PLANT FOR MANUFACTURING PLASTIC CONTAINERS WITH UNIVERSALLY APPLICABLE CHANGEABLE ROBOT AND METHOD FOR THIS

Description

[0001] The present invention relates to a system for producing plastic containers and to a method for producing plastic containers. Such systems and methods have long been known in the art. In one known procedure, plastic preforms are first heated in an oven, and then these heated plastic preforms are formed into the plastic containers, which can be done, for example, using stretch blow molding machines. Typically, the plastic preforms are individually passed through an oven and then expanded into the plastic containers by a forming device, for example, in blow molding stations.

[0002] In the prior art, it is occasionally desirable to change containers, for example, to switch to different containers. Different containers can differ in a wide variety of characteristics, such as their filling capacity, their mouth diameters, and the like. Therefore, in the prior art, it is usually necessary to replace numerous elements of both the heating device and the forming device, as described, for example, in US 2015 / 251366 A1, US 2015 / 145179 A1, US 2021 / 163167 A1, and US 2012 / 100238 A1. This involves considerable effort in the prior art.

[0003] Therefore, partially automated switching processes are known from the state of the art.

[0004] For example, it is known from the applicant's internal prior art that a change in the neck diameter requires a manual change of heating mandrels and shielding plates. A semi-automatic changer for heating mandrels and shielding plates is also under development. DE 10 2009 023726 A1 discloses a changer with a magazine buffer system for removed and inserted heating mandrel groups.

[0005] In addition, an automatic change of blow molds by a stationary robot system is also known in the state of the art.

[0006] The current state of the art still suffers from the disadvantage that changing elements such as shielding plates or heating mandrels is very time-consuming, and at the same time, the system cannot be operated. Changing other equipment, such as blow molds, is also complex and ergonomically disadvantageous, as they are very heavy.

[0007] Furthermore, the current state of the art often results in the incorrect assembly of blow molds, heating mandrels, or shielding plates, or even faulty assembly of parts during manual changeover. Another disadvantage of the current state of the art is that such robot systems often limit access to the system.

[0008] The present invention is therefore based on the object of increasing the efficiency of such changeover processes, in particular through the use of changeover robots.

[0009] A system according to the invention for producing plastic containers comprises a heating device for heating plastic preforms. This heating device comprises a transport device for transporting plastic preforms along a predetermined first transport path, as well as a plurality of holding devices for holding the plastic preforms. Furthermore, the heating device comprises at least one heating unit that heats the plastic preforms during their transport.

[0010] Furthermore, the system has a forming device for forming the plastic preforms into plastic containers, which is suitable for expanding the plastic preforms heated by the heating device by subjecting them to a flowable (and in particular gaseous) medium (in particular compressed air), wherein the forming device has a plurality of forming stations which form the plastic preforms into the plastic containers and wherein both the heating device and the forming device have exchangeable elements or format parts and in particular exchangeable elements which are exchangeable for the purpose of a format change.

[0011] In particular, the interchangeable elements are so-called format parts that are changed when, for example, a container type is changed.

[0012] According to the invention, the system comprises a changing device which is suitable for changing both replaceable elements of the heating device and replaceable elements of the forming device, wherein the changing device is preferably movable between at least two different positions - in particular by a mobile robot.

[0013] In contrast to the prior art, which provides changing devices for a blow molding machine, for example, the present invention proposes to create a uniform changing device which can change both interchangeable elements and in particular format parts of the forming device and interchangeable elements and in particular format parts of the heating device.

[0014] In a preferred embodiment, the heating device and the forming device are positioned at different locations. For example, these components can be arranged at different positions in a machine shop, and the plastic preforms are first transported through the heating device and then to and / or through the forming device.

[0015] Preferably, the at least one heating unit is arranged stationary, and the plastic preforms are transported past it. For example, these heating units can be infrared heating units, which, for example, have radiant heaters for heating the plastic preforms.

[0016] In a preferred embodiment, the transport device is designed to be continuous. For example, the transport device can comprise a transport chain on which a plurality of holding devices for holding the plastic preforms are arranged. The transport device preferably transports the plastic preforms at least partially along a straight transport path and at least partially along a curved, in particular circular, transport path. The heating units are preferably infrared heating units. However, the use of microwave heating units would also be conceivable.

[0017] In a preferred embodiment, the holding devices are holding mandrels that can be inserted into the mouths of the plastic preforms. These holding mandrels are particularly preferably rotatable, so that the plastic preforms can be rotated relative to their longitudinal axis during heating.

[0018] Particularly preferably, the heating device also comprises a plurality of heat-shielding elements, which are suitable and intended to prevent excessive heating of the mouth areas of the plastic preforms. As is known, in the prior art, only the base bodies of these plastic preforms are heated, but not their threads and mouths. These remain essentially unchanged. For this reason, it is advantageous if the heat used to heat the plastic preforms at their base bodies does not also reach the mouths, as these would otherwise be deformed. Advantageously, each holding device is assigned at least one such shielding device.

[0019] Particularly preferably, the forming stations each have interchangeable blow molds. These blow molds are particularly preferably designed in several parts and preferably have two side parts and a base part. These blow molds thus form a cavity which serves to expand the plastic preforms. In a further advantageous embodiment, the forming stations also each have loading devices and in particular blow nozzles. These can be placed against an opening of the plastic preforms in order to apply the flowable medium to them. In a further advantageous embodiment, the forming stations also have so-called stretching rods which can be inserted into the interior of the plastic preforms in order to stretch them in their longitudinal direction. Particularly preferably, both the blow molds and the blow mold parts are such above-mentioned interchangeable elements or elements to be interchanged.

[0020] Particularly preferably, the changing device comprises a changing robot for changing the interchangeable elements. This robot can, for example, be a multi-axis robot, as described in more detail below, which has a gripping device for gripping the respective interchangeable element to be replaced.

[0021] In a further preferred embodiment, the changing device comprises a movable carrier and a first robot unit, which is also referred to below as the changing device and which can be mounted on this carrier. Furthermore, the changing device optionally comprises a further robot device, which serves to arrange the first robot unit on the carrier. The first robot unit can preferably be equipped with several gripping devices, for example a gripping device for gripping blow molds and a gripping device for gripping holding mandrels and shielding plates or for gripping receiving devices which are intended for storing heating mandrels and / or shielding plates. In addition, the changing device can also comprise one or more magazine devices, as described in more detail below.

