Blow moulding machine with a changing robot and a gripping device and a method for its operation

Abstract

An apparatus for shaping plastics material pre-forms into plastics material containers has a conveying device which conveys the plastics material pre-forms along a pre-set conveying path. The conveying device has a movable station carrier arranged at least indirectly on a stationary base carrier and on which a plurality of shaping stations are arranged. The shaping stations have blow molding devices which form cavities inside which the plastics material preforms are shaped to form plastics material containers. The blow molding devices are arranged on blow mold carriers. The apparatus has a changing device suitable for removing at least the blow molding devices from the blow mold carriers and/or arranging blow molding devices on the blow mold carriers. A changing device has a gripping device for gripping the blow molding device, wherein this gripping device is movable in at least two different directions and is pivotable about at least three different axes.

Claims

1. An apparatus for the shaping of plastics material pre-forms into plastics material containers with a conveying device which conveys the plastics material pre-forms along a pre-set conveying path, wherein the conveying device has a movable station carrier which is arranged at least indirectly on a stationary base carrier and on which a plurality of shaping stations are arranged, wherein these shaping stations have in each case blow moulding devices which form cavities in each case inside which the plastics material preforms are capable of being shaped to form the plastics material containers and these blow moulding devices are arranged in each case on blow mould carriers, wherein the apparatus has a changing device which is suitable for and intended for removing at least the blow moulding devices from the blow mould carriers thereof and/or arranging blow moulding devices on the blow mould carriers, wherein this changing device has a gripping device for gripping the blow moulding device, wherein this gripping device is movable in at least two different directions and is pivotable about at least three different pivot axes, and, wherein the changing device has a control device which performs a removal of the blow moulding device from the blow mould carriers and/or an arranging of the blow moulding device on the blow mould carriers in a manner controlled with respect to force and/or distance travelled.

2. The apparatus according to claim 1, wherein the gripping device is arranged on an arm pivotable about at least one pre-set pivot axis.

3. The apparatus according to claim 2, wherein the pivotable arm is arranged on a further arm pivotable about at least one pre-set pivot axis.

4. The apparatus according to claim 2, wherein the gripping device is arranged so as to be pivotable on the arm.

5. The apparatus according to claim 1, wherein the gripping device has a gripper for gripping at least one projection arranged on the blow moulding device.

6. The apparatus according to claim 4, wherein one arm is pivotable about at least two pivot axes with respect to another arm.

7. The apparatus according to claim 1, wherein the gripping device is capable of being connected to the blow moulding device in a positively and/or force-fit locking manner.

8. The apparatus according to claim 1, wherein the changing device has a control device which performs a removal of the blow moulding device from the blow mould carriers and/or an arranging of the blow moulding device on the blow mould carriers in a manner controlled with respect to both force and distance travelled.

9. The apparatus according to claim 1, wherein the changing device is suitable for optionally changing a complete blow moulding device or only parts of the blow moulding device.

10. The apparatus according to claim 9, wherein the gripping device enables the establishing and/or releasing of a connection present between component parts of the blow moulding device.

11. The apparatus according to claim 9, wherein the gripping device permits a relative movement of a first side part of a blow moulding device with respect to a second part of the blow moulding device.

12. A method of operating a shaping device for the shaping of plastics material pre-forms into plastics material containers, wherein the plastics material pre-forms are conveyed in a working operation of the apparatus along a pre-set conveying path by a plurality of shaping stations and are expanded to form the plastics material containers by being acted upon with a flowable medium, wherein in order to expand the plastics material pre-forms use is made of blow moulding devices in the interior of which the plastics material pre-forms are expanded to form the plastics material containers, wherein at least one of the blow moulding devices is removed in a changing operation from the apparatus and/or one of the blow moulding devices is arranged on a blow mould carrier of the apparatus, wherein in order to change the blow moulding devices use is made of a changing device which has a gripping device for gripping the blow moulding device, wherein this gripping device is movable in at least two different directions and is pivotable about at least three pivot axes, and, wherein the changing device has a control device which performs a removal of the blow moulding device from the blow mould carriers and/or an arranging of the blow moulding device on the blow mould carriers in a manner controlled with respect to both force and/or distance travelled.

13. The method according to claim 12, wherein during a changing procedure of at least one blow moulding device component parts of this blow moulding device are separated from one another.

