# Patent

## Title
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.

## Background
BACKGROUND OF THE INVENTION
The present invention relates to a system for transforming plastic parisons into plastic containers. Such systems have been known for a long time from the prior art. In this case heated plastic parisons are usually transformed by the application of compressed air into plastic containers such as plastic bottles. For this purpose a plurality of transforming stations or blow stations are usually disposed on a rotatable carrier. In this case these blow stations each have blow moulds which have a hollow space within which the plastic parisons are transformed into the plastic containers. Thus these blow moulds have a negative of the container to be produced. If the system is to be changed over to other containers, the individual blow moulds must be replaced. In the prior art these blow moulds are removed individually from the respective transforming stations. In this case an operator takes the individual blow mould devices out and replaces them with new blow mould devices which are intended to form the corresponding new containers. Therefore the changing process lasts a relatively long time and an operator is also necessary.
The object of the present invention is therefore to simplify a conversion of blow moulding machines in this way. In particular, corresponding changing procedures should also be accelerated.
These objects are attained according to the invention by the subjects of the independent claims. Advantageous embodiments and further developments form the subject matter of the sub-claims.
SUMMARY OF THE INVENTION
An apparatus according to the invention for the shaping of 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. In this case the conveying device has a movable station carrier which is arranged at least indirectly on a stationary base carrier and on which are arranged a plurality of shaping stations, these shaping stations having in each case blow moulding devices which form cavities in each case, inside which the plastics material pre-forms are capable of being shaped to form the plastics material containers. In this case these blow moulding devices are arranged in each case on blow mould carriers. It is preferable for these blow mould carriers to be a component part of the individual shaping stations and thus it is preferable for them likewise to be arranged directly on the station carrier.
According to the invention the apparatus has a changing device which is suitable and intended for removing at least the blow moulding devices from the blow mould carrier thereof and/or for arranging blow moulding devices on the blow mould carriers, the changing device having a gripping device for gripping the blow moulding device, wherein this gripping device is moveable in at least two different directions.
Therefore within the scope of the invention it is proposed, that a gripping device is provided, which serves in particular also for the gripping of the blow moulding device. This gripping device can move in two different directions and in particular in directions which are not parallel or mirror-inverted relative to each other.
The gripping device is advantageously pivotable about at least three different axes. The gripping device can be advantageously pivoted about more than three, preferably at least about four, preferably at least about five, and particular preferably at least about six pivot axis.
In a further advantageous embodiment the gripping device is disposed on an arm which can swivel about a predetermined first swivel axis. This arm is also designated below as a second arm because of its arrangement in the changing device. In this case the gripping device itself can in turn be disposed on this arm in a pivotable or rotatable manner.
In a further advantageous embodiment the swivelling (second) arm is disposed on a further arm which can swivel about a predetermined second swivel axis. This further arm is also designated below as a first arm because of its arrangement in the changing device. In this case the first swivel axis is advantageously not parallel to the second swivel axis and particularly preferably is oblique in the mathematical sense. Two degrees of freedom of movement of the gripping device can already be achieved by these two axes. Advantageously the gripping device is disposed so as to swivel on the second arm. This swivelling arrangement facilitates a further degree of freedom of movement. Advantageously the gripping device can swivel about two axes with respect to the second arm, for example about an axis which extends in the direction of this arm and also about an axis perpendicular thereto.
Thus the gripping device can advantageously pivot with respect to at least two axes which are disposed perpendicular relative to one another on the first arm.
Preferably at least one of these (geometric) swivel axes is stationary. This stationary swivel axis is preferably oriented vertically. Preferably at least one axis is always disposed in a spatially fixed plane, i.e. independently of a position of the changing device and/or the gripping device. This spatially fixed plane is preferably a horizontal plane. Preferably at least two (swivel-) axes are always disposed in a spatially fixed plane, i.e. independently of a position of the changing device and/or the gripping device.
Preferably at least one pair of (swivel-) axes are provided which are always perpendicular to one another, i.e. independently of a position of the changing device and/or the gripping device. The first arm is preferably movable with respect to these two swivel axes relative to an (in particular stationary) support.
Preferably at least one further pair of (swivel-) axes are provided which are always perpendicular to one another, i.e. independently of a position of the changing device and/or the gripping device. The second arm is preferably movable with respect to these two swivel axes relative to the first arm.
Preferably at least one further pair of (swivel-) axes are provided which are always perpendicular to one another, i.e. independently of a position of the changing device and/or the gripping device. The gripping device is preferably movable with respect to these two swivel axes relative to the second arm.
