Container handling installation comprising a mobile robot for replacing components
阅读说明:本技术 包括用于更换组件的活动的机器人的容器处理设施 (Container handling installation comprising a mobile robot for replacing components ) 是由 S·雷斯 沃尔夫冈·哈恩 A·海克 F·格廷格尔 M·佐尔费尔 于 2018-02-22 设计创作,主要内容包括:本发明涉及用于处理诸如瓶的容器的容器处理设施(100),其包括至少一个容器处理机(120、130)和活动的协作机器人(101),协作机器人(101)被构造成用于机器人-机器人交互和/或用于机器人-人交互,其中所述协作机器人(101)被构造成配合对容器处理机的组件的更换。本发明还涉及更换容器处理设施的容器处理机的组件的对应方法。(The invention relates to a container handling facility (100) for handling containers, such as bottles, comprising at least one container handling machine (120, 130) and a movable collaborative robot (101), the collaborative robot (101) being configured for robot-robot interaction and/or for robot-human interaction, wherein the collaborative robot (101) is configured to coordinate replacement of components of the container handling machine. The invention also relates to a corresponding method of replacing components of a container treatment machine of a container treatment plant.)
1. A container processing plant (100) for processing containers, such as bottles, comprising at least one container processing machine (120, 130) and a movable cooperative robot (101) configured for robot-robot interaction and/or for robot-human interaction, wherein the cooperative robot (101) is configured to coordinate replacement of components of the container processing machine.
2. The container processing facility (100) according to claim 1, wherein the cooperating robots (101) comprise safety systems configured to continuously determine the risk of collision with people located around the cooperating robots and to control the movement of the cooperating robots such that the risk of collision will be minimized.
3. The container processing plant (100) according to claim 2, wherein the cooperating robot does not comprise any separate protection means.
4. The container processing facility (100) according to any of claims 1 to 3, wherein the container processing facility (100) comprises a second container processing machine (120, 130), the cooperating robot being movable between the container processing machine and the second container processing machine.
5. The container handling facility (100) according to any of claims 1 to 4, wherein the cooperating robot (101) comprises a robot arm (111), the robot arm (111) having a tool (112) for interacting with a container handling machine.
6. The container processing plant (100) according to claim 5, characterized in that the cooperating robot comprises a tool changing system (230), by means of which tool changing system (230) the tool (112) of the cooperating robot can be exchanged for some other tool (225, 224) carried by the tool changing system (230).
7. The container processing facility (100) according to any of claims 1 to 6, wherein the cooperating robot is configured to a movable platform (115).
8. The container processing plant (100) according to claim 7, characterized in that the movable platform forms a linear drive together with a guide (102) configured as a stator and extending through the container processing plant (100).
9. The container processing plant (100) according to any of claims 1 to 4, 7 or 8, wherein the mobile co-operating robot is configured as a humanoid robot (260) and comprises two arms (261, 262) and/or two legs (263, 264) configured to cooperate with the actions performed by the robot.
10. A method of replacing components of a container handling machine (120, 130) of a container handling facility (100) in the beverage processing industry, wherein a mobile collaborative robot (101) configured for robot-robot interaction and/or robot-human interaction coordinates the replacement of components of the container handling machine.
11. Method according to claim 10, characterized in that the cooperative robots continuously determine the risk of collision with people located around the cooperative robots by means of safety systems and control the movement of the cooperative robots such that the risk of collision will be minimized.
12. The method according to claim 10 or 11, characterized in that the cooperative robot (101) performs or participates in at least one of the following actions: picking up the assembly at a specific location, moving the assembly to a specific location, establishing and/or relaxing the fastening of the assembly, coupling and/or uncoupling of the media lines and/or cables and/or supply lines, performing adjustment work.
13. Method according to any of claims 10 to 12, characterized in that the co-operating robot (101) changes the tool (112) at the co-operating robot to some other tool (225, 224) carried by a tool change system (230) before and/or during the changing of components of the container handling machine.
14. A system comprising at least two container processing facilities, each comprising at least two container processing machines for processing containers, wherein the system comprises at least one movable co-robot (101), the co-robot (101) being configured for robot-robot interaction and/or for robot-human interaction, the co-robot (101) being configured to cooperate with replacement of components of a container processing machine of one of the container processing facilities and being configured to move independently between a container processing machine of the container processing facility and another container processing machine of the other container processing facility.