14. The apparatus according to claim 1, wherein the gripping device has active gripping elements which produce a positive and force-fit engagement with the blow mould device.

15. The apparatus according to claim 1, wherein the gripping device has centring elements in order to enable exact positioning of the gripping device on the blow mould device or on the transforming station.

16. The apparatus according to claim 1, wherein the apparatus has a housing which at least surrounds a station support in the circumferential direction thereof.

17. The apparatus according to claim 16, wherein in a working operation the changing device is disposed inside the housing.

18. The apparatus according to claim 1, wherein a removal position on a blow wheel is always identical.

19. The apparatus according to claim 1, wherein due to this control one or more reference points are defined on the blow station and/or on a magazine which can be approached by the changing device.

20. The method according to claim 12, wherein at least one component of the blow moulding device is not changed in a corresponding changing operation.

21. An apparatus for the shaping of plastics material pre-forms into plastics material containers with a conveying device which conveys the plastic material pre-forms along a pre-set conveying path, wherein the conveying device has a movable station carrier which is arranged at least indirectly on a stationary base carrier and on which a plurality of shaping stations are arranged, wherein these shaping stations have in each case blow moulding devices which form cavities in each case inside which the plastics material preforms are capable of being shaped to form the plastics material containers and these blow moulding device are arranged in each case on blow mould carriers, wherein the apparatus has a changing device which is suitable for and intended for removing at least the blow moulding devices from the blow mould carriers thereof and/or arranging blow moulding device on the blow mould carriers, wherein this changing device has a gripping device for gripping the blow moulding device, wherein this gripping device is movable in at least two different directions and is pivotable about at least three different pivot axes and wherein the changing device is suitable for optionally changing a complete blow moulding device or only parts of the blow moulding device and the gripping device permits a relative movement of a first side part of a blow moulding device with respect to a second part of the blow moulding device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Further advantages and embodiments are apparent from the appended drawings. In the drawings:

(2) FIG. 1 shows a schematic representation of a system according to the invention;

(3) FIG. 2 shows a representation of the system with illustrated changing device;

(4) FIG. 3 shows a plan view of the system shown in FIG. 2;

(5) FIG. 4 shows a further representation of the system shown in FIG. 2;

(6) FIG. 5 shows a further representation of the system shown in FIG. 2 in a further operating position;

(7) FIG. 6 shows a representation of a transforming station;

(8) FIG. 7 shows a representation of a mould shell for a blow mould device;

(9) FIG. 8 shows a representation of a changing device;

(10) FIG. 9 shows a representation of a gripping device for gripping a blow mould device;

(11) FIG. 10 shows a representation of a changing device with a blow mould device;

(12) FIG. 11 shows a representation for illustration of possible positions of the changing device;

(13) FIG. 12 shows a representation of a magazine with a blow mould device;

(14) FIG. 13a-13h representation showing a partial change of a blow moulding device

(15) FIG. 14a, b two representations of a gripping device; and

(16) FIG. 15a, b two further representations of a gripping device

DETAILED DESCRIPTION OF THE INVENTION

(17) FIG. 1 shows a schematic representation of a system 1 for transforming plastic parisons into plastic containers. In this case the plastic parisons 10 are delivered to the individiaul transforming stations 8 and expanded to form plastic containers 20. After this expansion the plastic containers are removed again from the system. For this purpose a delivery starwheel can be provided which delivers the plastic parisons to the system 1 and also onto a discharge device, in particular likewise a transport starwheel, which discharges the finished containers from the system. The system 1 has a station support 12 on which a plurality of transforming stations 8 are disposed. This station support may be for example, as shown in FIG. 1, a blow wheel which is rotatable with respect to an axis of rotation D (which here extends perpendicular to the drawing plane and thus vertically). Each individual transforming station has a respective blow mould device 14. This blow mould device 14 is composed of two side parts and a base part. These blow mould devices can be replaced according to the invention. In this case the blow mould devices 14 are disposed on blow mould supports 16 arranged and can be removed therefrom or disposed thereon.

(18) The reference sign 40 identifies a changing device which serves to remove the blow mould devices from their blow mould supports or to dispose the blow mould devices on the blow mould supports. The reference sign 6 identifies a base support on which the station support 12 is rotatably mounted. The changing device 40 is also disposed on or adjacent to the base support 6. Thus the changing device 40 can be integrated in the system. The reference sign 18 identifies a housing, which at least partially surrounds the station support 12, but which preferably, as shown below, can also enclose or surround the changeover device 40.

