ROBOT SYSTEM FOR A CONTAINER PROCESSING PLANT

Description

[0001] The invention relates to a robot system for a container processing plant with the features of the preamble of claim 1.

[0002] Such container processing plants typically include one or more container handling machines, such as a container manufacturing machine, a filler, a capper, a labeling machine, an inspection device, a packaging machine, and / or a palletizer, to fill, cap, and bundle a free-flowing product into containers. For example, the free-flowing product could be a beverage.

[0003] In container processing plants, work orders typically involve setup and / or assembly parts, or the refilling of consumables, which are almost exclusively performed by a single operator. For example, when cleaning the filler, so-called CIP caps (CIP = Clean in Place) are attached to rinse the filling elements without removing them.

[0004] The disadvantage is that manually carrying out the work orders requires a lot of time, which is associated with corresponding costs.

[0005] For automation, EP 0 985 633 A1 discloses a method and a device for automatically changing filling heads, a filling machine with a loading and changing machine that can be moved in different positions, with which components are attached to the treatment heads, existing components are removed from them and moved to a storage position, and other components can be connected from their Fords position to the treatment heads.

[0006] A disadvantage of this is that the known device is only active during the setup of the associated container handling machines and is stationary during product filling. Furthermore, the known device is not flexible in its application.

[0007] EP 1 132 334 B1 discloses a magazine device for components that can be attached to container treatment machines.

[0008] WO 2013 / 060549 A1 discloses a container treatment plant and handling device.

[0009] DE 10 2009 033 557 A1 discloses a device for filling beverages with CIP cap control.

[0010] DE 10 2011 054890 A1 discloses a robot system according to the preamble of claim 1.

[0011] The object of the present invention is to provide a device for a container processing plant for carrying out work orders with setup and / or assembly parts, which is better utilized and more flexible in its application.

[0012] To solve this problem, the invention provides a robot system for a container processing plant with the features of claim 1. Advantageous embodiments of the invention are mentioned in the dependent claims.

[0013] Because the robot unit is mounted on the mobile cart, which includes the ground-based chassis for movement within the work area of ​​the container processing system, it can be moved manually or automatically to the specific container processing machine where a work order involving setup and / or assembly parts is currently being performed. It can then be moved to another container processing machine where a further work order involving setup and / or assembly parts is to be performed. Consequently, the robot unit's placement on the mobile cart makes it particularly flexible and allows for better utilization. Since the robot system includes the docking station for attaching the mobile cart to the container processing machine, it can be safely docked at a defined target position.Consequently, the mobile cart is secured against displacement by forces transmitted from the robot unit during the execution of work orders.

[0014] The container processing plant can comprise several container handling machines connected by one or more conveyors. A container handling machine can refer to a machine for treating containers and / or filling a beverage. It can include a container manufacturing machine, a rinser, an inspection device, a labeling machine, a filler for filling the containers with a beverage, a capper, a packaging machine, and / or a palletizer. If the container processing plant has multiple container handling machines, each machine can be assigned a docking station. This allows the robot unit with the mobile cart to be safely positioned at the respective container handling machine.

[0015] The containers may be designed to hold a free-flowing product, such as a beverage, foodstuff, pharmaceutical product, medical device, cleaning agent, spray, and / or personal care product. Preferably, the container may refer to a beverage container. A beverage may include mineral water, a soft drink, juice, and / or beer. A foodstuff may include a product such as the beverage, vinegar, cooking oil, and / or the like. Preferably, the container may be used to transport a liquid or pasty product from the manufacturer to the end consumer.

[0016] The containers can be designed to hold the free-flowing product and be fitted with a closure. These containers can be plastic bottles, glass bottles, cans, and / or tubes. Specifically, plastic bottles can be made of PET, PEN, HDPE, or PP. They can also be biodegradable containers whose main components consist of renewable raw materials such as sugarcane, wheat, or corn.