[0022] It is possible, for example, that the actual handling robot (change device) is picked up by a mobile robot (AGV - automated guided vehicle or AMR - autonomous mobile robot), for example by driving underneath it, and for example with the help of a lifting unit, and placed in different positions

[0023] In an advantageous embodiment, the changing device is movable between a first position, in which it is positioned for changing replaceable elements of the heating device, and a second position, in which it is positioned for changing replaceable elements of the forming device. Preferably, the changing device or a component of the changing device can be positioned and / or fastened at the respective positions, wherein docking stations described in more detail below can also be arranged at these positions, which enable fastening and / or a data connection and / or a power supply and / or a compressed air supply between the changing device and this docking station. In this way, the changing device can also be integrated on the control side into the respective system components, in particular the heating device and the forming device.

[0024] The present application is preferably based on the basic technology of a mobile robot system, which particularly preferably has interchangeable attachments or gripping devices. In addition, concepts that have previously only been described in material supply, for example, in labeling machines, can also be considered.

[0025] In a further advantageous embodiment, the system comprises at least one further transport device that transports the heated plastic preforms from the heating device to the forming device. Preferably, this at least one further transport device is at least one transport star or comprises at least one transport star.

[0026] In a further advantageous embodiment, the interchangeable elements of the heating device are selected from a group of interchangeable elements and, in particular, format parts, which includes gripping clamps, holding mandrels, shielding plates for heat shielding, and the like. In a further advantageous embodiment, the interchangeable elements of the forming device are selected from a group of interchangeable elements and / or format parts, which includes gripping clamps, blow molds, blow mold parts, stretching rods, blow nozzles, and the like.

[0027] In a further advantageous embodiment, the changing device has at least one gripping device for gripping the replaceable element. This gripping device is preferably replaceable and can be replaced, in particular, depending on the replaceable element to be replaced.

[0028] In a further advantageous embodiment, the changing device can be equipped with at least two different gripping devices, wherein one of the gripping devices is preferably intended for changing a replaceable element of the heating device, and the other of the gripping devices is intended for changing a replaceable element of the forming device. In this way, the same changing device can be used both for changing format parts of the heating device and for changing format parts of the forming device.

[0029] The system described here for the (fully) automatic changing of the elements to be changed, in particular the heating mandrels and shielding plates on the heating device, as well as for the fully automatic changing of interchangeable elements and in particular blow molds on the forming device, comprises a mobile robot (and / or a mobile platform), an interchangeable attachment, in particular with an articulated-arm robot for handling the heating mandrels, shielding plates, and blow molds, and one or more mobile transport units and / or magazine devices for storing the heating mandrels and shielding plates as well as for storing blow molds. The mobile robot or the mobile platform can be, in particular but not exclusively, an AGV (automated guided vehicle), an FTS (driverless transport system), or an AMR (autonomous mobile robot).

[0030] The interchangeable attachment and the mobile transport units can be picked up by the mobile robot. Additionally, the interchangeable attachment (possibly with an articulated-arm robot in the docking station) can be centered and secured using different docking stations (to ensure repeatability and / or to safely dissipate dynamic forces), and the mobile transport units can be centered and secured in the docking station, if necessary.

[0031] In a further advantageous embodiment, the changing device can also be equipped with different gripping devices for different elements of the heating device and / or the forming device.

[0032] The top unit or the changing device preferably has a frame. A multi-axis, in particular at least three-axis, preferably at least four-axis, preferably at least five-axis, and in particular six-axis manipulator is preferably mounted thereon. The manipulator is preferably equipped with a gripper system and in particular with a gripper changing system on the wrist axis. This makes it possible to equip the manipulator with different gripping devices for different interchangeable elements, in particular with a gripper for blow molds as well as with a gripper for heating mandrels and shielding plates. The grippers are preferably changed using a commercially available, fully automatic gripper changing system on the wrist of the manipulator.

[0033] In a further advantageous embodiment, the changing device comprises a mobile carrier on which a robot device is arranged. This mobile carrier can be or comprise the aforementioned frame, which can, for example, move on rails. However, it would also be possible for the mobile carrier to be freely movable in space. The robot device can be a multi-axis, for example, a six-axis robot or manipulator. The robot is particularly preferably an articulated-arm robot.

[0034] In a further advantageous embodiment, the system and in particular the changing device comprises at least one magazine device for storing interchangeable elements, wherein this magazine device is preferably also mobile. Mobile is understood in particular to mean that this magazine device can be moved by a user between at least two positions and / or that the magazine device can be moved by a mobile robot (AGV).

[0035] Preferably, this magazine device is also accessible to the robot or can, for example, be carried along by the robot frame. This magazine device can accommodate, for example, a plurality of interchangeable elements, such as a plurality of heating mandrels. The system preferably has several magazine devices, which are preferably designed for different interchangeable elements. In a preferred embodiment, the magazine device is designed as a sliding magazine, meaning that, for example, compartments of the magazine device can be pulled out.

[0036] The transport unit and / or magazine device for heating mandrels and shielding plates preferably comprises a frame on which a slide magazine, preferably comprising several slide modules, is mounted. The frame is preferably designed so that the top unit or the changing device can be placed at any location or on a docking station.

[0037] Each shear module can accommodate at least 10 and preferably up to 50 receptacles, each with five heating mandrels and shielding plates. For this purpose, a plate, preferably made of plastic, is mounted in the shear module. This plate has recesses into which the receptacles can be inserted with a positive fit.

[0038] The heating mandrels and shielding plates are preferably shielded from the environment by covers on three sides in the storage facility. This protects them from contamination and damage. If necessary, the remaining open side can also be closed, for example, with a roller shutter. The stored heating mandrels and shielding plates are preferably also protected from above by a cover.

[0039] To open the drawer modules, handles are preferably attached, in particular a standard handle for manually opening the module. A handle designed to be gripped by the gripping device described above can also be provided.

[0040] The drawer module preferably has two extension rails, one of which is particularly preferably secured in its end positions. The release of the end position lock can particularly preferably be actuated by the gripping device on the handle described above.

[0041] The frame can be placed on the docking station described below using centering elements and centered in position, or it can be placed freely on the floor using machine feet.

[0042] Alternatively, the substructure of the drawer magazine can be omitted and replaced with a support that allows the drawer module to be transported manually (by pallet truck, forklift) or by a forklift-mounted AGV. The transport unit can also be placed freely on the floor or placed on a docking station for centering.

[0043] The transport unit or magazine device for the blow molds preferably comprises a transport frame and a blow mold magazine. The frame is advantageously designed so that the top unit or the changing device can be placed at any location or on a docking station.

