Patent Description:
Generally, centering systems are used to center a first part relative to a second part. In the field of injection molding, a first part may be a mold half of an injection mold, wherein the first part includes a mold cavity. The second part may be a gripping tool that is configured to automatically grip a molded part from the mold cavity of the injection mold and/or that is configured to automatically place an insert in the mold cavity for over molding said insert.

Known centering systems use several projecting bolts being associated with the first part and corresponding centering recesses, being associated with the second part, or vice versa, see for example document <CIT>.

These centering bolts/recesses must be positioned with respect to each other very precisely, to allow a proper centering. Particularly, changes in temperature and resulting thermal expansion of the parts must be considered. For centering the first part relative to the second part, the bolts and recesses are brought into engagement due to a relative axial movement of a part relative to the other part along an engaging direction, that corresponds to the axial direction of the bolts.

In the field of injection molding, centering recesses may be provided in a mold half. The positions of corresponding centering bolts, that are e.g. associated with a respective gripping tool, are then defined in dependency on the positions of the centering recesses. As the mold half thermally expands during operation, the exact position of the centering recesses must be measured when the mold half is at operating temperature. Alternatively, thermal expansion of the mold half can be simulated to determine the exact position of the centering recesses. After having determined the position of the centering recesses the centering bolts can be manufactured and/or installed on the gripping tool, respectively.

In conventional centering systems, typically at least two different types of bolts are used. A first bolt is a cylindrical bolt, for defining a relative position of first and second parts to each other. The second bolt is machined on two opposite sides, to provide two opposite substantially parallel surfaces. This second bolt serves for preventing a relative rotation of first and second parts to each other, at least when the bolt(s) is/are in engagement with a respective recess(es).

A variation of temperature, e.g. caused by an injection molding process, may lead to different thermal expansion of the first and second part. Typically, a mold half has a greater thermal expansion (due to higher temperature differences), than an associated gripping tool. Further, combinations of different materials, that may be used in either one of the parts to be centered, may amplify this effect (e.g. due to bimetallic deformation) or may lead to a thermal expansion that is difficult to predict.

Due to different thermal expansion of the parts, such as an injection mold, a mold half and/or a gripping tool, the position and/or orientation of each of the bolts/recesses may vary and a bolt may not (precisely) fit into the associated recess. Thus, bolts and recesses are prone to wearing or may even get seized, particularly, if bolts and recesses are manufactured with small tolerances. Further, the achievable precision of the centering is limited by the occurring thermal expansion of the parts and the associated minimal manufacturing tolerances.

Thus, the object of the present invention is to provide an improved centering system, that overcomes the above-mentioned drawbacks at least partly.

The object is achieved by a centering sub-system, a centering system, an injection mold, a gripping device, a separating device, an injection mold system and a method for centering two parts relative to each other, as defined in the independent claims.

Particularly, the object is achieved by a centering sub-system that includes a first centering element and a second centering element. The first centering element defines a first guiding axis and is adapted to engage with a first corresponding centering element of a corresponding centering sub-system along an engaging direction. Further, the first centering element is configured to allow a relative movement between the first centering element and the first corresponding centering element along the first guiding axis during engaging.

The second centering element defines a second guiding axis and is adapted to engage with a second corresponding centering element of the corresponding centering sub-system. Engaging of the second centering element may be along the engaging direction of the first centering element. The second centering element is configured to allow a relative movement between the second centering element and the second corresponding centering element along the second guiding axis during engaging. Further, the first guiding axis and the second guiding axis are nonparallel and each of the first guiding axis and the second guiding axis is different from the engaging direction.

Any of the first and second guiding axes may be defined by positive locking between the respective centering element and the corresponding centering element. For example, a centering element (first and/or second) may comprise a protrusion, such as a rib and the corresponding centering element (first and/or second) may comprise a corresponding recess, such as a groove. The guiding axis may then be defined by the longitudinal expansion direction of the rib and/or the groove, respectively.