[0017] The mobile cart can include a frame to which the floor-mounted chassis is attached. The frame can optionally be connected to one of the robot units. The frame may be designed as a housing. The floor-mounted chassis can include several wheels, at least one of which is pivotable for steering. The mobile cart can include a handle that allows an operator to move the mobile cart and the robot unit mounted on it within the working area of ​​the container processing system.

[0018] The robot unit can comprise a robot arm with at least one controllable joint and / or a motion unit for moving an effector. For example, the robot unit can be an articulated robot. The effector can comprise a tool, such as a gripper or suction cup, for grasping an object, such as one or more assembly and / or kit components. Preferably, the robot arm or motion unit can be configured to move the effector three-dimensionally in space. However, two-dimensional or one-dimensional movement is also conceivable. It is conceivable that the robot unit and / or the mobile cart includes a rechargeable battery for power supply. The robot unit can also be a collaborative and / or cooperative robot unit.

[0019] The docking station can include connecting elements to detachably link the mobile cart to the docking station during docking. Additionally, the docking station can include a preferably horizontal platform that the mobile cart can drive onto. The ground-supported chassis may include height-adjustable wheels to compensate for uneven ground or differences in elevation. The docking station can be stationary on the container handling machine.

[0020] The robot system can include a control unit to control the robot unit, the mobile cart, and / or the docking station. The control unit can be configured as a computer system, particularly a machine controller. Preferably, the control unit can include a CPU, a memory unit, an input / output unit, an interface to the robot unit's drives, an interface to a drive of the mobile cart, and / or a network interface. The input / output unit can, for example, be a keyboard and a screen. It is conceivable that the robot system includes multiple control units to control the robot unit, the mobile cart, and / or the docking station separately.

[0021] The fitting and / or assembly parts may include CIP caps, protective chamber plates, filling tubes, probes, inlet / outlet fittings, sawtooth stars, guides, blow molds, heating mandrels, shielding plates, stretch rod tips, blow nozzles, capping cones, holding clamps, bottle plates and / or packaging materials (e.g. label rolls).

[0022] The work orders can, for example, involve changing or adjusting the setup and / or assembly components. More generally, the work orders can refer to tasks performed by the robot unit on the container handling machine.

[0023] The mobile cart can include the control unit for the robot unit and protection against the ingress of dirt and liquids into the control unit. This allows the control unit to be positioned outside the robot unit's working area and still be transported in the mobile cart. Additionally, the control unit is protected from contamination. The protection can include housing components, a sealing system, and / or a flexible enclosure. For example, the protection can be an enclosure designed to prevent the ingress of liquids, specifically according to ISO 20653, with protection classes IP 5K1 to IP5K6 or IP 6K1 to IP6K6.

[0024] The robot unit can include an interchangeable end effector, allowing for the combination of different end effectors to perform tasks with varying setups and / or components. This makes the robot system exceptionally flexible for a wide range of tasks and allows for easy retrofitting as needed. For example, the robot unit can include an interchangeable coupling for the different end effectors, which can be operated automatically by the control unit. This enables the robot unit to adapt the end effector to the task independently, without operator intervention.

[0025] The robot unit includes a force and / or torque sensor designed to detect force and / or torque on one of the setup and / or assembly components during the execution of a work order. This prevents damage to the setup and / or assembly components, the container handling machine, and / or the magazine during the execution of the work order. Possible applications include force-guided assembly of the setup and / or assembly components, force-guided insertion / removal of the setup and / or assembly components into / from the magazine, position correction via target / actual comparison of force or torque curves, and / or teach operations using the force and / or torque sensor.

[0026] The mobile cart, a separate cart, the magazine, and / or the docking station can include a storage unit for the various end effectors, in particular wherein the storage unit is designed such that the various end effectors can be automatically interchanged with the robot unit. This allows the various end effectors to be provided with the storage unit in a magazine-like manner.