The arrangement described here of the (geometric) swivel axes is suitable in special manner in order to facilitate a substantial freedom of movement of the gripping device.
Preferably at least two swivel axes are always disposed parallel to one another, i.e. independently of a position of the changing device and/or the gripping device.
In a further advantageous embodiment the gripping device has an engaging means in order to grip at least one projection disposed on the blow mould device. Advantageously the gripping device has two engaging means in order to grip two projections disposed on the blow mould device. In this case such a projection can be disposed on each of the two blow mould parts and the gripping device can engage behind this during the transport in order thus to be able to hold the blow mould device together in its entirety.
In a further advantageous embodiment the second arm can swivel with respect to the first arm about at least two swivel axes. These swivel axes are advantageously perpendicular to one another.
In a further advantageous embodiment the gripping device can be connected positively and/or force-fit to the blow mould device. In this way secure gripping and transporting of the blow mould devices may be enabled by means of the changing device, wherein transporting at higher speeds is also possible.
In a further advantageous embodiment the gripping device has a passive gripping element. This is understood in particular to mean that the blow mould device is not held by an active gripping movement of the gripping element, for instance by a clamping movement, but merely by a correct positioning of the gripping element or the gripping device relative to the blow mould device is to be transported. Thus in particular an element of the gripping device can engage behind a section of the blow mould device.
In addition it is also possible that the gripping device has a magnetic or magnetisable element in order to hold the blow mould device. Thus the gripping device could for instance have an electromagnet which can be activated as soon as the gripping device is located in a predetermined position relative to the blow mould device. Also a magnetic hold between parts of the blow mould device could be initiated by the gripping device.
In a further advantageous embodiment the changing device has a control device which carries out a removal of the blow mould device from the blow mould supports and/or an arrangement of the blow mould device on the blow mould supports both in a force-controlled and a path-controlled manner. In this case detecting devices can be provided which detect a movement, in particular of the gripping device, and detecting devices can also be provided for measuring forces.
Due to this control it is also possible to define one or more reference points on the blow station and/or the magazine which can be approached. In this way the exact geometric position of the blow mould device can also be determined at any time during transport. Furthermore it is preferable for the gripping device to be deflected in a plurality of degrees of freedom, for example in an X, Y and Z direction, in particular in order to equalise inaccuracies of positioning. In this case, however, it would also be possible that one or more of these degrees of freedom can be electromechanically blocked out. In this way a faster working operation of the system can be achieved.
Advantageously a detecting device is provided which can detect the position or a deflection with respect to these degrees of freedom, preferably for example by electric interrogation.
In a further advantageous embodiment the gripping device has active gripping elements which produce a positive and force-fit engagement with the blow mould device. In this case it is possible for the gripping device to produce a positively engaged connection between the two side parts of the blow mould device and furthermore preferably a force-fit connection between the said blow mould halves and the base mould. This second connection to the base mould can be achieved by means of corresponding engaging elements of the side parts and/or the base mould.
In a further advantageous embodiment the system, in particular 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. These centring elements can have lead-in chamfers, for example conical lead-in chamfers, by which during the changing operation the gripping device engages in corresponding elements on the transforming station or contacts these corresponding elements. These corresponding elements are advantageously disposed on a mould support. In this way the gripping device can be positioned relative to the blow mould device to be transported.
In a further advantageous embodiment the changing device is suitable and/or intended, optionally to change a complete blow moulding device or only (component-) parts of this blow moulding device.
In this proposed embodiment on the one hand the possibility should be created to change a complete blow moulding device which comprises in particular two side parts and a base part and in particular the blow moulding device is made out of these parts. In this case it is possible, that the changing robot grabs the entirety blow moulding device and replaces it by a likewise entire and in particular also composed blow moulding device. In some cases it is however desired by the clients that different side parts with an identical base part should be used. In these cases it could be helpful that only the side parts or elements of the blow moulding device are changed, but not the base part which is rather retained. If respectively—as normally usual—the entire blow moulding device is changed, the clients have to buy respectively (unnecessary or redundant) base parts which is not accepted by everyone.
In the embodiment which is proposed here, it is therefore proposed, for example, that only the side parts are replaced by the changing robot. Hence, the device is preferably designed in such a way here that a selective change of the whole blow molding device (including its base part) or only the two side parts is possible. Conversely, it would also be possible to replace only the base part and to maintain about one or two side parts.
It should be noted that this embodiment is also applicable without the above-described invention, therefore, in particular without the features described above, according to which the gripping means is movable and pivotable about at least three different swivel axes in at least two different directions. The Applicant therefore reserves the right to claim protection for an apparatus according to the preamble of claim 1 and the here mentioned additional feature that the changing device is suitable and/or is determined to change either a complete blow moulding device or only items of that blow moulding device.
