Mobile manipulator, transport system and manufacturing system

Abstract

The invention provides a mobile handling device 100, in particular for use in a manufacturing system 1000, comprising an unmanned transport vehicle 1 and a handling apparatus 2. The transport vehicle 1 is movable on a floor surface, the handling apparatus 2 is fixed to the transport vehicle 1 and is configured to move an operation object 300, 300a received thereby relative to the transport vehicle 1, which operation object can in particular be a tool 300a, a workpiece or a workpiece pallet. Furthermore, the mobile handling device 100 comprises a movable housing device 3, which is fixed to the transport vehicle 1 and which, in a closed state, at least partially delimits an interior region 30 in which the handling apparatus 2 is arranged at least mostly when the handling apparatus 2 is moved to a basic position, and which is configured to move at least one first housing component 31 of the housing device 3 relative to the transport vehicle 1 to transition to an open state, thereby opening an access to a work region 20 adjacent to the interior region 30, in particular in front of or beside the transport vehicle 1, through which the handling apparatus 2 can move the received operation object 300, 300a from the interior region 30 into the work region 20.

Description

Technical Field

[0001] This invention relates to a mobile operating device, a transportation system, and a manufacturing system. Background Technology

[0002] In the field of automated mass production, multiple machine tools are typically used to perform different processing steps in one or more production workshops to produce different workpieces.

[0003] In this case, it is advantageous, for example, not to permanently store all the tools used for processing at or inside the machine tool, but to deliver them as needed, for example from the tool storage area or from another machine tool, so that the same tool can be used by multiple machine tools, thereby reducing the number of tools and the required storage space.

[0004] Against this backdrop, driverless transport vehicles have been increasingly used recently to transport tools, workpieces, or machine tool accessories from one or more production workshops to the required destinations, thereby enabling a streamlined and efficient layout of the production workshops.

[0005] Therefore, not only can various tools be transported between machine tools, but the workpiece itself can also be transported from the first machine tool to the second machine tool after completing the machining steps. Because of the use of driverless transport vehicles, direct paths between the machine tools can be selected in this case, thereby reducing downtime or processing waiting time.

[0006] In this way, the concept of a smart production workshop can be realized, primarily through management without human intervention. In this scenario, driverless transport vehicles typically carry operating devices, via which tools and / or workpieces are manipulated.

[0007] Thus, for example, a mobile manipulator having an industrial robot mounted on an unmanned transport vehicle is known from EP 3 746 262 A2. Such a structure is also known in the prior art as an AMR (Autonomous Mobile Robot).

[0008] The problem with this type of AMR is that, as mentioned above, they operate as far as possible without human intervention, and therefore cannot respond to certain environmental conditions or can only respond inadequately, conditions that human operators would immediately recognize. Summary of the Invention

[0009] Therefore, the object of the present invention is to provide an improved, and especially safer, solution for flexibly providing components, particularly workpieces and / or tools, required in the field of automated production.

[0010] To achieve this objective, a mobile operating device according to claim 1, a transportation system according to claim 20, and a manufacturing system according to claim 21 are provided.

[0011] The other corresponding dependent claims relate to preferred embodiments, which may be provided individually or in combination.

[0012] According to a first aspect of the invention, a mobile operating device is provided, particularly for use in a manufacturing system, comprising an unmanned transport vehicle and an operating device. The transport vehicle is movable on its underside, for example, on the floor of a production workshop. The operating device is fixed to the transport vehicle and configured to move an object received therefrom relative to the transport vehicle; the object may, in particular, be a tool, workpiece, or workpiece pallet. Furthermore, the mobile operating device includes a movable housing device fixed to the transport vehicle and, in a closed state, at least partially defining an internal area, in which the operating device is at least substantially disposed when the operating device is moved to a basic position. The housing device is configured to move at least one first housing component relative to the transport vehicle to transition to an open state, thereby opening a passageway to a working area adjacent to the internal area (particularly in front of or to the side of the transport vehicle), through which the operating device can move the received object from the internal area to the working area.

[0013] The internal region should be understood as the area at least partially defined by the inner contour of the housing, and the operating equipment is arranged at least partially (particularly completely) in this region in its basic position. In other words, the internal region corresponds to a protected area in which the operating equipment is located, preferably completely, during the movement of the transport vehicle, and thereby shielded from the surrounding environment of the mobile operating equipment.

[0014] The work area should be understood as the area that the operating equipment fixed to the transport vehicle can move to after the passageway is opened, and where the operating equipment can subsequently perform operational tasks, such as receiving or placing objects. The work area can certainly be considered relative to the mobile operating device, rather than relative to a fixed surface. Specifically, the work area is located in front of or to the side of the transport vehicle.

[0015] A passageway should be understood as any type of opening or connection between an internal area and a working area, through which components of the operating device can move to the adjacent working area and also back to the internal area. In the open state, the imaginary passage area of ​​an open passageway lies between the internal area and its adjacent working area.

[0016] With the outer casing closed, the working area and the interior area are separated from each other, preventing the operating equipment from reaching the working area and preventing contaminants from the working area from reaching the interior area.

