CONTAINER TREATMENT SYSTEM WITH MOBILE ROBOT FOR COMPONENT REPLACEMENT

Description

[0001] The invention relates to a container treatment plant for treating containers such as bottles and a method for changing a component of a container treatment machine of a container treatment plant in the beverage processing industry. State of the art

[0002] Container treatment plants comprising one or more container treatment machines are known from the prior art.

[0003] It is also known that these machines need to be reconfigured when changing formats, for example, when switching from one bottle size to another. This usually involves replacing machine components. For example, the blow molds of a blow molding machine can be replaced.

[0004] Such format changes are usually done manually, meaning a machine operator performs them. This involves a considerable amount of time and physical strain for the operator.

[0005] Automatic changers for the automated exchange of components during a format change are known from EP 1 132 334 A1 and EP 3 072 823 A1. Task

[0006] Based on the known state of the art, the technical problem to be solved is therefore to specify a container treatment system in which a component change can be carried out in the shortest possible time and with the simplest possible ease for the operator. Solution

[0007] This problem is solved by the container treatment system according to claim 1 and the method for changing a component of a container treatment machine of a container treatment system according to claim 9, as well as the system of container treatment systems according to claim 13. Advantageous embodiments of the invention are described in the dependent claims.

[0008] The container treatment system according to the invention for treating containers, such as bottles, comprises at least one container treatment machine and a mobile, collaborative robot designed for robot-robot interaction and / or human-robot interaction, wherein the collaborative robot is designed to assist in changing a component of the container treatment machine.

[0009] A collaborative robot is defined as any device controlled by a computer or processor unit that is equipped with a tool or similar means for interacting with its environment and can interact with humans or other robots in such a way that it collaborates with them to accomplish a specific task, such as changing a component, and either performs sub-steps of such a process itself or provides support. For example, a collaborative robot can lift a component that is too heavy for an operator to handle while the operator maneuvers the component into the correct position. The term "collaborative robot" specifically refers to the already familiar COBOTs.

[0010] The collaborative robot's involvement in changing a component of the container handling machine is understood to mean that the collaborative robot either performs at least one part of the component change or is at least involved in such a part and carries it out in cooperation with a human or another robot. The robot's involvement is not limited to simultaneous collaboration with an operator / human in such a way that both the operator and the robot perform tasks on the machine at the same time – jointly or independently. The involvement can also include preparatory or subsequent steps, which are possible not only when the machine is down, but also during production.This includes, but is not limited to, providing (new or additional) materials, spare parts, and tools for setup, as well as disposing of (old or used) materials, spare parts, tools, etc., after setup. It is understood that these preparatory and / or subsequent steps at the machine can also be carried out while an operator is present and already performing other tasks. Furthermore, these steps can also be performed in the complete absence of an operator and in no case necessarily require the cooperation of an operator who may be present.

[0011] The term "mobile," collaborative robot is used here to mean that the robot as a whole is not bound to a specific location, but can be moved from one place to another, for example, within a factory hall. This movement can be autonomous, meaning the robot can move independently, essentially without further control or management by an operator, from one place to another. Or the robot's movement can be controlled by an operator.

[0012] The use of such mobile collaborative robots allows for time-efficient component changes, reducing the amount of human labor required or at least the effort and actions required by the operator when changing a component. At the same time, the potential for errors during component changes can be advantageously reduced, since at least some steps of the process are performed by a robot.

[0013] In one embodiment, the collaborative robot is equipped with a safety system designed to continuously assess the risk of collision with a person in the robot's environment, in order to control the robot's movements to minimize this risk. This minimizes the risk of damage to other robots and, in particular, the risk of injury to operators working with the collaborative robot.

[0014] In a further development of this embodiment, the robot does not include a separating protective device. A separating protective device is understood to be, for example, protective walls that delineate the robot's movement area from its surroundings, preventing an operator from accidentally entering this area. If these protective devices can be omitted, direct interaction between the collaborative robot and an operator or another robot is possible, thus making the collaboration during component exchange even more efficient.