The relative movement between the centering element (first and/or second) and the corresponding centering element (first and/or second) along the (first and/or second) guiding axis is allowed during engaging, i.e. until engaging of the centering element(s) and the corresponding centering element(s) is complete. After both, i.e. first and second, centering elements are in engagement with the respective corresponding centering element, the relative movement is blocked. Particularly, the first centering element blocks the relative movement of the second centering element along the second guiding axis, and vice versa. Allowing a relative movement along the first and/or second guiding axis leads to a self-centering centering sub-system. Further, changes in position of the centering elements and/or corresponding centering elements, that may occur e.g. due to thermal expansion, can be compensated. Thus, manufacturing and installation of the centering elements and corresponding centering elements is facilitated, and the centering elements and/or corresponding centering elements are less prone to wearing. Additionally, tolerances can be chosen narrower, and thus, a more precise centering can be achieved.

The centering sub-system may be configured so that engaging of the first centering element with the first corresponding centering element may occur prior to, after or at the same time as engaging of the second centering element with the second corresponding centering element. The engagement is achieved by moving the respective centering element (and/or the corresponding centering element) along an associated engaging direction. The engaging direction associated with the first centering element may be identical or different from the engaging direction of the second centering element.

Further, the timing required for engaging the respective centering elements may be partly overlapping. For example, engaging the first centering element may take a longer period of time, than engaging the second centering element. Thus, the start and end of the engaging motion of the first centering element may sandwich the entire engaging motion of the second centering element. The timing may be adapted by providing recesses and/or protrusions at the respective centering element and/or corresponding centering element with different depths or heights, respectively.

For example, first and second centering elements may be configured so that engaging the first centering element starts prior to engaging the second centering element. In this case, the centering sub-system is firstly guided along the first guiding axis. After the second centering element starts to engage with the second corresponding centering element, the sub-system is (also) guided along the second guiding axis until the centering position is achieved (i.e. until the centering sub-system is centered) and the centering elements are in engagement. As the first and second guiding axis are nonparallel, the centering position is defined by the orientation of these two guiding axes.

Particularly, the first or second centering element may be oriented so that the associated guiding axis is oriented along a main thermal expansion direction of a part that is associated with the centering sub-system. This allows improved compensation of thermal expansion due to relative movement, as described above. In case the associated part includes two main thermal expansion directions, the centering elements may be oriented so that the first guiding axis is oriented along a first main thermal expansion direction of the part and the second guiding axis is oriented along a second main thermal expansion direction of the part.

The centering sub-system may further include a third centering element. The third centering element defines a guiding axis and is adapted to engage with a third corresponding centering element of a corresponding centering sub-system. Engaging of the third centering element may be along the engaging direction of the first centering element. Further, the third centering element is configured to allow a relative movement between the third centering element and the third corresponding centering element along the guiding axis of the third centering element, wherein the third centering element is arranged relative to the first centering element so that the guiding axis of the third centering element is aligned with the first guiding axis.

By providing a further, i.e. third, centering element the precision of the centering can be improved and the guiding along the first guiding axis is improved. This is, as the relative movement along the first guiding axis is supported by the first and the third centering elements and respective corresponding centering elements.

The centering sub-system may further include a fourth centering element. The fourth centering element defines a guiding axis and is adapted to engage with a fourth corresponding centering element of a corresponding centering sub-system. The fourth centering element is configured to allow a relative movement between the fourth centering element and the fourth corresponding centering element along the guiding axis of the fourth centering element. Further, the fourth centering element is arranged relative to the second centering element so that the guiding axis of the fourth centering element is aligned with the second guiding axis.

By providing a further, i.e. fourth, centering element the precision of the centering can be further improved and the guiding along the second guiding axis is improved. This is, as the relative movement along the second guiding axis is supported by the second and the fourth centering elements and respective corresponding centering elements.