[0017] In this way, a mobile operating device with a protective device is provided, which can be moved to an open state when there is an interaction requirement between the operating device and the surrounding environment of the mobile operating device, thereby allowing the operating device to enter the surrounding environment.

[0018] This offers many advantages when using mobile operating devices, especially as part of a manufacturing system in a manufacturing plant.

[0019] First, by moving the equipment while the outer casing is closed, the operating equipment and any objects it may be carrying can be protected from contaminants from the surrounding environment (such as dust, dirt particles, moisture, etc.) during the movement of the transport vehicle.

[0020] By shielding the internal areas during transport, contamination of the workshop floor can be avoided if the transported objects themselves become contaminated (e.g., by coolant, lubricant, oil, material debris, grinding dust, etc.).

[0021] After the transport vehicle is positioned at its destination, the housing opens, allowing the operating equipment to perform its tasks within the work area. In this configuration, the passageway can be configured to have only the dimensions necessary for movement into the work area, and in other areas, such as the rear side of the mobile operating equipment away from the work area, the housing still shields the operating equipment from its surroundings. Therefore, interference with the operating equipment can be avoided, and the risk of injury can be reduced, as operators or workers in the manufacturing workshop are also largely shielded from the moving operating equipment by the housing.

[0022] Specifically, movement is performed via one or more preferably electrically powered drive units of the operating equipment, each of which may include a linear or rotary axis to convert translational or rotational motion relative to the transport vehicle. If translational motion is to be converted via a rotary axis, a corresponding transmission device is required.

[0023] Preferably, the mobile operating device includes a sensor device, particularly as part of the operating device, which is configured to detect a position suitable for receiving the object being operated.

[0024] Based on this, the control device of the mobile operating device (configured to control the transport vehicle and the operating equipment) is preferably capable of actuating the driver of the operating equipment so that the object to be operated is received by the operating equipment from the receiving position or placed therein.

[0025] Preferably, the mobile operating device further includes an environmental monitoring device configured for environmental monitoring, particularly for collision monitoring. Based on the detected variables from the environmental monitoring device, the control device is preferably configured to actuate the transport vehicle and / or operating equipment, for example, to prevent collisions.

[0026] In this case, the operating device can be configured to transfer the object to a fixed receiving device, so that after the object is transported by a transport vehicle, the transported object can be automatically transferred to the receiving device (as its destination).

[0027] Accordingly, the operating equipment can also be configured to receive the objects to be operated on so that they can be subsequently transported to their destination. Thus, for example, workpieces or tools can be received, transported, and placed back at their destination fully automatically without human intervention.

[0028] However, in addition to transfer and transport tasks, mobile manipulators can also be configured to perform machining steps on workpieces. In this case, the manipulator can be configured to operate a received tool (as the object of operation). After moving the tool to the work area, the manipulator can then be configured to perform machining operations on the workpiece in the work area, wherein the housing device also at least partially shields the manipulator from the surrounding environment.

[0029] In other words, the operating equipment acts as a processing device in this situation.

[0030] Examples of usable tools include welding tools or machining tools (milling cutters, drills, grinding wheels).

[0031] Preferably, the mobile operating device further includes a workpiece receiving device or a workpiece clamping device, also arranged in the internal area, wherein the mobile operating device and the workpiece receiving device or workpiece clamping device are adapted to each other and configured such that the mobile operating device performs processing operations on the workpiece received or clamped in the workpiece receiving device or workpiece clamping device when the housing device is closed.

[0032] In a preferred embodiment, the interior region is substantially defined by the upper side of the transport vehicle and the inner contour of the housing device in a closed state, wherein the operating equipment is located, particularly entirely, in the interior region in its basic position.

[0033] The result is that it provides almost complete shielding from the surrounding environment when in the off state, with the operating equipment positioned on top of the transport vehicle in the off state.

[0034] In this case, the outer casing itself does not necessarily have to terminate at the height of the upper side of the transport vehicle, but can completely or partially overlap with the side surface of the transport vehicle when closed.

[0035] The first housing component can be designed as a substantially rigid element or as an elastic, flexible element. In this case, the housing component can be rolled up, for example, via a rotating axis (like a roller shutter). Alternatively, the first housing component, designed as a flexible element, can also deform simultaneously during translational movement (like a roller shutter).

[0036] In a preferred embodiment, the drive device for the housing assembly includes a linear shaft for translational movement of a first housing component, which is movable relative to the transport vehicle via the drive device to switch between a closed state and an open state.

[0037] As a result, it makes it possible to open the outer casing relatively easily.

[0038] In a preferred embodiment, the drive device is designed to enable the first housing component to translate perpendicularly or parallel to the upper side of the transport vehicle in order to switch between a closed state and an open state.

[0039] Alternatively, the drive unit can be designed to allow the first housing component to rotate (or pivot) relative to the transport vehicle, switching between a closed and an open state. In this case, the rotation axis can be oriented as needed.

[0040] Alternatively, the drive unit may be designed to allow the first housing component to move (or pivot) relative to the transport vehicle in a combination of translation and rotation to switch between a closed state and an open state.

[0041] In principle, the housing assembly may include one or more housing components whose inner contours can be used as the boundaries of the interior regions.