[0015] In a further embodiment, the container treatment system comprises a second container treatment machine, wherein the collaborative robot is movable between the container treatment machine and the second container treatment machine. This eliminates the need to provide all robots required for changing a component separately at each container treatment system. Instead, robots that are needed at each container treatment machine for changing a component can be made available to all container treatment machines, thus reducing the acquisition costs of the system.

[0016] Furthermore, the robot may be equipped with a robot arm and a tool for interacting with a container handling machine. This tool may be, for example, in the form of a clamp, gripper, screwdriver, or similar device, and may be used by the robot to, for example, hold, detach, or attach a component of the container handling machine.

[0017] In a further development of this embodiment, the collaborative robot includes a tool-changing system with which the robot's tool can be exchanged for another tool carried in the tool-changing system. For example, the tool-changing system can be designed as a container for different tools, and the robot can be configured to place one of its tools in this container and remove another tool to use in place of the first. Alternatively, the robot can be provided with, or have an associated, additional robot arm for changing the robot's tools. This additional arm is configured to remove a tool from the robot and replace it with one from the tool-changing system.

[0018] This makes the collaborative robot even more flexible and allows it to be used advantageously on different container treatment machines within the container treatment plant for different purposes.

[0019] Furthermore, the collaborative robot can be positioned on a movable platform. This allows the robot's components to be supported as stably as possible (on the platform) while simultaneously enabling the collaborative robot as a whole to move using the platform.

[0020] In a further development of this embodiment, the movable platform, together with a guide designed as a stator and running through the container handling system, forms a linear drive. Linear drives are energy-efficient and at the same time very precisely controllable, so that the position of the collaborative robot can be adjusted flexibly and with high accuracy.

[0021] Other propulsion options are also conceivable and can be implemented advantageously depending on the requirements. These include, but are not limited to, dead reckoning (also known as odometry), guidance with continuous guide lines, LiDAR systems, grid navigation, laser navigation, 2D and 3D laser scanners in conjunction with environmental features (2D or 3D), 2D cameras or 3D cameras in conjunction with image recognition software, and GPS systems, especially indoor GPS systems. In these cases, the robot can be advantageously equipped with its own drive system, particularly an electric drive.

[0022] According to the invention, the mobile, collaborative robot is designed as a humanoid robot and comprises two arms and / or two legs that are designed to cooperate in tasks performed by the robot. This allows for more effective interaction with an operator and also eliminates the need for additional protective measures such as safety barriers.

[0023] The inventive method for changing a component of a container treatment machine in a container treatment system for the beverage processing industry involves the participation of a mobile, collaborative robot trained for robot-robot interaction and / or robot-human interaction in the component change. This reduces the effort required by the operator and simultaneously minimizes the potential for errors during component changes.

[0024] In one embodiment, the collaborative robot continuously determines the risk of collision with a person in its vicinity using a safety system, and the robot's movement is controlled to minimize this risk. This reduces the risk of injury to the operator interacting with the collaborative robot.

[0025] In one embodiment, the collaborative robot performs or assists in at least one of the following tasks: picking up components at a specific position, moving components to a specific position, fastening and / or detaching components, connecting and / or disconnecting media lines and / or cables and / or supply lines, and performing adjustment work. These tasks either involve moving heavy objects and / or require considerable accuracy. Robots are particularly well-suited for both of these tasks.

[0026] It may also be provided that the collaborative robot exchanges a tool on the collaborative robot for another tool carried in a tool changing system before and / or during the change of a component of the container handling machine.

[0027] The collaborative robot is therefore flexibly usable for changing different components of container treatment machines.

[0028] According to the invention, a system of at least two container treatment systems is provided, each comprising at least two container treatment machines for treating containers. The system includes at least one mobile, collaborative robot configured for robot-robot interaction and / or robot-human interaction. The collaborative robot is configured to assist in the replacement of a component of a container treatment machine in one of the container treatment systems and to move independently between the container treatment machine of one container treatment system and another container treatment machine of the other container treatment system. In one embodiment, the container treatment systems are configured as beverage filling systems and each includes at least one filler for filling containers with a product and one downstream (i.e.,The filler includes a capper arranged downstream of the transport or movement direction of the containers in the plant for closing the containers. Brief description of the characters

[0029] Figure 1 shows a schematic representation of an embodiment of a container treatment system, Figure 2a shows a more detailed schematic view of a collaborative robot according to an embodiment, Figure 2b shows a more detailed schematic view of a collaborative robot in an embodiment as a humanoid robot. Detailed description

[0030] Figure 1Figure 1 shows a schematic view of a container treatment plant 100 according to a non-inventive embodiment. In the embodiment shown here, the container treatment plant is arranged, for example, in a factory hall 180 and comprises two container treatment machines 120 and 130. In this embodiment, the container treatment machine 120 is designed as a labeling machine with an associated labeling unit 121, and the container treatment machine 130 is designed as a blow molding machine with associated blow molds 132.