Thus, the changing device is particularly preferably intended to remove the first blow moulding device as a whole from the device and/ or subsequently enables separation of the individual parts of the blow moulding device. It would be possible for example that the two side parts are removed with a base part arranged thereon, and then the base part is separated from the side parts.
It would also be conceivable that the changing device is designed in such a way that it only removes items of the blow moulding device of the respective blow moulding station or reforming station. It would be possible that only one or two side parts of the blow moulding device are removed from the respective blowing station. For example, the side parts can be removed as a package, and a base part will remain during the changing operation in the blow moulding station.
In a further advantageous embodiment, it is possible that within the scope of a changing operation the attachment mechanisms of the blow moulding devices can be separated and/or activated or deactivated of those of a base part. So it would be possible, for example, that an attachment between one or both side parts and the base part could be activated and deactivated in order to remove, for example, the side parts separately.
In a further advantageous embodiment, it is possible that a holding of the base part in the side parts during a changing operation takes place by means of projections and in particular by means of prisms, particularly preferably by means of complementary prisms. These complementary projections or prisms can thereby preferably also during the blowing process receive the blowing force acting on the base part.
In a further advantageous embodiment, the gripping device itself allows a producing and/or releasing of an existing mechanical connection between components of the blow moulding device. In particular the gripping device itself allows a producing and/or a releasing of a consisting, in particular mechanical connection between side parts of the blow mould and a base part of the blow mould. Thus, the changing device and/ or the gripping device can comprise a first holding member for holding a first side part of the blow moulding device, as well as a second holding member for holding a second part of the blow moulding device and the two holding members can be moveable with respect to each other, in particular for releasing a connection between the side parts and the base part. These two holding elements are advantageously movable with respect to each other relative to a straight line.
Preferably, the gripping device may comprise at least one drive which causes a movement of at least one of these holding elements. This drive can be either an electric, hydraulic or pneumatic drive.
In an advantageous embodiment, the gripping element is able to move the two side parts of the blow moulding device substantially perpendicular to a longitudinal axis of the blow moulding device. By this movement a separation of the connection between the side parts and the base part can be performed.
In a further advantageous embodiment, the gripping device is designed in that it can move the two side parts of the blow mould apart and/ or together relative to each other.
If replacing only some elements of blow moulding devices, it is possible that a base part of the blow moulding device is placed on a position and is then connected or inserted again when tnew side parts are deposited.
Furthermore the present invention is directed to a method for operating a transforming device for transforming plastic parisons into plastic containers. In this case in a working operation of the system the plastic parisons are transported by means of a plurality of transforming stations along a predetermined transport path and are expanded by application of a flowable and in particular a gaseous medium to form the plastic containers. Furthermore for expanding the plastic parisons blow mould devices are used, in the interior of which the plastic parisons are expanded to form the plastic containers. Furthermore in a changing mode at least one of the blow mould devices of the system is removed and/or one of the blow mould devices is disposed on a blow mould support of the system.
According to the invention, for changing the blow mould devices a preferably automatically operating changing device is used which has a gripping device for gripping the blow mould device, wherein this gripping device is movable in at least two different directions. Preferably the gripping device can swivel with respect to at least three swivel axes, preferably with respect to at least four swivel axes.
A changing device of the type described above is preferably used.
This changing device preferably has at least one changing arm which can swivel and is disposed at least indirectly on the base support. It is therefore proposed to dispose a changing device, in particular in the form of a changing robot, directly in the region of the system for transforming. Therefore this system advantageously has a base support, such as for instance a machine frame, on which the station support is also disposed. The changing robot is also in turn disposed on this base support, so that it can be integrated as a whole into the machine.
A substantially indirect arrangement is understood to mean that the changing device can be disposed directly on the base support, but it is also conceivable that the changing device is disposed on a further element, for instance an intermediate support, which in turn is disposed on the base support.
However, it would also be conceivable to arrange the changings outside the carrier. For example, it would be possible to arrange the changing device outside the blow moulding device.
Thus an integration of the changing device or of the robot into the machine is proposed. The blow mould device is advantageously of multi-part construction and has at least two side parts and a base part. In operation these three parts form the said hollow space for expanding the plastic parisons. Advantageously at least two parts and particularly preferably all three parts of this blow mould device can be locked with one another, so that the blow mould in its entirety can be removed from the machine or from the blow mould support. Thus the blow mould support is suitable to receive different blow mould devices. In this case it would be possible that the blow mould device itself is also disposed by means of support shells on the blow mould support.