(19) The reference sign W designates a changing position. As mentioned above, the blow mould devices are preferably replaced at a specific changing position. This means that the transforming stations can be moved successively into this changing position W by a rotation of the support 12 and then at this changing position the old blow mould devices can be removed and preferably also new blow mould devices can be delivered. The reference sign R designates a radial direction. In this radial direction the changing device or a gripping device of the changing device is preferably delivered to the transforming stations or the blow mould devices in order to change them.

(20) FIG. 2 shows a perspective representation of a system 1, which merely shows a transforming device or transforming station 8. The station support on which this is disposed is likewise not illustrated here. Furthermore the base support 6 can be seen, on which the changing device 40 is disposed. This changing device 40 has a first swivelling arm 56 as well as a second swivelling arm 54. By means of an articulation and driving connection these two arms can be connected to one another so as to swivel.

(21) The reference sign 52 designates a gripping device which serves in order to grip and to transport the blow mould devices. This gripping device is in turn disposed so as to swivel on the second arm 54 and is preferably also rotatable. Thus overall the gripping device can swivel about at least three, preferably about at least four axes in space. In addition it would also be possible, as illustrated by the rectangle shown by a broken line, that a plurality of changing devices are provided, wherein these are in particular disposed in each case at least indirectly on the base support 6. In this way the individual blow mould devices could be replaced more quickly in a changing operation.

(22) The reference sign 46 identifies schematically a detecting device which detects forces acting on the changing device 40 or the gripping device 52 in order thus to switch off in an emergency. The system advantageously has a plurality of such detecting devices, wherein preferably each one is associated with an individual driving device which effects a movement of the changing device 40 or of the gripping device 52. These detecting devices may for example be force measuring devices which actually determine forces, torques and the like. However, it would also be possible that the forces are determined from parameters of the respective drive, for instance from flows or the like.

(23) The reference sign B identifies a user who operates the system. Advantageously during operation of the changing device the user cannot move in regions which conversely can be reached by the changing device 40.

(24) The reference sign 22 identifies a control device for controlling the changing device. The reference sign 42 identifies a control device for controlling the transforming device. In this case these two control devices can interact with one another, in particular for a changing operation for replacement of the blow mould devices. In this case it is possible in a normal working operation of the system for the changing device 40 to move into a rest position in which the changing device occupies the least possible space.

(25) FIG. 3 shows a plan view of the system shown in FIG. 2. It will be recognised here that the changing device 40 is likewise integrated into the housing 18. In the state shown in FIG. 3 the arm 56 is just swivelled out, so that the gripping device 52 can just grip a blow mould device.

(26) In addition a magazine device 70 is also illustrated which has a plurality of receiving points 72 for receiving the blow mould devices. In this case these blow mould devices can each be moved into the receiving points or holes 72.

(27) FIG. 4 shows a further representation of the system according to the invention. It will be seen that here a wall 32 is provided which separates the user B from the changing device 40, so that the user cannot be injured. In addition further movable wall parts 34 can also be provided, so that on the one hand the machine is more easily accessible for maintenance purposes, or on the other hand further changing devices can also be provided, as also illustrated in FIG. 1.

(28) The representation shown in FIG. 5 is similar to the representation shown in FIG. 3, but here the changing device 40 is in a different operating position. This may for example be a working operation in which the system transforms plastic parisons to form plastic containers. It will be recognised that a recess 18a which also serves to completely receive the changing device 40 can be disposed in the housing 18. In the state shown in FIG. 5 the individual arms of the changing device 40 can be hinged inwards so that the changing device 40 occupies only a small space.

(29) FIG. 6 shows a representation of a transforming station 8. The blow mould support 16 can be seen here which can have two blow mould support parts 16a, 16b which can swivelled apart in order to open and to close the blow mould device 14. Also for the changing operation the two blow mould support parts 16a, 16b can be swivelled apart, in order to be able to remove the blow mould device 14.