Further, at least one centering element may comprise a first guiding face. The first guiding face is configured to guide a respective corresponding centering element into engagement with the centering element, so as to be centered on the guiding axis of the centering element. Optionally, the at least one centering element may comprise a second guiding face, wherein the second guiding face is configured to guide the respective corresponding centering element into engagement with the centering element, so as to be centered on the guiding axis of the centering element. In other words, the first and/or second guiding face guides engaging.

The guiding surface(s) allow to guide the engaging motion in engaging direction. Thus, the centering element can be self-centering with respect to the corresponding centering element. Accordingly, the corresponding centering element is centered on the guiding axis of the centering element. By providing at least first and second centering elements and thus first and second guiding axes, the centering sub-system is a self-centering sub-system, i.e. it is guided into centering when engaging with corresponding centering elements of a corresponding centering sub-system.

The first guiding face and the second guiding face of the at least one centering element may be arranged to enclose an angle a, particularly an acute angle α. For example, the centering element may include a substantially trapezoidal shape, wherein the first guiding face and the second guiding face are provided on the trapezoidal shape. Further, the centering element may include a substantially triangular form, or the like. The first guiding face and the second guiding face may be protruding faces or recessed faces. Further, different centering elements of a centering sub-system may be shaped differently or substantially identical. By varying the angle a, the guiding (e.g. timing) of the engaging motion in engaging direction can be controlled.

The at least one centering element may comprise a recess, wherein the recess may be configured to define the guiding axis of the centering element. Further, the recess may include at least one guiding face. By defining the depths of the recess, the period in time required for engaging the respective centering element can be controlled. A lager depth leads to a longer period in time required for engaging the respective centering element. Further, the recess may be formed in a tip portion of a protruding element.

The at least one centering element may comprise a protrusion, wherein the protrusion may be configured to define the guiding axis the centering element. Further, the protrusion may include at least one guiding face. By defining the height of the protrusion, the period in time required for engaging the respective centering element can be controlled. Further, the protrusion may be formed on a tip portion of a protruding element. Different centering elements of a centering sub-system may be shaped differently. For example, the first centering element may include a recess, wherein the second centering element includes a protrusion, or vice versa.

The centering sub-system comprises a ground plate, wherein the ground plate comprises at least one receptacle that holds a centering element, and wherein the receptacle is configured to thermally decouple the centering element from the ground plate. Thermal decoupling can e.g. be achieved by a sleeve formed around the centering element that is held in the receptacle, wherein the sleeve is (at least partially) made of a thermal insulator, such as a plastic material. Thus, transferring temperature changes to the centering element can be prevented or at least minimized. Accordingly, thermal deformation/expansion of the centering element is reduced. This allows a more precise centering.

The ground plate may also comprise multiple receptacles, for holding multiple or all centering elements of the centering sub-system, wherein each receptacle may be configured to thermally decouple the centering element from the ground plate.

Further, the at least one centering element may be supported by an elastic means (e.g. a spiral spring, or the like). Particularly, the at least one centering element may be supported by an elastic means, so as to be supported axially displaceable in an engaging direction. Thus, an impact between the centering element and a corresponding centering element during engaging (particularly, at the start and the end of the engaging) can be reduced. This allows to reduce wearing. Further, the elastic means may be configured to compensate for an axial thermal expansion of the centering element in engaging direction.

The object is further achieved by a centering system, comprising a first centering sub-system and a second centering sub-system. The first centering subsystem may be a sub-system as described above, comprising centering elements. The second centering sub-system may be a centering sub-system as described above, wherein the centering elements of the second centering sub-system are centering elements that are corresponding centering elements of the centering elements of the first centering sub-system. Thus, the second centering sub-system is a corresponding centering sub-system for the first centering sub-system.

The first centering sub-system is adapted to be associated with a first part and the corresponding second centering sub-system is adapted to be associated with a second part, wherein the first part is centered with respect to the second part, when the centering elements of the first centering sub-system are in engagement with the corresponding centering elements of the second centering sub-system.