15. The system according to claim 14, wherein the container processing facilities are configured as beverage filling facilities and each comprise at least one filler for filling a container with a product and a capper arranged downstream of the filler for closing the container.
Technical Field
The present invention relates to a container treatment plant for treating containers such as bottles according to scheme 1 and to a method of replacing components of a container treatment machine of a container treatment plant in the beverage processing industry according to scheme 9.
Background
Container processing plants comprising one or more container processing machines are known from the prior art.
Likewise, it is known that in the case of format changes, for example when changing from a first bottle size to a second bottle size, these machines have to be modified. Usually, machine components are replaced for this purpose. For example, the blow mold of the blow molding machine can be replaced.
Such format changes are typically performed manually, i.e. by an operator of the machine. This entails a considerable expenditure of time and physical exertion on the part of the operator.
Disclosure of Invention
Task
Based on the known prior art, the technical task to be solved is then to provide a container treatment plant which enables the replacement of components with a minimum of expenditure of time and without any difficulty for the operator.
Scheme(s)
This object is achieved by a container treatment plant according to variant 1 and a method according to variant 10 for replacing components of a container treatment machine of a container treatment plant and a system according to variant 14 of a container treatment plant. Advantageous further developments of the invention are described in the dependent claims.
The container processing plant disclosed by the present invention and for processing containers, such as bottles, comprises at least one container processing machine and a movable cooperative robot configured for robot-robot interaction and/or for robot-human interaction, wherein the cooperative robot is configured to coordinate the replacement of components of the container processing machine.
A cooperative robot is understood to mean all devices controlled by a computer or processing unit, equipped with tools or similar means for interacting with surroundings, for example, and capable of interacting with humans or with other robots in the following manner: cooperate with a person or with a robot to perform a specific task, for example, when a component is replaced, or perform a sub-step of the process itself or assist it with a support capability (in-serving capacity). For example, a cooperative robot may lift a component that is too heavy for an operator, and the operator maneuvers the component into the correct position. In particular, the term "cooperative robot" should be understood to mean the known COBOT.
The cooperation of the co-operating robot in connection with the replacement of a component of the container handling machine is to be understood as meaning that the co-operating robot performs at least a sub-step of the component replacement or at least participates in this sub-step and performs it in cooperation with a human or with some other robot. Here, the fitting of the robot is not limited to simultaneous fitting with the operator/person in the following manner: both the operator and the robot perform tasks at the machine at the same time (together or independently of each other). The mating may also include a preparation step or a subsequent step, which may be performed not only when the machine is stationary, but also during production. These steps include, by way of example but not exclusively, the provision of (new or additional) materials, changed components, tools for assembly, and the disposal of (old or used) materials, changed components, tools, etc. after assembly. Needless to say, these preparatory and/or subsequent steps may also be carried out at the machine while the operator is present and performing other tasks. Furthermore, these steps can also be carried out when the operator is not present at all, and it can also be necessary in any case not urgently to cooperate with the operator that may be present.
Here, the term "mobile" cooperative robot should be understood to mean that the robot as a whole is not limited to a specific location, but can be moved from one location to another, for example in a factory workshop. This movement may occur autonomously, i.e. the robot may move independently from one location to another, substantially without further monitoring or control by the operator. Alternatively, the movement of the robot may be controlled by an operator.
The use of such an active, cooperative robot allows time-efficient replacement of components, whereby the workload of a person will be able to be reduced, or at least the amount of manpower required for a part of the operator and the actions performed at the time of the component replacement operation can be reduced. At the same time, since at least several sub-steps of the component replacement are performed by the robot, the error-proneness of the component replacement operation can be reduced in an advantageous manner.
According to an embodiment, the cooperative robot comprises a safety system configured to continuously determine the risk of collision with people located around the cooperative robot in order to control the movement of the cooperative robot such that the risk of collision is minimized. In this way, the risk of damage to other robots, and in particular the risk of injury to the operator cooperating with the cooperating robot, can be minimized.