Advantageously the blow mould supports can be moved and in particular can swivel with respect to one another. In this case in a working operation the blow mould supports can be swivelled apart by a predetermined swivel angle, in order to introduce plastic parisons and/or in order to remove finished containers. In this case larger aperture angles are preferably possible for the changing mode.
In a further advantageous embodiment the transforming stations each have stretching rods which can be introduced into the plastic parisons in operation in order to expand them in the longitudinal direction. Advantageously the individual transforming devices also have application devices which in particular have blow moulding nozzle which in operation supply the plastic parisons with a free-flowing and in particular a gaseous medium. In this case it would be possible that also other parts of the transforming stations are replaced, such as in particular the said application device or blow moulding dies and/or the stretching rods.
Advantageously the station support is a rotatable support, such as in particular a blow wheel. The individual transforming stations are preferably disposed on an external circumference of this rotatable support. Thus in the working operation the transforming stations are moved along a circular path.
Advantageously the system has a driving device for moving the station support and in this case the driving device preferably enables both a continuous movement of the station support and also a cyclical movement of the station support, which thus has rest phases in each case between movements. Advantageously this type of movement is adjustable as a function of a mode of operation. In a working operation the station support is preferably moved continuously and preferably cyclically in a changing mode. In this case a movement of this station support can also be co-ordinated with movements of the changing devices. The station support is advantageously a blow wheel.
The procedure according to the invention makes possible a fully automatic changing operation, in particular by means of an industrial robot. Advantageously, in particular in a changing mode, the blow mould device can be locked fully automatically, or the individual elements of the blow mould devices can be fastened to one another. Thus the changing device is preferably suitable for gripping or removing the complete blow mould device, that is to say the at least three components thereof together. Advantageously after the gripping of the blow mould device a corresponding mould lock can be deactivated. In a further stage the changing device can place the mould unit in a storage device, such as a magazine. Consequently the changing device can insert a new mould unit or a new blow mould device into a blow mould support and (preferably) lock the new blow mould device with the blow mould support.
Then the station support can be moved along by a position in order to replace a further blow mould device. Thus in particular a fully automatic operation can be carried out in which no user is necessary.
In a further advantageous embodiment the device has a housing which at least surrounds the station support in the circumferential direction thereof. In this case in principle the complete blow mould device and/or the changing device can be disposed within a housing, wherein this housing can also have a protective function.
The changing device is preferably integrated directly into the machine and can for example be attached to a base mount. In a further advantageous embodiment the changing device as a whole can be moved in a space surrounded by the housing. In this situation it is possible in an operational state for the changing device to be completely integrated into the machine and so for example is not even visible from the exterior and in particular does not disrupt the operation of the transforming device. In this case it is possible for a casing of the housing also serves as a protective device for the changing device or the robot. Thus in the working operation the said changing device is disposed inside the housing.
In a further advantageous embodiment the changing device has a first control device for controlling a removal movement of the blow mould devices and/or a feeding or arranging movement for arrangement of the blow mould devices on the blow mould supports and the system preferably also has a second control device for controlling a blow moulding operation, wherein the first control device and the second control device co-operate at least partially and/or at least intermittently. In particular these two control devices co-operate during a blow mould changing operation. Thus during a changing operation the same movements which are also necessary in the working operation can also be used for the changing operation, such as for example the transport movement of the transforming stations, the opening and closing of the blow mould support and the like.
In the changing operation the blow mould supports can likewise be opened in order to be able to remove the blow mould device. Thus for example the second control device can effect opening of the blow mould support and as a function of this the first control device can effect a removal of the blow mould devices. Also in this way a fully automatic change of the blow moulds is possible. Thus the controller of the changing device preferably interacts with the control device of the transforming machine or blow moulding machine.
In a further preferred embodiment the changing device has a first control device for controlling a removal movement of the blow mould devices and/or the arranging movement for arrangement of the blow mould device on the blow mould supports and the system also has a second control device for controlling a blow moulding operation, wherein one control device is integrated into the other control device.
In particular the control of the changing device is integrated into a control of the system or blow moulding machine. Thus it would be possible that the changing device is designed as a module which can also be integrated into the blow moulding machine by control engineering, for example after fitting together or connecting by control engineering. Thus it would also be possible for a changing device to be retrofitted to already existing systems. These control devices can be configured in such a way that a protection region is extended during a changing operation. In a working operation the changing device can be located in a rest position in which it does not pose any danger, and in which it also does not hinder operation of the machine.
In the changing operation the changing device is also active, so that those regions in respect of which entry could be dangerous for the user in some circumstances dangerous, must be extended. Thus it is conceivable that protection regions modified in the context of the changing operation are also shut off for the user or at least made discernible.
