Transport device for receiving one or more modular units with machine tool accessory devices and for transporting the one or more received modular units

Abstract

The present invention relates to a transport device (100) for receiving one or more modular units having machine tool accessory devices, and for transporting the one or more received modular units to a machine tool (1000) disposed on a base surface for use of the one or more received modular units with the machine tool accessory devices on the machine tool (1000), wherein the transport device (100) is freely movable on the base surface to position the one or more received modular units relative to the machine tool (1000), particularly in the area in front of and / or beside the machine tool (1000), and / or in front of and / or beside the workspace of the machine tool (1000).

Description

Technical Field

[0001] The present invention relates to a transport device for receiving one or more modular units with machine tool accessory devices and for transporting the one or more received modular units. Furthermore, the present invention relates to a system with the transport device and a central control device. Background Art

[0002] Transport vehicles for picking up and transporting goods within a workshop are known. The best-known examples are forklifts and partially electric forklifts. The declared goal is to carry out such deliveries by means of corresponding vehicles, to continue to increase the level of automation and, preferably, to synchronize the deliveries with the production process.

[0003] A preferred option for this purpose is an unmanned transport system or FTS for short, which, in addition to unmanned transport vehicles or FTF for short, also has designated locations for picking up or storing goods to be transported by the transport vehicles, and possibly also specifically arranged locations or stops, for example for preparing goods for transportation for an upcoming production process.

[0004] However, FTS, which guides transport vehicles to the individual sites via a rail system, has proven to be disadvantageous. This rail system is not only very complex in terms of the manufacture, arrangement and alignment of the rails and rail segments with respect to each other. It is also configured only for one specific situation and therefore cannot react or adapt to changes in the location of the site or the production process at short notice.

[0005] Therefore, such a system is extremely disadvantageous in terms of flexibility.

[0006] Furthermore, currently known FTSs have the following disadvantages: FTTs are usually only equipped with interfaces for receiving transported goods or corresponding technical devices, etc., so that these vehicles often have to travel long distances to transport large numbers of containers to their respective destinations or bring corresponding technical devices to their operating locations. Summary of the invention

[0007] Therefore, an object of the present invention is to provide a transport device for receiving one or more modular units having machine tool accessory devices and for transporting the one or more received modular units, thereby avoiding the above-mentioned problems.

[0008] Furthermore, an object of the present invention is to provide a system comprising the transport device and a central control device.

[0009] These objects are achieved by a transport device according to claim 1 and a system according to claim 30. The dependent claims relate to advantageous exemplary embodiments of the transport device according to the invention and of the system according to the invention.

[0010] The transport device according to the present invention is used to receive one or more modular units with machine tool accessory devices, and to transport the one or more received modular units to a machine tool arranged on a base surface so as to use the machine tool accessory devices of the one or more received modular units received on the machine tool, wherein the transport device can move freely on the base surface to position the one or more received modular units relative to the machine tool, particularly in the area in front of and / or beside the machine tool, and / or in front of and / or beside the working space of the machine tool.

[0011] With the aid of the transport device according to the invention, a wide variety of manufacturing processes can be supported, so that individual process steps can be carried out in a smooth and particularly efficient manner.

[0012] In particular, the configuration of the transport device according to the invention advantageously allows customizing and freely positioning the transport device in front of the machine tool or in front of the working space of the machine tool without having to rely on a type of rail system or the like.

[0013] In addition, various auxiliary works can be performed on existing machine tools by using the transport device according to the present invention to improve manufacturing efficiency.

[0014] It should be noted in particular that one of the transport devices according to the invention can undertake a single task with the aid of a machine tool accessory device, or it can undertake multiple tasks simultaneously by receiving multiple machine tool accessory devices.

[0015] Furthermore, the various machine tool accessory devices or modular units can be combined with one another completely freely, depending on which manufacturing and / or auxiliary work has to be performed on the machine tool.

[0016] This makes the manufacturing process extremely flexible and efficient.

[0017] The transport device according to the invention can advantageously be further developed in that it is designed by means of a movement on a base surface to position the one or more module units in a region in front of and / or beside the machine tool in a spatial direction across the region.

[0018] Furthermore, the transport device according to the invention can be advantageously further developed in that it has one or more receiving devices for receiving corresponding module units.

[0019] Furthermore, the transport device according to the invention can advantageously be further developed in that at least one of the one or more receiving devices comprises a centering device which is configured to align the received modular unit with the receiving device.

[0020] In this way, when the modular unit is placed / docked on the machine tool, positioning errors of the modular unit (or other devices (such as loading and unloading devices, pallet racks, material boxes, etc.)) relative to the machine tool or another device (such as a setting station, storage station, library station, etc.) can be compensated. The centering device allows the transport device to correct the relative position of the received modular unit with respect to the transport device and thus obtain positioning errors of the modular unit with respect to the machine tool, which are essentially due only to positioning errors of the transport device.

[0021] Furthermore, the transport device according to the invention can advantageously be further developed in that at least one of the one or more receiving devices comprising the centering device further comprises a drive for linearly moving the receiving device in the direction of the centering device.

[0022] In order to align / center the received modular unit relative to the transport device, it may also be advantageous when an additional drive is available, which is able to move the receiving device in the direction of the centering device (or in the opposite direction) to transfer the received modular unit to the centering device, thereby facilitating the centering / alignment.

[0023] Furthermore, the transport device according to the invention can advantageously be further developed in that at least one receiving device is provided on at least one side of the transport device, preferably at least one receiving device is provided on at least two sides of the transport device. Particularly preferably, at least one receiving device is provided on each side of the transport device.

[0024] Therefore, the transport device according to the present invention is now able to receive a large number of modules / module units to assist the manufacturing process on the machine tool. In addition, various modules can be combined with each other and transported to the corresponding machine tool or corresponding multiple machine tools.

[0025] Furthermore, the transport device according to the invention can advantageously be further developed in that the modular unit is configured to be placed and / or docked by the transport unit on a receiver of a machine tool configured to receive the modular unit.

[0026] Here, the transport device acts as a conveying unit for the machine tool by bringing the various modules / devices to the machine tool and placing them there (e.g. on a receiver designed for this purpose) or docking them there (on a receiver also configured for this purpose). The receiver can include a conical receiver, for example, which also has connection options for energy and / or signals. Connections for fluids (e.g. cooling lubricants) can also be provided at the cone.

[0027] Furthermore, the transport device according to the invention can advantageously be further improved in that one or more receiving devices have connecting elements, in particular for establishing an electrical, hydraulic and / or pneumatic connection, in particular for the transmission of control signals and / or energy from the transport device to the corresponding module unit.

[0028] Furthermore, the transport device according to the present invention can be advantageously further developed such that, when receiving a module unit, the connecting element automatically establishes a connection with the corresponding module unit to transmit electrical, pneumatic and / or hydraulic control signals and / or energy.

[0029] In this way, the various modular units can now be independently received and placed again by the transport device in a highly automated manner.

[0030] Furthermore, the transport device according to the invention can advantageously be further developed in that the receiving devices each have a control device for monitoring the state of the receiver of the respective module unit.

[0031] In this way, certainty can be ensured regarding the correct reception of the modular unit by the transport device.

[0032] Furthermore, the transport device according to the invention can advantageously be further developed in that the control device is configured to monitor control signals, energy transmission and / or locking states of the module units received at the corresponding receiving device.

[0033] Signal and energy transfer can also be monitored in this way. For example, in the event of a malfunction, the transport device in question could be moved to a maintenance position for control purposes and the problem could be solved accordingly.

[0034] Furthermore, an advantageous further development of the transport device according to the invention provides that a plurality of receiving devices of the transport device are designed uniformly.

[0035] In this way, a variety of modules / module units can be received at a uniformly configured receiving device. In particular, this "standardization" of the receiving device makes it possible to switch back and forth between various modules for the receiving device, so that one receiving device is not limited to being suitable for one module.

[0036] Furthermore, the transport device according to the invention can be advantageously further developed in that it comprises an unmanned transport vehicle.

[0037] This is particularly advantageous in that the degree of automation of the entire production can be increased many times over, since the coordination and overall control of the driverless transport vehicles or transport devices can be carried out, for example, by a central computer / control device, so that the workers mainly have a monitoring function.

[0038] Furthermore, the transport device according to the invention can advantageously be further developed by means of a drive for moving the transport vehicle and a control unit for controlling the transport device.

[0039] Furthermore, the transport device according to the invention can advantageously be further developed by an internal energy store which supplies the transport device with energy, in particular electrical energy.

[0040] Furthermore, the transport device according to the invention can advantageously be further developed by a sensor unit comprising one or more optical, infrared and / or radar sensors for monitoring the environment of the transport device.

[0041] In addition to providing a time-limited, self-sufficient energy supply for the transport unit, this also ensures the safety of the surroundings, in particular of the people who are in the workshop and may be walking around, since the transport unit can classify them and can therefore trigger safety functions if a collision has occurred or is imminent.

[0042] Furthermore, the transport device according to the invention can advantageously be further developed by means of a plurality of wheels for moving or displacing the transport device, one, a plurality or all wheels of the transport device being individually controllable and / or steerable.

[0043] In particular, the transport device according to the invention can advantageously be further developed in that one, a plurality of or all wheels of the transport device are configured as individually controllable Mecanum wheels.

[0044] Since they are already widely known in robotics, Mecanum wheels can also be used advantageously for transport devices in order to also ensure a great flexibility of the transport device with regard to its movements or movement possibilities.

[0045] Furthermore, the transport device according to the invention can advantageously be further developed in that one or more drive chains are used to move or displace the transport device.

[0046] Furthermore, the transport device according to the invention can advantageously be further developed in that it is configured to receive one of the one or more module units at a storage station and to transfer it from the storage station to the machine tool.

[0047] In this way, the transport device can be used particularly advantageously as a delivery vehicle for supplying the required auxiliary modules to the machine tool and can also store them there in order to undertake other tasks.

[0048] Another advantageous improvement of the transport device according to the present invention is that the transport device is configured to establish a connection between one or more connecting elements of the transport device and one or more connecting elements of the modular unit when receiving individual modular units, in particular when receiving modular units for transmitting control signals and / or energy from the transport device to the modular unit.

[0049] In this way, the degree of automation can be further increased, since the transport device can establish an autonomous connection between the transport device and the module / module unit.

[0050] Furthermore, the transport device according to the invention can advantageously be further improved in that the transport device is configured to communicate with an external control device, in particular with a central control device configured to be connected to a plurality of transport devices simultaneously, in particular via a wireless communication link, and to control a plurality of transport devices, in particular by automatic remote control.

[0051] Furthermore, the transport device according to the invention can advantageously be further improved in that it is configured to communicate with a control device of a machine tool via a communication interface, in particular in such a way that one or more receiving modules can be controlled via the control device of the machine tool via the communication interface by means of a communication link.

[0052] In this way, the central control device can be used to communicate with the transport device and the modules received by the transport device and control them when necessary.

[0053] Furthermore, the transport device according to the invention can advantageously be further developed in that the communication interface comprises a wireless communication interface and the transport device is configured to communicate with a control device of the machine tool via a wireless communication link by means of the wireless communication interface.

[0054] Furthermore, the transport device according to the invention can advantageously be further improved in that the transport device comprises a docking device and is configured to dock a tool at a docking station of a machine tool, a docking station of a setup station of a manufacturing system with a machine tool, and / or a docking station of an automation device of a manufacturing system with a machine tool by means of the docking device.

[0055] The transport device can communicate with the machine tool via various docking stations and also transmit energy. It is advantageous if the docking station is arranged on the base surface, because the transport device can travel there without any problem and can then be connected to the docking station on the base surface via its docking device.

[0056] Furthermore, the transport device according to the invention can be advantageously further developed in that when the transport device is docked on a docking station of a machine tool having a communication interface, the transport device is configured to communicate with a control device of the machine tool via the docking device coupled to the communication interface.

[0057] In addition, the transport device according to the present invention can be advantageously further improved in that the transport device is configured to position itself and / or the one or more received modular units relative to the machine tool by docking at the docking station of the machine tool, to position itself and / or the one or more received modular units relative to the setting station by docking at the docking station of the setting station, and / or to position itself and / or the one or more received modular units relative to the automation device by docking at the docking station of the automation device.

[0058] Furthermore, the transport device according to the invention can advantageously be further developed in that the transport device is configured to move between docking stations of a manufacturing system, in particular including between docking stations of different machine tools of a manufacturing system.

[0059] Furthermore, the transport device according to the invention can be advantageously further developed in that the docking device of the transport device is designed to raise and / or lower the transport device for docking at a docking station.

[0060] This is particularly advantageous if, in addition to docking, the transport device and / or the received module are to be aligned simultaneously.

[0061] In addition, the transport device according to the present invention can advantageously be further improved in that the transport device is configured to move to a module loading station, which is configured to provide module units and / or store module units, in particular to equip the transport device with one or more module units at the module loading station and / or to exchange one or more module units of the transport device at the module loading station.

[0062] The transport device according to the invention can also advantageously be developed in that each of the one or more modular units comprises a machine tool accessory device which can be used on a machine tool.

[0063] In particular, the transport device according to the present invention can be further advantageously improved in that the machine tool accessory device comprises: a loading and unloading device configured to load and unload pallets and / or workpieces on the machine tool; an industrial robot, in particular an industrial robot for handling tools, workpieces and / or workpiece pallets; a tool changing device for performing tool changes on the machine tool; a tool storage device or a tool magazine for providing tools on the machine tool; a tool storage device with a tool changing device for providing tools on the machine tool and performing tool changes on the machine tool; a workpiece changing device for performing workpiece changes on the machine tool; a chip collection device for collecting chips in the machine tool or the working space of the machine tool; a chip removal device for discharging chips from the machine tool or the working area of ​​the machine tool; a workpiece loading device for loading workpieces on the machine tool, in particular for bar loading on a machine tool configured as a lathe carrier; a coolant supply device for supplying coolant on the machine tool; a coolant exchange device for exchanging coolant on the machine tool; a workpiece measuring device for measuring the workpiece on the machine tool, in particular a measuring device with an optical, electromagnetic and / or tactile measuring device; a workpiece deburring device for deburring the workpiece on the machine tool; a tool setting device for setting the tool on the machine tool; a tool dressing device for dressing the tool on the machine tool, in particular a dressing device for dressing the grinding tool on the machine tool; a tool sharpening device for sharpening the tool on the machine tool; a suction device for suction in the working space of the machine tool; a workpiece receiver for receiving the workpiece; a transport device for conveying the workpiece, in particular a transport device comprising one or more conveyor belts or conveyor belt sections; a spare parts replacement device for replacing accessories or spare parts on the machine tool.

[0064] Furthermore, the transport device according to the present invention can also be advantageously improved to one or more modular units including: a loading and unloading module unit with a loading and unloading device, the loading and unloading device being configured to load and unload pallets and / or workpieces on the machine tool; a robot module unit with an industrial robot, in particular a robot for handling tools, workpieces and / or workpiece pallets; a tool replacement module unit with a tool replacement device for replacing tools on the machine tool; a tool storage module unit with a tool storage device or a tool library for providing tools on the machine tool; a tool storage and tool replacement module unit with a tool storage device and a tool replacement device for providing tools on the machine tool and replacing tools on the machine tool; a workpiece replacement module unit with a workpiece replacement device for replacing workpieces on the machine tool; a chip collection module unit with a chip collection device for collecting chips in the machine tool or the working space of the machine tool; a chip removal module unit with a chip removal device for removing chips from the machine tool or the working space of the machine tool; a workpiece loading module unit with a workpiece loading device for loading workpieces on the machine tool, in particular a workpiece loading device of a rod loader used on a machine tool configured as a lathe. a coolant supply module unit with a coolant supply device for supplying coolant to the machine tool; a coolant exchange module unit with a coolant exchange device for exchanging coolant on the machine tool; a workpiece measuring module unit with a workpiece measuring device for measuring a workpiece on the machine tool, in particular a workpiece measuring device with an optical, electromagnetic and / or tactile measuring device; a workpiece deburring module unit with a workpiece deburring device for deburring a workpiece on the machine tool; a tool mounting module unit with a tool mounting device for mounting a tool on the machine tool; a tool dressing module unit with a tool dressing device for dressing a tool on the machine tool, in particular a tool dressing device for dressing a grinding tool on the machine tool; a tool sharpening module unit with a tool sharpening device for sharpening a tool on the machine tool; a suction module unit with a suction device for suctioning in the working space of the machine tool; a workpiece receiver module unit with a workpiece receiver for receiving a workpiece; a conveying module unit with a transport device for conveying workpieces, in particular a transport device comprising one or more conveyor belts or conveyor belt sections; a spare parts replacement module unit with a spare parts replacement device for replacing accessories or spare parts on the machine tool.