[0031] These exemplary configurations are not mandatory and the container treatment plant 100 can also include completely different container treatment machines and different numbers of container treatment machines (for example, only one or more than two).

[0032] Furthermore, embodiments are also included in which not just one, but several container treatment plants are provided. These can include at least partially identical container treatment machines. For example, a first container treatment plant can include a blow molding machine, a filler, a capper, and a labeling machine, whereas the second container treatment plant can include a blow molding machine, a filler, a capper, and a printing machine for printing on the containers.

[0033] Furthermore, in the Figure 1 In the illustrated embodiment of the container treatment machine 130, a stationary robot 131 is assigned, which can be configured to manipulate components of the container treatment machine 130. For example, this robot can replace blow molds of the container treatment machine 130, which is configured as a blow molding machine.

[0034] However, in the Figure 1In the depicted situation, an operator 150 performs tasks on the container handling machine 120. For example, he can replace an empty label roll on the labeling unit 121.

[0035] Robot 131 and operator 150 are shown here only as examples to illustrate various situations described below. For example, instead of robot 131, another operator could be used, or several operators and / or robots could work together on a container handling machine.

[0036] The illustrated container handling system 100 further comprises a mobile, collaborative robot 101. In the embodiment shown here, this robot can, for example, be arranged on a movable platform 115, which is preferably movable throughout the entire factory hall 180. Hereinafter, the platform can be understood as part of the robot 101.

[0037] Since the collaborative robot 101 is typically intended for use in conjunction with one or more container handling machines 120 and 130, the robot 101 can also be movably arranged along a guide 102. In particular, the platform and the guide 102 together can form a linear motor, such that the guide 102 forms the stator of this linear motor. Other configurations for moving the robot are also possible. In particular, the robot can have its own drive (preferably an electric drive with at least one electric motor) and also be equipped with its own navigation system, so that it can move essentially autonomously.Therefore, preferred options include dead reckoning navigation (also known as odometry), lane guidance with continuous guide lines, LIDAR systems, grid navigation, laser navigation, 2D and 3D laser scanners in conjunction with environmental features (2D or 3D), 2D cameras or 3D cameras in conjunction with image recognition software, as well as GPS systems, especially indoor GPS systems.

[0038] The robot's power supply can be provided by one or more energy storage devices, preferably rechargeable batteries. These can either be charged at a central charging station when the robot is not in use, or charged inductively during operation, for example, at each container handling machine. Furthermore, the robot can automatically replace depleted batteries with fully charged ones, thus minimizing downtime and ensuring the robot is always ready for use.

[0039] Furthermore, it should be mentioned that the robot is not limited to movement between container treatment machines within a single container treatment system. As already explained above, multiple container treatment systems can also be used. In this case, the robot can also move between container treatment machines of the different container treatment systems. The necessary navigation equipment and, if applicable, the independent drive system are the same as for movement between container treatment machines within a single container treatment system.

[0040] It can be particularly advantageous to have a collaborative robot for each type of container handling machine, specifically adapted to the tasks involved in that type. For example, one type of robot for working on blow molding machines might be equipped with special tools, while another type for working on labeling machines would be equipped with different tools.

[0041] The robot can have a robot arm 111, at one end of which at least one tool 112 can be attached. The tool can be, for example, a gripper or a similar mechanism for holding objects, in particular components of the container handling machine.

[0042] The collaborative robot 101 is designed to assist the operator at least when changing a component on the container handling machine 120 (regardless of its specific configuration as a labeling machine). For example, the collaborative robot 101 can loosen connections on the labeling unit so that the operator can pick up the empty label roll. Alternatively, the operator can loosen the connections (e.g., screws) while the collaborative robot holds the label roll to prevent it from falling on the operator and thus minimize the risk of injury.