In this case it would be possible in the context of the changing operation for additional protective elements to be actuated, so that the safety of the operator can be increased.
In a further advantageous embodiment the changing device has at least one gripping device for gripping the blow mould devices. This may be a gripping device which grips the blow mould device in its entirety. In this case it would be possible for media required on the gripping device and/or electrical signals to be guided through regions of the changing devices, such as for example axles or swivel arms. It would also be possible for such connections to be guided via rotary feedthroughs, for example on the axes of the changing devices.
In a further advantageous embodiment the changing device has at least one detecting device for detecting at least one force acting on an element of the changing device. In particular external forces, which for example act on a changing arm which removes the blow mould devices, can act in this way. Thus in particular the above-mentioned control device can be designed in such a way that it can react to external forces, for example during defined operations such as setting down or picking up a blow mould device, it can deflect the changing device from a desired position (Softfloat). This generally involves a detecting device which can react to physical actions or can detect such actions, such as for instance a torque, forces, impulses or the like. In this way a fast reaction of the changing device is possible.
However, the changing device preferably moves within a limited working range. This means that in particular the removal and delivery movement for the blow mould devices takes place in a limited working range. In reaction to the above-mentioned external forces a position can deviate from this working range. Otherwise, however, this defined working range is preferably maintained, in particular during a mould change.
In this case it is advantageously possible that the working range of the changing device is limited from the point of view of safety and in particular mechanically. Such a delimitation would be possible by different measures, for instance by light barriers, which detect an incorrect or excessive movement of the changing device and consequently effect either a return or an emergency stop of the changing device. In addition, however, a delimitation of the working range by mechanical elements, such as for example stops, would also be possible.
In addition it is also preferably possible for a working range of the changing device to be checked from the point of view of safety and electrically or also from the control point of view. In this case it is in particular possible that this working range is (further) restricted, deviating from a maximum possible working range.
In a further advantageous embodiment the changing device has a serial and/or parallel kinematics with at least three movement axes. In a further advantageous embodiment the changing device has a serial and/or parallel kinematics with at least three movement axes. In this way a very high freedom of movement of the changing device or of a gripping element of the changing device is made possible. The blow mould devices can therefore also be removed from their blow mould supports or delivered thereto in a different manner depending upon the actual situation.
In this case it is possible for the system to have an operating device in order to control the changing device or the gripping arm. This device may for example be a manual operating device. However it would also be possible for the changing device to be controlled by means of devices such as for example smartphones.
In this case control by such an operating device is advantageous in particular in the setup mode, that is to say when delivering new blow mould devices.
Furthermore the present invention is directed to a method for operating a transforming device for transforming plastic parisons into plastic containers. In this case in a working operation of the system the plastic parisons are transported by means of a plurality of transforming stations along a predetermined transport path and are expanded by application of a flowable and in particular a gaseous medium to form the plastic containers. Furthermore for expanding the plastic parisons blow mould devices are used, in the interior of which the plastic parisons are expanded to form the plastic containers. In this case in a changing mode at least one of the blow mould devices of the system is removed and/or one of the blow mould devices is disposed on a blow mould support of the system.
According to the invention a changing device disposed on the system is used for changing the blow mould devices. Therefore it is also proposed in terms of the method that such changes of blow mould are carried out by means of a changing robot disposed on the system or integrated therein.
In a further preferred method, in the working operation the transforming stations are transported along a circumferential transport path, and in the changing operation, in a predetermined defined position of the respective transforming station from which the blow mould device is to be removed, the blow mould devices are removed with respect to the circumferential transport path. It is therefore proposed that in the working operation the transforming stations revolve, as is known in the prior art. For the individual changing operation, however, it is proposed that this takes place on at least one precisely defined station which in particular is also located in a sphere of action of the changing device. In other words the removal position on a blow wheel is advantageously always identical. In this case it is possible, during the production or the working operation, for the changing device to be oriented in such a way that it can be disposed inside a blow moulding machine protection region or housing.
With regard to the control device it is conceivable that by means of two independent co-ordinate systems this control device controls the sequence of movements of the changing device or of the robot. In this case a co-ordinate system is preferably placed at the removal or entry position of the blow mould device to the transforming station or the blow mould supports. A further co-ordinate system can be located in the region of a receiving device or a magazine in which the blow mould devices are set down.