The object is further achieved by an injection mold, including an injection mold-half, comprising a mold cavity and at least one centering sub-system as described above, wherein the centering sub-system is associated with the mold cavity. Thus, a further part, such as a gripping device, can be centered precisely and independently of the operation temperature of the injection mold relative to the mold cavity, by using the centering sub-system.

The object is further achieved by a separating device, comprising a separating means and at least one centering sub-system as described above, wherein the separating means is configured to provide separated inserts to be overmolded and/or to separate injection molded parts from a sprue and wherein the centering sub-system is associated with the separating means. Thus, a further part, such as a gripping device, can be centered precisely relative to the separating means, allowing for a precise gripping of provided separated inserts and/or for a precise separation of molded parts. Thus, the risk of damaging inserts during injection molding and/or injection molded parts during separation can be reduced. The insert may be a metallic based insert, a plastic based insert and/or a ceramic based insert.

The object is further achieved by a gripping device, adapted for removing molded parts from an injection mold and/or for transferring gripped molded parts to a separating device. The gripping device may further be adapted for gripping at least one insert provided by a separating device, to transfer the at least one insert to an injection mold and/or to place the at least one insert in a mold cavity for e.g. over molding said insert.

The gripping device comprises a gripping means and at least one centering sub-system as described above, wherein the centering sub-system is associated with the gripping means, and wherein the centering sub-system is adapted to engage with the centering sub-system of the injection mold and/or the centering sub-system of the separating device. In other words, the injection mold and/or the separating device may each comprise a first centering sub-system and the gripping device may comprise a second corresponding centering sub-system.

The object is further achieved by an injection mold system, comprising an injection mold, a gripping device, and optionally a separating device, as described above.

The object is further achieved by a method for centering two parts relative to each other, the method comprising the following steps:.

For example, the first part may be a gripping means of a gripping device and the second part may be a mold cavity of an injection mold or a separating means of a separating device. The motion for engaging the centering elements of the first centering sub-system with corresponding centering elements of the second centering sub-system may be a manual motion or an automated motion. In case of an automated motion, the first part (such as a gripper) may be provided on an industrial robot that moves the first part.

In the following, the accompanying figures are briefly described:.

<FIG> schematically shows a centering sub-system 1a. The centering sub-system 1a includes a first centering element 10a and a second centering element 20a. The first centering element 10a defines a first guiding axis 100a and is adapted to engage with a first corresponding centering element (not shown, cf. <FIG>) of a corresponding centering sub-system along an engaging direction A. The first centering element 10a is configured to allow a relative movement between the first centering element 10a and the first corresponding centering element along the first guiding axis 100a during engaging.

The second centering element 20a defines a second guiding axis 200a and is adapted to engage with a second corresponding centering element of the corresponding centering sub-system, wherein the second centering element 20a is configured to allow a relative movement between the second centering element 20a and the second corresponding centering element along the second guiding axis 200a during engaging. The first guiding axis 100a and the second guiding axis 200a are nonparallel. Further, the first guiding axis 100a and the second guiding axis 200a are different from the engaging direction A.

The centering sub-system 1a, as shown in <FIG>, further includes a third centering element 12a. The third centering element defines a guiding axis and is adapted to engage with a third corresponding centering element of a corresponding centering sub-system. The third centering element 12a is configured to allow a relative movement between the third centering element 12a and the third corresponding centering element along the guiding axis of the third centering element 12a. The third centering element 12a is arranged relative to the first centering element 10a so that the guiding axis of the third centering element is aligned with the first guiding axis 100a.

<FIG> schematically shows a cut view of a centering element 10a and a corresponding centering element 10b. The centering element 10a defines a guiding axis that protrudes perpendicularly from the image plane in <FIG>, as shown. The centering element 10a comprises a first guiding face 110a. The first guiding face 110a is configured to guide a respective corresponding centering element 10b into engagement with the centering element 10a along the engaging direction A, so as to be centered on the guiding axis of the centering element 10a. Further, the centering element comprises a second guiding face 210a, wherein the second guiding face 210a is configured to guide the corresponding centering element 10b into engagement with the centering element 10a, so as to be centered on the guiding axis 100a of the centering element 10a. The first guiding face 110a and the second guiding face 210a are arranged, in the embodiment shown in <FIG>, to enclose an acute angle a.