[0042] In this case, the housing components of the housing device preferably include at least one top plate, side plate, or bottom plate, or consist of a plurality of identical or different elements from the aforementioned top plate, side plate, or bottom plate group, which are connected to each other in this case.

[0043] In this case, the top plate should be understood as an element of the housing assembly, the outline of which, in the closed state, represents at least a portion of the upper boundary of the interior area.

[0044] In this context, the side panel should be understood as an element of the housing assembly whose outline, when closed, represents at least a portion of the lateral (particularly vertically extending) boundary of the interior region.

[0045] In this case, the base plate should be understood as an element of the housing assembly, the outline of which, in the closed state, represents at least a portion of the lower boundary of the internal area.

[0046] In this way, the housing components can be assembled in almost any geometric configuration according to application requirements.

[0047] In a preferred embodiment, the movable first housing component includes at least one side plate.

[0048] As a result, the passageway is open on one side of the mobile operating device, allowing the operating device to move through the passageway to at least the lateral work area to perform tasks there. This is probably the most common application in manufacturing workshops with devices mounted on a horizontal base.

[0049] In a preferred embodiment, the first housing component includes at least one top plate and four side plates, which are connected to each other.

[0050] In this way, a cover-like shape can be provided, for example, vertically movable, so that the housing device can be transferred between an open state and a closed state (see...). Figure 2a ).

[0051] In a preferred embodiment, the housing device includes a second housing component, wherein the first housing component is movable relative to the transport vehicle and relative to the second housing component to switch between a closed state and an open state.

[0052] In this way, a housing device with at least two housing components can be provided, the inner contours of which form the boundaries of the internal region when closed. In this case, the housing device is not limited to two housing components, but may include multiple additional housing components.

[0053] In this case, the second housing component may be immovable (i.e., fixed) relative to the transport vehicle, but in other embodiments it may be movable relative to the transport vehicle itself.

[0054] In order to best and most completely enclose the interior area together with the upper side of the transport vehicle in the closed state, the first and second housing components together include at least one top plate and four side plates, thereby providing the aforementioned dome shape, at least in the closed state.

[0055] In order to open a passage to the side of the mobile operating device, the first housing component also preferably includes at least one side plate.

[0056] In an exemplary embodiment, the movable first housing component may be formed of side plates, and the second housing component may be formed of three side plates and a top plate (see [example]). Figure 2b ).

[0057] For example, as Figure 2bAs an alternative, the side panels of the first housing component can also be designed as flexible elements that can elastically deform during movement, such as roller shutters or the like.

[0058] In another exemplary embodiment, the movable first housing component may be formed of side panels, and the second housing component may be formed of four side panels and a top plate (see [link to example]). Figure 2c ).

[0059] In another exemplary embodiment, the movable first housing component may be formed by two side plates and a top plate, and the second housing component may be formed by two side plates (see [link to example]). Figure 2d ).

[0060] In a preferred embodiment, the housing device is designed to also allow the second housing component to move relative to the transport vehicle to switch between a closed state and an open state, such that the first housing component and the second housing component can move relative to each other and each relative to the transport vehicle to switch between a closed state and an open state, wherein the directions of movement of the first housing component and the second housing component extend in particular parallel to each other.

[0061] The result is that, compared to moving only one housing component, a channel of the same size or dimensions can be opened on a short movement path of a single housing component.

[0062] In order to open a passage to the side of the mobile operating device, the movable first housing component and the movable second housing component preferably each include at least one side plate.

[0063] In this regard, in an exemplary embodiment having a third housing component, the first and second housing components are each formed by three side plates and a top plate, while the third housing component, fixed relative to the transport vehicle, is formed by one side plate (see [link to example]). Figure 2e ).

[0064] In another exemplary embodiment with a third housing component, the first and second housing components are each formed by side panels, while the third housing component, fixed relative to the transport vehicle, is formed by three side panels and a top panel (see [link to previous embodiment]). Figure 2f ).

[0065] Preferably, the first housing component, and preferably also a second housing component, includes at least one base plate arranged such that the area defined by the first housing component is separated from the surrounding environment of the operating device at least downwards. This prevents access to the interior area from below when the device is open. Furthermore, the base plate can serve as a seal and collect any spilled dirt.

[0066] In this case, the base plate is preferably designed to be flexible so that it can follow the movement of the first housing component, for example in the form of a sliding plate, a bellows or the like.

[0067] More preferably, the outer casing, when in the open state, includes a resilient protective device, such as a buffer strip, at the contour adjacent to the passage leading to the interior area, to prevent objects or human body parts located in the passage from being pinched.

[0068] In this case, the drive device is preferably designed such that the second housing component can also translate perpendicularly or parallel to the upper side of the transport vehicle to switch between a closed state and an open state, or can rotate (or pivot) relative to the transport vehicle, or can take a combination of the two movement possibilities.

[0069] In a preferred embodiment, the drive device for the housing assembly includes an additional linear axis for translating the second housing component, so as to switch between a closed state and an open state.

[0070] Alternatively, the drive device for the housing assembly includes a transmission coupled to a linear or rotary axis to switch between a closed and an open state, via which both the first and second housing components can be moved in a translational manner.

[0071] In this case, the transmission mechanism uses the movement of a single shaft to move the two housing components, thus representing easily controllable motion, similar to the kinematics of an elevator door in some embodiments.