[0065] The system according to the invention comprises one or more transport devices according to the invention and a central control device, which is configured to be connected to the one or more transport devices, in particular via a wireless communication link, in particular via automatic remote control, and to control the plurality of transport devices.

[0066] By means of the transport device according to the invention, the production and processing of workpieces can be made more flexible. In addition, the transport device according to the invention can be used with existing manufacturing structures as well as with completely new processes for manufacturing and processing workpieces.

[0067] Furthermore, the transport device according to the invention has the distinct advantage that it is not restricted to any task within a production chain / process due to its flexible options for use.

[0068] In the following, examples of a transport device, a machine tool and a method for handling a pallet or a workpiece will be described together with their respective advantages.

[0069] An exemplary transport device is used to transport a handling device for loading and unloading a pallet and / or a workpiece to a machine tool for processing a workpiece, wherein the machine tool comprises a working spindle for receiving the tool or the workpiece and a pallet for receiving the tool or the workpiece. The machine tool is also configured to position the handling device in an area in front of a working space of the tool along a spatial direction across the area.

[0070] Since the transport vehicle can move freely on a flat surface such as a hall floor, the exemplary transport device makes it possible to completely dispense with a rail system for guiding the transport vehicle.

[0071] Additionally, this allows the vehicle and its "trajectory" to be individually adapted to the environment, thus significantly increasing the flexibility of production and logistics.

[0072] Furthermore, the exemplary transport device has a large number of interfaces at which various handling devices such as pallet changers, robots, receivers and boxes can be received, which can further increase the flexibility of the production process and in the field of logistics.

[0073] The exemplary transport device can be advantageously further improved in that it is further an unmanned transport vehicle, which comprises a platform, which comprises a plurality of receiving devices for receiving loading and unloading devices, a drive for moving the platform and a control unit for controlling the receiving devices and controlling the drives of the receiving devices and the platform.

[0074] To increase the degree of automation, the exemplary transport device is configured as an unmanned transport vehicle with appropriate control and networking, so that even multiple transport vehicles / transport devices can move in a coordinated manner.

[0075] The exemplary transport device can advantageously be further improved in that at least one receiving device is arranged on at least one side of the transport device, preferably at least one receiving device is arranged on at least two sides of the transport device, and particularly preferably at least one receiving device is arranged on each side of the transport device.

[0076] In this way, more technical devices and / or receivers can now be brought to their respective destinations with just one trip than with previously known transport vehicles.

[0077] The exemplary transport device can advantageously be further developed in that the platform also comprises an internal energy store which supplies energy, in particular electrical energy, to the receiving device, the drive and the control unit of the platform.

[0078] In this way, the transport device can be moved freely within factory floors and production or manufacturing areas without the need to provide a complex wiring system for cables for energy and / or signal transmission.

[0079] The exemplary transport device may advantageously be further developed in that the control unit further comprises a sensor unit comprising an optical, infrared and / or radar sensor for monitoring the environment of the transport device.

[0080] It is advantageous to place such sensors on unmanned transport vehicles in order to monitor the environment and detect any obstacles. This also increases the protection of workers on the shop floor.

[0081] The exemplary transport device can advantageously be further developed in that the transport device is also configured to place the handling device after it has been positioned on the machine tool.

[0082] This possibility is particularly advantageous, since the transport device does not have to remain in place together with the handling device, but can transport other handling devices, for example, while the placed handling device performs its function on the corresponding machine tool.

[0083] The exemplary transport device may advantageously be further improved in that the receiving device further comprises a connecting element which is configured for transmitting control signals and / or energy from the transport device to the handling device.

[0084] In this way, energy and signals for controlling the handling devices can be advantageously transmitted from the transport device to the handling device. This is particularly advantageous because the transport device can be in contact with a central host control system (via radio signals, WLAN, etc.), which can control all handling devices that are being moved by the transport device at the time.

[0085] The exemplary transport device may advantageously be further improved in that, when receiving the handling device, the connecting element of the receiving device of the transport device automatically establishes a connection with the handling device in order to transmit control signals and / or energy.

[0086] This eliminates manual intervention by factory workers and allows for further automation of production and logistics processes.

[0087] The exemplary transport device can advantageously be further developed in that each receiving device comprises a control device for monitoring the receiving status of the respective handling device.

[0088] The exemplary transport device may advantageously be further improved in that the control device is configured to monitor control signals, energy transfer and / or locking states of the handling device received at the corresponding receiving device.

[0089] This is particularly advantageous in order to avoid possible malfunctions of the handling device and to ensure the safety of the handling device on the transport device and of workers in the vicinity of the handling device.

[0090] Furthermore, a faulty receiver or a faulty component (damaged contacts of a connection for energy and / or signal transmission, etc.) can be located faster and can therefore be replaced / repaired faster.

[0091] The exemplary transport device may advantageously be further improved in that the drive comprises a plurality of wheels for moving the platform, the wheels being individually controllable and / or steerable.

[0092] It is particularly advantageous if the wheels can be controlled or steered separately from one another as individual units, whereby the maneuverability and maneuverability of the transport device can be significantly improved compared to a vehicle having only steerable axles.

[0093] The exemplary transport device can advantageously be further improved in that the wheels are configured as individually controllable Mecanum wheels.

[0094] The biggest advantage of the Mecanum wheel is that the steering of the wheels can be completely omitted, and the direction of travel or the direction of rotation of the transport device can be controlled only by the rotation direction of each wheel. The function of the Mecanum wheel is premised on the fact that each wheel is always in full contact with the ground.

[0095] The exemplary transport device may advantageously be further improved in that the drive comprises a large number of chains for moving the platform.

[0096] In addition to classic wheels and Mecanum wheels, chains can also be used to move transport devices. This can be advantageous when the transport device has to carry large loads and these loads must / should be distributed over the largest possible area of ​​the ground on which the transport device travels.

[0097] The exemplary transport device can advantageously be further developed in that the handling device is a pallet changer for changing pallets in a machine tool and the pallet changer is configured for changing pallets in a workspace and / or at a setup station of a machine tool.

[0098] In particular, it is advantageous that the handling device that can be transported by the transport device is a pallet changer. In this way, various pallets can be transported to the various machine tools and can be inserted or exchanged with only one pallet changer and one transport device.

[0099] The exemplary transport device described can advantageously be further developed in that the pallet changer has a receiving claw or a fork-like receiver for receiving the pallet.

[0100] The exemplary transport device may advantageously be further developed in that the handling device is an industrial robot for handling and / or processing workpieces.

[0101] In addition to or instead of a pallet changer, however, a transport device may also be particularly advantageous for receiving a robot (industrial robot) and transporting it to a machine tool or a processing station where the robot is required. This may be used for workpiece handling tasks (e.g. mounting a workpiece on a table / pallet or work spindle, exchanging tools on a work spindle or tool holder, post-processing workpieces for burrs etc.). The areas of application of robots in the field of machining are manifold.

[0102] The exemplary transport device can advantageously be further developed in that its receiving device is also designed to receive material carriers, in particular cages with unfinished and / or finished components, and to receive exchange fixtures.

[0103] The exemplary transport device can advantageously be further improved in that the receiving devices of the transport device are designed in a uniform manner.

[0104] It is particularly advantageous that the transport device can uniformly, that is to say standardizedly, make available to it receiving devices, such as pallet changers, robots, material pallets, cages, etc., which can be received by the handling devices. In this way, all conceivable handling devices can be provided with one and the same interface, so that a connection for energy and / or signal transmission can be automatically established regardless of which handling device is to be received.

[0105] An exemplary machine tool for machining a workpiece comprises: a working spindle for receiving a tool or a workpiece; a pallet for receiving the tool or the workpiece; and a loading and unloading device for loading and unloading the pallet and / or the workpiece, wherein the loading and unloading device can be positioned on the machine tool by an exemplary transport device.

[0106] This offers many advantages, since the transport device can bring any handling devices that are needed or even necessary for the respective step to be processed to the machine tool. The machine tool, in particular the device with the workpiece and / or the tool, can achieve a higher degree of automation and the autonomous working time of the machine tool can be extended.

[0107] The exemplary machine tool may advantageously be further developed in that it further comprises a positioning device for spatially positioning the handling device relative to the machine tool when the handling device is placed on the machine tool by the transport device.

[0108] Precise positioning of handling devices is not only advantageous but also necessary, for example when pallets have to be placed very precisely on pallet racks or when assembly operations or post-processing of devices have to be carried out with small tolerances, for example under robot control.

[0109] The exemplary machine tool may advantageously be further developed in that the positioning device comprises a connecting element which is configured for transmitting control signals and / or energy from the machine tool to the positioned handling device.

[0110] In this way, energy and signals for controlling the handling device can advantageously be transmitted from the machine tool to the handling device and thus independently of the transmission of energy or signals on a part of the transport device.

[0111] The exemplary machine tool may advantageously be further improved such that, when the machine tool is placed by a transport device, a connecting element of a positioning device of the machine tool automatically establishes a connection with the loading and unloading device to transmit control signals and / or energy.

[0112] In this way, the degree of automation can advantageously be further increased and manual intervention by workers can be eliminated.

[0113] An exemplary method for operating a pallet and / or workpiece on an exemplary machine tool comprises the following steps: receiving a loading and unloading device for loading and unloading a pallet and / or workpiece via an exemplary transport device from a storage station; transporting the loading and unloading device from the storage station to the machine tool with the aid of the transport device; positioning the loading and unloading device on the machine tool with the aid of the transport device, in particular in front of a working space of the machine tool; and operating the pallet and / or workpiece on the machine tool with the aid of the transport device.

[0114] The exemplary method can advantageously be further developed in that during the step of receiving the handling device a connection is established between the transport device and the handling device by means of a connecting element of the transport device, via which connection control signals and / or energy are transmitted from the transport device to the handling device.

[0115] The exemplary method can advantageously be further improved in that the step of handling the pallet and / or the workpiece is preceded by the step of placing the handling device in front of the working space of the machine tool by means of the transport device and positioning the handling device by means of the positioning device of the machine tool.

[0116] The exemplary method can advantageously be further improved in that, when the handling device is placed, a positioning device of the machine tool establishes a connection between the machine tool and the handling device by means of a connecting element of the machine tool, via which connection signals and / or energy are transmitted from the machine tool to the handling device.

[0117] The exemplary method can advantageously be further improved in that, prior to the step of operating the pallet and / or the workpiece, the step of disconnecting the connection for transmitting control signals and / or energy from the transport device to the handling device and further moving the transport device from the machine tool to a storage station or another machine tool is performed.

[0118] The exemplary method can advantageously be further improved in that, after the step of operating the pallet and / or the workpiece, the following step is performed: receiving the loading and unloading device from the positioning device of the machine tool via the transport device, wherein the connection of the control signal and / or energy transmitted from the transport device to the loading and unloading device is disconnected during the receiving of the loading and unloading device, and the transport device with the loading and unloading device is moved further from the machine tool to a storage station or another machine tool.

[0119] The exemplary method can advantageously be further improved in that a central computer unit is connected to the control units of the transport devices for controlling the individual steps, the central computer unit being configured to be connected to and to control simultaneously a plurality of transport devices.

[0120] By using the exemplary transport device, the flexibility in the production process can be significantly improved and a quick response to production changes can be achieved.

[0121] Other aspects of the above-described aspects and their advantages as well as advantages and more specific embodiments are described by the following description and illustration of the drawings, which are in no way limiting. BRIEF DESCRIPTION OF THE DRAWINGS

[0122] Figure 1 Schematically shows an embodiment of a transport device according to the invention having a receiving device for receiving a loading and unloading device;

[0123] Figure 2a A detailed view of a receiving device for receiving a handling device is schematically shown;

[0124] Figure 2b A further embodiment of a receiving device for receiving a transport device for a loading and unloading device is schematically shown;

[0125] Figure 2c A further embodiment of a receiving device is schematically shown, this time without a driver;

[0126] Figure 2d Schematically illustrates a connector that can transfer media, energy, and signals from a receiving device to a receiving device;

[0127] Figure 3 An embodiment of a transport device according to the invention is schematically shown, which transport device exemplarily has a pallet changer and a pallet;

[0128] Figure 4a Schematically shows an embodiment of a transport device according to the invention during a pallet change, the transport device being rotated;

[0129] Figure 4b Schematically shows a transport device according to an embodiment of the invention with a fork pallet changer;

[0130] Figure 5 Schematically shows an embodiment of a transport device according to the invention during a pallet change, the transport device remaining in its position and the pallet changer being rotated as shown in FIG. Figure 3 H-shaped pallet changer shown;

[0131] Figure 6 Schematically shows an embodiment of a transport device according to the invention during a pallet change, the pallet changer being constructed as a double H and being able to rotate as shown;

[0132] Figure 7 Schematically shows an embodiment of a transport device according to the invention during a pallet change, the pallet changer being able to receive pallets with a partition wall at 60°;

[0133] Figure 8 An embodiment of a transport device with a displaceable pallet changer according to the invention is schematically shown;

[0134] Figure 9a Schematically shows an embodiment of a transport device according to the invention comprising a pallet changer with an adjustable fork width;

[0135] Figure 9b An embodiment of a transport device according to the invention is schematically shown, the transport device comprising a pallet changer with adjustable fork length;

[0136] Fig.10 An embodiment of a transport device according to the invention is schematically shown, the transport device having a pallet changer for a multi-layer pallet deposit;

[0137] Fig.11 A further embodiment of a transport device according to the invention is schematically shown, which transport device has a pallet changer for a multi-layer pallet deposit;

[0138] Fig.12aSchematically shows a transport device according to the invention when loading a circular storage of a machine tool with a pallet;

[0139] Figure 12b Schematically shows a transport device according to the invention when loading an intermediate storage device, by docking it on a receiver of the intermediate storage device, on which pallets or pallet racks can be provided to a feed device;

[0140] Fig.12c Schematically shows the transport device according to the invention when loading a pallet changer;

[0141] Fig.13 An exemplary embodiment of a linear storage for pallet operation with a plurality of setup and storage stations and a plurality of machine tools is schematically shown;

[0142] Fig.14a Schematically illustrates the positioning of a pallet changer at a storage station by means of a conical receiver;

[0143] Fig.14b The positioning of a pallet changer with roller technology in a storage station is schematically shown;

[0144] Fig.15 The positioning of the transport device according to the invention on the machine tool by means of a prism is schematically shown;

[0145] Fig.16a Schematically shows the positioning of a transport device according to the invention on a machine tool by means of a conical receiver;

[0146] Fig.16b A further embodiment of a transport device during positioning and establishment of an energy and / or signal connection by means of a conical receiver according to the invention is schematically shown;

[0147] Fig.16c A transport device according to the invention is schematically shown, wherein a pallet support with a pallet is docked to a pallet support receiver by means of the transport device;

[0148] Fig.16d Another embodiment of a transport device with a pallet support according to the present invention is schematically shown;

[0149] Fig.16e Another embodiment of a transport device with a pallet support according to the present invention is schematically shown;

[0150] Fig.16f Another embodiment of a transport device with a pallet support according to the present invention is schematically shown, similar to the embodiment of the present invention. Fig.16e known in;

[0151] Figure 16g Show Fig.16f the state of the transport device according to the present invention when only the pallet is received by the receiver;

[0152] Figure 16h Shows Fig.16f the state of the transport device according to the present invention when the pallet support together with the pallet is received by the receiver;

[0153] Fig.16i shows the configuration of a receiver of a machine tool for receiving a pallet holder and / or a pallet;

[0154] Fig.16j Shows Fig.16i The construction of the receiver of the machine tool shown in , but from a different angle to better understand the various components of the receiver;

[0155] Fig.17a An embodiment of a transport device according to the invention is schematically shown, in which the height of the transport device according to the invention is adjusted by means of lifting cylinders;

[0156] Fig.17b A further embodiment of a transport device according to the invention is schematically shown, in which the height of the transport device according to the invention is adjusted by means of lifting cylinders and a suspension;

[0157] Fig.18a An embodiment of a transport device having a pallet support and a pallet according to the present invention is schematically shown;

[0158] Fig.18b Schematically shows another embodiment of a transport device having a pallet support and a pallet according to the present invention;