[0043] Additionally or alternatively, it may also be provided that the collaborative robot 101 can cooperate with the robot 131, for example, when changing a component of the container treatment machine 130 (for example, a blow mold).

[0044] The collaborative robot 101 is generally designed not to have separating protective devices such as partitions, or to have such devices assigned to it in a working position where it assists in changing a component on a container handling machine. The workspace of the collaborative robot (for example, the robot arm 111) is therefore accessible at all times to an operator 150, as well as to other robots 131. This allows for actual interaction between the operator and other robots with the collaborative robot and ensures efficient reconfiguration of container handling machines.

[0045] However, in order to reduce the risk of injury, particularly to people working with such a collaborative robot, a safety system can be provided that minimizes the risk of collision with an operator by controlling the movement of the collaborative robot 101, as is done in Figure 2 will be further explained.

[0046] Figure 2a shows a more detailed schematic representation of the collaborative robot 101 not according to the invention.

[0047] As already mentioned in reference to Figure 1 As described, the robot can include a platform 115, with the help of which the robot can move along the guide 102. Figure 1 The platform can be positioned as desired. Alternatively, the platform can also be equipped with wheels, steering, and its own drive system to navigate autonomously or at least partially under operator control through a factory hall. The robot can also have an integrated navigation system that allows the robot's control system to determine its position, at least relatively.

[0048] The pedestal can also house part or all of the robot's control electronics and power supply.

[0049] Additionally, several sensors 251 to 253 can be provided on or in the platform. These sensors can form part of the safety system that allows the robot 101 to determine the risk of collision with an operator located near the robot 101 and to control its movements in such a way as to minimize the risk of collision with the operator (and thus the risk of injury). This can be done autonomously by the robot 101 or the control electronics provided in the robot, or it can occur in interaction with other control units of the container handling system. The sensors can also function as part of the aforementioned navigation system to enable the robot to determine its location and move, for example, through factory hall 180.

[0050] Furthermore, the robot 101 can include a robot arm 111, which is, for example, arranged on the pedestal 115. The robot arm can be formed by several joints 213 and 215 and several arm segments 214 and 216. The two joints and two arm segments shown here are not mandatory. The robot arm can also consist of only one joint and one arm segment, or two joints and one arm segment, or several joints and several arm segments.

[0051] In any case, the robot includes one or more tools 112. These can include, as shown here by way of example, a screwdriver 121 and a gripper 222. The robot arm 111 can generally have a front section in which mounting devices for a variety of different tools are arranged. These can be, for example, threaded openings or snap-fit ​​connections. Furthermore, connections for supplying attached tools with power or control electronics can also be provided in this section.

[0052] It is particularly advantageous if the tools of the robot 101 are interchangeable, and especially quickly interchangeable. It is particularly preferred if the robot has a tool-changing system 230. This tool-changing system can be formed by a tool storage unit 235 and a robot arm associated with this tool storage unit, or more generally, by a robot 231, which in particular has a gripping element 232. Several tools 225 and 224 can be arranged in the tool storage unit 235, which can be removed by the robot 231 and attached to the robot arm 111. For this purpose, the robot 231 can be configured such that, in interaction with the robot arm (or a correspondingly different embodiment of the element 111), it can remove a tool 221 or 222 mounted on the robot arm 111, place it in the tool tray 235, and remove a tool from the tool tray 235 and mount it on the robot arm 111.It is particularly advantageous if the robot 231 is also equipped to establish any necessary connections between a tool attached to the robot arm 111 and the robot arm itself (e.g., control electronics or fasteners). In principle, the collaborative robot 101, thus equipped, can perform a wide range of tasks related to changing components or generally retooling container handling machines. These tasks include, in particular, picking up, holding, and transporting components, such as blow molds, and changing assemblies or components, not only on the individual container handling machines but also, if necessary, on transport devices and packaging machines. The robot can also disconnect or connect cables or lines and perform adjustment or setting operations, especially calibration work.