[0027] The mobile cart can be designed as an automated guided vehicle (AGV) with a drive system for locomotion within the work area. The drive system can be part of the ground-based chassis and power one of the wheels. The ground-based chassis can include an electric motor, preferably a controllable one. For example, this could be a servo motor. Alternatively, the ground-based chassis could include a steering drive to steer at least one of the wheels. For power supply, the mobile cart can include a rechargeable battery and / or an electrical interface. The robot unit can include protection against the ingress of dirt and liquids. This protects the robot unit from ingress of dirt or from liquids escaping from the container handling machine. The protection can include housing components, a sealing system, and / or a flexible casing.The protection could, for example, consist of a housing for the robot unit designed to prevent the ingress of liquids, with a sealing system at the joints, particularly in accordance with ISO 20653, protection class IP 5K1 to IP5K6 or IP 6K1 to IP6K6. It is also conceivable that the robot unit is at least partially enclosed in the flexible shell.

[0028] The docking station can include a centering device and / or a locking device for the mobile cart to position it at a target position. This allows the mobile cart to be positioned with high repeatability at the target position and secured against displacement during operation of the robot unit. The centering device can consist of flat, cylindrical segment-shaped, and / or spherical segment-shaped mating surfaces. The target position can be a reference position on the docking station. The locking device can, for example, include a clamping mechanism to secure the mobile cart at the target position, such as by means of a screw knob or a lever. However, it is also conceivable that the locking device operates automatically and / or is controlled by the control unit.

[0029] The mobile cart and / or robot unit can include a camera system and an image processing unit designed to determine a target position at the docking station for positioning the mobile cart and / or to identify the setup and / or assembly components. This allows for particularly flexible positioning of the mobile cart without necessarily requiring mechanical elements. Similarly, the setup and / or assembly components can be identified using image processing, enabling them to be provided without a fixed order. It is conceivable that the setup and / or assembly components include optical identification elements that are recognizable by the camera system and the image processing unit. It is also conceivable that the robot system includes an electronic identification system for the setup and / or assembly components, for example, an RFID scanner and RFID marking elements on the setup and / or assembly components.

[0030] The docking station can include a liftable docking unit for the mobile cart. This allows the mobile cart to be lifted to a defined target position regardless of the ground conditions. The liftable docking unit can include a controllable traverse unit, in particular to move the centering device and / or to actuate the locking device. It is also conceivable that the liftable docking unit includes a manually operated control mechanism.

[0031] The docking station can include a detachable connector with a power and / or media supply and / or a data interface for the robot unit. This allows the robot unit to be supplied with power and / or media while on the mobile cart in the docking station area. It is also conceivable that a data connection between the robot unit and the container handling machine can be established via the data interface to support or control the robot unit during the execution of work orders. The detachable connector can be made manually by an operator, through a docking process, or automatically by the robot unit itself (the robot unit connects the connector).

[0032] The magazine can, but not according to the invention, be arranged on the mobile cart, the docking station, or the container handling machine for storing the setup and / or assembly components. This allows the setup and / or assembly components to be provided at a particularly suitable location. It is conceivable that the mobile cart could include the magazine, so that the setup and / or assembly components can be transported along with it. Consequently, less permanent floor space is required at the container handling machine.

[0033] According to the invention, the magazine for storing the setup and / or assembly components is designed as a separate magazine cart from the mobile cart. This allows different types of setup and / or assembly components to be provided in different magazine carts and flexibly combined with the mobile cart and the robot unit for the various work orders. The separate magazine cart can include a ground-based chassis, in particular with its own drive. It is also conceivable that the separate magazine cart can be coupled to the mobile cart of the robot unit. This allows the separate magazine cart to be attached to the mobile cart and transported together.

[0034] The magazine can include one or more compartments and / or individual slots for storing the equipment and / or trim parts. This allows the equipment and / or trim parts to be provided in an organized manner. It is also conceivable that the one or more compartments could be drawers or similar.