However, it is possible for the positions of the receiving points of the blow mould devices on the receiving device or the magazine relative to the co-ordinate system thereof to remain unchanged independently of the receiving device and/or for the positions of the receiving points to be located equidistantly with respect to this co-ordinate system. In this case it is possible to provide a display device, such as in particular an input screen of the changing device. By means of this device specific values of the co-ordinate systems, in particular the X, Y and Z values of the co-ordinate systems, can be changed. In addition a further input device, such as an input screen, which preferably interacts with an input device of the blow moulding machine, can preferably be disposed on the changing device.
Several possibilities are conceivable for removal and delivery of the blow mould devices.
Thus it would be conceivable that at the outset all blow mould devices are removed from the individual mould supports, that is to say the individual transforming stations, and fed into an empty magazine or storage system. Then this storage system with the old moulds is replaced by a full storage system with new blow mould devices to be inserted. Then all new moulds are inserted into the blow mould supports. The change of the storage systems can take place for example by means of lift trucks or by means of turntables, for instance in the manner of a pallet change in the case of machine tools. In this case for a complete change the blow mould support will advantageously carry out two complete revolutions.
In a further possible changing operation a magazine contains an empty space. In this case first of all a new mould from a mould location is placed in this empty space. Then an old mould from the mould support is placed into the said mould location. In a further step a new mould is transferred from the magazine into the mould support. Then a second new mould is placed in the empty space and so on, until the entire switch is completed. The interim storage in an empty space ensures that a specific blow mould device is again transferred at a specific storage location or a specific blow mould support. In this case advantageously the said empty space is located spatially between the blow mould support and the storage system and preferably on or in the storage system itself.
The removal of the blow mould device and/or the delivery of new blow mould devices advantageously takes place in a cycle control mode. This means that the individual change of the blow mould device takes place while the transforming station is static. In this case the changing device may set down a specific blow mould device in a magazine, and during this the transforming device itself can move further by one station, that is to say the blow wheel rotates by one position. A radial direction relative to the transport path is advantageously used for insertion and removal of the blow mould device. As mentioned above, it is also possible to park or to set down the blow mould device in an intermediate station. For this purpose a vertical movement can preferably be used.
In terms of the method it is possible for the gripping device of the changing device to grip the blow mould device in positive engagement in order to transport it or to remove it from the system. The gripping device of the changing device advantageously engages form-fit in the blow mould device.
In a further advantageous embodiment the removal and/or the setting down of the blow mould device takes place under path and/or force control and preferably under both path and force control.
In the context of control it is possible for the changing device to approach at least one defined reference point on the transforming station or the receptacle or blow mould supports and/or preferably also at least one defined reference point on a storage location, such as for example a magazine. In this way the said points can be transferred into the controller of the changing device are being, so that the exact positions of the mould holder or of the blow mould support and also of the magazine or the storage device can be ascertained. In this case it is preferably possible that the said reference points after each change of a magazine device are approached or are also approached even in the event of malfunctions, such as for example power failures, in order thus to be transferred into the controller.
In this case it is possible for the reference points thus ascertained to be stored and/or compared with reference points which are stored in the controller or a storage device of the controller. If a discrepancy exceeding a predetermined value occurs between the ascertained reference point and the already stored reference points, a fault message or a notification can be generated.
In a further advantageous embodiment the changing device has an image recording device, such as for instance a camera or the like. With the aid of this camera device it is possible to detect the precise pickup and set-down points for the blow mould devices.
In this connection it is conceivable that the blow mould devices and/or the blow mould support and/or the magazine device each contain an identification in order to ensure co-ordination between the blow mould devices and the respective blow station. In this way it can be ensured that a specific blow mould device which has been removed from a specific transforming station is also associated again with the same transforming station during a further change. Thus it would be possible that an individual identifier is associated with each holding magazine.
These identifications may for example be bar codes, QR codes, RFID tags and the like. Advantageously it is possible for this identification to be retrieved contactlessly. Advantageously the identification or a characteristic value for this identification is taken up into the control device of the machine.
In a further method it is also conceivable that the respective identifications are read in again after each change of the magazine device or also in the event of failures of the machine. In this way a secure co-ordination is ensured even under exceptional conditions.
A receiving device or a magazine for the blow mould devices is described below. For a mould change this receiving device can be disposed at a suitable position, for instance beside the transforming equipment. In this case the magazine or receiving device can have insertion regions by means of which the blow mould devices can be placed into the magazine or the receiving device. These insertion regions may be of conical construction in order to facilitate secure insertion of the blow mould device. Advantageously in this case the blow mould device or the mould set is introduced substantially vertically into the magazine. Particularly preferably the blow mould device can be placed into cylindrical openings in the magazine or the receiving device. The magazine itself can be disposed—in particular by positive engagement—in this receiving device.