[0159] Fig.19 Schematically shows an embodiment of a transport device according to the invention, wherein the height adjustment of the receiving device is used to accommodate a loading and unloading device of the transport device according to the invention;

[0160] Fig.20a A further embodiment of a transport device according to the invention is schematically shown, the transport device having a pallet changer and a cover for protecting the transported pallets;

[0161] Fig.20b A further embodiment of a transport device according to the invention is schematically shown, which transports a pallet into a working space of a machine tool;

[0162] Fig.20c A further embodiment of a transport device according to the invention is schematically shown, which transports a pallet into a working space of a machine tool;

[0163] Fig.21a Schematically showing a shop floor / plate with cones arranged in a grid for placing transport devices or loading and unloading devices;

[0164] Figure 21b Another option of providing cones on the underside of the transport device for positioning is shown;

[0165] Fig.22a A further embodiment of a transport device according to the invention is schematically shown, which transport device has an industrial robot as a loading and unloading device;

[0166] Figure 22b Two more specific exemplary embodiments of a transport device according to the invention with a robot for handling a tool or a workpiece are schematically shown;

[0167] Fig.23 A further embodiment of a transport device according to the invention is schematically shown, which transport device has an industrial robot and a measuring unit for tool testing;

[0168] Fig.24a A further embodiment of a transport device according to the invention is schematically shown, which transport device has an industrial robot and a measuring and testing device for component testing;

[0169] Figure 24b It shows that Fig.24a A detailed view of an embodiment of a transport device according to the invention shown;

[0170] Fig.25 A further embodiment of a transport device according to the invention is schematically shown, the transport device having an industrial robot and an attachment for post-processing components;

[0171] Fig.26 A further embodiment of a transport device according to the invention is schematically shown, which transport device has an industrial robot and a unit for grinding and dressing tools;

[0172] Fig. 27 A further embodiment of a transport device according to the invention is schematically shown, the transport device having an industrial robot and a magazine for carrying various tools;

[0173] Fig.28 An embodiment of a transport device according to the invention is schematically shown in FIG. 21 , when an industrial robot interacts with a working spindle of a machine tool (for example, for tool change);

[0174] Fig.29aA further embodiment of a transport device for chip removal according to the invention is schematically shown at a chip cart of a machine tool;

[0175] Fig.29b Schematically shows another embodiment of a transport device for chip removal according to the present invention, which has a lifting mechanism and an additional chip receiver;

[0176] Fig.29c A further embodiment of a transport device is schematically shown, in which a module for capturing chips is accommodated on the upper side of the transport device;

[0177] Fig.30 A further embodiment of a transport device according to the invention is schematically shown, which is used for replenishing and refilling a machine tool with cooling lubricant;

[0178] Fig.31 A further embodiment of a transport device according to the invention for conveying and inserting workpieces into a machine tool for rotation is schematically shown;

[0179] Fig.32a A further embodiment of a transport device according to the invention is schematically shown as a material storage device for a machine tool having a gantry loader;

[0180] Figure 32b A further embodiment of a transport device according to the invention is schematically shown as a material storage device for a machine tool having a robot for exchanging workpieces in the machine tool;

[0181] Fig.33a A further embodiment of a transport device according to the invention is schematically shown as a conveyor belt between two machine tools with a gantry loader;

[0182] Fig.33b Schematically shows the Fig.33a A detailed view of the transport device according to the invention is shown;

[0183] Fig.33c Schematically shows another embodiment of a transport device with a foldable conveyor belt according to the present invention;

[0184] Fig.34 A further embodiment of a transport device for a working space of an auxiliary suction machine tool according to the present invention is schematically shown;

[0185] Fig.35 A further embodiment of a transport device according to the invention is schematically shown, the transport device having a robot and an application device for additive manufacturing received by the robot;

[0186] Fig.36 A further embodiment of a transport device with a tool changer, a changer-storage combination or a tool magazine according to the invention is schematically shown;

[0187] Fig.37 Schematically shows another embodiment of a transport device for transporting a milling head to a machine tool according to the present invention;

[0188] Fig.38 A further embodiment of a transport device according to the invention is schematically shown, which has a workpiece receiver for large parts;

[0189] Fig.39 A further embodiment of a transport device according to the invention is schematically shown as part of a various mechanical concepts of a machine tool;

[0190] Fig.40a An embodiment of a transport device according to the invention is schematically shown, in which a pallet is received on a control machine;

[0191] Fig.40b A further embodiment of a transport device according to the invention is schematically shown as part of various other machine tool concepts for a machine tool;

[0192] Fig.40c A further embodiment of a transport device according to the invention is schematically shown as part of various other machine tool concepts for a machine tool;

[0193] Fig.41 Schematically shows a further embodiment of a transport device according to the invention carrying a plurality of pallets or workpieces interacting with a stationary industrial robot for processing the workpieces (on the left), and a further embodiment of a transport device according to the invention having a milling robot (on the right);

[0194] Fig.42 A further embodiment of a transport device according to the invention is schematically shown, which transport device is part of a machine concept of a machine tool having a frame design and a plurality of transport devices;

[0195] Fig.43 Another embodiment of a transport device according to the present invention is schematically shown, wherein a plurality of transport devices are connected to each other via couplings to form a unit;

[0196] Fig.44 A further embodiment of a transport device according to the invention is schematically shown during the positioning and establishment of an energy and / or signal connection below a machine tool in a machine frame design;

[0197] Fig.45Schematically shows a (modular) machine tool comprising a plurality of transport devices according to the invention having different subtasks;

[0198] Fig.46 A further embodiment of a transport device according to the invention is schematically shown, which has a tailstock attachment for turning a workpiece;

[0199] Fig.47 Schematically shows various transport devices according to the invention having different tasks in a production chain;

[0200] Fig.48 The method according to the invention for processing a pallet and / or a workpiece on a machine tool is schematically illustrated.

[0201] DETAILED DESCRIPTION OF THE DRAWINGS AND PREFERRED EMBODIMENTS OF THE INVENTION

[0202] Hereinafter, examples or exemplary embodiments of the present invention are described in detail with reference to the accompanying drawings. The same or similar elements in the drawings may be denoted by the same reference numerals, but sometimes by different reference numerals.

[0203] It should be emphasized that the present invention is in no way restricted or limited to the exemplary embodiments described below and their design features, but also comprises modifications of the exemplary embodiments, in particular those modifications which are included within the scope of the independent claims by modifying one or more of the features of the described examples or by combining one or more features of the described examples.

[0204] Figure 1 An exemplary embodiment of a transport device 100 according to the invention is schematically shown, which has a receiving device 40 for receiving a handling device.

[0205] Figure 1 An embodiment of a transport device 100 according to the invention is shown in FIG. In a particularly preferred embodiment, the transport device 100 is configured as an unmanned transport vehicle (FTF) of an unmanned transport system (FTS).

[0206] Here, the transport device 100 comprises a chassis 10 (platform) and a drive 20. The chassis is configured to accommodate an energy storage 30, wherein an energy storage 30 such as a battery is preferably used for this purpose. However, the energy storage 30 is not limited to electrical energy, so that if necessary, mechanical energy can also be stored in the form of, for example, a pressurized fluid or deformation energy (e.g. elastic elements). Further energy storage, such as hydraulic or pneumatic devices, can also be accommodated in the chassis 10.

[0207] Furthermore, the transport device 100 according to the invention particularly preferably comprises wheels 20 for moving the transport device 100, for example in a factory hall. These wheels 20 can be connected to a central drive motor via a transmission chain (not shown), but they can also each have their own drive motor (for example one or more electric motors) which can be individually controlled by the internal controller 35.

[0208] Furthermore, the wheels 20 can be steered individually, which enables an extremely flexible driving mode and positioning of the transport device 100 according to the invention (e.g. turning on site, driving sideways, etc.). However, the wheels 20 can also set the transport device 100 in a rotational movement by movement in the opposite direction in order to achieve a positioning of the transport device 100.

[0209] Alternatively, chains or crawler undercarriages or a combination of wheels 20 and chain / crawler undercarriages may be used instead of wheels 20 in order to further increase the mobility or flexibility of the transport device 100 according to the invention.

[0210] A particularly preferred embodiment of the wheels 20 is a so-called Mecanum wheel. By simply controlling the direction of rotation of each wheel 20, they allow rotational movement of the transport device 100 on site, movement of the transport device 100 in the longitudinal direction (forward, backward) and in the transverse direction (sideways movement), as well as translational movement at an angle of 45° relative to the longitudinal or transverse direction.

[0211] By using Meganum wheels, it is advantageously possible to completely dispense with the steering mechanism of the wheels 20 and to obtain a corresponding positioning movement of the transport device 100 solely by means of the internal controller 35 .

[0212] Furthermore, the chassis 10 is preferably configured as a platform carrier, which includes various receiving devices 40 for loading and unloading devices (eg, automation components or transport components, etc.).

[0213] The platform carrier particularly preferably comprises n+1 receiving devices 40 for various loading and unloading devices, wherein the receiving devices 40 are particularly preferably arranged over the entire platform carrier. In particular, all sides (spatial planes) of the transport device 100 are preferably used to provide receiving devices 40 (see also Figure 1 ). Thus, for example, more handling devices can be received and moved than with commercially available transport vehicles such as forklifts or electric forklifts.

[0214] However, it should be noted that the number and / or distribution of the receiving devices 40 on the transport device 100 is not limited to Figure 1For example, only a single receiving device 40 may be disposed on the top of the transport device 100 , and / or two or more receiving devices 40 may be disposed on one or more sides of the transport device 100 .

[0215] Furthermore, the size and nature of the receiving devices 40 arranged on the upper side of the transport device 100 may be different from the receiving devices 40 on the sides of the transport device 100. This may be advantageous, for example, when relatively light handling devices are to be accommodated on the sides of the transport device 100, with heavier handling devices preferably being positioned above the axle / drive 20 of the transport device 100.

[0216] Furthermore, for example, a smaller receiving device 40 on the side of the transport device 100 can also have a smaller number of connections than a larger receiving device 40 on the upper side of the transport device 100 (see the description of FIG. 2 ).

[0217] Preferably, the transport device 100 is equipped with a unit for optically monitoring its environment (not shown here) and the coupled handling device. The device is preferably coupled to the control software of the internal controller 35 and allows actions to be taken based on detections.

[0218] In addition, preferably, further sensors are installed in the transport device 100, which sensors make it possible to monitor the environment and components in a suitable manner. For example, infrared or radar sensors can be used.

[0219] Figure 2a Schematically shown is a detailed view of a receiving device 40 for receiving a handling device (or any other device).

[0220] The receiving device 40 is preferably designed to mechanically fix the handling device for signal transmission and energy transmission to the corresponding handling device. Depending on the handling device, only one transmission option or any combination thereof can be used.

[0221] Furthermore, the receiving device 40 is particularly preferably configured to be automated. The transport device 100 can thus be independently exchanged for a handling device and can thus be used flexibly for a wide variety of tasks. In the case of an automated embodiment of the transport device 100, a quick-release coupling (e.g. a front loader quick-release coupling) is also particularly suitable for automatically establishing a connection for energy transmission or signal transmission between the transport device 100 and the handling device.

[0222] like Figure 2aAs shown, for example, a conical section 41 of the receiving device 40 can be provided in order to align and fix the corresponding handling device relative to the receiving device 40. In order to align and simultaneously fix the handling device on the receiving device 40 in this way, a clamping cone can advantageously be used here, as is known from receivers for pallets in machine tools, for example.

[0223] Furthermore, the receiving device 40 can have an interface 42 for transmitting mechanical energy (e.g., the rotation of an electric motor provided in the transport device 100 to the handling device) and / or electrical energy, hydraulic and / or pneumatic energy. In addition, however, operating media such as cooling lubricants can also be fed to the handling device, for example, from the conveying device received by the receiving device 40, respectively. For this purpose, for example, corresponding fixing devices and electrically conductive and / or fluidic connecting devices (fixing devices and connecting devices 43) can be provided.

[0224] Furthermore, the interface 42 may advantageously include means for contactlessly transmitting signals between the receiving device 40 and the handling device of the transport device 100. The means for contactless signal transmission may be configured, for example, as a transmitter / receiver coil or an inductive coupler with an I / O link for contactless transmission of signals.

[0225] The device may be arranged at any point on the interface 42 or even outside the interface 42 , the device for contactless signal transmission being advantageously arranged in the center of the interface 42 .

[0226] At this point it should be noted that, for example, the conductive and / or fluid connections do not necessarily have to be provided on the interface 42. They can also be provided outside the interface 42, for example, in order to separate / isolate the transmission of rotational energy from the transmission of electrical / fluid energy.

[0227] Furthermore, the receiving device 40 is particularly preferably configured to be uniform or standardized, so that any component or handling device having a correspondingly uniformly configured receiving element can be attached and essentially the same quick release coupling can be used for energy or signal transmission.

[0228] Furthermore, the receiving device 40 preferably has the option of monitoring the status of the received handling device. Preferably, this includes monitoring the clamping of the coupled handling device (for example at the clamping cone), its status and signals as well as its energy transfer.

[0229] When monitoring the clamping state, preferably a contact control or a clamping control in the receiving device 40 can be used, for which purpose the contact control preferably determines the state via an electrical signal or alternatively uses air blowing.

[0230] For example, the transport device 100 can receive the following handling devices: pallet changers (e.g. known from machine tools), robots, material pallets, cages and other material handlers, storage stations for robot accessories (e.g. exchange fixtures), deburring stations, cleaning stations, tools for machine tools, forklifts, etc. For more details, please refer to Figures 3 to 11 and Figure 22 to Fig.36 .

[0231] It should be pointed out here that the possible handling devices that the receiving device 40 of the transport device 100 can receive are by no means covered by the above list.

[0232] Furthermore, the transport device 100 is advantageously configured such that the handling devices may be combined with one another as desired, allowing for greater flexibility for specific applications.

[0233] The internal controller 35 of the transport device 100 preferably includes its own control software, which can control and monitor the travel and transport movements. For example, the control software can be extended by individual software modules required for individual components or handling devices. For example, this can be an addition to the robot control but also an addition to the control of the pallet changer.

[0234] Figure 2b A further embodiment of a receiving device 40 of a transport device 100 for receiving a handling device (or any other device) is schematically shown.

[0235] Here, the receiving device 40 comprises at least one recess 44 (e.g. a milled recess or hole) through which a bolt 48 of a device (e.g. a handling device, a tray holder 350 or any other device) can be accommodated. In this case, the recess 44 has a greater extent than, for example, the diameter of the bolt 48, so that the bolt 48 can be displaceably mounted on the bottom of the recess 44. The recess 44 can also have at least one receiving surface (for supporting the received device) through which the device can be accommodated.

[0236] It should already be noted here that a recess 44 is provided on the device and a bolt 48 for it is provided on the receiving device 40. Furthermore, it should be noted that in addition to the recess 44 / bolt 48 combination, other shape pairings are also conceivable for accommodating the device on the receiving device 40, such as prisms and cones. The options mentioned and described herein are not to be regarded as exclusive.

[0237] Furthermore, the receiving device 40 can have a device 46 for centering the device received by the receiving device 40 (here the tray holder 350) relative to the transport device 100 or the receiving device 40. This is particularly advantageous for compensating for possible inaccuracies in the positioning of the received device on the receiving device 40 by means of the transport device 100.

[0238] The reception of the exemplary tray holder 350 on the receiving device 40 and, if necessary, the centering or alignment by means of the centering device 46 is carried out as follows:

[0239] First, the transport device 100 is moved together with the corresponding receiving device 40 (and a certain positioning accuracy) under the device to be received (here, for example, the tray support 350). Here, the tray support 350 can be pressed on the pressing piece 45 provided on the side of the receiving device 40 like the centering device 46. The pressing piece 45 ensures that the tray support 350 is biased relative to the receiving device 40 in the opposite direction to the centering device 46.

[0240] The transport device 100 is then raised (e.g., by Fig.17a and 17b The mechanism shown in the figure) causes the bolt 48 to be screwed into the recess 44, and the transport device 100 is further raised until the pallet support 350 is completely placed in the recess 44 or on the upper side thereof.

[0241] The transport device 100 is then raised further until the pallet support 350 is lifted out of its receiver (not shown here) and is thereby fully supported by the transport device 100 .

[0242] After this, the tray support 350 can now be placed in the center of the receiving device 40 (and thus also fixed). In this case, for example, the drive 47 can be activated to move the slidably mounted recess 44, for example, in the direction of the centering device 46 on a sliding or ball guide.