[0044] The blow mold magazine mounted on the transport frame is preferably designed like the blow mold magazines of stationary mold changing robots known from the applicant's internal stand. The magazine is available in various designs for transporting different molds (e.g., for molds with an outer diameter of 160 mm or 125 mm). Preferably, up to 36 molds can be stored in one magazine.

[0045] Like the transport unit for heating mandrels and shielding plates described above, the frame can be placed on the docking station described below using centering elements and centered in position, or it can be placed freely on the floor using machine feet.

[0046] Alternatively, analogous to the magazine setup described above, it is possible to eliminate the substructure of the blow mold magazine and replace it with a support that allows the blow mold magazine to be transported manually (by pallet truck, forklift) or by a forklift AGV. The transport unit can also be placed freely on the floor or placed on a docking station for centering.

[0047] In the simplest case, the gripping device consists of several machined parts, which are preferably connected to one another. Depending on the accuracy requirements, the basic structure of the gripping device can also consist of a single solid machined part or have one. The gripping device can be connected directly to a robot via a flange or via an adapter for a quick-change system.

[0048] The heating mandrels and shielding plates are provided in a holder or magazine device, which is inserted into or removed from a changing device on the heating module, i.e., the heating device, by the gripper. The gripper preferably holds the holders with the heating mandrels and shielding plates by means of a positive and / or non-positive connection (alternatively, exclusively positive or exclusively non-positive). For this purpose, an actuator, in particular a pneumatic actuator, is attached to the gripper. A movable gripper jaw is connected to this actuator.

[0049] The fixed gripper jaw is brought by the robot to the holder so that it touches it. To detect the contact, a contact sensor installed on the fixed gripper jaw can be used if necessary, but this is not mandatory. The movable gripper jaw is preferably operated with the aid of the (especially pneumatic)

[0050] The actuator moves toward the holder and clamps it. In addition, identification of the shielding plates and heating mandrels (e.g., type assignment) can be enabled via a marking, such as an RFID tag on the holder, or a sensor device, such as an RFID sensor on the gripping device.

[0051] The gripping device for blow molds is already used in the applicant's internal prior art. The gripping device can be mounted directly to a robot, in particular an articulated-arm robot, or to an adapter for a quick-change system using the mounting flange.

[0052] A fork, a holding plate, guide pins, and the pneumatic cylinders are used to grip the blow molds, preferably with a positive and non-positive fit. The process for gripping a blow mold is described in more detail below. A sensor device, in particular an RFID reader, can be used to monitor the transport unit for the blow molds described below. It is also possible to identify elements, such as the blow molds themselves. These can, for example, be equipped with an RFID tag for this purpose.

[0053] In a further advantageous embodiment, the system comprises at least one stationary fastening station and / or docking station, at which at least one component of the exchange device can be arranged. In a preferred embodiment, this docking station comprises an electrical and / or mechanical and / or fluidic interface to which the exchange device can be connected. In a preferred embodiment, the device comprises fastening elements to achieve a mechanical fastening of the exchange device to this docking station.

[0054] Centering and / or clamping elements are preferably attached to the frame and in particular to the underside of the frame, i.e. the above-mentioned frame structure, in order to fix the frame on the docking station while the manipulator is working and to prevent tipping or similar due to the resulting dynamics.

[0055] Using centering and clamping elements, the changeover device can also be secured to the mobile robot. This allows the manipulator changeover attachment to operate on the docking station or on the mobile robot. An optional plug-in connection can be used to supply power and pneumatics to the changeover attachment and facilitate the exchange of signals. Alternatively or additionally, the power supply or data exchange could also be carried out wirelessly, for example, via induction or Wi-Fi.

[0056] If required, a tool magazine can be mounted on the changing device, in which the grippers for the robot applications can be transported and deposited or picked up during gripper changes. At least one control cabinet is preferably arranged on the changing device, in which components for controlling the manipulator are mounted. The docking station preferably has a base frame. The components required for the docking process described below can be mounted on this frame. These include centering elements, lifting units, and a triangular bar.

[0057] For fine positioning of the mobile robot for the forming device, e.g., using a triangle drive, a bar with a triangular contour on the front is preferred. Other shapes are also conceivable. The exact position of the bar is variable. In principle, other methods of fine positioning are also conceivable, e.g., using a camera and QR codes.

[0058] In a Triangle Drive, a scanning device and in particular a laser scanner (on the mobile platform) is preferably provided, which can recognize a triangular contour and position itself precisely based on this contour.

[0059] Lifting units, for example four lifting units, are preferably used to take over the changing device or the magazine devices. These are shown below, for example, in Fig. 11 shown (reference numeral 106). This allows the changing device or the magazine device to be accommodated. The lifting units can be lowered, allowing the top unit or transport unit to be transferred to the docking station even on uneven floors. This allows for compensation for uneven floors and various degrees of misalignment of the changing device or the magazine devices. Changing devices that require locking during operation due to dynamic motion can be secured to the docking station using clamping elements (preferably pneumatic).

[0060] The docking station is preferably anchored to the floor with three or, if necessary, several leveling elements. These elements allow the docking station to be leveled during installation.

[0061] The docking station can, if necessary, be equipped with a multi-plug connector, allowing the transfer of working media such as compressed air. However, individual (plug-in) connections could also be provided. This can also enable electrical power supply to a parked top unit. Data transmission can also be realized this way. Alternatively, wireless data transmission systems such as Wi-Fi could be considered. Power supply could also be provided by charging contacts or an inductive charging system.

[0062] In a further advantageous embodiment, the system has at least one identification device to identify at least one replaceable element. Furthermore, the system preferably has at least one detection device which enables the position of at least one element of the changing device and / or of a replaceable element to be determined. The replaceable element can preferably be uniquely identified. This can be done, for example, using a marking such as an RFID tag. Furthermore, a camera system (e.g., a 2D or 3D camera technology) can be installed (for example on the manipulator and / or the robot), which enables the robot to determine the position of the heating mandrels and shielding plates in the changing machine or in the transport unit. The position of the blow molds can also be determined by a camera system. This can potentially eliminate the need for centering in the docking station or even the docking station itself for the transport units.In addition, a camera system can check the heating mandrels, shielding plates or blow molds for damage or correct type classification (e.g. via RFID tags in the blow molds).

[0063] The top unit is preferably designed so that it can also be used for other activities in other areas of a system to achieve the highest possible utilization. This could include, for example, changing label rolls using a mobile robot.