[0053] As mentioned previously, the robot has a safety system that can be used to minimize the risk of collision with an operator or another robot. The safety system (in Figure 2a The sensor system (represented by sensors 251 to 253) can include, for example, radar or LiDAR systems. Additionally or alternatively, one or more cameras, especially 3D cameras, can be used. Contact sensors are also a possibility. Additionally or alternatively, some of the described sensor systems can also be used to enable a freely moving robot (which, for example, moves on wheels on the floor of factory hall 180) to navigate within factory hall 180.

[0054] Figure 2bFigure 260 shows an embodiment of a mobile robot according to the invention. In this embodiment, the robot 260 is a "humanoid" robot, preferably with two arms 261, 262 and two legs 263, 264, or at least with two arms (for example, two robot arms as shown in Figure 260). Fig. 2a (described with reference numeral 111). The arms and legs can preferably all be used together to perform a specific task. For example, the arms can be advantageously used to hold a larger component, which may be too heavy for a person, and to move or position the component using the legs.

[0055] Arms 261 and 262 can be designed analogously to robot arm 111 and also in this respect in Fig. 1 and 2aThe described tools may be interchangeable. Alternatively or additionally, one or both arms may also be equipped with a robot hand 270, as described in Fig. 2b The robot arm 261 is shown as an example. Preferably, the robot is equipped with a control unit (computer or similar) that allows control of the robot hand 270 approximately corresponding to the movement of a human hand. The robot hand 270 can be equipped with several controllable actuators (electric motors, in particular actuators) in order to move individual segments of the robot hand 270 preferably as independently as possible.

[0056] In particular, the robot hand can be designed to guide and operate tools that can also be used by a human. For example, the robot hand 270 can grasp a screwdriver 271 and use it to tighten or loosen a screw. This allows the tools used in setting up machine or mold parts to be used by both a human operator and the robot, which can significantly simplify human-robot collaboration.

[0057] To further simplify interaction, all robots described so far can also be equipped with 280-inch displays and / or voice outputs, which can be used to inform an operator located near the robot about the tasks being performed by the robot.

[0058] Furthermore, the operator can interact with the robot via these devices, for example, by using the touchscreen display 280 (alternatively, a keyboard or similar device can be assigned to the display) or via voice control. The robot can also support the operator in their tasks by providing information via the display or voice output, such as specific steps for retooling the machine. A video can also be played on the display or a user manual shown, depending on the task the operator needs to perform and which component they are working with.

[0059] Furthermore, to enable the robot to work as independently as possible, it can be provided that the components or molded parts to be processed by it are equipped with markings, for example RFID tags, and that the robot can recognize these via a suitable device (in the example case an RFID sensor or reader).

[0060] To ensure that the robot has the necessary components and, if applicable, tools available when it is to perform tasks on a container handling machine, either the operator can be instructed to provide these, or preferably an automated guided vehicle (AGV) system can be provided. This AGV system uses automated carts or other devices to transport the required components, workpieces, or machine parts to the respective container handling machine in a timely manner, or to deliver replaced machine components to an (external) storage area. While the preceding embodiments were all described with a floor-based, collaborative robot 101, the embodiment of the robot in such a way that it includes a platform which, together with a guide 102 (see [reference to relevant section]), Figure 1) interacts to enable the robot's movement; it can also be arranged on the walls or ceiling of a factory hall, thus making the floor of the factory hall fully accessible to operators.

[0061] In principle, the control of the robot, or even all robots in one or more container handling systems, can be ensured by a central control unit (computer, server, etc.), thus eliminating the need for individual control units assigned to each robot separately. Alternatively, the robot can be equipped with suitable sensors (e.g., cameras) to perceive its surroundings and, based on this, independently derive tasks which it then preferably performs autonomously.

Claims

1. A container treatment plant (100) for treating containers such as bottles, comprising at least one container treatment machine (120, 130) for treating containers and a mobile collaborating robot (101), which is configured for robot-robot interaction and / or for robot-man interaction, the collaborating robot (101) being configured to cooperate in exchanging a component of a container treatment machine wherein the collaborating robot is configured as a device controlled by a computer or a processor unit, wherein the collaborating robot is provided with a tool or similar means for interaction with the surroundings and is able to interact with human beings or other robots in such a way that it is able to cooperate with the human being or the robot when exchanging a component and / or to execute substeps of exchanging a component either on its own or gives assistance in their execution, wherein the mobile collaborating robot is configured as a humanoid robot (260) and comprises two arms (261, 262) and / or two legs (263, 264) configured to cooperate in activities performed by the robot.