[0243] The drive moves the tray holder 350, which was previously floatingly mounted on the receiving device 40 (or in and / or on the recess 44), in the direction of the centering device 46 and presses it against the centering device 46 (and possibly more strongly against the pressing piece 45) so that the tray holder 350 is aligned on the centering device 46 (for example, the centering device 46 includes one / two prisms and the corresponding pins / bolts of the tray holder 350 are aligned with the one or more prisms).

[0244] The drive 47 can have two end positions: on the one hand, when the drive 47 has displaced / moved the recess as far as possible in the direction of the centering device 46, the tray support 350 is fixed and aligned. On the other hand, when the drive 47 has moved the recess 44 to the maximum possible distance from the centering device 47, the tray support 350 can be moved freely and other elements can be used (for example, using a socket on the machine tool, a setting station, a magazine station, etc.). In this state, the tray support 350 can be transferred to a receiver or received by a receiver accordingly.

[0245] The pallet holder 350 can now be fastened to the receiving device 40 in the following manner: On the one hand, the centering device 46 itself comprises a fastening section, through which the pallet holder 350 is passed and locked in this fastening section.

[0246] Alternatively, the recess 44 is moved by the drive 47 in the direction of the centering device 46 so far that at least one bolt 48 of the tray support 350 is pressed against the side of one of the recesses 44 facing away from the centering device 46 (see Figure 2b Thus, the tray support 350 is fixed relative to the receiving device 40.

[0247] Furthermore, the tray holder 350 can be fixed to the receiving device 40 by pressing the tray holder 350 against the pressure piece 45 on the side of one of the recesses 44 facing away from the centering device 46 (see Figure 2b center image).

[0248] It should be noted here that all the options described above for fixing the tray holder 350 relative to the receiving device 40 can also be combined with each other. In addition, it should be noted that the above-mentioned fixing options should not be understood as exclusive; other options can also be considered here.

[0249] It should also be noted that the drive 47 is not absolutely necessary to fix or secure the tray support 350. Instead, other options for centering the tray support 350 relative to the receiving device 40 of the transport device 100 may also be used.

[0250] Figure 2c A further embodiment of a receiving device 40 is schematically shown, this time without a driver 47 .

[0251] Here, the receiving device 40 again has at least one recess 44 and a pressure piece 45, wherein the at least one recess 44 can no longer be positioned relative to the transport device 100 (for example, possibly by means of a pressure piece 45). Figure 2b Description of drive 47 in ).

[0252] Instead, only the pressure piece 45 serves as a biasing element, which presses the tray support 350 against the at least one recess 44, thereby relative to the receiving device 40 (see Figure 2c The tray support 350 is fixed (and aligned to a certain extent) by the transport device 100. When the tray support 350 is moved by the transport device 100, there is a relative position of the tray support 350 relative to the receiving device 40.

[0253] However, if the tray support 350 is to be transferred to a receiver, the tray support 350 is aligned (mechanically) with the receiving container by means of the alignment element 351 as the tray support 350 approaches the receiver, while the pressure block 45 is compressed (see Figure 2c left image).

[0254] Figure 2d A connector 70 is schematically shown which is capable of transmitting media, energy and signals from the receiving device 40 to a receiving device (e.g., a loading and unloading device, a tray holder 350 or any other device), thereby automatically establishing a corresponding connection between the receiving device 40 and the receiving device.

[0255] The connector 70 is characterized in that it is configured in such a way that it can also compensate for any positioning errors of the transport device 100 .

[0256] For this purpose, the connector 70 also has a (spring-loaded) pressure piece 71, which biases the floating connector body 75 towards the connector fixing 72, wherein there may also be a mechanical stop 73, against which the connector body 75 is biased. The mechanical stop 73 can be configured, for example, as a prism, which additionally allows for alignment of the connector body 75.

[0257] When the transport device 100 is moved under the device and is lifted to receive the device, due to the floating mounting and the conical shape of the connector body 75, the connector 70 can be inserted into position and aligned in a correspondingly formed recess of the (conical) pallet support 350 (or another device) so that the connection interface 74 of the connector 70 can establish a connection with a corresponding counterpart on the pallet support 350. Conversely, the connection of the connector 70 (with the connection interface 74) can of course be detached again from the pallet support 350 by lowering the receiving device 40 relative to the received device.

[0258] Figure 3 An exemplary embodiment of a transport device 100 according to the invention is schematically shown, which has a pallet changer 200 and a pallet 300 .

[0259] In addition to the already described elements of chassis 10, wheels 20 and receiving device 40, a double fork design (H-shaped fork; see also Figure 5 )'s pallet changer 200 and pallet 300 are taken as an example.

[0260] In this case, the loading and unloading device (pallet changer 200 ) on the front side of the transport device 100 is received by one of the receiving devices 40 and mechanically fixed accordingly, and a connection for energy and signal transmission for controlling and driving the pallet changer 200 is established.

[0261] Now, the transport device 100 according to the present invention can use the received pallet changer 200 as a loading and unloading device to move to the corresponding machine tool 1000 (not shown here) and insert the carried pallet 300 into the machine tool 1000 or exchange it with the pallet 300 already existing in the machine tool 1000.

[0262] A particular advantage of a coupled pallet changer 200 compared to a transport vehicle having only one fork, in particular in the case of a transport device 100 receiving a plurality of pallet changers 200, is that the necessary displacement movements when changing pallets are avoided or reduced.

[0263] The pallet changer 200 preferably has corresponding receiving elements for the receiving device 40 of the transport device 100, including receiving elements for mechanical fixing, positioning, signal transmission and energy transmission. In addition, the pallet changer 200 should be configured to match the machine tool to be automated.

[0264] The pallet changer 200 preferably comprises n+1 receivers (receiving claws or fork-shaped receivers, preferably for different pallet sizes) for the pallets 300 and is also equipped with a rotation axis to allow the pallet 300 to be changed by a rotational movement.

[0265] The pallet changer 200 preferably has another axis in order to move the pallets 300 out of their clamped position in the machine tool 1000. Typically this is the lifting axis.

[0266] The size of the fork receiver can also be adjusted so as to be able to accommodate multiple variations and sizes of pallets 300. In addition, the receiving claws can also be adapted to the size of the pallet.

[0267] Figure 4a Schematically shown is an embodiment of a transport device 100 according to the invention during a pallet change by means of two fork pallet changers 200, the transport device 100 performing a rotation (90° in the example shown, in particular other angles, 180° are also possible) to perform a change of a pallet 300.

[0268] Here, the transport device 100 moves upward to the working space of the machine tool 1000 and positions itself in front of the working space so that the pallet 300 already present in the working space can be received by the empty forked pallet changer 200 (e.g., by a pivoting movement of the transport device 100 or a telescopic mechanism for lifting the pallet 300 received at the transport device 100, or by simply moving the transport device 100). The transport device 100 is then rotated 90° so that the second pallet changer 200 can insert the transported pallet 300 into the working space of the machine tool 1000.

[0269] Figure 4b A transport device 100 according to the invention is schematically shown with an embodiment of a fork-shaped pallet changer 200 .

[0270] In particular, the fork-shaped pallet changer 200 can be designed as a lifting fork, such as is known from a forklift. A corresponding lifting mechanism provided on the fork-shaped pallet changer 200 can adjust the height of the lifting fork, thereby significantly increasing the possible use options of the lifting fork 200. However, it is not absolutely necessary to provide this lifting mechanism on the fork-shaped pallet changer 200.

[0271] Figure 5 Schematically shows an embodiment of a transport device 100 according to the invention during a pallet change, the transport device 100 remaining in its position and the pallet changer 200 being rotated as shown in FIG. Figure 3 An H-shaped pallet changer 200 is shown.

[0272] If already combined Figure 4a As described, the transport device 100 moves upward to the working space of the machine tool 1000 and positions itself in front of the working space so that the pallet 300 already present in the working space can be received by the free forks of the double-forked (or H-shaped) pallet changer 200 .

[0273] The pallet changer 200 is then subsequently rotated on the transport device 100 , so that the pallet 300 carried on the other fork can be inserted into the working space of the machine tool 1000 .

[0274] Figure 6 Schematically showing an embodiment of a transport device 100 according to the invention during a pallet change, the pallet changer 200 is constructed as a double H and can rotate as shown. Figure 5 The same sequences described in are represented identically.

[0275] Figure 7 Schematically showing an embodiment of a transport device 100 according to the invention during a pallet change, the pallet changer 200 is now able to accommodate a pallet 300 with a 60° separation and rotate as shown. Figure 5 The same sequences described in are represented identically.

[0276] Figure 6 and Figure 7 The advantage of the pallet changers 200 is that they can carry more pallets 300 and thus can provide pallets 300 to a plurality of machine tools 1000 without the transport device 100 having to immediately return to a setup station etc. to get another pallet 300. This can save a lot of time and energy.

[0277] Figure 8 An embodiment of a transport device 100 (as well as a chassis 10 and wheels 20 ) according to the invention with a displaceable pallet changer 200 is schematically shown.

[0278] Furthermore, it may be advantageous when, in addition to the possibility of rotating the pallet changer 200 , the pallet changer 200 is also movable relative to the transport device 100 so that, for example, the rotation axis of the pallet changer 200 can be freely positioned relative to the transport device 100 .

[0279] In addition, when the displacement of the pallet exchanger 200 is not only possible in Figure 8 While this occurs in one direction as shown, it may be advantageous, however, to at least in another direction extending perpendicularly to this direction in order to allow a more free positioning of the pallet changer 200 relative to the transport device 100 and / or the machine tool 1000 .

[0280] Figure 9a An embodiment of a transport device 100 according to the invention is schematically shown, comprising a pallet changer 200 with an adjustable fork width.

[0281] In this way, the pallet changer 200 can now be adapted to different sizes of pallets 300 to be transported by the transport device 100 to the machine tool 1000. This further increases the flexibility and range of applications of a single pallet changer 200.

[0282] Moreover, if Figure 9b As shown, the length of the pallet changer 200 can be varied so that it can also accommodate different sizes of pallets 300. This further increases the flexibility and range of applications of a single pallet changer 200.

[0283] Additionally, for example, a variable length pallet changer 200 may also be used to position the pallet 300 further into the machine tool 1000. This may be advantageous in certain types of machine tool 1000 designs or where, for example, the transfer device 100 cannot be moved to a position directly in front of the pallet receiver of the machine tool 1000 in certain types of designs of the machine 1000.

[0284] Fig.10 There is schematically shown an embodiment of a transport device 100 according to the invention (with chassis 10 and wheels 20) having a pallet changer 200 for multi-layer pallet storage.

[0285] By means of the receiving device 40 , a multi-layer pallet changer 200 can also be received on the transport device 100 , so that the storage of multi-layer pallets can be operated.

[0286] For this purpose, a lifting and rotating unit with a receiver for n+1 pallets 300 is preferably provided, wherein the lifting axis of the pallet changer 200 can be used for the arrangement of n+1 pallets 300 above one another. As a result, a higher packing density of pallets 300 is achieved compared to pallets 300 arranged only in a planar manner.

[0287] Fig.11 A further embodiment of a transport device 100 according to the invention (with chassis 10 and wheels 20) is schematically shown, having a pallet changer 200 for multi-layer pallet storage.

[0288] Here, the transport device 100 also has its own multi-level pallet storage (shown on the left side of the pallet changer 200 ) in order to have additional storage capacity for pallets 300 and thus to transport more pallets 300 .

[0289] Furthermore, it may be advantageous to configure the pallet changer 200 so that it can be used with a lift-slide unit to arrange n+1 pallets 300 one above the other, so that multi-layer pallet stores can also be optimally arranged on the transport device 100 .

[0290] Fig.12a The transport device 100 according to the invention is schematically shown when a circular storage container 1700 of a machine tool is loaded with a pallet 300 .

[0291] This advantageously shows that a transport device 100 equipped with a pallet changer 200 can not only directly load a machine tool 1000 (eg directly load the working space of a machine tool 1000 ) but also various storage devices with pallets 300 (eg a circular storage device 1700 of a machine tool 1000 ).

[0292] Figure 12b The transport device 100 according to the invention is shown when loading an intermediate storage 1800, in which the pallets 300 or pallet racks 350 can be loaded by docking them to the receivers 1040 (including the conical receivers (e.g. the conical receivers 1051) and the interfaces 358 of the intermediate storage 1800; see also for example Fig.16c ) and is provided to the feeding device 1850 (see Figure 12b ). For this purpose, the intermediate storage 1800 can advantageously have at least one docking location, but a plurality of docking locations can particularly advantageously be provided.

[0293] Now, the feeding device 1850 can feed the pallet 300 from the intermediate storage 1800 to a pallet receiver (e.g., a rotary table or another pallet receiver) of the machine tool 1000, or replace a pallet 300 already on the pallet receiver. This allows the transport device 100 not to remain in the intermediate storage 1800, but to be used for other tasks.

[0294] In addition to docking with the receiver 1040 by horizontal movement of the transport device 100, wherein the docking itself is also performed by horizontal movement of the tray support 350 relative to the receiver 1040, the tray 300 / tray support 350 can also be positioned above the receiver 1040 by the transport device 100 and can then be deposited on the receiver 1040 (see Figure 12b ), the receiver 1040 at Fig.16i and 16j Described in detail in.

[0295] To this end, the transport device 100 is first placed on the receiver 1040, the transport device 100 is raised (for example, by Fig.17a or 17b).

[0296] This is followed by a transport movement, in which the pallet 300 or the pallet holder 350 is pushed (for example by means of an alignment element 351) against a centering device (for example the centering device 1042, see Fig.16i and 16j ), and since the pallet support 350 is, for example, mounted in a floating manner on the receiving device 40 of the transport device 100, alignment of the pallet support 350 has already been performed at this time.

[0297] Now, the transport device 100 is lowered so that a pre-centering takes place (alignment of the pallet 300 or the pallet support 350 relative to the receiver 1040 ), because, for example, the alignment element 351 of the pallet support 350 has a V-shape.

[0298] The transport device 100 can now be lowered further until the pallet 300 or the pallet support 350 is placed on the corresponding cone (e.g., pallet cone 1044 and / or device cone 1041, see Fig.16i and 16j The cone (tray cone 1044 / device cone 1041) can now have, for example, a docking unit which can lock and secure the received tray 300 or device (here the tray holder 350) and / or also have a media interface, similar to what is already described in the example Figure 2d or Fig.16i and 16j Described in .

[0299] The transport device 100 can then be lowered further until the device / pallet 300 has been received by the receiver 1040 and the transport device 100 is free. The transport device 100 can then be moved away from the machine tool 1000 (or another unit, such as a setup station, library station, etc.), either with the pallet support 350 (and without the pallet 300) or without the pallet support 350 and pallet 300 at all, and take on another / new task.

[0300] Fig.12c The transport device 100 according to the invention is shown schematically during loading of a pallet changer 200 .

[0301] The pallet 300 or the pallet holder 350 can be docked on the pallet changer 200 by means of the already described receiver 1040 via the transport device 100 (see also Fig.16c ), so that the pallet changer 200 can load the pallet 300 onto the workbench independently of the transport device 100.

[0302] Here, in addition to docking to the receiver 1040 via the horizontal displacement movement of the transport device 100 and performing self-docking via the horizontal movement of the pallet support 350 relative to the receiver 1040, the pallet 300 / pallet support 350 can also be positioned by the transport device 100 via the receiver 1040 and then placed on the receiver 1040 (see Figure 12b The receiver 1040 is in the lower image of Fig.16i and 16j Described in detail in.

[0303] In this regard, the tray / tray holder 350 to be docked / received on the receiver 1040 is referenced as already described in Figure 12b The order described in .

[0304] It should also be pointed out here that this concept of the (intermediate) storage tray 300 is independent of the machine concept shown ( Figure 12b : A machine tool 1000 having a machine tool 1350 and a vertically arranged working spindle 1100 and a rotary table; Fig.12c : A machine tool 1000 having a machine tool 1350 and a horizontally arranged working spindle 1100 and a rotating turntable), and can therefore also be used on any other machine tool 1000.

[0305] Fig.13 Schematically, an exemplary embodiment of a linear storage for pallet handling with a plurality of setup stations 4000 and storage stations 5000 is shown, which can be served by a plurality of transport devices 100 with corresponding pallet changers 200, wherein pallets 300 can be loaded onto a plurality of machine tools 1000 accordingly. Here, for example, both the setup stations 4000 and the storage stations 5000 can be configured as multi-layer setup and storage stations.