[0064] The present invention is further directed to a method for operating a plant for producing plastic containers, wherein, in an operating mode of the plant, plastic preforms are heated by a heating device, and wherein a transport device transports the plastic preforms along a predetermined first transport path, and a plurality of holding devices holds the plastic preforms, and at least one heating unit heats the plastic preforms during their transport, and wherein, furthermore, a forming device expands the plastic preforms heated by the heating device by applying a flowable (and in particular gaseous) medium (in particular compressed air), thus forming them into the plastic containers.The forming device has a plurality of forming stations which form the plastic preforms into the plastic containers and, furthermore, both the heating device and the forming device have interchangeable elements and / or interchangeable format parts (which are used in particular for switching to different types of containers).

[0065] According to the invention, in an alternating operation, a changing device changes both interchangeable elements of the heating device and interchangeable elements of the forming device, with the changing device being moved—in particular by a mobile robot—between at least two different positions. This changeover is preferably carried out fully automatically.

[0066] It is therefore also proposed in terms of the process that the same changing device also replaces at least the changeable parts or replaceable elements of the forming device as well as the heating device.

[0067] In a preferred method, the changing device is also equipped with different gripping devices and / or changing units in order to carry out or be able to carry out the changing of changing parts (or changeable elements) of the forming device and the changing of changing parts (or changeable elements) of the heating device.

[0068] Particularly preferably, the changing device or components of the changing device are moved at least temporarily from a first position, which serves to change replaceable elements of the forming device, to a second position, which serves to change replaceable elements of the heating device.

[0069] Particularly preferably, interchangeable elements or interchangeable elements are stored at least temporarily in a magazine device. In a preferred method, this magazine device is also moved at least temporarily into different positions.

[0070] In a further preferred method, the changing device or a component of the changing device is at least temporarily positioned and / or secured to a docking station. This docking station is preferably associated with the forming device or the heating device and / or arranged in an area from which the exchange of replaceable elements of the heating device or the forming device can be performed.

[0071] An example procedure for changing heating mandrels and / or shielding plates of a heating device is preferably as follows. Please note that not all of the following steps are necessarily required.

[0072] The mobile robot picks up the robot top unit, i.e. the actual changing robot, and goes to the heating module of the stretch blow molding machine or to the heating device.

[0073] The exchange robot (hereinafter also referred to as the robot top unit) is placed at the heating device and preferably on the docking station. This is preferably aligned, centered, and connected to the docking station (preferably a power supply, data connection, and / or media connection are established).

[0074] The mobile robot moves to the transport unit or magazine device, picks it up, and preferably moves it to a docking station on the heating device, which is preferably positioned next to the docking station for the robot top unit. The magazine device is placed on the docking station. In the process, its position is preferably aligned and / or centered.

[0075] Alternatively, it would also be conceivable for the magazine device for heating mandrels / shielding plates to be transported to the docking station by another type of AGV (e.g., a forklift AGV). It is also conceivable for the magazine device to be parked without a docking station. It is also conceivable for a unit for storing the heating mandrels / shielding plates to be present on or in the machine.

[0076] In a further step, the robot top unit opens a drawer on the transport unit and, with the help of the gripping device, removes a holder with heating mandrels and shielding plates from the heating module and positions them in the opened drawer.

[0077] The robot preferably uses the gripper to pick up a holder containing heating mandrels and shielding plates from the drawer and feeds it to the changing device in the heating unit. The last two steps are repeated until all required heating mandrels and shielding plates stored in the open drawer of the transport unit have been changed.

[0078] In a further step, the transport unit's drawer is closed—particularly by the robot top unit. Then, another drawer of the transport unit can be opened by the robot top unit. The heating mandrels and / or shielding plates located therein are also replaced by the robot top unit until all necessary heating mandrels and shielding plates have been replaced. The drawer is then preferably closed (particularly by the robot top unit).

[0079] The described processes are repeated until all heating mandrels and shielding plates in the heating module have been replaced. The mobile robot then moves the transport unit to its location and releases it. Preferably, the mobile robot then moves the robot top unit to its location or, if necessary, to another location and is ready for further and possibly other tasks (e.g., changing label rolls).

[0080] Changing the blow molds is simplified as follows: The mobile robot picks up the robot top unit and moves to the forming device. The robot top unit is preferably placed on the docking station on the forming device. During this process, it is preferably aligned, centered, and / or connected to the device (in particular, establishing a power supply, data connection, and / or media connection).

[0081] The mobile robot moves to the transport unit or magazine device for blow molds and moves them preferentially to a docking station, which is positioned next to the docking station for the robot top unit.

[0082] The (transportable) magazine device for blow molds is placed on the docking station. It is preferably aligned and / or centered in its position.

[0083] Alternatively, it is also possible for the blow mold storage unit to be transported to the docking station by another type of AGV (e.g., a forklift AGV), and the storage unit to be parked without the docking station. It is also conceivable for the system, and in particular the forming device, to have a unit for storing the blow molds on or in the device.

[0084] The subsequent steps are carried out in the same way as with a stationary mold-changing robot. First, the molds in the magazine are (optionally) checked (especially by the robot top unit). This can record the position and / or occupancy of the magazine locations, and the mold numbers can be recognized (e.g., via RFID tags).

[0085] In a further step, a blow molding machine guard is opened (preferably automatically). The blow mold carrier is positioned within the blow molding machine for the change (which can be achieved, for example, by changing the rotational position of the rotating carrier on which the forming stations are located). In a further optional step, the blow mold carrier is centered and / or supplied with compressed air.

[0086] The blow mold is then gripped by the robot top unit, and the mold is unlocked from the mold carrier. In a subsequent step, the mold carrier is opened, releasing the mold. The mold is removed by the articulated-arm robot on the robot top unit. The mold is then placed in the mold magazine, and the gripping device for the molds is released from the mold.

[0087] A new mold is then picked from the transport unit, and the mold is positioned in the mold carrier by the robot, specifically an articulated-arm robot. Finally, the mold carrier is closed, and the mold is locked in the mold carrier. Finally, the mold gripper is released.

[0088] The system control system checks whether the mold change is complete. If the change is not complete, the next mold carrier is positioned and the described processes are repeated until all molds have been changed. The mobile robot moves the magazine device to its location and releases it.

[0089] The mobile robot moves the robot top unit to its location or, if necessary, to another location and is ready for further and possibly other activities (e.g. changing label rolls).