According to a further development of this embodiment, the robot does not comprise any separate protection means. The separate protective device is, for example, a protective wall which separates the movement area of the robot from the surroundings so that the operator cannot inadvertently enter the movement area. If these protection devices can be omitted, the cooperative robot can directly interact with the operator or other robots, so that cooperation at the time of component replacement operation can be performed more efficiently.
According to another embodiment, the container treatment plant comprises a second container treatment machine, the cooperating robot being movable between the container treatment machine and the second container treatment machine. Therefore, it is not necessary to separately provide all the robots necessary for component replacement at each container processing facility, but based on this embodiment, for example, the robot for component replacement required at each container processing machine can be effective for all the container processing machines, so that the acquisition cost of the system can be reduced.
Additionally, the robot may include a robotic arm having a tool for interacting with the container handling machine. The tool may, for example, be configured in the form of a gripper, a holder, a screwdriver or the like and can be used by a robot, for example for holding components of the container processing machine, or for detaching it from the container processing machine or for mounting it to the container processing machine.
According to a further development of this embodiment, the cooperative robot comprises a tool change system, by means of which the tool of the robot can be exchanged for some other tool carried by the tool change system. For example, the tool changing system may be configured as a box for different tools, and the robot may be configured to place one of its tools in the box, remove another tool, and use the other tool in place of the first tool. To replace a tool of the robot, the robot may also include or be assigned an additional robot arm configured to remove the tool from the robot and replace it with a tool from the tool changing system.
The cooperative robot then becomes more flexible in use and can also be advantageously used at different container handling machines of the container handling facility for different purposes.
Further, the cooperative robot may be configured to be movable platform. Thus, the components of the robot (supported to the platform) can be supported with as high a stability as possible, and the overall movement of the cooperative robot can be simultaneously achieved by means of the platform.
According to a further development of this embodiment, the movable platform forms a linear drive together with a guide configured as a stator and extending through the container treatment plant. The linear drive is energy-efficient and at the same time can be controlled very precisely, so that the position of the co-operating robot can be adjusted flexibly and at the same time with high precision.
Other possibilities of driving are also conceivable, which can be realized in an advantageous manner depending on the respective requirements. For example, dead reckoning (otherwise odometry), trajectory guidance with continuous guidance (guidelidine), LIDAR systems, grid navigation, laser navigation, 2D and 3D laser scanners associated with environmental features (2D or 3D), 2D or 3D cameras combined with image recognition software, and GPS systems (in particular, indoor GPS systems) may be preferably used. In these cases, the robot may advantageously be equipped with its own drive, in particular an electric drive.
According to an embodiment, the mobile collaborative robot is configured as a humanoid robot and comprises two arms and/or two legs configured to cooperate with the actions performed by the robot. Thus, interaction with the operator can be achieved more efficiently, and additional protection means, such as a protection wall, can be omitted.
The method disclosed by the present invention and for replacing components of a container handling machine of a container handling facility in the beverage processing industry comprises an active cooperative robotic coordination of the replacement of components configured for robot-robot interaction and/or robot-human interaction. Thus, the workload on the part of the operator can be reduced, and the error tendency at the time of the component replacement operation can also be reduced.
According to an embodiment, the cooperative robot continuously determines the risk of collision with people located around the robot by means of the safety system and controls the movement of the robot such that the risk of collision will be minimized. Thus, the risk of injury to an operator interacting with the cooperative robot can be reduced.
According to an embodiment, the collaborative robot performs or participates in at least one of the following actions: picking up the assembly at a specific location, moving the assembly to a specific location, establishing and/or relaxing the fastening of the assembly, coupling and/or uncoupling the media lines and/or cables and/or supply lines and performing adjustment work. These actions include moving weights and/or these actions require considerable precision. Robots are particularly suited for both tasks.
Further, it is assumed that the collaborative robot changes the tool at the collaborative robot to some other tool carried by the tool change system before and/or during the replacement of a component of the container handling machine.
Thus, the cooperative robot can also be used flexibly to replace different components of the container handling machine.
The invention also provides a system comprising at least two container processing facilities, each container processing facility comprising at least two container processing machines for processing containers, wherein the system comprises at least one movable co-robot configured for robot-robot interaction and/or for robot-human interaction, the co-robot being configured to coordinate replacement of components of a container processing machine of one of the container processing facilities and being configured to move independently between the container processing machine of that container processing facility and another container processing machine of the other container processing facility.