[0072] In a preferred embodiment, the drive device is designed such that the first housing component and the second housing component can move parallel to the upper side of the transport vehicle.

[0073] In a preferred embodiment, the housing device is configured such that, in the open state, the open channel is located in the region between the first housing component and the second housing component.

[0074] In this way, the passage itself can be shielded from the surrounding environment by the housing components on both sides, making it more difficult to access the operating equipment running in the work area and thus improving operational safety.

[0075] In a preferred embodiment, the first housing component and / or the second housing component each include at least one side plate, and in particular each includes a top plate and three side plates, these components being connected to each other.

[0076] In a preferred embodiment, the outer contours of at least one side plate of the first housing component and the outer contours of at least one side plate of the second housing component are in the same plane as the channel area of ​​the open channel in the open state.

[0077] In this way, an interface for the mobile operating device can be provided in a single plane, in which the side plate terminates flush with the surrounding structure (e.g., the side plate of a machine tool), so that the work area located between them can be completely shielded from the surrounding environment, at least laterally. In this case, it is no longer possible for workers to enter the work area, and the risk of injury is minimized.

[0078] Preferably, the area of ​​the channel region is at least 20% of the area of ​​the side plate located in the same plane as the channel region, and more preferably at least 50%.

[0079] As a result, a sufficiently large interface area can be provided for the side panels facing the surrounding environment compared to the channel area.

[0080] In a preferred embodiment, one or all side panels of the associated housing component located in the same plane as the channel area have a size of at least 80 cm, particularly in terms of horizontal width.

[0081] In this way, by using side panels as flush termination interfaces with the surrounding structure, even if the side panels of the housing assembly do not terminate flush with the surrounding structure but leave a relatively narrow gap between them, the minimum safe distance specified by industry standards can be maintained.

[0082] In a preferred embodiment, the outer contours of the side panels of the first housing component and the second housing component extend substantially parallel to the side surface of the transport vehicle.

[0083] The result is that a flush interface with the surrounding structure, consisting of side panels, the passageway area that may be located therein, and the side surface of the transport vehicle, can be achieved.

[0084] In a preferred embodiment, the operating device is a robotic arm that includes an end effector that is movable via one or more rotation axes of the robotic arm and configured to receive an object to be operated on.

[0085] The result is the provision of an operating device with relatively large degrees of freedom of movement.

[0086] Preferably, the robotic arm includes at least three rotation axes, more preferably four rotation axes, and particularly preferably six rotation axes.

[0087] In a preferred embodiment, the mobile operating device further includes a storage device arranged in an internal area, having one or more receiving positions for receiving operating objects that can be operated by the operating device.

[0088] As a result, the object being operated on can also be transported within a protected internal area while the transport vehicle is moving, without needing to be held by the operating equipment during the process.

[0089] In a preferred embodiment, the transport vehicle is designed to move freely and autonomously, particularly having its own energy source, and is configured to move along virtual guide lines on its underside, which can be determined and / or adapted by the control device of the operating apparatus.

[0090] As a result, the transport vehicle can move independently of sensor loops or guide tracks on the ground and can move along individually planned guide lines. Navigation relative to the surrounding environment can be performed, for example, via optical sensors, radar or lidar sensors, or via triangulation sensors (e.g., using GPS).

[0091] According to a second aspect of the invention, a transport system is provided, comprising at least one mobile operating device according to the first aspect or a preferred embodiment therein, and at least one receiving device separately disposed from the mobile operating device. The receiving device includes one or more receiving positions for receiving, respectively, an object operable by the operating device of the mobile operating device, particularly a workpiece, tool, or workpiece pallet, wherein the mobile operating device is configured to be positioned relative to the receiving device on its bottom surface by a drive movement of a transport vehicle, such that the receiving device is located within the working area of ​​the mobile operating device, and is further configured to insert and / or remove an object operable by the operating device into and / or from the receiving position of the receiving device when the housing device is in an open state.

[0092] In this manner, a transport system using the aforementioned mobile operating device is provided, wherein the object to be operated can be transported from or to a separately located receiving device (e.g., a storage device or the like). Operational reliability can be improved by utilizing the advantageous shielding of the housing device, both during transport and during interaction with the receiving device.

[0093] The receiving device may be designed, for example, but not limited to, as part of a storage device or storage system, or as part of a transfer position or setting position on a machine tool.

[0094] According to a third aspect of the invention, a manufacturing system is provided, comprising at least one mobile operating device according to the first aspect or a preferred embodiment therein and a receiving device disposed separately therefrom (i.e., a transport system substantially according to the second aspect), and further comprising a machine tool disposed on a bottom surface, wherein at least one receiving device of the transport system is designed as part of the machine tool.

[0095] In this manner, an autonomous manufacturing system is provided, wherein a mobile manipulator can be used, in particular, for transporting vehicles and / or workpieces and transferring them to or receiving them from machine tools, wherein a high degree of safety can be ensured by a housing device during the interaction between the machine tool and the mobile manipulator.

[0096] In a preferred embodiment, the receiving device is part of the machine tool's loading and / or unloading device for workpieces, tools, or workpiece pallets.