[0090] Further advantages and embodiments can be seen from the attached drawings: Fig. 1 is a schematic representation of a plant according to the invention for producing plastic containers; Fig. 2 is a first representation of a changing device; Fig. 3 is an underside of the Fig. 2 shown changing device; Fig. 4 a representation of the gripping device for gripping heating mandrels; Fig. 5 a representation of the device from Fig. 4 with a set of heating mandrels; Fig. 6 a representation of a gripping device for gripping blow molds; Fig. 7 another view of the device from Fig. 6 ; Fig. 8 a movable magazine device; Fig. 9 a detailed view of the Fig. 8 shown magazine device; Fig. 10 a representation of a unit for receiving blow molds; Fig. 11 a representation of the docking device / docking station; Fig. 12 a representation for carrying out a docking process; Fig. 13 a further representation for carrying out a docking process; Fig. 14 a further representation for carrying out a docking process; Fig. 15 a further representation for carrying out a docking process; Fig. 16 a further representation for carrying out a docking process; Figs. 17a - 17d four representations to illustrate a gripping process for heating mandrels and shielding plates; Figs. 18a - 18e five representations to illustrate the gripping of blow molds; Fig. 19 a flow chart to illustrate the changing of heating mandrels and shielding plates; and Fig. 20 a representation of the process of changing blow molds.

[0091] Fig. 1 shows a schematic representation of an apparatus 1 according to the invention for producing containers. Plastic preforms 10 are first fed to a heating device 2 for heating.

[0092] This heating device 2 has a circulating transport device 22, on which a plurality of holding devices 24 (shown only schematically) for holding the plastic preforms are arranged. These holding devices can be, for example, holding mandrels that engage the mouths of the plastic preforms.

[0093] The reference numeral 28 denotes a rotating device which causes the individual plastic preforms to rotate with respect to their longitudinal directions.

[0094] Each of these holding devices 24 is assigned a shielding device 23, which prevents overheating of the mouth areas of the plastic preforms. The holding devices 24, as well as the shielding devices 23 and, in particular, the shielding plates, are interchangeable parts that can be replaced during a format change.

[0095] The reference numeral 25 denotes heating devices such as infrared radiators, which are arranged laterally next to the transport path of the plastic preforms 10.

[0096] A transport device 8 transports the heated plastic preforms from the heating device 2 and feeds them to a forming device 4, in particular a stretch blow molding machine. This forming device 4 preferably has a rotatable carrier 43, such as a so-called blow molding wheel, on which a plurality of forming stations 40 are arranged.

[0097] The reference number 6 denotes roughly schematically a changing device which is movable between a first position A (in which it serves to change parts of the heating device 2 to be changed) and a second position B (in which it serves to change parts of the forming device 4 to be changed).

[0098] Fig. 2 shows a representation of a changing device 6. This has a changing robot 62 (also referred to as a changing device) that is attached to a transport frame or, generally, to a frame or carrier 64. The complete changing device 6 can preferably be moved with the mobile robot, for example, from position A to position B.

[0099] This robot is preferably designed as a multi-axis robot, in particular as a six-axis robot.

[0100] Reference numeral 66 denotes a control device for controlling the change robot 62. The frame 64 is arranged to be movable, in particular by means of a movable robot, but can also be arranged to be movable relative to a rail system. In addition, this frame 64 is also capable of being attached to a docking station. Preferably, the frame or support is designed in such a way that tipping or the like cannot occur, even when supporting heavy weights.

[0101] Particularly preferably, this changing device 6 is designed in such a way that it can also be used in other machines or parts of the system, such as filling machines or labeling machines.

[0102] In a particularly preferred embodiment, the changing device or the changing attachment can be inserted into a position A and B on the stretch blow molding machine and can be moved between these positions, but preferably also to other positions (e.g., on another stretch blow molding machine or labeling machine, etc.). In particular, however, this mobility is achieved by a mobile robot.

[0103] Can also be used in the complete line (inspection,...).

[0104] Fig. 3 shows a subpage of the Fig. 2 The changeover device shown. Reference numeral 68 refers to a machine base, by means of which the carrier 64 can be placed, for example, on a floor or on a docking station. This machine base 68 is preferably designed to be elastic, thus enabling the changeover device to be placed more gently on a base.

[0105] Reference numeral 78 denotes a centering device, such as a centering pin. This centering device can be used to achieve precise positioning, for example, relative to a docking station. Preferably, several such centering devices are provided, in this case four. Reference numeral 76 denotes a bar, preferably with a triangular contour, for fine positioning using a triangle drive (i.e., fine positioning using the laser scanners and a reference contour).

[0106] Reference numeral 74 denotes an electrical connection device, such as, in particular but not exclusively, a multi-plug. Preferably, the device also comprises a fastening means, such as the clamping bolt 73, in particular for securing it to a docking station.

[0107] Reference numeral 72 denotes a bushing, in particular a play bushing, which, when arranged on a docking station, allows a certain degree of freedom of movement or play, particularly to better absorb any loads that may occur. Furthermore, centering bolts 61 are preferably provided, which interact with corresponding counterparts of a docking station. These centering bolts 61 serve to center the changeover device on the mobile robot. Elements 78 serve for centering on the docking station.

[0108] Reference numeral 63 denotes another optional multi-connector, which can establish, for example, electrical connections or fluid connections with the mobile robot. Furthermore, an optional clamping bolt or clamping device 65 can be provided, which also serves to lock it to a docking station (not shown).

[0109] Fig. 4 shows a representation of a gripping device 50 for heating mandrels and shielding plates. Reference numeral 52 denotes a fixed gripper jaw used to grip elements. Reference numeral 54 denotes an optionally provided contact sensor used to determine whether an object, such as a magazine, is being held. Reference numeral 55 denotes an optional detection device suitable and intended for identifying a held magazine. In particular, this can be an RFID read head.

[0110] Reference numeral 56 denotes a movable gripper jaw, in particular a gripper jaw movable in the direction of arrow P and also in the opposite direction. In this way, an object such as a magazine can be gripped. Reference numeral 58 denotes an adapter device for the tool change system. By means of this adapter device, the gripper 50 can be attached to a robot arm (not shown).

[0111] Reference numeral 57 denotes a drive device for moving the movable gripper jaw 56. In particular, the drive device is a pneumatic drive device. However, the use of an electric drive device or a magnetic drive device would also be possible.

[0112] Fig. 5 shows a gripping device 50 with a magazine device 55 arranged thereon for storing shielding plates or holding mandrels. The magazine device 55 can be inserted into and removed from a changing device, for example, on the heating device.

[0113] The Fig. 6 und 7 show a gripping device for blow molds. Here, too, reference numeral 75 refers to a fastening device, and in particular a fastening flange for attachment to a robot arm. Reference numeral 74 denotes a receiving device, and in particular a receiving fork for receiving blow molds. The blow molds can have two pins or projections that can be gripped by the recesses of this fork device 74.