[0035] It is also conceivable that the magazine includes a cleaning device for cleaning the assembly and / or assembly components. This allows the assembly and / or assembly components to be cleaned particularly easily directly after use. For example, the cleaning device could be a tray or compartment for holding a cleaning medium, especially one with nozzles for distributing the cleaning medium. The cleaning device could also include a drain and / or a tank for the cleaning medium. The robot system could include a protective device to prevent injuries from the robot unit. This could consist of mechanical elements, such as a safety fence. It is also conceivable that the protection could include a safety scanner, a light curtain, and / or pressure-sensitive mats to detect approaching persons.If a person enters one or more predefined zones, the control unit immediately initiates safety measures. For example, if a person enters a first zone, the robot unit reduces its speed. If the person enters a second zone, the robot unit stops until the person leaves the second zone.

[0036] Further features and advantages of the invention are explained in more detail below with reference to the exemplary embodiments shown in the figures. These show: Figures 1A - 1 An embodiment of a container processing plant with a container handling machine in a top view or a side sectional view; Figures 2A - 2 An embodiment of a robot system performing a work order with setup and / or assembly parts in the container processing plant; Figures 3A - 3 A further embodiment of an alternative docking station with a liftable docking unit; Figure 4 A further embodiment of a robot system in which the magazine for storing the setup and / or assembly parts is arranged on the mobile cart; and Figure 5 A further embodiment of a robot system in which the magazine for storing the setup and / or assembly parts is designed as a magazine cart separate from the mobile cart.

[0037] In the Figures 1A - 1BFigure 1 shows an exemplary embodiment of a container processing plant 1 with a container treatment machine 3 in a top view and a side sectional view. It can be seen that the container processing plant 1 comprises a feed star wheel 6, a container treatment machine 3, and an outfeed star wheel 7. The container treatment machine 3 is shown here only as an example of a filler. However, it is also conceivable that the container processing plant 1 comprises other or additional container treatment machines, such as a container manufacturing machine, a rinser, an inspection device, a labeling machine, a capper, a packaging machine, and / or a palletizer.

[0038] The containers 2 are first transferred from the feed star wheel 6 to the carousel of the container handling machine 3, which rotates around the vertical axis A in the direction R. The container handling machine 3 is equipped with several container holders 4 on the carousel to securely hold the containers 2 during transport and simultaneously fill them with a liquid product using the filling device 5. This product could, for example, be a beverage.

[0039] The container handling machine 3 typically needs to be cleaned when changing to a different product or at regular intervals. This is usually done using the CIP (Clean In Place) method, so the filling unit 5 does not need to be disassembled, but only fitted with CIP caps. This is explained in more detail using a robot system, as illustrated in the following figures: Figures 2A - 2DFigure 1 shows an embodiment of a robot system 10 performing a work order with the setup and / or assembly components 8 in the container processing system 1. These components are the previously mentioned CIP caps, which are placed over the filling valve 5.1 and the return gas pipe 5.2 of the filling device 5 to create a rinsing chamber for a cleaning medium.

[0040] In the Figur 2A The robot system 10 is shown schematically: It comprises the mobile cart 14 and the robot unit 11 arranged on it for carrying out the work orders with the setup and / or assembly parts 8 in the container processing plant 1. It also includes the docking station 15 to safely dock the mobile cart 14 to the container handling machine 3.

[0041] Furthermore, the magazine 12 with several compartments or individual slots is provided for storing the setup and / or assembly parts 8, from which the setup and / or assembly parts 8 can be independently removed by the robot unit 11 and attached to the container treatment machine.

[0042] It can also be seen that various end effectors 9.1, 9.2 are provided in the storage unit 13, which is located, for example, in the area of ​​the magazine 12 or is part of it.

[0043] In detail, the robot unit 11 is equipped with a robot arm 11.1, which is mounted at one fixed end on the mobile carriage 14 and whose other end is movable in various directions via several joints. In other words, the robot unit 11 is designed as an articulated robot. The interchangeable coupling 11.2 is located at the movable end, allowing the various end effectors 9.1, 9.2 to be combined with the robot unit 11 to carry out work orders with different setup and / or assembly components 8.