[0097] In this way, the mobile operating device can approach the loading and / or unloading device during machining operations on the machine tool and remove workpieces or tools that are no longer needed, or transport new workpieces or tools, without interrupting the machining operation.

[0098] The loading and / or unloading device is preferably shielded from the surrounding environment by a movable housing component of the machine tool, so that the passage is only opened after the transport vehicle is positioned, which in turn improves reliability when the mobile operating device is not located at the machine tool.

[0099] In a preferred embodiment, the housing of the machine tool in the receiving device area is adapted to the housing of the mobile operating device, such that if the mobile operating device is positioned at the receiving device and the housing is in the open state, the operating devices of the receiving device and the mobile operating device are largely shielded from the surrounding environment of the mobile operating device. In particular, the size of at least the lateral clearance between the housing and the machine tool housing is set such that a human arm cannot be extended from the environment into the working area through the lateral clearance.

[0100] In this way, there is no longer any possibility of contact with moving parts, thus minimizing the risk of injury to workers. Furthermore, the risk of environmental contaminants entering the work area is also minimized. Attached Figure Description

[0101] Further aspects and advantages thereof, as well as more specific exemplary embodiments of the above aspects and embodiments, will be described below with the aid of the illustrations shown in the accompanying drawings.

[0102] Figure 1a and Figure 1b A perspective view of an exemplary embodiment of the mobile operating device according to the present invention is shown, wherein the housing device is in a closed state and an open state. Figure 1c Detailed images are shown.

[0103] Figures 2a to 2f An exemplary configuration of the housing device is shown, which in part has multiple housing components.

[0104] Figure 3a and Figure 3b A perspective view of an exemplary embodiment of the manufacturing system according to the present invention is shown.

[0105] Figure 4a and Figure 4b It shows the relationship with Figure 3a and Figure 3b A top view of the associated manufacturing system.

[0106] It should be emphasized that the present invention is by no means limited to the exemplary embodiments and their exemplary features described below. The present invention also includes modifications to the mentioned exemplary embodiments, particularly those modifications that arise within the scope of the independent claims by modifying and / or combining individual or multiple features of the described exemplary embodiments. Detailed Implementation

[0107] Figure 1a and Figure 1b An exemplary embodiment of the mobile operating device 100 according to the present invention is shown, with the housing device 3 in a closed state. Figure 1a ) and open state ( Figure 1b ).

[0108] In the current context, the mobile operating device 100 is designed as an AMR (Autonomous Mobile Robot) and includes an unmanned transport vehicle 1 and a robotic arm 2 fixed thereon as the operating device (see...). Figure 1b ), a storage device 4 for handling objects fixed to the transport vehicle 1, and a housing device 3 also fixed to the transport vehicle 1, the housing device 3 being in Figure 1a In its closed state, together with the transport vehicle 1 below, it essentially completely surrounds the robot arm 2, thus shielding the latter from the surrounding environment.

[0109] The transport vehicle 1 is designed as an unmanned transport vehicle and configured to move on a base surface. For this purpose, it includes a drive unit (not shown) and an energy source to power the drive unit. Preferably, the transport vehicle 1 is capable of moving completely autonomously and independently of physical guiding structures (such as track guides or induction lines in the ground).

[0110] The robotic arm 2 is used to manipulate the object being manipulated, and for this purpose includes multiple arm segments and rotation axes, through which the object being manipulated, housed in the end effector 21 of the robotic arm 2, can move relative to the transport vehicle 1.

[0111] The outer casing 3 is movable relative to the transport vehicle 1, and is in the closed state ( Figure 1a The lower part defines the inner area 30, in which the operating device 2 is arranged at least most (or even completely) when it is moved to the basic position.

[0112] In the current state, when closed, the interior area is defined laterally and superiorly by the outer casing 3. The lower limitation is achieved by the upper side 11 of the transport vehicle 1.

[0113] The outer casing assembly 3 includes three outer casing components 31, 32, and 33, wherein the first and second outer casing components 31 and 32 are capable of translational movement relative to the transport vehicle 1, and in the present case are horizontal and parallel to the bottom surface or parallel to the upper side 11 of the transport vehicle 1. The third outer casing component 33 is fixedly connected to the transport vehicle 1 and is immovable.

[0114] The first and second outer shell components 31 and 32 are essentially mirror-symmetrical in design and each consists of three side panels and a top panel (see also...). Figure 2e The third housing component 33, formed by the side panel, ensures shielding of the rear side of the mobile operating device 100.

[0115] Two movable outer casing components 31 and 32 move relative to each other and relative to the transport vehicle 1 via linear shafts 34a and 34b, respectively.

[0116] to this end, Figure 1c Enlarged detail views are shown in the regions of linear axes 34a and 34b, which also show the storage device 4, carried by the transport vehicle 1 and including multiple receiving positions for the operable object 300, which is schematically shown in a spherical shape.

[0117] By moving the two outer casing components 31 and 32, the outer casing device 3 is moved to the open state, thereby opening a passage to the work area 20 adjacent to the inner area 30 and next to the transport vehicle 1. The work area 20 is... Figure 1b It is indicated by its projection on the bottom surface.