Likewise, the corresponding centering element 10b defines a guiding axis 100b that protrudes perpendicularly from the image plane in <FIG>, as shown. The corresponding centering element 10b comprises a first guiding face 110b. The first guiding face 110b is configured to guide the centering element 10a into engagement with the corresponding centering element 10b, so as to be centered. Further, the corresponding centering element 10b comprises a second guiding face 210b, wherein the second guiding face 210b is configured to guide the centering element 10a into engagement with the corresponding centering element 10b, so as to be centered on the guiding axis. The first guiding face 110b and the second guiding face 210b are arranged, in the embodiment shown in <FIG>, to enclose an acute angle a. The angle α defined by the centering element 10a and the angle α defined by the corresponding centering element 10b are substantially the same.

<FIG> schematically shows a perspective view of the centering element 10a of <FIG>. The centering element 10a comprises a protrusion <NUM>, wherein the protrusion <NUM> is configured to define the guiding axis 100a of the centering element. Particularly, the guiding axis 100a is defined by first and second guiding faces 110a and 210a of the protrusion <NUM>. Here, the protrusion <NUM> may be formed on a tip portion of a protruding element of the centering element.

<FIG> schematically shows a perspective view of the corresponding centering element 10b of <FIG>. The corresponding centering element 10b comprises a recess <NUM>, wherein the recess <NUM> is configured to define the guiding axis 100b of the corresponding centering element. Particularly, the guiding axis 100b is defined by first and second guiding faces 110b and 210b of the recess <NUM>. The recess <NUM> may be formed in a tip portion of a protruding element.

<FIG> schematically shows a cut view of a centering element 10a, being held in a ground plate <NUM>. The ground plate <NUM> comprises a receptacle <NUM> that holds the centering element 10a. Further, the ground plate <NUM> may comprise further receptacles <NUM>, for holding further centering elements. The receptacle <NUM> is configured to thermally decouple the centering element 10a from the ground plate <NUM>, e.g. by support means <NUM>, <NUM>. Said support means may be axial bearings. Further, in the embodiment shown in <FIG>, the at least one centering element 10a is supported by an elastic means <NUM> (such as a spiral spring), so as to be supported axially displaceable in an engaging direction A.

<FIG> schematically shows a top view of an injection mold <NUM>. The injection mold <NUM> comprises two corresponding centering sub-systems 1b and 1b', wherein the corresponding centering sub-systems 1b, is associated with a mold cavity <NUM> of the injection mold <NUM> and wherein the corresponding centering sub-systems 1b' is associated with a further mold cavity <NUM>' of the injection mold <NUM>. Each of the corresponding centering sub-systems 1b, 1b' includes a first corresponding centering element 10b, 10b' and a second corresponding centering element 20b, 20b', respectively. The first corresponding centering element 10b, 10b' defines a first guiding axis 100b, 100b' and is adapted to engage with a first centering element 10a, 10a' (as e.g. shown in <FIG>) of a centering sub-system 1a along an engaging direction A. The first corresponding centering element 10b, 10b' is configured to allow a relative movement between the first centering element 10a and the first corresponding centering element 10b, 10b' along the first guiding axis 100b, 100b' during engaging. The second corresponding centering element 20b, 20b' defines a second guiding axis 200b, 200b' and is adapted to engage with a second centering element 20a, 20a' of the centering sub-system 1a, wherein the second centering element 20a is configured to allow a relative movement between the second centering element 20a and the second corresponding centering element 20b, 20b' along the second guiding axis 200b during engaging. The respective first guiding axis 100b, 100b' and the second guiding axis 200b, 200b' are nonparallel. Further, the respective first guiding axis 100b, 100b' and the second guiding axis 200b, 200b' are different from the engaging direction A.