[0306] Each transport device 100 may be loaded with a plurality of pallets 300, for example by a corresponding pallet changer 200 having a larger capacity (e.g., Figures 5 to 7 ) or by a tray storage area on the transport device 100 (such as Fig.11Furthermore, however, a plurality of pallet changers 200 can also be received by a corresponding transport device 100 in order to be able to transport a plurality of pallets 300 simultaneously.

[0307] In this way, it can be advantageously achieved, for example, that a large number of pallets 300 can be moved to any location within a production facility or an area to be automated using only one transport device 100. In addition, the transport device 100 can also deposit pallets 300 in front of, beside or behind the respective machine tool 1000 and can also retrieve them again.

[0308] In particular, the flexible use and high degree of automation of the transport device 100 allow an unlimited configuration versatility of the linear storage device. In particular, when linking a plurality of machine tools 1000 of the largest size, the possibility of freely configuring the layout of the linear storage can represent a huge advantage.

[0309] Furthermore, the transport device 100 and its monitoring of the environment by means of appropriate sensors means that a housing for a linear storage device can be omitted.

[0310] Fig.14a and 14b The schematic diagram shows the positioning of the pallet changer 200 with the conical receiver 510 at the storage station 500 ( Fig.14a ) and positioning at a storage station 500 with roller technology 520 ( Fig.14b ).

[0311] Here, the pallet changer 200 (shown at the left edge) has various interfaces for coupling the pallet changer 200 to the transport device 100 .

[0312] The conical receiver 510 can also position the pallet changer 200 in all directions. At the same time, a depth limit block of the roller technology 520 must be set at the storage station to prevent the pallet changer 200 from falling from the storage station 500. The roller technology 520 cannot guarantee the positioning of the pallet changer 200 in the direction perpendicular to the plane of the plate.

[0313] Fig.15 The positioning of a transport device 100 according to the invention on a machine tool 1000 by means of a prism 1010 is schematically shown.

[0314] Here, the transport device 100 also has a corresponding counterpart 103 (here a cylindrical counterpart) so that it can be moved into the prism together with the counterpart 103 to achieve accurate positioning in front of the machine tool 1000. However, a plurality of prisms 1010 and a corresponding plurality of counterparts 103 can be used to position the transport device 100 in front of the machine tool 1000, both in one direction (e.g., in the longitudinal direction of the transport device 100) and in a direction perpendicular thereto (e.g., in the transverse direction of the transport device 100).

[0315] It should be pointed out here that the above-described construction options for positioning the transport device 100 according to the invention are not limited to the combination of a prism 1010 and a cylindrical counterpart 103. Rather, for example, a V-shaped recess (as an alternative to a prism 1010) may also be used.

[0316] Fig.16a The positioning of a transport device 100 according to the invention on a machine tool 1000 by means of a conical receiver 1051 is schematically shown.

[0317] Here, the transport device 100 includes a height adjustment device (not shown here, see Figures 17 to 19), which allows the loading and unloading device (here for example a pallet changer 200) to be placed on the conical receiver 1051 of the machine tool, thereby achieving very precise positioning of the loading and unloading device 1000 in front of the machine tool 1000.

[0318] Furthermore, the conical receiver 1051 allows the handling device to bear loads, which is particularly advantageous when the handling device has to carry large masses during use, for example when it has to carry large masses that may exceed the carrying capacity of the transport device 100, for example a pallet 300 with particularly large or heavy workpieces 1 and the loads generated when removing the pallet 300 with the workpieces 1.

[0319] The transport device 100 preferably has a defined position in front of the machine tool 1000 or the storage station 500 / setting station. The positioning can be ensured mechanically, by signaling or a combination.

[0320] This positioning can preferably be achieved via a horizontally arranged movement (see Fig.15 ) or vertical movement of n mechanical pointers to carry out. Alternatively, rotational movement can also be used for this purpose, these movements are connected to each other or performed one after another.

[0321] In the exemplary embodiment, positioning is ensured by a vertical movement (see FIGS. 17 to 19 for details).

[0322] These pointers can be associated with the machine tool 1000, the storage station 500 or the setting station. These pointers are preferably connected to the hall floor to prevent any disturbances such as vibrations, shocks, etc. from affecting the machine tool 1000 or the station when placing the transport device 100.

[0323] The pointer is preferably configured as a cone (conical receiver 1051). This ensures positioning in all necessary planes. The conical receivers 1051 are preferably positioned so that they are not in the actual access area in front of the machine tool 1000 and therefore do not ergonomically hinder the operator when working manually.

[0324] Preferably, the conical receiver 1051 also serves to absorb vertical loads that occur during pallet changes, for example due to the pallet 300 to be removed. As a result, the transport device 100 can be configured with maximum transport capacity and does not have to absorb any additional loads that occur within a short time due to the exchange process.

[0325] In addition, the conical receiver 1051 (see also Fig.16b and 16c ) can be used to establish a connection between the machine tool 1000, the station and the transport device 100. If the connection can be used for signal transmission or energy exchange, it cannot be designed as contactless.

[0326] In addition, the above connection can also be achieved by another receiver docked by the conical lift.

[0327] Additionally, the tapered receiver 1051 may be locked and unlocked to additionally stabilize the positioning or increase its accuracy.

[0328] The vertical movement of the transport device 100 can be driven and controlled by using the medium present on the transport device 100. Each receiving device 40 can preferably be moved vertically autonomously and independently of each other (see in this regard Fig.19 ). Alternatively, the vertical movement can be performed by lifting the frame / carriage of the FTS relative to the wheels (see Figures 17 and 18).

[0329] The lifting motion can be freely moved to all necessary positions in order to find the right sequence. In an exemplary embodiment, three main positions are provided:

[0330] Lift top: The location where the transport device 100 can move.

[0331] Lift Center: The location on the cone where the handling device is placed.

[0332] Lift Bottom: Places the loading device / material handler / box directly on the floor.

[0333] Furthermore, the lifting movement can also be used to dock the transport device 100 at a charging station (not shown here) and to carry out the charging process there.

[0334] Furthermore, the handling device can be temporarily transferred directly from the transport device 100 to the machine tool 1000. In this case, the handling device is connected to the machine tool 1000 via an interface integrated in the conical receiver 1051 (see also Fig.16b and 16c ) to supply, to establish a connection with the machine tool 1000, and the transport device 100 can undertake other tasks and other loading and unloading devices. In this case, the transport device 100 is used as a feeder for temporary loading and unloading devices of various machine tools 1000.

[0335] Fig.16b A further exemplary embodiment of a transport device 100 according to the invention is schematically shown, which uses a conical receiver 1051 for positioning and establishing an energy and / or signal connection.

[0336] Shown here is a conical receiver 1051 of a machine tool, which, in addition to positioning the transport device 100 when the transport device 100 is lowered above the conical receiver 1051 by means of its lifting cylinder (see Figures 17 and 18), can also establish a connection through which energy and / or signals for controlling or monitoring the transport device 100 can be transmitted to the transport device 100, and vice versa, from the transport device 100 to the machine tool 1000.

[0337] For example, as shown here, with the aid of the conical receiver 1051, a pallet 300 or any other loading and unloading device can be precisely positioned on the machine tool 1000, and it is particularly advantageous that the transport device 100 or the received pallet 300 can be controlled without straining the internal energy storage device (not shown here) of the transport device 100 since the energy is provided by the machine tool 1000 and transmitted to the transport device 100 via the connection.

[0338] Furthermore, the transport device 100 can include a charging station at which it can replenish or renew its energy source (energy storage device 30 ; not shown here). This can be done, for example, by docking on a conical receiver 1051 .

[0339] Fig.16c Another embodiment of the transport device 100 according to the present invention is schematically shown, wherein a pallet support 350 having a pallet 300 is docked to a pallet support receiver 1040 by means of the transport device 100. The pallet support receiver 1040 may be disposed on a machine tool 1000, for example.

[0340] In particular, this embodiment is different from Fig.16a The embodiment shown, with Fig.16aThe difference is that the pallet support 350 (or another device that can be transported by the transport device 100) is docked to the pallet support receiver 1040 by movement of the transport device 100 in a horizontal plane.

[0341] The docking can be carried out, for example, by means of a conical receiver 1051 (here, for example, a clamping cone) on the tray holder receiver 1040 or on the tray holder 350 and a correspondingly designed conical recess 355 on the tray holder 350 or on the tray holder receiver 1040. The advantages already described, such as the alignment / centering of the tray holder 350 relative to the tray holder 1040, also result from the conical receiver 1051 / conical recess 355 here.

[0342] After the pallet support 350 (or another device that can be transported by the transport device 100 ) has been docked, the transport device 100 can, for example, be detached again from the transported device (here the pallet support 350 ) and used for another transport task.

[0343] Furthermore, the pallet support 350 may have an interface 357 for the transport device 100 itself or, for example, in the case of a loading and unloading device, which interface 357 is used to transfer mechanical and / or electrical, hydraulic and / or pneumatic energy between the pallet support receiver 1040 and the pallet support 350. The pallet support receiver 1040 may accordingly have a counterpart (interface 358) to the interface 357 of the pallet support 350.

[0344] Furthermore, for example, an operating medium such as a cooling lubricant can also be fed from the tray holder receiver 1040 to the tray holder 350. For this purpose, for example, corresponding electrically and / or fluidly conductive fastening devices and connections (compared to the fastening devices and connections 43) can be provided.

[0345] In addition, the interface 357 may advantageously include means for contactless signal transmission between the tray support receptacle 1040 (or another device) of the machine tool 1000 and the tray support 350. For example, the means for contactless signal transmission may be configured as a transmitter / receiver coil or an inductive coupler with an I / O link for contactless transmission of signals.

[0346] Here, the device can be arranged at any position on the interface 357 or outside the interface 357 , while the device for contactless signal transmission is arranged at the center of the interface 357 .

[0347] However, it should be noted here that the connector referred to as the pallet support connector 1040 on the machine tool 1000 can also receive various other devices, loading and unloading devices, etc., or also receive the transport device 100 itself through docking. Therefore, the pallet support receiver 1040 is not limited to receiving the pallet support 350.

[0348] It should also be noted that the receiver described in a particularly preferred manner for docking with the receiver device 40 (see Figure 2) (having a conical receiver 1051, a conical recess 355 and an interface 357 / 358) is constructed to be uniform or standardized so that any component or handling device having a corresponding uniformly configured receiving element can be installed and, in this case, essentially the same quick-release coupling can be used for energy or signal transmission.

[0349] Fig.16d A further exemplary embodiment of a transport device 100 according to the invention having a pallet support 350 is schematically shown.

[0350] In this case, the transport device 100 includes a pallet carrier 350 which cannot be received by the machine tool 1000 (or a placement station, a storage station, etc.) and which always remains on the transport device 100 .

[0351] The pallet holder 350 is configured to place the pallet 300 on the receiver 1040 of the machine tool 1000 by positioning the pallet 300 above the receiver 1040 with the aid of the transport device 100 (in a raised state), and then lowering the transport device 100 until the pallet 300 is placed on the receiver 1040 of the machine tool 1000.

[0352] When the pallet 300 is positioned above the receiver 1040, an alignment (pre-centering) of the pallet 300 relative to the receiver 1040 has already taken place by means of the alignment elements 301 located on the pallet 300. When the pallet 300 is positioned above the receiver 1040, these alignment elements 301 are pressed against the centering devices 1045 so that the pallet 300 rests completely against the centering devices 1045. If the pallet 300 is now lowered further by the transport device 100, the centering devices 1045 screw themselves into the alignment elements 301 (because they have, for example, a V-shaped recess), thereby also compensating for a lateral offset of the pallet 300 relative to the receiver 1040. As a result, the pallet 300 is pre-centered relative to the receiver 1040, in particular relative to the cone, here the pallet cone 1044.

[0353] For example, the pallet 300 itself can rest on a pallet holder 350 (which can be configured as a fork, for example) by means of a pressure piece (not shown here), so that it is biased in the direction of the alignment elements 301 on the fork. This bias can be advantageously used, for example, to fasten / fix the pallet 300 on the fork of the pallet holder 350.

[0354] If the pallet 300 or the alignment element 301 is pressed against the centering device 1045 of the receiver 1040 (by a positioning movement of the transport device 100), the pressing piece is further compressed and the fixation of the pallet 300 relative to the fork is cancelled. Thus, the pallet 300 can be placed on the receiver 1040.

[0355] Fig.16e A further exemplary embodiment of a transport device 100 according to the invention having a pallet support 350 is schematically shown.

[0356] The sequence of positioning / pre-positioning the tray 300 relative to the receiver 1040 is the same as Fig.16d The sequence described in is substantially the same. However, rather than the tray 300 itself being aligned / pre-centered on the receiver 1040, the tray 300 carries the tray 300.

[0357] Here, the pallet holder 350 cannot be placed on the machine tool 1000 (or on another device) either, and is held on the receiving device 40 of the transport device 100 .

[0358] In order to align / precenter the pallet 300 relative to the receiver 1040, the pallet support 350 now has an alignment element 351, which is pressed against the centering device 1042 during the positioning movement of the transport device 100 relative to the receiver 1040 and also has, for example, a V-shaped recess into which the centering device 1042 can be screwed. This results in a precentering / alignment of the pallet support 350 relative to the receiver 1040, which forms the basis for the alignment of the pallet 300 relative to the receiver 1040.

[0359] At the same time, the tablet can be further compressed, for example by pressing the tray support 350 against the receiver 1040 (not shown here, but similar to Figure 2b and 2c ), so as to release the fixation of the tray support 350 relative to the receiver device 40 and allow the tray support 350 to be positioned relative to the receiver 1040.

[0360] If the transport device 100 is now lowered further after the pallet 300 has been pre-centered, the pallet 300 can be placed on the corresponding cone (e.g. pallet cone 1044, see Fig.16i and 16j). The transport device 100 is now free and can move on to a new task, such as receiving a new pallet.

[0361] Fig.16f Schematically shows another embodiment of the transport device 100 according to the present invention having a tray support 350, similar to the Fig.16e of known.

[0362] However, the pallet support 350 may now be placed on the machine tool 1000 (or another device) together with the pallet 300 .

[0363] For this reason, as already Fig.16e As described in , the tray holder 350 is aligned / pre-centered relative to the receiver 1040 by means of the alignment element 351 and the centering device 1042. It is also advantageous here if the pressing piece is further compressed and thus allows the tray holder 350 to be positioned relative to the receiver 1040 on the one hand and the tray holder 350 to be lifted from the receiving device 40 at the same time.

[0364] If the transport device 100 is now lowered further, the pallet 300 can be received, for example, directly by the receiver 1040 (pallet cone 1044), or the pallet holder 350 is first moved out of the receiver 1040 together with the pallet 300 (device cone 1041, see Fig.16i and Fig.16j ), and then receives the tray 300 through the tray cone 1044.

[0365] Figure 16g It shows that Fig.16f The state of the transport device 100 according to the invention is shown when only the pallet 300 has been received by the receiver 1040 . The transport device 100 can now be moved away from the machine tool 1000 and take on a new task, wherein the pallet carrier 350 is received on the receiving device 40 .

[0366] Figure 16h It shows that Fig.16f The state of the transport device 100 according to the invention is shown. When the pallet support 350 together with the pallet 300 is received by the receiver 1040. Now, the transport device 100 can be moved away from the machine tool 1000 again and take on new tasks, for example by receiving a new device (for example, as shown in FIG. 22 to FIG. 23 ). Fig.36 The new pallet support 350 shown, the handling device, another device).

[0367] However, the embodiments and exemplary embodiments of the transport device 100 according to the invention shown and described in the previous figures are not restricted thereto but can be expressly combined with one another as required.

[0368] Fig.16iThe configuration of the receiver 1040 of the machine tool 1000 for receiving the pallet support 350 and / or the pallet 300 is shown.

[0369] Here, in addition to at least one pallet cone 1044 for accommodating the pallet 300, the receiver also includes at least one device cone 1041, which allows the entire device (e.g., the pallet holder 350) to be accommodated 1040 so that the transport device 100 can be used again for other tasks after placing the device on the machine tool 1000.

[0370] Furthermore, the receiver 1040 comprises at least one centering device 1042 , which allows the device to be aligned relative to the receiver 1040 itself before placing / depositing it on at least one device cone 1041 and / or placing / depositing the tray 300 on at least one tray cone 1044 .

[0371] Here, at least one tray cone 1044 and at least one device cone 1041 may have a docking unit that locks / fixes the tray 300 or the device and / or has a similar Figure 2d Media connections shown.