[0118] Thanks to the laterally open passageway, the robotic arm 2 (especially its end effector 21) is now able to move out of the inner region 30 and into the working region 20 so that it can manipulate objects there, for example, in the form of receiving or placing them in the working region 20.

[0119] In this way, the mobile operating device 100 has a protective device that can be moved to an open state when there is an interaction requirement between the robot arm 2 and the surrounding environment, thereby allowing the robot arm 2 to enter the surrounding environment.

[0120] Therefore, when the housing device 3 is closed ( Figure 1a The robotic arm 2 and the objects it may carry can be protected from contaminants from the surrounding environment (such as dust, dirt particles, moisture, etc.) during the movement of the transport vehicle 1.

[0121] After positioning the transport vehicle 1 at its destination, the outer casing 3 ( Figure 1b The arm is opened, allowing the robotic arm 2 to perform tasks in the work area 20.

[0122] from Figure 1b As can be seen, the internal area 30 is still largely obscured by the outer casing 3 and is essentially only accessible through the open passageway. Therefore, the risk of external malfunction of the robotic arm is reduced, as is the risk of injury to operators or workers in the production workshop, because compared to embodiments without the outer casing, the operators or workers now have limited access to the moving robotic arm 2.

[0123] Figures 2a to 2f An exemplary configuration is shown in which the housing device 3 partially has a plurality of housing components 31, 32, 33.

[0124] Here, these configurations are schematically shown as being at least partially movable relative to the transport vehicle 1. The movement of the outer casing components 31, 32 through their open passages to the interior area 30 is indicated by arrows.

[0125] The first housing component 31, which is capable of moving to open a passage, is represented by a shaded diagram, the second housing component 32 by a light gray diagram, and the third housing component 33 by a dark gray diagram.

[0126] The obscured side panel in the perspective view is not labeled, but can be inferred from the perspective view and related description.

[0127] Figure 2a An exemplary embodiment of the cover-like structure is shown, wherein the movable first outer shell component 31 consists of four side plates 31a and a top plate, and is movable upward relative to the transport vehicle 1 to open a passage to the interior area.

[0128] Figure 2b An exemplary embodiment is shown, wherein a movable first housing component 31 is formed by side panels 31a, while a non-movable second housing component 32 relative to the transport vehicle 1 is formed by three side panels 32a and a top panel 32b.

[0129] Figure 2c An exemplary embodiment is shown, wherein a movable first housing component 31 is formed by side panels 31a, and a non-movable second housing component 32 relative to the transport vehicle 1 is formed by four side panels 32a and a top panel 32b, wherein the front side panels of the first housing component 31 and the second housing component 32 together have an area approximately the same as the rear side panel of the second housing component 32.

[0130] Figure 2d An exemplary embodiment is shown, wherein a movable first housing component 31 is formed by two side plates 31a and a top plate 31b, and a non-movable second housing component 32 relative to the transport vehicle 1 is formed by two side plates 32a.

[0131] Figure 2e An exemplary embodiment is shown, wherein a movable first housing component 31 is formed by three side plates 31a and a top plate 31b, and a similarly movable second housing component 32 is also formed by three side plates 32a and a top plate 32b. Furthermore, the housing assembly 3 also has a third housing component 33, which is immovable relative to the transport vehicle 1 and is formed by side plates 33a.

[0132] Figure 2e Basically corresponds to the same in Figure 1a and Figure 1b The embodiment used in the operating device shown.

[0133] Figure 2f An exemplary embodiment is shown, wherein a movable first housing component 31 and a movable second housing component 32 are formed by side plates 31a and 32b, respectively, and a non-movable third housing component 33 is formed by three side plates 33a and a top plate 33b.

[0134] Figure 3a and Figure 3b A perspective view showing an exemplary embodiment of a manufacturing system 1000 according to the present invention is shown, which has a mobile operating device 100 and a machine tool 200.

[0135] exist Figure 3a In the middle, the housing 3 of the mobile operating device 100 remains closed after being positioned on the machine tool 200, while Figure 3b In this process, the first housing component and the second housing components 31 and 32 have been moved so as to provide an operating device for the mobile operating device 100 (here, the robotic arm 2, see...). Figure 4b Release the channel leading to machine tool 200.

[0136] In this exemplary embodiment, the manufacturing system 1000 includes one embodiment of a mobile manipulator 100 and a machine tool 200, the embodiment of which substantially corresponds to Figures 1a to 1c In the exemplary embodiment described herein, the machine tool 200 is configured for machining a workpiece.

[0137] exist Figure 4a and Figure 4b In the perspective view, the area behind the outer casing 3 is obscured, while the area shown is... Figure 3a and Figure 3b The top view corresponding to the state in the image.

[0138] The mobile operating device 100 can move freely and autonomously on the ground (here, the floor of the production workshop) via its driverless transport vehicle 1, and thus can be positioned relative to the machine tool 200 by movement for interaction with the machine tool 200.

[0139] Machine tool 200 includes Figure 4a and Figure 4b The tool loading and unloading device 201 shown can provide the machine tool 200 with a tool 300a for workpiece processing, or can remove a tool 300a that is no longer needed.