The corresponding centering sub-systems 1b, 1b' each include a third centering element 12b, 12b', respectively. The third 12b, 12b' centering element 12b, 12b' defines a guiding axis and is adapted to engage with a third centering element 12a, 12a' of the centering sub-system 1a. The third centering element 12a, 12a' is configured to allow a relative movement between the third centering element 12a, 12a' and the third corresponding centering element 12b, 12b'along the guiding axis of the third centering element 12a, 12a'. The third corresponding centering element 12b, 12b' is arranged relative to the first corresponding centering element 10b, 10b' so that the guiding axis of the third corresponding centering element is aligned with the first guiding axis 100b, 100b'.

In a further embodiment, the injection mold <NUM> may include a single corresponding centering sub-system, or multiple corresponding centering sub-systems.

<FIG> schematically shows a top view of a gripping device <NUM>. The gripping device <NUM> comprises a gripping means <NUM>, e.g. a vacuum gripping means, a pneumatic gripping means <NUM>, <NUM>', and/or any other known gripping means. The gripping device <NUM> further comprises two centering sub-systems 1a, 1a'. The gripping device <NUM> may be adapted for removing molded parts from an injection mold <NUM> and/or for transferring gripped molded parts to a separating device <NUM>. Alternatively and/or additionally, the gripping device <NUM> may be adapted for transferring at least one insert into the injection mold <NUM> and/or for placing the at least one insert in a mold cavity for e.g. over molding said insert.

For example, a gripping device, comprising e.g. a pneumatic gripper may grip at least one insert, such as a metallic insert (e.g. a needle or cannula) from a separating device that provides separated inserts. The separating device may e.g. provide at least two, preferably at least four and most preferably at least eight separated inserts that are gripped separately by the gripping device and transferred to a respective injection mold and/or placed separately in respective mold cavities. As the gripping device, the separating device and the injection mold comprise respective centering sub-systems, it can be guaranteed that the inserts are precisely gripped, transferred and placed. Thus, high quality injection molded parts (such as syringe needles/cannulas) can be provided.

The centering sub-system 1a is associated with the gripping means <NUM>, particularly with vacuum gripping means, a pneumatic gripping means5150, and/or the like. The centering sub-system 1a' is associated with the gripping means <NUM>, particularly with vacuum gripping means, a pneumatic gripping means <NUM>', and/or the like. Both centering sub-systems 1a, 1a' may be adapted to engage with a corresponding centering sub-system 1b of the injection mold <NUM> and/or the centering sub-system 1C of the separating device <NUM>.

Each of the centering sub-systems 1a, 1a' includes a first centering element 10a, 10a' and a second centering element 20a, 20a', respectively. The first centering element 10a, 10a' defines a first guiding axis 100a, 100a' and is adapted to engage with a first corresponding centering element 10b, 10b' (as e.g. shown in <FIG>) of a centering sub-system 1b and/or with a first corresponding centering element 10c, 10c' (as e.g. shown in <FIG>) of a centering sub-system 1C along an engaging direction A.

The first centering element 10a, 10a' is configured to allow a relative movement between the first centering element 10a, 10a' and the first corresponding centering element 10b, 10b', 10c, 10c' along the first guiding axis 100a, 100a' during engaging.

The second centering element 20a, 20a' defines a second guiding axis 200a, 200a' and is adapted to engage with a second corresponding centering element 20b, 20b', 20c, 20C' of the corresponding centering sub-system 1b, 1c, wherein the second centering element 20a, 20a' is configured to allow a relative movement between the second centering element 20a, 20a' and the second corresponding centering element 20b, 20b', 20C, 20C' along the second guiding axis 200a during engaging. The respective first guiding axis 100a, 100a' and the second guiding axis 200a, 200a' are nonparallel. Further, the respective first guiding axis 100a, 100a' and the second guiding axis 200a, 200a' are different from the engaging direction A.