[0114] The reference numerals 72 indicate drive devices for gripping or moving the fork device.

[0115] Fig. 7 shows a view from below of the Fig. 6 The gripping device shown in FIG. Reference numeral 73 denotes guide devices, in particular guide pins, which serve to grip blow molds. Reference numeral 75 denotes a holding device, in particular a holding plate. Reference numeral 77 denotes an optional detection device for detecting a blow mold. This can again be an RFID reading head, for example.

[0116] Fig. 8 shows a representation of a magazine device 12 for holding heating mandrels and shielding plates. Reference numeral 122 denotes drawer modules in which the interchangeable elements can be stored. This magazine device 12 is arranged on a carrier or transport frame 64. Reference numeral 124 denotes a receiving device, whereby two receiving devices (for holding shielding devices and / or retaining mandrels) can be seen here, which are arranged in this receiving device 124.

[0117] Fig. 9 shows a more detailed representation of a receiving device 122. This has three side walls or covers 138. Reference numeral 136 denotes a pull-out rail, by means of which a plate, in particular a plastic plate 134, can be moved.

[0118] Reference numerals 127 and 128 denote a handle that can be grasped by a user and / or a robot. A release mechanism for unlocking the drawer is preferably also provided at this point. In addition, optional locks are provided, which, for example, limit or prevent the drawer-like design from being pulled out beyond a certain degree. Reference numeral 132 denotes a receptacle with retaining pins and shielding plates. Reference numeral 125 denotes a pull-out rail with optional locks.

[0119] Fig. 10 shows a magazine device 90 for blow molds (not shown). This has a plurality of receiving devices or receiving recesses 91, which can be used to receive blow molds in an assembled state or also to receive blow mold parts, such as their side parts. Reference numeral 64 again designates the frame or rack on which the magazine device 90 is arranged. In this way, the magazine device can also be moved. As mentioned above, this rack can also have support elements or the like in order to be positioned at another location, for example, a docking station.

[0120] Fig. 11 shows an embodiment of a docking station 100, which can be located, for example, near the forming device or the heating device. This docking station can be arranged stationary. The docking station 100 preferably has three leveling elements 102, which serve for a straight arrangement or a desired nominal arrangement of a changing device arranged thereon. Reference numeral 108 designates a clamping pot, which is preferably designed as a pneumatically activated clamping pot. Reference numeral 114 designates a contacting device, which establishes, for example, electrical connections, but also, if necessary, pneumatic connections and mechanical connections. For example, the contacting device 114 can be a multi-plug.

[0121] Furthermore, several centering elements 104, such as centering bushings, are provided, which preferably interact with corresponding centering pins of the counterpart, such as the frame, to center the frame relative to the docking station 100. Reference numeral 112 designates a bar, and in particular a bar with a triangular contour as described above. Furthermore, optional drive devices such as lifting units are provided, with four lifting units 106 being provided here, which are preferably designed as pneumatic lifting units. Reference numeral 110 designates the base frame of the docking station.

[0122] The following Fig. 12 - 15 illustrate the process of a docking operation.

[0123] In the first step, the raised changing device is positioned over the docking station using the 100 bar for the Triangle Drive ( fig. 12 ). The machine feet of the top unit can preferably be raised by the Shark by a maximum of approximately 100 mm above the floor. Abb. 13 Additionally, a 1° floor slope must be recognized, which must be compensated for by the docking station. Reference numeral 132 designates a lifting unit, and reference numeral 134 designates a mobile robot (AGV).

[0124] Next ( Fig.14 ) the four pneumatic lifting units 106 are moved upwards. In the sectional view in the figure above, the lifting bolts can be seen, which are preferably attached to the pneumatic cylinders by a lifting console. Each cylinder extends until a proximity switch in the lifting bolts gives the signal to stop. The lifting bolts are now located in play bushings that are attached to the underside of the top unit. The Shark can now lower the top unit onto the four lifting bolts of the docking station. The play of the lifting bolts in the play bushings prevents any overdetermination. After lowering, the Shark can move out of the docking station.

[0125] In a third step (see side view in Fig. 15 ), the lifting units are now simultaneously moved to their upper end positions, thus compensating for the 1° angular offset caused by the sloped floor. The lifting units can compensate for rotations around the x- and y-axes.

[0126] Next ( Fig. 16 ), the lifting units are lowered again. This inserts the centering pins of the top unit into the centering bushings. Since the lifting pins have play in the bushings, a twisting of the top unit in the z-axis or an offset of the x- and y-axes can be compensated.

[0127] In the docking stations for the robot top unit, the clamping bolts 138 of the top unit are preferably inserted into the clamping pots as the lowering continues. Furthermore, the contacts of the multi-connector are preferably closed. Finally, the clamping pots are actuated to establish a force-locking connection between the docking station and the robot top unit. This completes the docking process. When a top unit is transferred to the mobile robot, the top unit is lifted by the lifting units and lowered onto the pre-positioned Shark.

[0128] The Fig. 17a - 17d illustrate the gripping of heating mandrels and shielding plates. First, the gripping device 50 is positioned by the robot of the changing device 6 (not shown) (see Fig. 17a ). The fixed gripper jaw 52 is moved by the robot to the holder until the contact sensor 54 gives the signal for contact ( Fig. 17b ). The movable gripper jaw 56 is moved to the holder by the pneumatic cylinder 57. This creates a force-locking and form-locking connection ( Fig. 17c ). The holder is now gripped and can be moved by the robot.

[0129] The Fig. 18a - 18e show the gripping of blow molds. In Fig. 18a und 18b A gripping device with a mold is shown. Figuren 18b - 18e show sectional views and details, respectively. When gripping a blow mold, the fork 74 of the gripping device is first threaded into specially provided pins on the top of the mold (see detail C). Likewise, the holding plate on the back of the mold is inserted into two pins (not shown) (see detail D). This prevents the mold halves from folding apart during the robot's movement.

[0130] The guide pins 174, which are attached to the piston rod of the pneumatic cylinders, are pushed downward by the cylinders (see detail C). This creates a force-locking connection. The engagement of the conical guide pins with the head plate of the blow mold also creates a positive connection. The bottom of the blow mold is connected to its side panels in such a way that it can only fall out when the mold is unfolded. This allows the entire blow mold to be grasped and removed from the transport magazine with the help of the robot and inserted into the respective blow molding station in the blow molding machine.

[0131] Fig. 19 illustrates a process sequence W(2) for changing heating mandrels and / or shielding plates. In process step A, a safety zone is created.