[0372] In addition, the receiver 1040 may also have one or more separate media interfaces 1043 configured to transmit signals and / or energy from the machine tool 1000 to a receiving device.

[0373] Here, the media interface 1043 can transmit signals and / or energy contactlessly (e.g., inductively or optically), be implemented as one or more plug-in connections, and transmit via radio. Any combination of these is possible, as well as expansion to include the supply of fluids (e.g., cooling lubricants), etc.

[0374] In addition, the receiver 1040 may further include at least one centering device 1045 (not shown here, see Fig.16d ) is used to align the tray 300 relative to the receiver 1040.

[0375] Fig.16j It shows that Fig.16i The construction of the receiver 1040 of the machine tool 1000 is shown, however, from a different angle in order to better outline the individual components of the receiver 1040 .

[0376] Fig.17a An exemplary embodiment of a transport device 100 according to the invention is schematically shown, wherein the height of the transport device 100 according to the invention is adjusted by means of a lifting cylinder 50 .

[0377] The chassis 10 is raised relative to the wheels by the lifting cylinders 50 so that the received handling device also changes its height relative to the wheels 20 or relative to the machine tool 1000 (not shown here).

[0378] Fig.17b A further exemplary embodiment of a transport device 100 according to the invention is schematically shown, in which the height of the transport device according to the invention is adjusted by means of a lifting cylinder 50 .

[0379] An alternative is shown here, in which, in addition to the lifting cylinders 50 , a suspension 60 (eg based on a lever mechanism) is provided in order to raise the chassis 10 of the transport device relative to the wheels 20 , so that the carried handling device also changes its height.

[0380] Fig.18a An embodiment of a transport device 100 according to the invention having a pallet support 350 and a pallet 300 is schematically shown.

[0381] Here, it is explained which movements of the transport device 100 are carried out during the placement / receiving process for placing / receiving the pallet 300 on the receiver 1040 (not shown here).

[0382] For this purpose, Fig.17a and 17b As shown, the transport device 100 is raised relative to one or more wheels 20 (suspension lifting, vertical arrow) by means of a mechanism so that the pallet 300 and / or the pallet support 350 are positioned accordingly above the receiver 1040 and then placed on the receiver 1040 by lowering the transport device 100.

[0383] During positioning, there may be contact between the tray support 350 or the tray 300 to align the tray support 350 / tray 300 relative to the receiver, so that the tray support 350 also performs a positioning movement relative to the receiving device 40 of the transport device 100 (approximately horizontal arrow). However, this positioning movement may be dependent on the drive 47 (e.g. Figure 2b The drive is used to support the fixation and / or positioning of the tray support 350 relative to the receiving device 40 of the transport device 100 to a certain extent.

[0384] Fig.18b A further embodiment of a transport device 100 according to the invention having a pallet support 350 and a pallet 300 is schematically shown.

[0385] For this purpose, Fig.17a and 17bAs shown, the transport device 100 is raised by means of a mechanism relative to one or more wheels 20 (suspension lifting, vertical arrows) so that the pallet 300 is positioned accordingly above the receiver 1040 and then placed on the receiver 1040 by lowering the transport device 100.

[0386] During positioning, there may be contact between the trays 300 to align the trays 300 relative to the receiver, thereby also performing a positioning movement of the tray 300 relative to the tray support 350 (approximately horizontal arrow). This movement may act on the pressing piece (similar to Figure 2b and 2c The pressing piece 45 described in the figure is further pressed into the pressing piece and releases the fixation of the tray 300 relative to the tray support 350, and allows the tray 300 to be aligned with the receiver 1040 and the tray to be received by the receiver 1040.

[0387] Fig.19 An embodiment of a transport device 100 according to the invention is schematically shown, with a height adjustment of a receiving device 40 for receiving a handling device of the transport device 100 according to the invention.

[0388] In this case, the position of the chassis 10 relative to the wheels 20 of the transport device 100 does not change, but the position of the receiving device 40 relative to the chassis 10 or relative to the platform carrier does change.

[0389] This has the advantage that the lifting cylinders 55 can be reduced in size because they do not have to bear the weight of the chassis 10 and other handling equipment and other additional weight.

[0390] Fig.20a A further embodiment of a transport device 100 according to the invention is schematically shown, which has a pallet changer 200 and a cover 210 for protecting a transported pallet 300 , preferably for protecting the pallet 300 on all sides.

[0391] The cover 210 protects the transported pallet 300 from external influences such as dust, air currents or even harsher mechanical influences. Conversely, the cover 210 also protects the surroundings from any debris or dripping cooling lubricant, which, for example, may drip from the pallet 300 and may still adhere to the pallet 300 after the processing of the workpiece 1 on the pallet 300 has been completed.

[0392] To this end, the hood 210 may further include a closing device 215 for closing the opening of the hood 210 at the opening through which the pallet changer 200 introduces the pallet 300 into the hood 210 .

[0393] To this end, the closure device 215 can be constructed in the form of a rolling door, at least one folding door, at least one flap door, a flap pivotable about a horizontal axis or a sliding door. However, the above list should not be understood as being exhaustive and can be supplemented by other configuration options.

[0394] Fig.20b A further exemplary embodiment of a transport device 100 according to the invention is shown, which transports a pallet 300 into a working space of a machine tool 1000 .

[0395] Here, the working space is separated from the surrounding environment by the housing 1060 and has an opening on one side, which is, for example, the end face of the machine tool 1000, through which, for example, an operator can operate in the working space and through which the pallet 300 can be inserted into the working space of the machine tool 1000. In order to close the opening, for example, a rolling door, a sliding door, a single-leaf or double-leaf revolving door or the like can be used.

[0396] Furthermore, the machine tool 1000 , in particular the housing 1060 , has a passage extending from the workshop floor to the working space, into which the transport device 100 can be moved in order to insert the pallet 300 into the working space of the machine tool 1000 , for example.

[0397] In order to prevent chips and / or cooling lubricant from entering the transport device 100, in particular when processing workpieces transported on the pallet 300, the transport device 100 or the pallet support 350 can also have a collecting cover 360 for collecting chips and / or cooling lubricant. Then, in an advantageous manner, the collecting cover 360 can close the channel at the upper end (at the transition from the channel into the working space), so that the chips and cooling lubricant that are scattered / have been scattered in the working space can be collected in the collecting cover 360 of the pallet support 350 of the transport device 100.

[0398] Furthermore, when the transport device 100 enters the passage, a cover plate can be located on the end of the transport device 100 or the tray holder 350 facing away from the passage in order to additionally close the passage from the outside after the transport device 100 has entered the passage of the housing 1060 .

[0399] However, if the pallet 300 is moved out of the working space by the transport device 100, chips and cooling lubricant can still fall / flow out, for example, from the inside of the wall of the housing 1060 and be collected in the area of ​​the inlet. In order to prevent these chips / cooling lubricant from contaminating the passage for the transport device 100, it may be advantageous to provide a steel cover 1065 at the transition from the passage of the housing 1060 to the working space of the machine tool 1000. When the transport device 100 enters the passage, the steel cover is pushed back by the transport device 100 (or a handling device carried by the transport device 100, such as a pallet holder 350, etc.) to position / insert the pallet 300 or the pallet holder 350 in the working space of the machine tool 1000 (see, for example, Fig.20b ).

[0400] Here, the steel cover can advantageously have multiple segments that can slide against each other so that they are relatively compact when pushed together. When the transport device 100 is moved out of the passage, for example, a spring mechanism (not shown here) can push the segments or the steel cover 1065 out as a whole to close the upper end of the passage (see, for example, Fig.20b , in the upper image).

[0401] Furthermore, the steel cover 1065 may have a cover portion on its end facing the transport device 100 entering the passage, which cover portion has a cutout in the form of a receiver for docking (comprising the conical receiver 1051 / conical recess 355 and the interface 357 / 358; see also Fig.16c ).

[0402] Like the steel cover 1065 itself, the cover part moves when the transport device 100 is moved in, wherein the conical receiver 1051 and the interface 358 of the receiver of the machine tool 1000 respectively pass through the cutout in the cover part so that the transport device 100 or the handling device carried by the transport device 100 (e.g., the pallet support 350; see also Fig.16c ) can be docked on the receiver of machine tool 1000.

[0403] Fig.20c A further exemplary embodiment of a transport device 100 according to the invention is shown, which transports a pallet 300 into a working space of a machine tool 1000 .

[0404] A round door 1070 is provided to close an opening through which, for example, a machine operator can enter the working space of the machine tool 1000 or insert the pallet 300 into the working space of the machine tool 1000 through the opening.

[0405] If the round door 1070 is in the open state (such as Fig.20c), the semicircle of the round door 1070 faces, for example, a working spindle 1100 (not shown here) of the machine tool 1000, thus separating the working spindle 1100 from the opening in the housing 1060. In this way, for example, a machine operator can be prevented from accidentally touching a tool inserted into the working spindle 1100 and possibly causing injury.

[0406] In order to dock the loading and unloading device (e.g., the pallet rack 350 or another device) transported by the transport device 100 to the machine tool 1000, as already described, Fig.16c A receiver (comprising the tapered receiver 1051 / tapered recess 355 and interface 357 / 358) may be used.

[0407] However, other connection options may also be provided between the machine tool 1000 and the transport device 100 or the handling device, such as a conical receiver 1051 arranged on the workshop floor (see also Fig.16a and 16c ).

[0408] If the transport device 100 with the pallet 300 has been moved into the working space of the machine tool 1000 through the opening of the housing 1060, the round door 1070 closes the opening of the housing 1060 by a rotational movement around the rotation axis (for example, in Fig.20c ), in particular by a rotational movement around the axis of symmetry of the round door 1070, the revolving door can be oriented vertically, for example.

[0409] Advantageously, taking into account the shape of the round door 1070, in particular with regard to using the round door 1070 to close the opening of the housing 1060, the collecting cover 360 can be formed to ensure better sealing of the working space of the machine tool 1000 and the environment with respect to agitated chips and cooling lubricant.

[0410] For this purpose, it would also be advantageous if a similar semicircle is provided at the end of the collecting cover 360 of the tray support 350, in which the round door 1070 is located in the closed state. Thus, an optimized seal can be obtained between the round door 1070 and the collecting cover 360 and therefore between the working space of the machine tool 1000 and the environment.

[0411] A receiver for docking on the machine tool 1000 (comprising a conical receiver 1051 and an interface 358; see also Fig.16c ) can function without an additional cover (e.g. Fig.20b However, if Fig.20b The combination of the steel cover 1065 and the round door 1070 described in can also be used to provide additional sealing in the housing 1060 of the working space of the machine tool 1000.

[0412] Fig.21aA workshop floor with cones 1051 arranged in a grid-like manner is schematically shown, which serve to position transport devices 100 or handling devices.

[0413] As already explained with reference to FIG. 16 , the transport device 100 can be lowered so that the transport device 100 itself or a handling device received by the transport device 100 is positioned by means of the cone 1051 .

[0414] Another possibility is to configure the cones 1051 to be retractable, for example, if the cones 1051 hinder the movement of the transport device 100 on the workshop floor. For this purpose, the cones 1051 will have to have their own lifting devices (e.g. pneumatic, hydraulic, electric or mechanical) so that they can be lifted out of the workshop floor or sunk into it. In addition, a combined lifting movement of the cones 1051 and the transport device 100 can also be performed for positioning.

[0415] Figure 21b Another option is shown, namely to provide a cone 1051 on the underside of the transport device 100 and merely to provide a corresponding recess for the cone 1051 in the workshop floor.

[0416] In this way, a lifting movement can now be performed by the transport device 100 or the receiving device 40 for positioning. In addition, however, it is also possible that the cone 1051 on the underside of the transport device 100 sinks into a recess in the hall floor to allow the transport device 100 or the handling device to be positioned.

[0417] In these cases, there are no longer any interfering contours on the workshop floor, so that the transport device 100 can travel on the workshop floor without restriction. Figure 21b As shown, additional lifting devices (eg for cones on the workshop floor) can be omitted.

[0418] Fig.22a A further exemplary embodiment of a transport device 100 according to the invention is schematically shown, which has an industrial robot 600 as a handling device.

[0419] In addition to or instead of the pallet exchanger 200 as a loading and unloading device, a robot 600 (industrial robot) can also be received by the receiving device 40 of the transport device 100. It can be used for a variety of task processing in production and can be further adjusted according to the application. Further examples thereof are described in Figures 23 to 28 and described in 35.

[0420] Furthermore, it is advantageous if the transport device 100 has a multiplicity of receiving devices 40 , wherein a different module / handling device can be received at each receiving device 40 .

[0421] like Fig.22a As shown, various material pallets 700, machine pallets 700 or mesh boxes 700 can be received by the transport device 100. In addition, various auxiliary modules 750 (such as deburrs, storage boxes for tools, exchange fixtures, etc.) can be received by the transport device 100, and the robot 600 can be used, for example, to perform device work on the machine tool 1000 or post-processing on the workpiece 1 manufactured by the machine tool 1000.

[0422] It should also be expressly pointed out here that the transport device 100 can also be configured as a pure material feeder or a tool feeder, for example as a workpiece / tool ​​cart loaded only with one or more material pallets 700 and / or tool pallets and / or mesh boxes 700, which can travel accordingly to a processing station or other destination of the workpiece / tool.

[0423] Since both the pallet changer 200 and the robot 600 can be received on the transport device 100 , workpiece and pallet handling can be advantageously combined as required and situations in the production chain can be addressed in a customized manner.

[0424] Figure 22b Two more specific exemplary embodiments of a transport device 100 according to the invention are schematically shown, in which robots 600 are received, both robots 600 being configured for tool handling and for workpiece handling. In particular for moving tools 102, for example, tool changers can be received by the robots 600 (see, for example, Figure 22b The robot can, for example, also replace a tool 102 in a working spindle 1100 of a machine tool 1000 .

[0425] Fig.23 A further exemplary embodiment of a transport device 100 according to the invention is schematically shown, which has an industrial robot 600 and a measuring unit 610 for tool testing.

[0426] use Fig.23 The configuration of the transport device 100 shown in FIG. 1 has a robot 600 and a measuring unit 610 for tool testing and a module 700 with a buffer space for the tool. The transport unit 100 can be removed from a machine tool 1000 (not shown here) to measure and test the tool.

[0427] The test can be performed in a tactile or contactless manner. The writing and reading unit can also identify the tool and assign it accordingly.

[0428] The information obtained and the test results can now be sent to the host control 2000 via radio signals and can be processed accordingly.

[0429] Fig.24aSchematically, a detailed view of another embodiment of a transport device 100 according to the invention is shown, which has an industrial robot 600 and a measuring and testing device 620 for testing components 1 manufactured on a machine tool 1000 (here a pallet 300), as shown in FIG. Figure 24b As shown in detail in .

[0430] The component 1 may be tested tactilely and by scanning by the robot 600. Furthermore, the optical unit may test the component 1 using optical methods.

[0431] The acquired data and information can again be transmitted by radio, induction or through an appropriate connection / port in the cone receiver (not shown here).

[0432] Fig.25 A further exemplary embodiment of a transport device 100 according to the invention is schematically shown, which has an industrial robot 600 and an attachment 630 for post-processing a component 1 produced on a machine tool 1000 (here a pallet 300 ).

[0433] The accessories 630 may include tools (eg brushes or deburrs) with which the component can be automatically post-processed. Optical or sensor monitoring can ensure the corresponding quality of the finished component 1 and check whether further post-processing is required.

[0434] Fig.26 A further exemplary embodiment of a transport device 100 according to the invention is schematically shown, which has an industrial robot 600 and a unit 640 for sharpening and dressing tools.

[0435] In addition to the robot 600 and the unit 640 for sharpening and dressing tools, the transport device 100 also includes a protective housing 650, which protects the environment from the debris stirred up by the sharpening or dressing process. Advantageously, a baffle can be provided (as shown on the left side of the protective housing 650), through which the robot can reach and interact, for example, with the working spindle of the machine tool (not shown here).

[0436] Because the sharpening and dressing process involves a machining step, it is advantageous that the chassis 10 also includes an internal cooling lubricant tank 11 to cool and lubricate the machining process during the machining process, thereby reducing tool wear. In addition, it is advantageous that the module 700 is also provided with a buffer space for storing tools on the transport device 100.

[0437] Fig. 27 A further embodiment of a transport device 100 according to the invention is schematically shown, which has an industrial robot 600 and a magazine 101 for carrying various tools 102 .