In a preferred embodiment this magazine device may have elastic elements, in particular in the region of the cylindrical openings, for introduction of the blow mould devices in order to be able to compensate for tolerances.
In a further advantageous embodiment it would also be possible that, in the regions in which the blow mould device comes into contact with the cylindrical openings of the magazine device, the magazine or the receiving device and/or the blow mould device is equipped with insertion regions and in particular with tapered insertion regions.
In a further advantageous embodiment, as mentioned above, the magazine or receiving device has a plurality of openings to receive the individual blow mould devices. These openings are advantageously of cylindrical construction. Particularly preferably these openings in the magazine devices are made out of plastic at least in some areas.
In this case it is possible for these openings to be disposed in a plurality of rows and for example for two adjacent rows to be offset with respect to one another. In this way the packing density of the blow mould devices can be increased.
In a further advantageous embodiment the position of the blow mould device inside the receiving device is lower than the position of the blow mould device in the blow mould support. In this way the latter is lowered during the dismantling of the blow mould device.
In a further advantageous embodiment the magazine has a polygonal and preferably rectangular external contour, wherein the long side of this external contour is preferably disposed substantially perpendicular to an imaginary radial connecting line between a centre point of the pitch circle and the blow mould supports. In this way the magazine device can be very easily reached by the changing device or an arm of the changing device.
The configuration of the blow mould device is described below. Thus it is conceivable that, for unlocking the blow mould devices on a mould support or also a mould support shell or also during unlocking of a base part of the blow mould device, the arrangement, that is to say in particular the side part and the base part, are mechanically connected to one another. However, a magnetic connection might also be considered.
Advantageously such a fixing mechanism which connects the individual blow mould parts to one another, is constructed so that this only exhibits or carries out a force in a tensile direction and has a specific resilience radially with respect thereto, in order to compensate for tolerances. A projection, a cam or the like, which can be engaged by an element of the gripping device or into which the gripping device can move, can advantageously be provided on the parts of the blow mould device, such as for instance the blow mould halves.
In a further advantageous embodiment the projections or cams joined to a gripping device are advantageously disposed radially within the pitch circle described by a centre point of a container. In this way it can be ensured that also in the working operation these cams cannot come into contact with brackets, for example an intake and discharge starwheel.
In a further advantageous embodiment it would also be possible that between the two mould shells and a base mould of the blow mould device there is a positively engaged connection which prevents a rotation of the base mould relative to the side parts or mould shells. In addition it would also be possible that before the changing operation the base mould is mechanically connected to the mould halves.
In order to simplify a loading and unloading operation it would be possible that during the loading and unloading (of the plastic containers) an axis of rotation of the blow mould device extends substantially parallel to the axis of the mould support or also to an axis of rotation of the blow wheel.
In a further advantageous embodiment it would also be possible that a protection region of the blow moulding machine is automatically separated during production from a storage region of the blow moulds or blow mould devices. In this case such a separation can be carried out—in particular automatically—at the start of a mould change operation.
Thus the protection regions can be modified so that during the production of the system or during the working operation a machine operator can enter a region of the mould store. Thus it would be conceivable that for example an electromechanical unit ensures the position of a transforming station relative to the changing device in each case after the positioning of the blow wheel, preferably by positive and/or form-fit engagement.
Furthermore it would also be conceivable that the robot places the blow mould device or the mould set from an intermediate position into the magazine, whereas the blow wheel moves onwards by a cycle or brings a subsequent transforming station into a changing position. In addition the sequence of a blow mould device change could generally include approaching an intermediate station on which the blow mould device is temporarily parked or set down. In this case needs the holding device does not have to be configured as a double gripper and nevertheless a co-ordination of the moulds in a storage device such as a magazine is possible in a manner adapted to the station.
As already mentioned above, it may be advantageous if the opening movements of the blow mould support and of the base in a changing position for the blow mould device differ from those in operation. This may be advantageous for example in the case of a mould support control which is not coupled. It would also be possible that a blow mould support of the neighbouring station which is respectively leading or trailing relative to the one in the blow mould device changing position is likewise swivelled away in some regions in order to facilitate a greater opening angle for the transforming station located in the changing position.
Furthermore it would be possible that a fixing mechanism for the mould shells and the base moulds has progressive characteristic curve during a clamping sequence. At the start of such a clamping sequence a large stroke with a low force can take place in order to be able to bridge the greatest possible distances during drawing in. Towards the end of the clamping sequence a high force is preferably implemented with only a small stroke.