[0044] The fixed end of the robot arm 11.1 is attached to the top of the mobile cart 14. The mobile cart 14 also includes the floor-mounted chassis 14.1 with wheels and the handle 14.5, allowing an operator to easily move the mobile cart 14 within the working area of ​​the container processing system 1. It is conceivable that at least some of the wheels of the floor-mounted chassis 14.1 are designed to pivot about a vertical axis for steering. It is also conceivable that the mobile cart 14 is designed as an automated guided vehicle (AGV) with its own drive system for movement within the working area. This would allow the mobile cart 14 and the robot unit 11 mounted on it to be automatically moved by a higher-level process control system to the container processing machine 3 and other container processing machines not shown here.

[0045] It can also be seen that the mobile cart 14 includes the control unit 14.2 for the robot unit 11, which is enclosed in a protective housing to prevent the ingress of dirt and liquids. This housing could, for example, be dustproof and / or liquid-tight. The control unit 14.2 is connected to the robot unit 11, for example, via a cable through which the control signals can be transmitted.

[0046] Not shown in detail here, the robot unit 11 includes protection against the ingress of dirt and liquids. This could, for example, be a sealing system that prevents penetration into the joints. It is also conceivable that it is a flexible covering that encloses the robot arm 11.1. This protects the robot unit 11 from liquids and dirt from the container treatment machine 3.

[0047] It can also be seen that the robot unit 11 includes a camera system 11.3 and the mobile cart 14 includes an image processing unit 14.2a. These are connected to each other via a data cable for image data. It is understood that the image processing unit 14.2a can also be located directly on the robot unit 11 or at any suitable location. This makes it possible to identify the setup and / or assembly parts 8 and, depending on this, remove them from the magazine 12. It is also conceivable that the camera system 11.3 and the image processing unit 14.2a are configured to detect a target position for the mobile cart 14 at the docking station 15 and thus support its positioning.

[0048] In the present embodiment, however, the docking station 15 comprises the centering device 15.1 and the locking device 15.3 to position the mobile carriage 14 at the target position with repeatable accuracy. This is illustrated by the Figur 2B In more detail: The operator pushes the mobile cart 14 with the robot unit 11 mounted on it in direction S to the docking station 15, so that the centering element 14.3 on the mobile cart 14 rests against corresponding mating surfaces of the centering device 15.1. This ensures repeatable positioning at the target position. The mobile cart 14 is then locked there with the locking device 15.3 and secured against further movement.

[0049] It can also be seen that the docking station includes the detachable connector 15.2 with a power supply and a data interface for the robot unit 11, which is electrically connected via a corresponding connector 14.4 when docking. This allows the robot unit 11 to be supplied with the necessary power during the execution of one of the work orders and to be synchronized with the container handling machine 3 by exchanging control data.

[0050] At the target position, the end effector 9.1 is first picked up with the quick-release coupling 11.2 of the robot arm 11.1. For this purpose, the movable end of the robot arm 11 is moved to the storage unit 13 so that the desired end effector 9.1 can be connected to the quick-release coupling 11.2. The quick-release coupling 11.2 can be designed such that the end effector 9.1 can be coupled automatically and / or under controlled conditions.

[0051] In the Figur 2CIt can be seen that the camera system 11.3 and the image processing unit 14.2a now automatically recognize the setup and / or assembly parts 8, and the robot arm 11.1 can be moved to the corresponding compartment of the magazine 12. There, the corresponding setup and / or assembly part 8, in this case a CIP cap, is picked up and attached to the container handling machine 3.

[0052] This process is in the 2D Figure The movable end of the robot arm 11 is moved to the filling element 5 of the container treatment machine 3 in such a way that the CIP cap 8 is attached to the filling element 5 from below by the end effector 9.1, thus forming a rinsing chamber for a cleaning medium. This process is repeated for all filling elements 5 of the container treatment machine 3, so that ultimately all filling elements 5 are equipped with CIP caps. CIP cleaning with the cleaning medium then takes place.