[0132] Before the changing device is picked up, a safety zone is defined, preferably using a scanner, such as a laser scanner. As soon as an operator enters the safety zone, the changing device is interrupted or an emergency stop is triggered.

[0133] The scanner is preferably arranged on the mobile carrier (AGV) or stationary on the machine, e.g., at the docking station. Preferably, multiple scanners can also be used, with at least one first scanner being stationary and at least one second scanner being mobile.

[0134] In the preferred steps, a changing device, i.e., the changing robot unit, is picked up (A1) and transported to a working position (step A2). If necessary, the changing robot unit is positioned (step A3) and set down (step A4). In a further step, a gripping device (which serves for handling the heating mandrels or shielding plates) is connected or coupled (step A5), if necessary. In an optional step A6, the transport unit and / or the magazine device 12 for the heating mandrels and / or shielding plates is checked.

[0135] The following steps deal with the actual changeover process. Here, a cover of the heating device is preferably opened first (step B1) and the transport device, in particular a revolving chain, is positioned (step B2). Preferably, the heating mandrels are moved, for example, pressed downward (step B3). In a further step, the magazine device or the holder for the heating mandrels and shielding plates is positioned (step B4).

[0136] In a further step, the shielding plates and / or heating mandrels are preferably locked to the magazine device (step B5). If present, a closure, in particular a quick-release closure, of the shielding plates is released (step B6). The heating mandrels and / or shielding plates can then be released, for example, by pulling them off downwards (step B7). Finally, the locking of the heating mandrels and shielding plates is preferably released (step B8).

[0137] In a further method step B9, the heating mandrels and / or shielding plates are gripped in the changing device and preferably transported to the magazine device and / or an intermediate storage area (step B10). Optionally, in a further step B11, the individual grippers are released, and the heating mandrels and / or shielding plates (in particular those to be exchanged) are gripped from the magazine device (step C1) and preferably gripped in a receptacle of the changing device (step C2). Subsequently, the respective grippers are preferably released (step C3).

[0138] In an optional step C4, the heating mandrels and / or shielding plates are locked to the changing device or the robot and then arranged on the transport device, for example inserted into a furnace chain (step C5). Preferably, a lock on the heating mandrels and / or shielding plates is then released (step C6) and a holder without the heating mandrels and / or shielding plates is moved and in particular lowered (step C7). In a further step, it is checked whether the change is complete (step C8). If this is not the case, the transport device is positioned again (step C2). Once the change is complete, the cover of the furnace device is preferably closed (step C9) and finally the grippers (in particular from the changing device) are separated (step C10).

[0139] To carry out the change, corresponding commands are preferably issued to the system 32 and in particular to the control and / or regulating unit of the blow molding machine and / or the heating device. Accordingly, commands are preferably also issued to a control and / or regulating device 34 of the change device.

[0140] In more general terms, the changeover process proceeds as follows: The top unit or a changeover robot must first be transported to the position on the heating module and placed down. The transport unit 12 with the heating mandrels and shielding plates and / or the changeover attachment can be transported to the application site before the changeover process.

[0141] The gripper connected to the robot is preferably checked. If necessary, the gripper is changed so that the one used to change the heating mandrels and shielding plates is connected to the robot. The robot then opens the transport unit, and the parts contained therein can be inspected using a sensor device, in particular the RFID reader, if necessary.

[0142] The heating mandrels and shielding plates are then automatically placed in the changing machine by the moving transport device, specifically the furnace chain. The changing machine removes them and places them in a holder. The holder is then positioned by the machine so that it can be picked up by the robot.

[0143] The holder, preferably with five heating mandrels and shielding plates, is gripped by the gripper as described above and then positioned by the robot in a free position in the transport unit described above. The gripper is then opened and the holder is placed in the transport unit.

[0144] Then, a holder containing the "new" heating mandrels and shielding plates stored in the transport unit is picked up by the gripper. This is positioned in the automatic changer, and the gripper releases.

[0145] The heating mandrels and shielding plates are then remounted on the transport device, in particular a furnace chain, by the automatic changer. The furnace chain is then moved further so that the next five heating mandrels and shielding plates to be changed are positioned in the automatic changer. Therefore, it is generally preferred to change several interchangeable elements, in particular heating mandrels and / or shielding plates, in a single work step.

[0146] The process is then preferably repeated until all heating mandrels and shielding plates stored in a push module and / or to be arranged on the transport device have been replaced. The push module is then closed by the gripper and the robot, and the next push module is opened. From the newly opened push module, several, and preferably all, heating mandrels and shielding plates are then replaced according to the scheme described above. The processes are preferably repeated until all heating mandrels and shielding plates stored in the transport unit have been replaced. Finally, the top unit and the transport unit are preferably transported to their storage location and set down.

[0147] Fig. 20illustrates a blow mold change W(4). In process step D0, a safety area is created. In the preferred steps, a change device, i.e., the change robot unit, is picked up (step D1) and transported to a working position (step D2). If necessary, the change robot unit is positioned (step D3) and set down (step D4). In a further step, a gripping device (which serves for handling the heating mandrels or shielding plates) is connected or coupled (step D5).

[0148] In a further preferred step D6, the transport of interchangeable elements of the forming device (hereinafter referred to as the blow molds by way of example) is checked. In a step D7, a guard of the forming device is opened and the blow mold carriers are transported (step D8). Furthermore, centering and / or air supply of the blow mold carriers is preferably established (step D9), and a blow mold is gripped (step D10).

[0149] Subsequently, the blow mold is gripped (step D11), the blow mold is unlocked (particularly from its blow mold carrier) (step D12), and the blow mold carrier is opened (step D13). The blow mold is removed (step D14) and preferably (particularly when the blow mold magazine is completely full) transported to and / or positioned in an intermediate storage area. Furthermore, a gripping device (which grips the blow molds) is preferably released (step E1), and a blow mold is gripped from the magazine device (step E2).

[0150] The (new, exchanged) blow mold is positioned in the blow mold carrier (step E3), and the blow mold carrier is then closed (step E4) and preferably locked (step E5). In a further step, the blow mold is locked in or to the blow mold carrier (step E6), and the gripping device that grips the blow mold is released (step E7).

[0151] In a further step, the clipboard is checked (step F4) and if there are still blow molds there, another blow mold is picked (step F5) and the steps from D15 onwards are repeated.