[0438] In this way, the tool 102 can be inserted directly into the working spindle of the machine tool (not shown here) or into the magazine 101. The magazine 101 can be configured as a wheel, tower, plate or chain magazine. However, other variants of the magazine 101 can also be used.

[0439] In particular, instead of or in addition to the magazine 101 for storing the tools 102 , tool pallets (not shown here) can also be received by the transport device 100 and used accordingly for a variety of applications.

[0440] It should be explicitly pointed out here that one or more tool pallets can also be received by the transport device 100 and transported to their destination independently of the presence of the industrial robot 600 .

[0441] In a particularly advantageous manner, the robot 600 can be provided with a closing plate 601 to ensure safety during tool changes on the working spindle 1100 of the machine tool 1000 (e.g. Fig.28 shown).

[0442] Fig.28 Schematically shows Fig. 27 According to an embodiment of the transport device 100 according to the invention, during the interaction between the industrial robot 600 and the working spindle 1100 of the machine tool 1000, as Fig. 27 As shown, for example, in order to replace the tool 102.

[0443] Here again, the advantage of closing plate 601 in ensuring the safety of machine tool 1000 during a tool change is shown.

[0444] Fig.29a A further embodiment of a transport device 100 according to the invention for removing chips from a chip removal carriage 1400 of a machine tool 1000 is schematically shown.

[0445] The module 800 for collecting the chips is installed on the transport device 100, and the module 800 also has a tilting mechanism 810, which is used to unload the collected chips at a designated location.

[0446] The tilt mechanism can be constructed in various ways. Electric and hydraulic or pneumatic drives can be provided. In addition, a rack and pinion, a helical gear or simply a corresponding pneumatic or hydraulic lifting cylinder can be used to produce the tilting movement of the module 800. However, other drives / gears can also be used in various combinations with each other.

[0447] exist Fig.29b, a further embodiment of a transport device 100 according to the invention with a module 800 for collecting chips is shown, the transport device 100 here also being provided with a lifting mechanism 820 which is able to lift a chip container 825 filled with chips and empty it into the module 800. Here, the chip container 825 can now advantageously remain on the chip cart 1400 of the machine tool 1000 until it is suitably filled and the information is sent, for example, to the central host control 2000, which then moves the transport device 100 with the module 800 and the lifting mechanism 820 to the emptied chip container 825.

[0448] In addition, the transport device 100 may also be configured to couple an additional container cart 830 and use it to collect and transport the chips.

[0449] Fig.29c Another embodiment of the transport device 100 is shown, in which a module 800 for collecting chips is provided, as already described in Fig.29a and 29b As shown, it is received on the upper side of the transport device 100. Advantageously, the module 800 shown can be placed on various chip carts / chip collectors 1400 by means of two setting parts on the side. If the chip cart 800 has been properly filled, a signal can be sent to the transport device 100 to receive the module 800 again and convey the chips to further processing and / or disposal.

[0450] In order to position the module 800 on the chip cart 1400 by means of the transport device 100, for example, the conical receiver 1051 present in / on the workshop floor can be used again. In addition, the conical receiver 1051 can also have a Fig.16a and 16c Features described in .

[0451] Fig.30 A further embodiment of a transport device 100 according to the invention is schematically shown, which is used to adjust a machine tool 1000 and to replenish it with cooling lubricant.

[0452] Here, the transport device 100 includes a module 900 for collecting or sucking the used cooling lubricant from the machine tool, wherein the module 900 may also include a tank 920 and a filter 930 for conditioning the used cooling lubricant. The suction device 910 may be directly connected to the machine tool 1000 and suck the used cooling lubricant into the tank 920. In addition, the suction device 910 may also be configured to suck the cooling lubricant accumulated in the chip receiver 825 back from the chip receiver 825 and deliver it to the conditioner.

[0453] Fig.31A further exemplary embodiment of a transport device 100 according to the invention for conveying and inserting a workpiece 1 into a machine tool 1000 for rotation is schematically shown.

[0454] Here, the workpiece 1 may be, for example, a bar, which is supplied to the lathe 1000 by the bar loader 470 received by the transport device 100 .

[0455] For a correct interaction between the rod loader 470 and the machine tool 1000 , in particular the working spindle 1100 , it is proposed to position the transport device 100 again by means of the already described conical receiver 1051 (not shown here) arranged at a corresponding point on the machine tool 1000 .

[0456] This ensures that the bar (workpiece 1) is correctly inserted into the machine tool 1000 or the working spindle 1100, so that the automatic manufacturing process can proceed smoothly.

[0457] like Fig.31 As shown, the machine tool 1000 can further be equipped with a tool turret 1500, which can deliver the tools required for the individual processing steps to the rotating rod. In addition, the conical receiver 1051 can again have the option of establishing the connection for energy and / or signal transmission already described, so that the energy storage 30 (not shown further here) of the transport device 100 is no longer burdened by the material supply process.

[0458] Fig.32a A further exemplary embodiment of a transport device 100 according to the invention is schematically shown as a material storage device 700 for a machine tool 1000 having a gantry loader 1600 .

[0459] Here, the material storage device 700 can be received by different receiving devices 40 of the transport device 100, which will be explained by the two transport devices shown. In addition, one transport device 100 can also provide unfinished parts to the machine tool 1000 or the gantry loader 1600, while another transport device 100 receives the finished parts / workpieces.

[0460] With this configuration of part or material handling, autonomous machine operating time can be increased since unfinished parts and / or finished parts can now be transported automatically.

[0461] The gantry loader 1600 comprises a gripper 1610 which can be moved, for example, in the x and z direction and feeds unfinished components to the work spindle 1100 until they are clamped in the workpiece receiver of the work spindle 1100. The tool turret 1500 can then again deliver the tools required for the current processing step to the unfinished part / workpiece.

[0462] However, this embodiment of the transport device 100 is not only suitable for lathes, but can also be used for known milling machines.

[0463] Furthermore, this embodiment of the transport device 100 is particularly advantageous in that most gantry loaders already used on the machine tool 1000 can be adapted to the transport device 100 for material handling without much effort.

[0464] Figure 32b A further exemplary embodiment of a transport device 100 according to the invention is shown, which is a material storage device 700 for a machine tool 1000 having a robot 600 for exchanging workpieces in the machine tool 1000 .

[0465] If already in Fig.16c As described in the description, the transport device 100 can here be docked with the loading and unloading device, or in this case, with the module 700 received by the transport device 100 (where unfinished material is stored) docked on the machine tool 1000 (via the conical receiver 1051 and the interface 358).

[0466] Furthermore, now, if necessary, the transport device 100 can first "place" the material storage 700 on the machine tool 1000 so that it can be used for other tasks. Only when the unfinished material stored in the material storage 700 is exhausted, the transport device 100 must return and receive the module 700 again and transport it away accordingly.

[0467] For this purpose, the machine tool 1000 advantageously has at least one, but particularly advantageously at least two docking stations. Thus, the transport device 100 can dock a new material storage 700 filled with unfinished parts on the machine tool 1000 and then receive an empty material storage 700 from another docking station and transport it accordingly.

[0468] However, the concept of the machine tool 1000 shown here is not limited to arranging the robot 600 outside the machine tool 1000; rather, the robot 600 can also be arranged in the working space of the machine tool 1000 and, if necessary, can be extended from the machine tool 1000 into the docked material storage 700 for new unfinished parts. However, completely different machine concepts can also be provided with a transport device 100 having a material storage 700 (or another module 700).

[0469] Fig.33a A further embodiment of a transport device 100 according to the invention is schematically shown, which has a conveyor belt 400 between two machine tools 1000 with a gantry loader 1600. Furthermore, the two machine tools 1000 each comprise a working spindle 1100 and a tool turret 1500, for example.

[0470] Here, the conveyor belt 400 received by the transport device 100 may further be provided with a receiver for components or workpieces (see, for example, Figure 33b Detailed illustration in ). It is also particularly advantageous that the transport device 100 with the conveyor belt 400 can be used as a "stand-alone" unit, for example in order to exchange unfinished parts or finished workpieces between two machine tools 1000. In addition, the conveyor belt can hold certain ready areas (setup stations) via which the conveyor belt 400 can be equipped with unfinished parts / finished workpieces.

[0471] In addition, it is particularly advantageous that the conveyor belt 400 can be moved by corresponding means (not shown in detail here) (see, for example Fig.33c ) are aligned (folded) at the transport device 100, for example, in order to bridge a larger distance. For this reason, then a plurality of transport devices 100 can also be provided with conveyor belts 400 arranged in series, in order to, for example, establish a kind of conveying bridge.

[0472] Furthermore, it should be noted here that the embodiment of the conveyor belt 400 is not limited only to the embodiment shown. Rather, a type of conveyor chain or the like may also be used instead of the conveyor belt.

[0473] Furthermore, the conveyor belt 400 may also be rotatably mounted relative to the conveyor device 100 that has received and conveyed the conveyor belt, so that the alignment of the conveyor belt 400 can be performed separately from the positioning of the conveyor device 100 (see Fig.33c ). This allows for increased flexibility in the use of the conveyor belt 400.

[0474] Fig.34 A further embodiment of a transport device 100 according to the invention for an auxiliary suction device 420 of a working space of a machine tool 1000 is schematically shown.

[0475] To this end, the transport device 100 can advantageously receive a corresponding suction device 420 and can position it accordingly at the inlet in the housing 1030 of the machine tool 1000 in order to suck out dirt and impurities that are generated before, during and after the machining of the workpiece.

[0476] The suction device 420 is mainly used to support the standard suction device 1020 that is usually already present in the machine tool 1000. However, if the latter is defective or even does not exist, the suction device 420 can replace it. The sucked and collected dirt can be stored in a container and emptied when necessary.

[0477] Fig.35 A further exemplary embodiment of a transport device 100 according to the invention is schematically shown, which has a robot 600 and an application device 770 received by the robot 600 .

[0478] Using the application device 770, for example, components / workpieces can now be additively manufactured on the machine tool 1000, for example, since the application device 770 is now configured for deposition welding (or another additive manufacturing method). For this purpose, the transport device 100 can also accommodate, for example, a powder or medium tank 775, which stores the material to be applied (e.g. metal powder, etc.). A feed or suction device 777 between the powder or medium tank 775 and the application device 770 can ensure that the material is guided from the powder or medium tank 775 to the application device 770, or that excess material is sucked out again during the manufacturing process and conveyed to the powder or medium tank 775.

[0479] The advantage of mobile additive manufacturing is that basically every machine tool 1000 can be expanded by such additive manufacturing without having to convert the respective machine tool 1000. In addition, for additive manufacturing, the cabin and / or suction device already present on the machine tool 1000 can advantageously be used to protect the manufacturing process and the operator.

[0480] However, it should be noted that the machine tool 1000 does not necessarily have to be present in order to be able to use mobile additive manufacturing. For example, the application device 770 can additively manufacture the desired component / workpiece on any base or in any environment. Alternatively, the transport device 100 can move to an already existing workpiece / component and use the received application device 770 to machine it.

[0481] As already mentioned above, the cone 1051 (not shown here) can again be used, for example, to optimally position the transport device 100 at the machine tool 1000 or at the component / workpiece in order to ensure high-quality manufacturing.

[0482] Fig.36 A further exemplary embodiment of a transport device 100 according to the invention having a tool changer 720 is schematically shown.

[0483] In this case, for example, the transport device 100 can approach the machine tool 1000 , in particular the working spindle 1100 , with a tool accommodated in the tool changer 720 and carry out a tool change there by rotating the tool changer 720 .

[0484] Furthermore, instead of a tool changer 720, a tool changer-storage combination 720 can also be transported by the transport device 100 to the machine tool 1000. The advantage is that the tool changer-storage combination 720 has a greater tool receiving capacity than a simple tool changer, such as a fork gripper or hook gripper.

[0485] Now, if the changer-storage combination 720 is located in front of the machine tool 1000 or the work spindle 1100, the work spindle 1100 can remove the required tool from the changer-storage combination 720 (for example, remove the chain magazine or wheel magazine via a corresponding drive), for example, by rotating the required tool relative to the work spindle 1100, the changer-storage combination 720 can speed up or simplify the replacement of the tool.

[0486] However, the transport device 100 may only have a tool magazine 720 (eg as a chain magazine, wheel magazine or rack magazine etc.) which is transported to the machine tool 1000 and from which the working spindle 1100 of the machine tool 1000 can independently pick up the required tools.

[0487] Furthermore, the above options can also be combined with one another so that, for example, transport device 100 with tool magazine 720 and transport device 100 with tool changer 720 are positioned in front of machine tool 1000 and tool changes are carried out in coordination with one another at machine tool 1000 .

[0488] Furthermore, the above-mentioned options are not limited to tools, since, for example, instead of tools, workpieces or tools and workpieces can be stored and / or replaced simultaneously.

[0489] Fig.37 A further exemplary embodiment of a transport device 100 according to the invention is schematically shown, which serves to transport a milling head 1120 to a machine tool 1000 having a carrier element 1300 and a pallet 300 (which can however also be designed as a machine table).

[0490] It is particularly advantageous here that the milling heads 1120 can be quickly and easily transported to the corresponding machine tools 1000 due to the flexibility of the transport device 100. In the case where an end station was previously required in order to properly provide the milling heads 1120, the milling heads can be "sequenced" by the transport device 100 together with the host control 2000 (not shown here) and then reach their respective use locations via the transport unit 100. The end station is thus completely superfluous.

[0491] In addition, this configuration of the transport device 100 allows the milling head 1120, in particular a special milling head, to be exchanged between all machine tools 1000 having a head interface. In addition, there is no need to purchase the corresponding milling head multiple times, thereby ensuring a potential for cost savings.

[0492] For example, the transport device 100 can pass under the machine tool 1000 in order to bring the milling heads 1120 to their desired positions, but other ways of conveying the milling heads 1120 to the machine tool 1000 may also be chosen.

[0493] Fig.38A further exemplary embodiment of a transport device 100 according to the invention is schematically shown, which has a workpiece receiver 450 for large parts.

[0494] Here, a plurality of transport devices 100 can again cooperate in order to appropriately transport large parts (here marked as workpieces 1). For this purpose, the workpiece receiver 450 can be equipped with a clamping device (hydraulic, pneumatic, vacuum, mechanical clamps, etc.), by means of which the large parts are held on the transport device 100 and fed to a processing machine (machine tool 1000, here with a support element 1300 and a grinding attachment 1150) configured for this purpose.

[0495] Furthermore, as already described, in addition to positioning the transport device 100 below the grinding attachment 1150 of the machine tool 1000 , a conical receiver 1051 (not shown here) can again enable a connection for transmitting energy and / or (control) signals from the machine tool 1000 to the transport device 100 .

[0496] By using the workpiece receiver 450 , the transport device 100 combines the concept of a workpiece changer with a machining table to form a modular machine tool 1000 in order to make the machining of large parts as efficient and flexible as possible.

[0497] Fig.39 A further exemplary embodiment of a transport device 100 according to the invention is schematically shown, which transport device 100 is part of a variety of machine tool concepts for a (modular) machine tool 1000 .

[0498] It is particularly advantageous here that the transport device 100 receives the pallet 300 and can then be used directly as a workpiece or a machine table in the machine tool 1000 .

[0499] The advantage of this context is that the cones used for positioning and fixing (conical receivers, such as the already described conical receiver 1051) allow the transport device 100 to be used directly as a workpiece or machine stand (see also Fig.44 ). It is thus possible to equip the machine 1000 without its own workbench.

[0500] As a workpiece carrier, the transport device 100 can thus be moved sequentially to a plurality of machine tools 1000 and correspondingly processed (eg milling, grinding . . . ) can be carried out without re-clamping and thus without loss of precision.

[0501] Thus, the measuring process can be carried out directly on the workpiece in a given clamping situation. The transport device 100 can travel together with the workpiece into a measuring room (eg a coordinate measuring machine etc.). This eliminates any tensioning or warping by opening the workpiece clamp.

[0502] This allows completely new machine concepts, such as console machines ( Fig.40a ) and the portal machine ( Fig.39 ) are shown schematically as an example.

[0503] Fig.40a An exemplary embodiment of a transport device 100 according to the invention is schematically shown, which has a pallet 300 as a mechanical reception of a control console of a (modular) machine tool 1000 .

[0504] In order to optionally create a milling-turning machine concept, the pallet 300 received by the transport device 100 can be provided with an additional axis (cf. control machine; here the axis of rotation R1 ).