According to an embodiment, the container processing facilities are configured as beverage filling facilities and each comprise at least one filler for filling the container with product and a capper arranged downstream of the filler (i.e. downstream when viewed in the transport direction or movement direction of the container in the facility) and for closing the container.
Drawings
Figure 1 shows a schematic view of an embodiment of a container treatment plant,
figure 2a shows a detailed schematic of a cooperative robot according to an embodiment,
fig. 2b shows a detailed schematic view of a cooperative robot configured as a humanoid robot in an embodiment.
Detailed Description
Fig. 1 shows a schematic view of a
These exemplary embodiments are not mandatory, and the
In addition, the following embodiments are also included: not only one container treatment facility but a plurality of container treatment facilities are provided. The plurality of container processing facilities may comprise at least partially identical container processing machines. For example, the first container processing facility may comprise a blow-moulding machine, a filler, a capper and a labelling machine, while the second container processing facility comprises a blow-moulding machine, a filler, a capper and a printing machine for printing on the containers.
Furthermore, in the embodiment shown in fig. 1, the
However, in the situation shown in fig. 1, the
The robot 131 and the
According to the invention, the
Since the
The power supply of the robot may be provided by means of one or more energy storage units, preferably batteries. The energy storage unit can be charged at a central charging station when the robot is not in use, or can be supplied with electrical power by means of an inductive process, for example during operation at the respective container processing machine. In addition, the empty battery can also be replaced by a fully charged battery by the robot itself, so that the downtime of the robot can be kept short and the robot will be ready for use at any time to the highest possible extent.
In addition, reference should be made to the following facts: the robot is not limited to moving between container handlers of a single container processing facility. As already explained earlier, a plurality of container treatment facilities may also be provided. In this case, the robot can also be moved between the container treatment machines of the respective container treatment facilities. The necessary means for navigation and possible independent drives correspond here to those used in the case of movement between container processing machines of a single container processing facility.
According to a particularly preferred embodiment, each type of container treatment machine can be provided with a cooperating robot, which is particularly suitable for the task to be solved for the type of situation in question. For example, a first type of robot may be equipped with a dedicated tool working at the blow-moulding machine, while another type of robot may be equipped with other tools working at the labelling machine.
The robot may be provided with a
According to the invention, the
Additionally or alternatively, the cooperating
In principle, the
However, in order to reduce the risk of injury to persons especially cooperating with such a cooperative robot, a safety system may be provided, as explained in more detail in fig. 2, to minimize the risk of collision with the operator by controlling the movement of the
Fig. 2a shows a more detailed schematic view of the
The platform may also house some or all of the control electronics and power supply for the robot.
In addition, the platform may be provided with a plurality of
In addition, the
In any case, the robot includes one or
It is particularly advantageous when the tools of the
Fundamentally, the
As already mentioned, robots have safety systems that can be used to minimize the risk of collision with the operator or some other robot. The security system (represented in fig. 2a by
Fig. 2b shows another preferred embodiment of a mobile robot according to the invention. According to this embodiment, the
The
Alternatively or additionally, one or both of the arms may be provided with a
In particular, robotic hands may be configured to guide and operate tools that can also be used by humans. For example, the
To simplify the interaction even further, it is also possible to use a
In addition, the operator may interact with the robot via these devices, for example by operating a
In order to allow the robots to work as independently as possible, the components or forming parts handled by the robots may be provided with markers, for example RFID tags, and the robots can identify these markers by using suitable means (in this case RFID sensors or readers).
In order to ensure that when the robot has to perform an action on the container handling machine it will have the necessary components and, if necessary, also the tools it can handle, the operator can be instructed to set them or, preferably, an unmanned transport system can be provided which, by means of an automated trolley or other equipment, transports the required components, workpieces or machine components to the respective container handling machine at the appropriate time or which also supplies the (external) storage device with the replaced components of the machine. Although the foregoing embodiments are all illustrated as floor-supported
In principle, the control of one or all of the robots in one or more container treatment plants can be ensured by a central controller (computer, server, etc.), so that individual control units assigned individually to the robots can be omitted. Optionally, the robot can also recognize surroundings by means of suitable sensors (e.g. cameras) and can autonomously derive therefrom a task, which the robot then would preferably perform independently/autonomously again.
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