[0140] The loading and unloading device 201, which is used herein as a receiving device in the sense of the present invention, has a plurality of receiving positions 201a, each for receiving a tool 300a that can be operated by the robotic arm 2 of the mobile operating device 100.

[0141] The mobile operating device 100 is configured to be positioned on the bottom surface relative to the loading and unloading device 201 of the machine tool 200 by being driven to move by the transport vehicle 1, such that it is located in the working area 20, that is, it can be reached by the robot arm 2 when the housing device 3 is in the open state.

[0142] In this case, the operating device 100 is configured such that when the housing device 3 is in the open state ( Figure 3b , Figure 4b When the tool 300a operated by the operating device 2 is inserted into the receiving position 201a of the receiving device 201, and / or the tool 300a is removed from the receiving position 201a of the receiving device 201.

[0143] Before the operating device 100 continues to move, the housing device 3 is moved back to the closed state.

[0144] from Figure 3b and Figure 4b As can be seen from the diagram, the housing 3 of the mobile operating device 100 interacts with the housing of the machine tool 200, almost completely shielding the passage or working area 20 from the surrounding environment, at least laterally.

[0145] The passage area and the front side plates of the first housing component 31 and the second housing component 32, which directly face the machine tool 200, are located in the same plane (see also...). Figure 1b The plane is positioned parallel to the side surface of the housing of the machine tool 200 in the loading and unloading device 201 area by the drive movement of the transport vehicle 1 relative to the machine tool 200.

[0146] In this case, the distance should be chosen to be as small as possible, so that the gap between the housing 3 and the machine tool 200 (see...) Figure 4a , Figure 4b The dimensions should be as small as possible. The first housing component 31 and the second housing component 32 should have a sufficient horizontal width, preferably 80 cm or more, so that it is impossible for the limb to move into the working area 20.

[0147] As a result, access to moving parts becomes more difficult or impossible, thereby significantly improving operational reliability. Furthermore, the surrounding structure, including the housing of the machine tool 200 and the housing 3 of the mobile operating device 100, greatly reduces the risk of malfunctions or contaminants reaching the loading and unloading device 201.

[0148] In summary, this invention provides a safer solution for flexibly supplying components, particularly workpieces and / or tools, required in the field of automated production.

[0149] Exemplary embodiments of the present invention and their advantages have been described in detail above with reference to the accompanying drawings.

[0150] To reiterate, this invention is by no means limited to the exemplary embodiments and their exemplary features described above. This invention also includes modifications to the mentioned exemplary embodiments, particularly those modifications made within the scope of the independent claims by altering and / or combining individual or multiple features of the described exemplary embodiments.

[0151] List of reference numerals 1. Driverless transport vehicle 2. Robotic arm (operating equipment) 3. Housing assembly 4 Storage device for the operation object 11. Upper side of the transport vehicle 20 Work Areas 21 End effector 30 Internal Area 31 First outer casing component 31a Side plate of the first housing component 31b Top plate of the first outer casing component 32 Second outer casing component 32a Side plate of the second housing component 32b Top plate of the second housing component 33 Third outer casing component 33a Side panel of the third housing component 33b Top plate of the third housing component 34a, 34b Linear axes 100 Mobile operating devices 200 machine tools 201 Loading and unloading device 201a Receiving position of loading and unloading device 300 Operation Objects 300a tools 1000 Manufacturing System

Claims

1. A mobile operating device (100), particularly for use in a manufacturing system, comprising: - An unmanned transport vehicle (1) that is capable of moving on the bottom surface; as well as - An operating device (2) fixed to the transport vehicle (1) and configured to move the operating object (300, 300a) received therefrom relative to the transport vehicle (1) in order to operate the operating object (300, 300a), which in particular may be a tool (300a), a workpiece or a workpiece tray; Its features A movable housing device (3), fixed to the transport vehicle (1), and at least partially defining an internal area (30) in a closed state, wherein the operating device (2) is at least substantially arranged in the internal area (30) when the operating device (2) is moved to a basic position, and the housing device is configured to allow at least one first housing component (31) of the housing device (3) to move relative to the transport vehicle (1) to change to an open state, thereby opening a passage to a working area (20) adjacent to the internal area (30), particularly in front of or to the side of the transport vehicle (1), through which the operating device (2) can move a received operating object (300, 300a) from the internal area (30) into the working area (20).

2. The mobile operating device (100) according to claim 1, wherein, The interior region (30) is substantially defined by the upper side (11) of the transport vehicle (1) and the inner contour of the outer casing (3) when it is closed, wherein the operating device (2) is located, in particular, entirely within the interior region (30) in its basic position.

3. The mobile operating device (100) according to claim 1 or 2, wherein, The drive device of the housing device (3) includes a linear shaft (34a) for translational movement of the first housing component (31), which is movable relative to the transport vehicle (1) via the drive device to switch between a closed state and an open state.

4. The mobile operating device (100) according to claim 3, wherein, The drive device is designed such that the first housing component (31) can move in a translational manner perpendicular to or parallel to the upper side (11) of the transport vehicle (1) in order to switch between a closed state and an open state.

5. The mobile operating device (100) according to any one of claims 1 to 4, wherein, The first housing component (31) includes at least one side plate (31a).