[0053] It is also conceivable that, after successful CIP cleaning, all previously applied fittings and / or trim parts 8 are removed again using the robot unit 11. It is also possible that the robot unit 11, with the mobile cart 14, is moved to another container treatment machine (not shown here) during cleaning, thus utilizing it particularly efficiently.

[0054] In the Figures 3A - 3B Figure 1 shows a further embodiment of an alternative docking station 15 with a liftable docking unit 15.4. This embodiment differs from the previously described embodiment only in the docking mechanism of the mobile carriage 14 at the docking station 15. All other features of the embodiment from the Figures 2A - 2B The same applies.

[0055] The diagram shows that docking station 15 includes the liftable docking unit 15.4 for the mobile cart 14. During docking, a coupling piece 14.4, located on the mobile cart 14, is positioned within the area of ​​the liftable docking unit 15.4. The docking unit 15.4 is then lifted, causing the entire mobile cart 14, with the robot unit 11 mounted on it, to move upwards. This results in simple and precise positioning at the target location, independent of uneven ground.

[0056] It is conceivable that the docking unit 15.4 includes a drive mechanism so that it can be raised automatically. It is also conceivable that it can be raised manually via an operating mechanism. It is also possible that the connector 15.2 for the power supply and the data interface is moved along with the unit during lifting, thus creating a mechanically secure connection.

[0057] As in the Figur 3 BAs can be seen, the robot unit 11 can then be used to attach the setup and / or assembly part 8 (CIP cap) to the filling element 5.

[0058] In the Figure 4 Figure 10 shows a further embodiment of a robot system 10 in which the magazine 12 for storing the assembly and / or kit parts 8 is arranged on the mobile cart 14. The embodiment of Figure 4 This embodiment differs from the previously described embodiments only in the arrangement of the magazine 12 and the storage unit 13 on the mobile cart 14. All previously described features apply accordingly.

[0059] The illustration shows that the magazine 12 and the storage unit 13 are located at the top of the mobile cart 14. From there, the robot unit 11 can change the various end effectors 9.1 and 9.2, as well as pick up and place the setup and / or assembly parts 8. The camera system 11.3 and the image processing unit 14.2a can also be used to support this process, enabling the positions of the setup and / or assembly parts 8 and the end effectors 9.1 and 9.2 to be automatically recorded.

[0060] In the Figure 5Another embodiment of a robot system 10 is shown, in which the magazine 12 for the setup and / or assembly parts 8 is designed as a separate magazine cart 16 from the mobile cart 14. The features described above with regard to the other embodiments apply accordingly. It can be seen that the separate magazine cart 16 also includes a ground-based chassis 16.1 with wheels and a coupling 16.2 for connection to the mobile cart 14. This allows the magazine 12 to be flexibly combined and moved with the mobile cart 14 and the robot unit 11, depending on the work order. Furthermore, it can be seen that the storage unit 13 with the various end effectors 9.1, 9.2 is also arranged on the magazine cart 16. This allows the end effectors 9.1, 9.2 suitable for the respective setup and / or assembly parts 8 to be carried along.

[0061] The robot systems 10 described in the exemplary embodiments are used as follows: First, the mobile cart 14 with the robot unit 11 mounted on it is moved manually by an operator or automatically by a drive to the container treatment machine 3 of the container processing plant 1 and docked there at the docking station 15. Subsequently, a work order is carried out with the robot unit 11 using the setup and / or assembly parts 8. For example, the robot unit 11 removes so-called CIP caps from the magazine 12 and places them onto filling elements 5. After CIP cleaning, it is conceivable that the robot unit 11 returns the CIP caps to the magazine 12.

[0062] It is also conceivable that, depending on the work order, one of the different end effectors 9.1, 9.2 is taken from the storage unit 13 and connected to the interchangeable coupling 11.2 of the robot unit 10.