In a further advantageous method the changing position of the blow station and/or the magazine and/or any intermediate position in which the blow mould device is temporarily positioned is located in a predetermined circumferential range of an effective radius of the changing device, preferably in a range of 270° of the effective radius, preferably in a range of 220° of the effective radius and particularly preferably in a range of 180° of the effective radius.
In a further advantageous method, when the blow mould device is removed from the stations and/or arranged on the blow mould support the changing device or the changing robot carries out a radial movement relative to the pitch circle of the system. This may be a purely radial movement, but it would also be conceivable for it to be a movement with a radial component.
In a further advantageous method, when the blow mould device is removed from the stations and/or arranged on the blow mould support the changing device or the changing robot carries out a substantially vertical movement. “Substantially” is understood to mean that the direction of movement deviates from the exact vertical direction by no more than 20°, preferably by no more than 10° and particularly preferably by no more than 5°.
In a further preferred method, components of a blow moulding device are separated from each other during a changing operation of this at least one blow moulding device. Under a separation during the changing process, reference is here made to the entire change process, i.e. the entire period between the removal of a blow moulding device and the assembly or the installation of a further blow moulding device into a blow moulding station. In this embodiment, preferably not the entire blow moulding device is removed, but merely components thereof are changed, such as the side parts. Thus, it is possible that first an entire composited blow moulding device is removed, then the side parts of the blow moulding device are separated from the base part of the blow moulding device, followed by new side parts being used and these are in turn connected to the original base part, and then the blow moulding device thus reassembled is mounted at the blow moulding station.
It is again noted that this variant, namely the separation of components of the blow moulding device during the changing process, can be used regardless of the method described above, i.e. regardless of the pivoting of the gripper arm. The applicant reserves the right to claim protection for a method according to the preamble of the independent method claim, which is characterized in the separation of components of the blow moulding device during the changing process.
Preferably At least one component of the blow moulding device is not changed in a corresponding changing operation. In particular, in at least one changing operation at least one side part is changed, but not a base part of the blow moulding device.
In further method, it is also conceivable that the blow moulding station is controlled in such a way during a change process that a connection of the side parts with the base part could at least temporarily be actively separated. In this embodiment it would be possible that the base part is first of all removed separately from the side parts in particular by a linear movement (and preferably by a movement in a longitudinal direction of containers to be expanded), in order to then receive only the side parts. It would be possible, for example, that the blow moulding device still being located on the transforming station is opened (as this is also possible in the working mode), then the base part being driven away, then the blow moulding device being closed again and in this closed state (but without the base part) being dismantled.
In another advantageous method, it is also possible that the blow moulding device is controlled in the change operation such that the connection of the side parts with the base part at least at times can be actively separated. It is possible that directly in the blow moulding device active connection elements are provided, to include only the mouldings. Furthermore, it would be possible for the entire changing operation, to address or enable these active coupling elements.
In a further preferred method, it is possible that a base part of the blow moulding device in particular for a changing operation is moved and in particular rotated and thereby the connection of the side parts with the base part can be actively separated at least at times. For this purpose, the centering of the base parts can have a gearing (only) for receiving the side parts.
In a further advantageous method, it is conceivable that a base part is particularly removed with a gripping device before changing the side parts and is “parked” so that in a subsequent change of the side parts these do not have to be changed.



BRIEF DESCRIPTION OF THE DRAWINGS
Further advantages and embodiments are apparent from the appended drawings. In the drawings:
FIG. 1 shows a schematic representation of a system according to the invention;
FIG. 2 shows a representation of the system with illustrated changing device;
FIG. 3 shows a plan view of the system shown in FIG. 2;
FIG. 4 shows a further representation of the system shown in FIG. 2;
FIG. 5 shows a further representation of the system shown in FIG. 2 in a further operating position;
FIG. 6 shows a representation of a transforming station;
FIG. 7 shows a representation of a mould shell for a blow mould device;
FIG. 8 shows a representation of a changing device;
FIG. 9 shows a representation of a gripping device for gripping a blow mould device;
FIG. 10 shows a representation of a changing device with a blow mould device;
FIG. 11 shows a representation for illustration of possible positions of the changing device;
FIG. 12 shows a representation of a magazine with a blow mould device;
FIG. 13a-13h representation showing a partial change of a blow moulding device
FIG. 14a, b two representations of a gripping device; and
FIG. 15a, b two further representations of a gripping device



DETAILED DESCRIPTION OF THE INVENTION
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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. 
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 1200×800 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.
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. 
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 14c—with 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. 
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. 
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.
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 that—as described with reference to FIGS. 13a-13h explained—now the base part can be removed from the side parts.
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.
It is preferable that—as mentioned above—for 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.
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.

## 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.