2. The container treatment plant (100) according to claim 1, wherein the collaborating robot (101) comprises a safety system, which is configured to continuously determine a risk of collision with a human being in a surrounding of the collaborating robot and to control the movement of the collaborating robot such that the risk of collision will be minimized.

3. The container treatment plant (100) according to claim 2, wherein the collaborating robot does not comprise any separating protective device.

4. The container treatment plant (100) according to one of the claims 1 to 3, comprising a second container treatment machine (120, 130), wherein the collaborating robot is movable between the container treatment machine and the second container treatment machine.

5. The container treatment plant (100) according to one of the claims 1 to 4, wherein the collaborating robot (101) comprises a robot arm (111) with a tool (112) for interacting with a container treatment machine.

6. The container treatment plant (100) according to claim 5, wherein the collaborating robot comprises a tool changing system (230) by means of which the tool (112) of the collaborating robot can be exchanged for some other tool (225, 254) carried along in the tool changing system.

7. The container treatment plant (100) according to one of the claims 1 to 6, wherein the collaborating robot is arranged on a movable platform (115).

8. The container treatment plant (100) according to claim 7, wherein the movable platform forms, together with a guide (102) configured as a stator and extending through the container treatment plant (100), a linear drive.

9. A method for exchanging a component of a container treatment machine (120, 130) of a container treatment plant (100) in the beverage processing industry, wherein a mobile, collaborating robot (101), which is configured for robot-robot interaction and / or for robot-man interaction is configured to cooperate in exchanging the component of the container treatment machine, wherein the collaborating robot is configured as a device controlled by a computer or a processor unit, wherein the collaborating robot is provided with a tool or similar means for interaction with the surroundings and interacts with human beings or other robots in such a way that it cooperates with the human being or the robot when exchanging a component and / or executes substeps of exchanging the component either on its own or gives assistance in their execution, wherein the mobile collaborating robot is configured as a humanoid robot (260) and comprises two arms (261, 262) and / or two legs (263, 264) configured to cooperate in activities performed by the robot.

10. The method according to claim 9, wherein the collaborating robot continuously determines a risk of collision with a human being in the surrounding of the collaborating robot by means of a safety system and the movement of the collaborating robot is controlled such that the risk of collision will be minimized.

11. The method according to claim 9 or 10, wherein the collaborating robot (101) executes or participates in at least one of the following activities: picking up components at a specific position, moving components to a specific position, establishing and / or loosening fastenings of components, coupling and / or decoupling of media lines and / or cables and / or supply lines, executing adjustment work.

12. The method according to one of the claims 9 to 11, wherein, before and / or during the exchange of a component of the container treatment machine, the collaborating robot (101) exchanges a tool (112) at the collaborating robot for some other tool (225, 224) carried along in a tool changing system (230).

13. A system consisting of at least two container treatment plants, each comprising at least two container treatment machines for treating containers, wherein the system comprises at least one mobile, collaborating robot (101), which is configured for robot-robot interaction and / or for robot-man interaction, the collaborating robot (101) being configured to cooperate in exchanging a component of a container treatment machine of one of the container treatment plants and to move independently between the container treatment machine of the container treatment plant and another container treatment machine of the other container treatment plant, wherein the collaborating robot is configured as a device controlled by a computer or a processor unit, wherein the collaborating robot is provided with a tool or similar means for interaction with the surroundings and is able to interact with human beings or other robots in such a way that it is able to cooperate with the human being or the robot when exchanging a component and / or to execute substeps of exchanging the component either on its own or gives assistance in their execution, wherein the mobile collaborating robot is configured as a humanoid robot (260) and comprises two arms (261, 262) and / or two legs (263, 264) configured to cooperate in activities performed by the robot.

14. The system according to claim 13, wherein the container treatment plants are configured as beverage filling plants and comprise each at least one filler for filling containers with a product and a capper arranged downstream of the filler and used for closing the containers.