[0063] Because in the exemplary embodiments in the Fig. 1A - 5The robot unit 11 is arranged on the mobile cart 14, which includes the ground-based chassis 14.1 for movement within the working area of ​​the container processing system 1. It can be moved manually or automatically to the container processing machine 3 of the container processing system 1 where a work order with the setup and / or assembly parts 8 is currently being carried out. Subsequently, it can be moved to another container processing machine where a further work order with setup and / or assembly parts 8 is to be carried out. Consequently, the robot unit 11, due to its arrangement on the mobile cart 14, is particularly flexible and can be utilized more efficiently. Because the robot system 10 includes the docking station 15 for docking the mobile cart 14 to the container processing machine 3, it can be safely docked with the mobile cart 14 at a defined target position.Consequently, the mobile cart 14 is secured against displacement by forces transmitted by the robot unit 11 during the execution of the work orders.

Claims

1. A robot system (10) for a container processing plant (1) comprising a robot unit (11) for performing processing jobs with handling and / or equipment parts (8) in the container processing plant (1), and a magazine (12) for storing the handling and / or equipment parts (8), wherein the robot unit (11) is disposed on a mobile carriage (14) comprising a ground-based chassis (14.1) for moving within a working area of the container processing plant (1), and the robot system (11) comprises a docking station (15) for docking the mobile carriage (14) at a container processing machine (3) of the container processing plant (1), characterized in that the magazine (12) for storing of the handling and / or equipment parts (8) is configured as a magazine carriage (15) separate from the mobile carriage (14), wherein the robot unit (11) comprises a force and / or moment sensor, configured to detect a force and / or torsional moment acting on one of the handling and / or equipment parts (8) while performing one of the processing jobs.

2. The robot system (10) according to claim 1, wherein the mobile carriage (14) comprises a control unit (14.2) for the robot unit (11) and a guard against the ingress of dirt and liquid materials into the control unit.

3. The robot system (10) according to claims 1 or 2, wherein the robot unit (11) comprises an exchangeable end effector (9.1) so that optionally different end effectors (9.1, 9.2) can be combined with the robot unit (11) for performing processing jobs with different handling and / or equipment parts (8).

4. The robot system (10) according to claim 3, wherein the mobile carriage (14), a carriage separate therefrom, the magazine (12) and / or the docking station (15) comprise a storage unit (13) for the different end effectors (9.1, 9.2) wherein in particular the storage unit (13) is configured such that the different end effectors (9.1, 9.2) can be automatically exchanged with the robot unit (11).

5. The robot system (10) according to any one of the preceding claims, wherein the mobile carriage (14) is configured as an Automated Guided Vehicle moving within the working area.

6. The robot system (10) according to any one of the preceding claims, wherein the robot unit (11) comprises a guard against the ingress of dirt and liquid materials.

7. The robot system (10) according to any one of the preceding claims, wherein the docking station (15) comprises a centring device (15.1) and / or a locking device (15.3) for the mobile carriage (14) for positioning the mobile carriage (14) at a target position.

8. The robot system (10) according to any one of the preceding claims, wherein the mobile carriage (14) and / or the robot unit (11) comprise a camera system (11.3) and an image processing unit (14.2a) configured to identify a target position at a docking station (15) and / or the handling and / or equipment parts (8) for positioning the mobile carriage (14).

9. The robot system (10) according to any one of the preceding claims, wherein the docking station (15) comprises a raisable docking unit (15.4) for the mobile carriage (14).

10. The robot system (10) according to any one of the preceding claims, wherein the docking station comprises a separable plug connection (15.2) with a power and / or media supply and / or a data interface for the robot unit (11).

11. The robot system (10) according to any one of the preceding claims, wherein the magazine (12) for storing the handling and / or equipment parts (8) is disposed on the mobile carriage (14), the docking station (15) or the container treatment machine (3).

12. The robot system (10) according to any one of the preceding claims, wherein the magazine (12) comprises one or more compartments and / or individual receptacles for storing the handling and / or equipment parts (8).

13. The robot system (10) according to any one of the preceding claims, wherein the magazine (12) comprises a cleaning device for cleaning the handling and / or equipment parts.

14. The robot system (10) according to any one of the preceding claims, wherein the robot system (10) comprises a guard for protecting against injuries by the robot unit.