[0152] If there are no more blow molds in the intermediate storage area, the centering device and / or the air supply are released (step E8) and a check is made as to whether the change is complete (step E9). If the change is not complete, the process is repeated from step D8. If the change is complete, the guard for the forming device is closed (step E10). Finally, the gripping devices are optionally separated from the changing robot. In summary, the change of changing elements of the forming device is as follows: The top unit or the changing robot is first transported to the position on the forming device and set down. The transport unit with the blow molds can already be transported to the application site before the changeover process.

[0153] A check is carried out to determine which gripping device is connected to the robot. If necessary, the gripper is changed so that the gripper for changing the blow molds is connected to the robot, in particular an articulated-arm robot. The robot then checks the transport unit for the blow molds using a sensor device, such as an RFID reader. A closing device on the blow molding machine, such as a roller shutter, preferably opens automatically so that the articulated-arm robot can access the blow molding machine.

[0154] A blow mold carrier of a forming station in the forming facility is positioned so that the robot can reach it. The blow mold carrier is aligned and, in particular, centered in the blow molding machine (preferably automatically and / or pneumatically). The robot gripper grips the blow mold in the blow mold carrier. The blow mold is unlocked in the blow mold carrier (preferably pneumatically). The blow mold carrier opens so that the blow mold can be removed. The blow mold can now be removed from the forming machine by the articulated-arm robot of the changing device and placed in the transport unit for the blow molds.

[0155] The gripping device moves away from the deposited mold and positions itself over a new mold in the mold magazine. The mold is gripped and lifted from the transport unit by the changing robot. It is preferably positioned in the mold carrier. The mold carrier is closed and then pneumatically locked. The force-locking and / or positive connection of the gripping device is released. The gripper can now be moved away from the mold carrier by the (articulated-arm) robot. The centering (preferably pneumatic) of the mold carrier is preferably released.

[0156] The process is repeated until all blow molds have been changed.

[0157] Finally, the change robot and the transport unit are transported to their storage location and set down.

[0158] The invention offers numerous advantages. This enables the automatic changing of interchangeable elements, such as heating mandrels, shielding plates, and blow molds. The time required to convert the forming equipment, such as a blow molding machine, when changing the mouth diameter of containers / preforms is significantly reduced. This significantly reduces downtimes on filling and packaging systems. Furthermore, the invention also makes it possible to achieve high utilization of an articulated-arm robot. A changeover attachment with an articulated-arm robot is preferably used for changing the blow molds, heating mandrels, and shielding plates on one or more machines, and for other applications on other machines (e.g., changing label rolls).

[0159] The described docking station can also be used for other applications, e.g. in material supply.

Claims

1. A system (1) for producing plastic containers (20) with a heating device (2) for heating plastic preforms (10), wherein said heating device having a transport device (22) for transporting plastic preforms (10) along a predetermined first transport path (P1), and a plurality of holding devices (24) for holding the plastic preforms (10) and at least one heating unit (25) which heats the plastic preforms during the transport thereof and comprising a forming device (4) for forming the plastic preforms into plastic containers, said forming device being suitable for expanding the plastic preforms heated by the heating device (2) by applying a flowable medium, wherein the forming device has a plurality of forming stations which form the plastic preforms to the plastic containers, and wherein both the heating device (2) and the forming device (4) have changeable elements, characterized in that the system has a changing device (6) which is suitable for changing both changeable elements of the heating device and changeable elements (44) of the forming device, wherein the changing device is movable between at least two different positions in particular by a mobile robot.

2. The system according to claim 1, characterized in that the changing device (6) is movable between a first position (A), in which it is positioned for changing changeable elements of the heating device (2) and a second position (B), in which it is positioned for changing changeable elements of the forming device (4).

3. The system according to at least one of the preceding claims, characterized in that the system has a further transport device (8) which transports the heated plastic preforms from the heating device to the forming device (4), wherein preferably this further transport device has at least one transport starwheel.

4. The system according to at least one of the preceding claims, characterized in that the changeable elements of the heating device are selected from a group of changeable elements which includes gripping clamps, holding mandrels, shielding plates for heat shielding and the like, and / or the changeable elements of the forming device are selected from a group of elements which includes gripping clamps, blow molds, blow mold parts, stretching rods, blow nozzles and the like.

5. The system according to at least one of the preceding claims, characterized in that the changing device has at least one gripping device (50) for gripping the changeable element.

6. The system according to at least one of the preceding claims, characterized in that the changing device can be equipped with at least two different gripping devices, wherein preferably one of the gripping devices is intended for changing a changeable element of the heating device (2) and the other of the gripping devices is intended for changing a changeable element of the forming device (4).

7. The system according to at least one of the preceding claims, characterized in that the changing device (6) has a mobile carrier (64) on which there is arranged a robot device (62).

8. The system according to at least one of the preceding claims, characterized in that the system comprises at least one magazine device (12) for storing changeable elements, wherein this magazine device is preferably mobile.

9. The system according to at least one of the preceding claims, characterized in that the system has at least one stationary docking station, on which at least one component of the changing device can be arranged at least temporarily.

10. The system according to at least one of the preceding claims, characterized in that the system has at least one identification device in order to identify at least one changeable element and / or at least one detection device which enables a position determination of at least one element of the changing device.

11. A method for operating a system for producing plastic containers, wherein plastic preforms are heated with a heating device (2) in a working mode of the system, and wherein a transport device (22) transports the plastic preforms (10) along a predetermined first transport path (P1), and a plurality of holding devices (24) hold the plastic preforms, and at least one heating unit heats the plastic preforms during their transport, and wherein furthermore a forming device (4) expands the plastic preforms heated by the heating device (2) by applying a flowable medium and thus forms them to the plastic preforms, wherein the forming device has a plurality of forming stations, which form the plastic preforms to the plastic containers, and wherein both the heating device (2) and the forming device (4) have changeable elements, characterized in that a changing device (6) changes both changeable elements of the heating device and changeable elements (44) of the forming device in a changing mode, wherein the changing device is moved between at least two different positions in particular by a mobile robot.

12. The method according to the preceding claim, characterized in that the changing device is also equipped with different gripping devices and / or changing units in order to carry out the change of changeable elements of the forming device and the change of changeable elements of the heating device.

13. The method according to at least one of the preceding claims, characterized in that the changing device or components of the changing device are at least temporarily moved from a first position (A), which serves to change changeable elements of the forming device, into a second position (B), which serves for changing changeable elements of the heating device.

14. The method according to at least one of the preceding claims, characterized in that changeable elements are stored at least temporarily in a magazine device and preferably this magazine device is also moved at least temporarily into different positions.

15. The method according to at least one of the preceding claims, characterized in that the changing device or a component of the changing device is at least temporarily positioned and / or fastened to a docking station.