6. The mobile operating device (100) according to at least one of claims 1 to 5, wherein, The housing device (3) includes a second housing component (32), wherein the first housing component (31) is movable relative to the transport vehicle (1) and relative to the second housing component (32) to switch between a closed state and an open state.

7. At least the mobile operating device (100) according to claim 6, wherein, The housing device (3) is designed to also allow the second housing component (32) to move relative to the transport vehicle (1) in order to switch between a closed state and an open state, in such a way that the first housing component (31) and the second housing component (32) can move relative to each other and each relative to the transport vehicle (1) in order to switch between a closed state and an open state, wherein the directions of movement of the first housing component and the second housing component (31, 32) extend in particular parallel to each other.

8. At least the mobile operating device (100) according to claims 7 and 3, wherein, The drive device of the housing assembly (3) includes an additional linear axis (34b) for translational movement of the second housing component (32), so as to switch between a closed state and an open state, or The drive device of the housing device (3) includes a transmission coupled to a linear shaft (34a), through which the first housing component and the second housing component (31, 32) can be moved in a translational manner to switch between a closed state and an open state.

9. At least the mobile operating device (100) according to claim 7, wherein, The drive device of the housing device (3) includes a rotating shaft and a transmission device, through which the first housing component and the second housing component (31, 32) can be moved in a translational manner to switch between a closed state and an open state.

10. The mobile operating device (100) according to at least any one of claims 7 to 9, wherein, The drive device is designed such that the first housing component and the second housing component (31, 32) can move parallel to the upper side (11) of the transport vehicle (1).

11. The mobile operating device (100) according to at least any one of claims 6 to 10, wherein, The housing device (3) is configured such that, in the open state, the open channel is located in the region between the first housing component and the second housing component (31, 32).

12. The mobile operating device (100) according to at least one of claims 6 to 11, wherein, The first housing component (31) and / or the second housing component (32) each include at least one side plate (31a; 32a), and in particular each includes a top plate (31b; 32b) and three side plates (31a; 32a), the top plate and the side plates being connected to each other.

13. At least the mobile operating device (100) according to claims 11 and 12, wherein, The outer contours of at least one side plate (31a) of the first housing component (31) and at least one side plate (31b) of the second housing component (32) are in the same plane as the channel area of ​​the open channel in the open state.

14. The mobile operating device (100) according to at least claim 12 or 13, wherein, The side plates (31a; 32a) of the associated housing components (31; 32) located in the same plane as the passage area have a size of at least 80 cm, particularly in terms of horizontal width.

15. The mobile operating device (100) according to at least one of claims 1 to 14, wherein, The outer contours of the side plate (31a) of the first housing component (31) and the outer contours of the side plate (31a) of the second housing component (32) extend substantially parallel to the side surface of the transport vehicle (1).

16. The mobile operating device (100) according to at least one of claims 1 to 15, wherein, The operating device (2) is a robotic arm that includes an end effector (21) that is movable via one or more rotation axes of the robotic arm and configured to receive the operating object (300, 300a).

17. The mobile operating device (100) according to at least one of claims 1 to 18, wherein, The operating device (100) further includes a storage device (4) arranged in the internal region (30) and having one or more receiving positions for receiving operating objects (300, 300a) that can be operated by the operating device (2).

18. The mobile operating device (100) according to at least one of claims 1 to 17, wherein, The transport vehicle (1) is designed to move freely and autonomously, and is configured to move along a virtual guide line on the bottom surface, which can be determined and / or adapted by the control device of the operating device (100).

19. A transportation system comprising: - At least one mobile operating device (100) according to at least one of claims 1 to 18, and - At least one receiving device (201) is provided separately from the mobile operating device (100) and has one or more receiving positions (201a) for receiving operating objects (300, 300a) that can be operated by the operating device (2) of the mobile operating device (100); The mobile operating device (100) is configured to be positioned relative to the receiving device (201) on its bottom surface by being driven by the transport vehicle (1), so that it is located in the working area (20) of the mobile operating device (100), and is also configured to insert the operating object (300, 300a) operated by the operating device (2) into the receiving position (201a) of the receiving device (201) when the housing device (3) is in the open state, and / or receive the operating object (300, 300a) from the receiving position (201a) of the receiving device (201) by means of the operating device (2).

20. A manufacturing system (1000), comprising: - The transportation system according to claim 19, and - A machine tool (200) mounted on the bottom surface; At least one receiving device (201) of the transport system is designed as part of the machine tool (200).

21. The manufacturing system according to claim 20, wherein, The receiving device (201) is part of the loading and / or unloading device of the machine tool (200) for loading and / or unloading workpieces, tools (300a) or workpiece trays.

22. The manufacturing system according to claim 20 or 21, wherein, The housing of the machine tool (200) in the area of ​​the receiving device (201) is adapted to the housing device (3) of the mobile operating device (100) in such a way that if the mobile operating device (2) is positioned at the receiving device (201) and the housing device (3) is in the open state, the receiving device (201) and the operating device (2) of the mobile operating device (100) are largely shielded from the environment of the mobile operating device (100). In particular, the size of at least the lateral clearance between the housing device (3) and the housing of the machine tool (200) is set such that a human arm cannot be extended from the environment into the working area (20) through the lateral clearance.

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