claim 14 or 15, characterized bythat the system (40) is designed at least according to one of claims 10 to 14 and the fence element (28) has at least one gate element (50) which can be pivoted about a pivot axis (64) for opening and closing by means of a motor (66), wherein the step (104) of transporting the robot (10) into the blow mold changing area (44) further comprises at least the following sub-steps: - opening (112) of the gate element (50) by means of the motor (66) when the transport device (30) is moved into a predetermined distance range (58) from the gate element (50); and - passing (114) the fence element (28) through the opened gate element (50) with the transport device (30), wherein the method preferably further comprises at least the following step: - closing (116) the gate element (50) after step (106) of depositing the robot (10) from the transport device (30) and after the transport device (30) has been moved out of the blow mold changing area (44) and has reached the predetermined distance range (58). [17] Method according to one of claims 14 to 16, characterized by that the system (40) has a control device (68) which is designed to receive at least one registration signal from the robot (10) and to send at least one control signal, wherein the robot (10) is designed to send the registration signal and to receive the control signal, wherein the method after step (108) locking the locking device (20) on the locking element (60) further comprises at least the following step: - sending (118) a registration signal by means of the robot (10) for registering the robot (10) with the control device (68) and receiving the registration signal by means of the control device (68); and - Sending (120) a control signal by means of the control device (68) for controlling the robot (10) and receiving the control signal by means of the robot (10). [18] Method according to one of claims 14 to 17, characterized by that the system (40) has a safety area (70) which extends at least around the container manufacturing device (42) and which is designed such that the intrusion of objects triggers a warning signal, wherein the method after step (108) of locking the locking device (20) to the locking element (60) further comprises at least the following step: - Extending the safety area (70) such that the safety area (70) additionally extends around the blow mold change area (44). [19] Method according to one of claims 14 to 18, characterized by that the system (40) has a fence element (28) which can be folded by means of a drive element (72) and which, in an unfolded state, extends at least partially around the blow mould changing area (44) and, in a folded state, leaves the blow mould changing area (44) free, wherein the method further comprises at least the following step before the step of transporting the robot (10) into the blow mould changing area (44): - unfolding (122) the fence element (28) by means of the drive element (72); wherein the fence element (28) is preferably folded when the robot (10) is removed from the blow mold changing area (44). [20] Method according to one of claims 14 to 19, characterized by that the method further comprises at least the following step: - receiving (124) a storage device (46) which is at least partially filled with blow-molded parts with the transport device (30); and - Transporting (126) the storage device (46) into the blow mold changing area (44) with the transport device (30).

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