(30) The reference sign 82 designates as a whole a locking device which in the working operation locks the two blow mould support parts 16a and 16b to one another, so that even with greater pressures they do not swivel apart. The reference numeral 66 relates to a projection which in each case is disposed on the two side parts of the blow mould device 14. This projection is designed to be so stable that the entire blow mould device 14 can be supported on this projection. In this case the gripping device or a component of the gripping device can engage behind this projection 66, so that the gripping device 52 can support the blow mould device by means of this projection. By means of holding of the respective side parts of the blow mould device on the projections 66 the blow mould device in its entirety can also be held together.

(31) FIG. 7 designates a blow mould support shell. This blow mould support shell 15 can be disposed on the blow mould support 16 and in turn can itself receive the blow mould device or parts of the blow mould device. In this case delivery and discharge elements 15a can be provided, in order to deliver media, such as for example temperature control media, to the blow mould shell 15.

(32) FIG. 8 shows a further representation of the changing device 40. This shows the first arm 56 which can be swivelled with respect to a first axis A1. In addition, however, this arm 56 is also rotatable with respect to a second axis A2. A second arm 54 is disposed on this first arm 56 and in this case the arm 54 can swivel with respect to an axis A3 relative to the first arm 56. Here the two axes A1 and A3 are parallel to one another. However, these axes can also be disposed obliquely or skew relative to one another. In addition, however, the second arm 54 is also rotatable with respect to a fourth axis A4.

(33) In order to achieve this respective swivelling and rotary movement with respect to the individual axes and also with respect to the further axes to be described, in each case driving devices, such as in particular, but not exclusively, electric motor-powered drive units can be provided. In addition, however, it would also be conceivable to use pneumatic and/or hydraulic drive units. A gripping device 52 which serves for gripping the blow mould device is provided on the second arm 54. In this case this gripping element can swivel with respect to an axis A5 relative to the arm 54. This axis AS may be perpendicular to the axis A3 and/or also perpendicular to the axis A4. In addition the gripping device is disposed on the arm 54 via a support 58. The gripping device itself can in turn be rotatable relative to this support 58 with respect to an axis A6.

(34) By means of this plurality of movements the blow mould devices 14 can be removed from the individual transforming stations and placed onto a support 74 which is shown here as a Europallet. However it would also be possible to introduce the blow mould devices 14 directly into openings provided in a magazine.

(35) In this case the distance between the magazine device or the pallet 74 and the changing device 40 can be between 1 meter and 2 meters. Also a corresponding radius of action of the changing device may be in the region of 1.5 meter.

(36) FIG. 9 shows a detail of the changing device 40 or the gripping device 52 thereof. This gripping device may have a guide element 62 which can be guided over a corresponding surface of the blow mould device. In addition projections 64a, 64b can also be provided which serve for centring the changing device 40 or precisely the gripping device relative to the transforming station. The reference sign 63 relates to a recess which is disposed in the guide element 62 and can engage behind the projections for changing the blow mould device. Thus the guide element 62 also serves for supporting the blow mould device 14.

(37) FIG. 10 shows a view of the changing device with a blow mould device 14 disposed thereon. It will be seen that the gripping arm 52 here engages in two projections 66 which are disposed on the blow mould device 14 and presses these together, so that in this way the blow mould device is held together. Thus the projections 66 also shown in FIG. 9 and FIG. 6 which are disposed on the blow mould device 14 serve to hold it together during transport. Thus advantageously above the blow mould device 14 the gripping device 52 engages in elements thereof in order to hold it. This type of engagement in the blow mould device is suitable in a special manner since the blow mould device, as is also shown in FIG. 6, projects beyond its support and in this way can also be gripped in a closed state of the blow mould support 16. Thus it is possible for the changing device or the robot initially to grip the blow mould device 14 by means of the projections 66 thereof and only then the blow mould support is opened. In this way it can be ensured that the blow mould device is held securely at any time.

(38) FIG. 11 shows a further representation of the present invention. Here a plurality of changing devices 40a-40d are provided, by which in each case elements of the system can be changed. In this case it would be possible for example for two of the changing devices (40a, 40b) to be provided, in order to change blow mould devices 14, but also for further changing devices to be provided which replace other elements such as for example heating mandrels which are located in a kiln 50 for heating the plastic parisons (the changing device 40d). In addition, for example holding elements, such as transfer tongs, which transport the plastic parisons after heating to the transforming device 1, can be changed by means of the changing device 40c.