Each of the centering sub-systems 1a, 1a' includes a third centering element 12a, 12a', respectively. The third centering element 12a, 12a'defines a guiding axis and is adapted to engage with a third centering element 12b, 12b' of the centering sub-system 1b. The third centering element 12a, 12a' is configured to allow a relative movement between the third centering element 12a, 12a' and the third corresponding centering element 12b, 12b' along the guiding axis of the third centering element 12a, 12a'. The third centering element 12a, 12a' is arranged relative to the first centering element 10a, 10a' so that the guiding axis of the third centering element is aligned with the first guiding axis 100a, 100a'.

In a further embodiment, the gripping device <NUM> may include a single corresponding centering sub-system, or multiple corresponding centering sub-systems.

<FIG> schematically shows separating device <NUM>, comprising a separating means <NUM> and at least one centering sub-system 1c. The separating means <NUM> is configured to provide separated inserts to be overmolded and/or to separate injection molded parts from a sprue. Further, the centering sub-system 1c is associated with the separating means <NUM>. Thus, e.g. a gripping device that transfers inserts from the separating device <NUM> to an injection mold and/or molded parts from an injection mold <NUM> to the separating device <NUM> can be precisely centered with respect to the separating means.

The centering sub-system 1c is a corresponding centering sub-system 1c for the centering sub-systems 1a and 1a'. The corresponding centering sub-system 1c includes a first corresponding centering element 10c and a second corresponding centering element 20c. The first corresponding centering element 10c defines a first guiding axis 100c and is adapted to engage with either one of first centering element 10a, 10a' (as e.g. shown in <FIG>) of a centering sub-system 1a or 10a' along an engaging direction A.

The first corresponding centering element 10c is configured to allow a relative movement between the first centering element 10a and the first corresponding centering element 10c along the first guiding axis 100c during engaging. The second corresponding centering element 20c defines a second guiding axis 200c and is adapted to engage with a second centering element 20a of the centering sub-system 1a, wherein the second centering element 20a is configured to allow a relative movement between the second centering element 20a and the second corresponding centering element 20c along the second guiding axis 200c during engaging. The first guiding axis 100c and the second guiding axis 200c are nonparallel. Further, the first guiding axis 100c and the second guiding axis 200c are different from the engaging direction A.

The corresponding centering sub-systems 1c further includes a third corresponding centering element 12c. The third corresponding centering element 12c defines a guiding axis and is adapted to engage with either one of third centering elements 12a, 12a' of the centering sub-system 1a or 1a'. The third corresponding centering element 12c is configured to allow a relative movement between the third centering element 12a, 12a' and the third corresponding centering element 10c along the guiding axis of the corresponding third centering element 12c. The third corresponding centering element 12c is arranged relative to the first corresponding centering element 10c so that the guiding axis of the third corresponding centering element is aligned with the first guiding axis 100c.

The corresponding centering sub-systems 1c further includes a fourth corresponding centering element 22c. The fourth corresponding centering element 22c defines a guiding axis and is adapted to engage with a fourth centering element or the centering element 20a' of the centering sub-system 1a'. The fourth corresponding centering element 22c is configured to allow a relative movement between the centering element 20a' and the fourth corresponding centering element 22c along the guiding axis of the corresponding fourth centering element 22c. The fourth corresponding centering element 22c is arranged relative to the first corresponding centering element 10c so that the guiding axis of the fourth corresponding centering element is aligned with the second guiding axis 200c.