(39) FIG. 12 shows a receiving device such as a magazine to receive the blow mould devices 14. This may contain a support plate 75 which has a plurality of openings 77. By means of supports 78 this plate 75 can be arranged on a base support 79, wherein this base support 79 in turn has openings 79a or holes to receive the blow mould devices. Advantageously this magazine has the same dimensions as a so-called Europallet and thus preferably dimensions in a range of 1200800 mm. In this case the individual openings 79a are, as shown in FIG. 12, disposed in rows and and offset from one another, so that the greatest possible number of blow mould devices can be introduced into the pallet.

(40) FIGS. 13a-13h illustrate a change process for a blow moulding device, when not the entire blow moulding device has to be changed but only the side parts. In the illustration in FIG. 13A is shown an entire blow moulding device 14 is located on a gripping device 52. Here, the gripping device 52 removes the entire blow moulding device, i.e. both the two side parts 14a and 14b as well as the base part 14c, which is mechanically coupled to the side parts 14a and 14b from the blow moulding machine. In a further step, the entire blow moulding device 14 is turned off or placed on a (not-shown) storage space for the base part 14c. In a further process step, the gripper device 52 opens, as shown in FIG. 13d. For this purpose, two holding elements, explained in more detail below, of the gripping device 52 can be pushed apart, so as to move apart also the two side parts 14a and 14b.

(41) In the situation shown in FIG. 13c, the gripping device 52 moves upwardly being equipped only with the side parts 14a and 14b. The base part 14c remains in its storage place. In the situation shown in FIG. 13d, the two side parts 14a and 14b are placed in a corresponding storage (not shown). Furthermore new side parts 14a and 14b are removed from the storage (not shown), as shown in FIG. 13e. In the situation shown in FIG. 13f, the two side parts are moved apart again and are placed above the old base part 14cwith correspondingly opened gripping device. This situation is also shown in FIG. 13g. In this situation, the two side parts 14a and 14b are moved downwardly and with the now following closing of the gripping device 52, the old base part is received by the two blow moulding side parts 14a and 14b.

(42) Finally, the new side parts 14a and 14b as well as the original base part 14c can be fastened to a mold support (not shown) again, as illustrated in FIG. 13h.

(43) FIGS. 14a and 14b show an illustration of a gripping device, which is suitable and intended also to move apart the two side pieces, so as to release the base part. FIG. 14a is a top view of the gripping device and FIG. 14b is a view from below. It can be seen that the gripping device 52 again comprises two guide elements 62, in which the recesses 63 are disposed (to receive the projections 66 arranged on the side parts). However, whereas this guiding element 62 was integrally formed in the embodiment shown above, now, two such guide elements 62 are provided which can be moved apart. For this purpose, these guide elements 62 (and hence the recesses 63), are arranged on a support 102 via a carriage 104 respectively and can be moved with respect to this. The reference number 120 refers to a first drive device, in order to move the left guiding element shown in FIG. 14A, and reference number 130 refers to a drive device, in order to move the guiding element 62 shown on the right in FIG. 14a. Reference numbers 122, 124, 132 and 134 mark communication links for connecting a hydraulic or pneumatic medium. In FIG. 14b, the retaining elements 142 are shown to fasten the gripping means 52 on an arm. Besides, other terminals 152, 154 are provided for a hydraulic or pneumatic means, to effect further movement of degrees of freedom, such as a pivoting of the guide members 62 in their entirety, or linear displacements.

(44) In the embodiments shown in FIGS. 15a and 15b, the guide elements 62 are provided apart from each other or separated from each other. Correspondingly, the side parts, whose projections lie in the recesses 63, are apart, so thatas described with reference to FIGS. 13a-13h explainednow the base part can be removed from the side parts.

(45) Thus, the gripping means 52 allows, in this embodiment a relative movement between the guide elements 63 and supporting elements 62 which serve to hold or guide the side portions 14a, 14b of the blow moulding device 14. The two guide elements 62 are each movable along a linear direction so as to guide the side parts of the blow moulding device away from each other or to guide them towards each other.

(46) It is preferable thatas mentioned abovefor the drives to perform these apart and together movements of the side parts to be pneumatic drives. As magazines for storing the blow moulding devices standard magazines can be used.

(47) The applicant reserves the right to claim all the features disclosed in the application documents as essential to the invention in so far as they are individually or in combination novel over the prior art.