<FIG> schematically shows an injection mold system <NUM>. The system comprises an injection mold <NUM>, a gripping device <NUM> and optionally at least one separating device <NUM>. The injection mold <NUM> includes two mold halves <NUM>, <NUM> and at least one mold cavity <NUM> and an associated centering sub-system 1b. The gripping device <NUM> may be arranged on an industrial robot and comprises at least one gripping means <NUM> (e.g. a vacuum gripping means, a pneumatic gripping means, and/or the like) and an associated centering system 1a. The centering element(s) 10a may be supported by an elastic means <NUM> (such as a spiral spring), as e.g. shown in <FIG>, so as to be supported axially displaceable in an engaging direction A. The at least one separating device <NUM> includes a separating means <NUM> that is configured to provide separated inserts to be overmolded and/or to separate injection molded parts from a sprue. Particularly, multiple separating devices may be provided, wherein a first separating device may be configured to provide separated inserts to be overmolded and wherein a second separating device may be configured to separate injection molded parts from a sprue. Further the at least one separating device <NUM> includes corresponding centering sub-system 1c. The corresponding centering elements of the corresponding centering sub-system 1c, may comprise a recess <NUM>. The recess may be configured to define the guiding axis of the centering element, wherein the recess <NUM> may be formed in a tip portion <NUM> of a protruding element <NUM>.

The centering elements of the centering sub-system 1a are configured to engage with the corresponding centering elements of the corresponding centering sub-system 1b and 1c. Accordingly, the gripping device can be centered precisely relative to the injection mold <NUM> and the separating device <NUM>.

<FIG> schematically shows a flow diagram of a method <NUM> for centering two parts (e.g. a gripping means <NUM> of a gripping device <NUM> and a mold cavity <NUM> of an injection mold or a gripping means <NUM> of a gripping device <NUM> gripping means <NUM> of a gripping device <NUM> and a separating means <NUM> of a separating device <NUM>, as shown in <FIG>) relative to each other.

The method <NUM> comprises the steps of: Providing <NUM> a first part, the first part being associated with a first centering sub-system 1a, as e.g. shown in <FIG>. Providing <NUM> a second part, the second part being associated with a second centering sub-system 1b or 1c), as e.g. shown in <FIG> and <FIG>. The second centering sub-system 1b, 1c is a corresponding centering sub-system 1b, 1c for the first centering sub-system 1a. Engaging <NUM> a first centering element 10a of the first centering sub-system 1a with a first corresponding centering element 10b, 10c of the second centering sub-system 1b, 1c. Engaging <NUM> a second centering element 20a of the first centering sub-system 1a with a second corresponding centering element 20b of the second centering sub-system 1b, 1c, thereby centering <NUM> the first part with respect to the second part. Optionally, the method comprises the step of engaging <NUM> a third and/or fourth centering element 12a, 22a of the first centering sub-system 1a with a second corresponding centering element 12b, 22b, 12c 22cof the second centering sub-system 1b, 1c, thereby centering <NUM> the first part with respect to the second part. In particular, method steps <NUM>, <NUM> and <NUM> (i.e. the engaging steps) may be carried out after one another or at the same time.

Claim 1:
A centering sub-system (1a) including a first centering element (10a), a second centering element (20a) and a ground plate (<NUM>), wherein
the first centering element (10a) defines a first guiding axis (100a) and
is adapted to engage with a first corresponding centering element (10b, 10c) of a corresponding centering sub-system (1b, 1c) along an engaging direction (A), wherein the first centering element (10a) is configured to allow a relative movement between the first centering element (10a) and the first corresponding centering element (10b, 10c) along the first guiding axis (100a) during engaging; wherein
the second centering element (20a) defines a second guiding axis (200a) and
is adapted to engage with a second corresponding centering element (20b) of the corresponding centering sub-system (1b, 1c), wherein the second centering element (20a) is configured to allow a relative movement between the second centering element (20a) and the second corresponding centering element (20b, 20c) along the second guiding axis (200a) during engaging; and wherein
the first guiding axis (100a) and the second guiding axis (200a) are nonparallel, and wherein each of the first guiding axis (100a) and the second guiding axis (200a) is different from the engaging direction (A),
wherein the ground plate (<NUM>) comprises at least one receptacle (<NUM>) that holds a centering element (10a, 12a, 20a, 22a), and wherein the receptacle (<NUM>) is configured to thermally decouple the centering element (10a, 12a, 20a, 22a) from the ground plate (<NUM>).