[0505] Furthermore, the transport device 100 and the connection of the pallet 300 (here with an additional axis of rotation R1 ) can be designed as a milling table, an NC rotary table, a swivel rotary table, a milling rotary table or the like and thus be used for a wide variety of workpiece processing applications.

[0506] In the example shown, a control machine 1000 is also used, which, in addition to a support element 1300 and a transverse element 1200, comprises a work spindle 1100 which can be moved relative to the support element in the x, y and z directions. In addition, the transport device 100 can be moved in the x and y directions, and the pallet 300 can be rotated about the z axis via the rotation axis R1. Furthermore, the control machine can also be expanded by an additional rotation axis R2, such as Fig.40b shown.

[0507] Fig.40b A further exemplary embodiment of a transport device 100 according to the invention is schematically shown as a component of various other machine concepts of a (modular) machine tool 1000 .

[0508] As already referred to Fig.39 and 40a As explained in the concept shown, the control machine can be provided with an additional rotation axis R2 on the work spindle 1100, so that the position of the work spindle 1100 relative to the pallet 300 or relative to the transport device 100 can be changed by 90° by pivoting the work spindle 1100 around the rotation axis R2 by 180°. This is advantageous because the rotation axis R2 and the plane / surface of the pallet 300 are substantially at an angle of 45° to each other. In addition, as Fig.40c As shown, it is also conceivable to use the transport device 100 in a horizontal machining center, which can also be expanded by an additional rotation axis R2 (not shown here), such as Fig.40a As shown in the control machine in , the working spindle 1100 of the horizontal machining center can also be pivoted 90° to the pallet 300 or to the transport device 100 if necessary.

[0509] In both cases, the transport device 100 with the pallet 300 (in Fig.40b and 40c The transport devices 100 (with the axis of rotation R1 in each case) are again configured as a "machine table" which can also be used for rotation due to the axis of rotation R1 (if necessary) to ensure greater flexibility of the transport device 100 equipped with the pallet 300. As a result, the transport devices 100 can again approach each other and leave the processing tables, so that the workpieces 1 (not shown here) can be subjected to corresponding processing steps on the corresponding processing tables.

[0510] In both figures ( Fig.40b and 40c ), the working spindle 1100 is again transferred to the pallet 300 or the transport device 100 via linear axes in the x, y and z directions respectively.

[0511] Fig.41 Schematically shown is another embodiment of a transport device 100 according to the invention, which carries a plurality of pallets 300 or workpieces in interaction with a fixed industrial robot 3000 for manipulating / processing the workpieces (on the left), and another embodiment of a transport device according to the invention, having a milling robot 600 (on the right).

[0512] The stationary industrial robot 3000 shown on the left can also be replaced by a transport device 100 equipped with a corresponding robot 600 as an accessory, so that the flexibility of the production process is further increased. In both cases (stationary industrial robot 3000 or transport device 100 with robot 600), the workpieces on the pallet 300 of the transport device 100 on the right are handled or processed by the robot.

[0513] The milling robot 600 shown in the right figure can be moved to a large number of processing stations and used in a short time due to its mobility with the help of the transport device 100 (for example, to support other milling work while the workpiece is milled on the machine tool or to perform milling work completely by itself). In addition, the mobile milling robot 600 can also be used to process components whose size can hardly or not be accommodated in the machine tool, so that the components do not have to be brought to the processing machine, but the processing machine enters the component. This also increases the flexibility in the production process.

[0514] Fig.42 A further exemplary embodiment of a transport device 100 according to the invention is schematically shown, which is part of a machine concept having a (modular) machine tool 1000 of portal construction and a plurality of transport devices 100 .

[0515] If already in Fig.39As shown in , a transport device 100 equipped with a pallet 300 can be moved in a portal configuration into the working area or working space of a machine tool 1000, which processes workpieces directly on the pallet 300 moved in by the transport device. Here, the machine tool 1000 again comprises a support element 1300 and a transverse element 1200, on which a working spindle 1100 can be moved in the y and z directions. Subsequently, the transverse element 1200 can now be moved relative to the support element 1300 in the x direction.

[0516] It is particularly advantageous if, for the transport or transportation of heavy workpieces, a plurality of transport devices 100 transport the workpieces or pallets 300 (or machine tool tables) together into the machine tool 1000 .

[0517] For this purpose, the transport devices 100 can be mechanically coupled to one another via pallets (see also Fig.43 ; may have connections for transmitting signals and / or energy), or may be controlled so precisely and synchronously by a host controller 2000 (not shown here) that no coupling or signal and / or energy transmission is required.

[0518] Fig.43 Another embodiment of a transport device 100 according to the present invention is schematically shown, wherein a plurality of transport devices 100 are connected to one another via couplings 105 to form a unit.

[0519] If already in Fig.42 As schematically shown in , it may be advantageous to provide a coupling 105 between the two transport devices 100 in order to distribute the mechanical forces to the two transport devices 100 on the one hand and to have the option of exchanging signals and energy between the two transport devices 100 via the coupling 105 .

[0520] It should also be noted here that instead of the coupling 105 or in combination with the coupling 105, the receiver 1040 can be used to dock the device on the machine tool 1000, for example Fig.16c As shown, it is used to connect / docking two (or more) transport devices 100 or movable machine tool structures to each other. Signals and / or energy can also be transmitted via the used conical receiver and can be locked.

[0521] Fig.44 A further exemplary embodiment of a transport device 100 according to the invention is schematically shown, wherein the energy supply and / or signal connection is positioned and established below a machine tool 1000 of portal construction.

[0522] In addition to the components of the machine tool 1000 already described, such as the support element 1300 , the transverse element 1200 and the working spindle 1100 , a conical receiver 1051 of the machine tool is also shown, wherein

[0523] In addition to positioning the transport device 100 when it is lowered above the conical receiver by means of its lifting cylinder 1051, a connection can also be established through which, for example, energy and / or signals for controlling or monitoring the transport device 100 can be transmitted to the transport device 10, and vice versa from the transport device 100 to the machine tool 1000.

[0524] Due to the conical receiver 1051, the pallet 300 can be positioned precisely below the machine tool 1000, and this is particularly advantageous in that the transport device 100 or the received pallet 300 can be controlled without placing a strain on the internal energy storage (not shown here) of the transport device 100. This is because the energy is provided on a part of the machine tool 1000 and is provided to the transport device 100 via the described connection.

[0525] Fig.45 A (modular) machine tool 1000 is schematically shown, which comprises a plurality of transport devices 100 according to the invention having different subtasks.

[0526] The example shows a transport device 100 with a received pallet 300 (or a machine table, for example also with an additional axis of rotation R1) and a workpiece 1 located thereon. In the vicinity is a second transport device 100 with a robot 600 for processing the workpiece 1. For this purpose, the robot 600 can have a variety of tools, such as a milling cutter, a grinding tool or a device for applying material.

[0527] Furthermore, the machine tool 1000 comprises a third transport device 100 having a robot 600 which is configured, for example, to exchange a tool received by another robot 600. As described above, the transport device can also carry additional modules 700 (e.g. mesh boxes, material trays, other material transport carriers, machine trays, tool buffer space modules), from which the robot 600 can, for example, remove a tool and transfer it to another robot 600 for processing the workpiece 1.

[0528] In addition, the (modular) machine tool 1000 can include an optional cabin 1035 in which the transport device 100 can process the workpiece 1 and change the tool. It may also be advantageous if the optional cabin 1035 has an inlet and an outlet for the transport device 100 and a suction device (e.g. the suction device 420 or the standard suction device 1020 for stationary machine tools 1000) for sucking up dirt from the cabin 1035. In addition, other transport devices 100 can also be used here, for example for additional dust extraction (e.g. by the suction device 420), for providing cooling lubricant (module 900 for collecting or sucking out used cooling lubricant from the machine tool) and / or for ensuring the removal of chips (module 800 for collecting chips).

[0529] The advantage of such a (modular) machine tool 1000 is that it can be expanded as required by other transport devices 100 with other subtasks. In addition, however, the (modular) machine tool 1000 can also be constructed as a supplement to an already existing, stationary machine tool 1000 in its vicinity, for example to carry out remaining work on the workpiece 1 (deburring, grinding, etc.).

[0530] A significant advantage of the modular machine tool 1000 is that large components (e.g. Fig.38 Thus, various (large) components can be moved into the working space of the transport device 100, which carries, for example, a robot 600 with a milling tool, and can thus be further processed there.

[0531] Likewise, cones located on the workshop floor (e.g., cone receiver 1051; see also Fig.16a , 16b, 21a, 21b and 44) ​​can be used to accurately position each other relative to the transport device 100; as mentioned above, these devices can have clamps, so that not only the accurate positioning of the transport device 100 can be achieved, but also they can be fixed by the clamps.

[0532] Furthermore, the transport devices 100 can also be connected to one another via couplings 105 (eg also to form a unit) in order, for example, to exchange signals and energy between the transport devices 100 (see also the description of the embodiment of the present invention). Fig.43 ).

[0533] Fig.46 A further embodiment of a transport device 100 according to the invention is schematically shown, which has a tailstock attachment 1180 for turning (eg large / long) workpieces 1 as a further concept of a (modular) machine tool 1000 .

[0534] Here, for example, the tailstock attachment 1180 can be aligned in the x and z directions relative to the working spindle 1100 (here, the stationary working spindle 1100) by the drive 20 of the transport device 100. The alignment of the tailstock attachment 1180 in the y direction can now be performed, for example, by the lifting cylinder 50 of the transport device 100 (as shown in FIGS. 17 and 18).

[0535] However, a better adjustment of the tailstock attachment 1180 in the x, y and z directions relative to the transport device 100 can be achieved additionally or exclusively by means of corresponding drives and guides between the tailstock attachment and the receiving device 40 of the transport means. This may be necessary, for example, when the positioning accuracy by the drive 20 of the transport device 100 is insufficient or when the position of the transport device 100 is determined by a conical receiver 1051 on the workshop floor.

[0536] In addition, the stabilizing support 1181 can be used as a support for very long workpieces 1 in order to achieve higher precision during turning and cylindrical grinding. For the machining process itself, another transport device 100 can now be moved, for example, up to the workpiece 1 and process the workpiece 1 using a received tool holder (e.g. a tool carriage not shown here). The drive 20 of the transport device 100 can now be used again and / or an additional conveying mechanism can be provided between the tool holder and the transport device 100 (for better feed movement).

[0537] Fig.47 Various transport devices 100 according to the invention are schematically shown having different tasks in a production chain.

[0538] The FTS preferably includes an upper-level host computer software integrated in a host controller 2000, which controls and monitors the various commands. The host computer software is preferably capable of controlling and monitoring n+1 transport devices 100 simultaneously.

[0539] Communications between transport device 100 and host controller 2000 preferably operate wirelessly, such as via WLAN or radio.

[0540] The transport device 100 preferably comprises an optical information source, such as a status light (not shown here), which serves as a graphical representation of the status of the transport device 100. Here, preferably, a traffic light logic is used. Green: status normal; yellow: fault; red: problematic. Alternatively, the light can also indicate other statuses by means of additional optical signals such as flashing.

[0541] If multiple transport devices 100 are used, these can preferably share loading and unloading devices (e.g. pallet changers 200, robots 600, modules 700 (e.g. material pallets, mesh boxes, etc.), modules 800 for collecting chips, modules 900 for collecting or suctioning used cooling lubricant from machine tools 1000. This ensures a more flexible automation solution.

[0542] Preferably, the transport device 100 places a handling device that is no longer needed at a known location. Another transport device 100 can move to the handling device, receive it and use it.

[0543] The transport device 100 preferably includes communication means with other transport devices 100. Sources of interference, such as occupied travel paths, commonly used handling devices and their locations and any other information can thereby be indicated and responded to. The main computer control 2000 can optionally take over this task.

[0544] The transport device 100 preferably comprises interfaces which allow communication, energy transmission to the machine tool 1000 or the workstation. These interfaces are preferably contactless, but they can also be realized via connectors or near field communication as an alternative.

[0545] The tasks shown can also be performed by modular machine tool 1000 (see Figures 38 to 46 ) and linear memory (see Fig.13 ) to expand upon the previously described concepts of the process to ensure overall flexible and efficient production and processing of workpieces.

[0546] Fig.48 The method according to the invention for processing a pallet 300 and / or a workpiece on a machine tool 1000 by means of a pallet changer 200 is schematically shown.

[0547] Firstly, the transport device 100 will receive the pallet changer 200 which preferably already carries the pallet 300 to be inserted into the machine tool 1000 .

[0548] When the pallet changer 200 (handling device) is received, a connection can be established between the transport device 100 and the pallet changer 200 via a connecting element of the transport device 100 , via which control signals and / or energy are transmitted from the transport device 100 to the pallet changer 200 .

[0549] However, this step is omitted in the illustration, since receiving a handling device (eg, a pallet exchanger 200 ) and establishing a connection for energy and / or signal transmission has been described several times in the previous embodiments.

[0550] As shown in step S101 , the transport device 100 with the received pallet changer 200 and pallet 300 moves upward to the machine tool 1000 , which itself already has the pallet 300 in its work space.

[0551] In the subsequent step S102, the pallet changer 200 is positioned in front of the machine tool 1000. As already described, this can be done by causing the transport device 100 itself to move by travel, or by placing the transport device 100 relative to the machine tool 1000 by lowering its chassis onto a conical receiver 1051 (not shown here), or by the transport device 100 placing the pallet changer 200 on the conical receiver 1051.

[0552] In this way, energy and / or signals (e.g., for controlling a pallet change) can be transmitted from the transport device 100 to the pallet changer 200, or the pallet changer 200 can be directly connected to the machine tool 1000 by placing the pallet changer 200 on the conical receiver 1051 of the machine tool 1000 so as to transmit signals and / or energy from the machine tool 1000 directly to the stored pallet changer 200.

[0553] It is also shown that the pallet changer 200 has received the pallet 300 which was previously inserted in the machine tool 1000 .

[0554] In step S103 , pallet 300 in machine tool 1000 is lifted by pallet changer 200 , and the rotation of the pallet changer is started so that pallet 300 carried by pallet changer 200 approaches a pallet receiver of machine tool 1000 , as also shown in step S104 .

[0555] In the next step S105 , pallet 300 previously carried by pallet changer 200 is positioned above the pallet receiver of machine tool 1000 by rotating pallet changer 200 , and is placed on the pallet receiver of machine tool 1000 .

[0556] Next, as shown in step S106 , the pallet changer 200 is lifted from the conical receiver 1051 , and the transport device 100 is moved out / removed in a state where the pallet changer 200 and the pallet 300 are removed from the machine tool 1000 .

[0557] Furthermore, the method can also be carried out in such a way that after the pallet changer 200 has been placed on the machine tool 1000, the transport device 100 continues to move without the pallet changer in order to, for example, receive another loading and unloading device (another pallet changer 200 or the like) and, at the same time, transport it according to instructions to the machine tool 1000 or to the storage station 500 (not shown here).

[0558] Subsequently, the transport device 100 or another transport device 100 can again receive the pallet changer 200 placed in front of the machine tool 1000 after the pallet has been changed and proceed accordingly.

[0559] However, the above-mentioned method steps can also include individual function-specific steps of the individual modules and devices received by the transport device 100. These steps can include, for example: processing the workpiece by means of tools and / or application devices via the robot 600; changing tools and / or workpieces by means of the tool changer 720 / changer-storage combination 720 / tool ​​magazine 720; extracting and regulating cooling lubricant; collecting and processing material chips; deburring and / or measuring the contour of the workpiece 1; transporting the pallet 300 carrying the workpiece 1; transporting the milling head 1120; coupling at least two transport devices 100 to each other, etc. (see also Figures 3 to 46 ).

[0560] Examples and exemplary embodiments of the present invention and their advantages have been described above in detail with reference to the accompanying drawings.

[0561] It should be emphasized again that the present invention is in no way limited to or restricted to the exemplary embodiments described above and their design features, but also includes modifications of the exemplary embodiments, in particular those modifications included within the scope of the present invention. Independent claims are protected by modifying the features of the described examples or by combining single features or multiple features of the described examples.

[0562] In particular, it should be pointed out here that the various configurations and functions that can be realized by the transport device 100 according to the invention can be combined with one another to provide an extremely flexible machine concept so that the processing of the workpieces 1 can be carried out more flexibly and efficiently. In particular, the above-mentioned concept of a modular machine tool can be expanded by the various additional functions of the transport device 100 according to the invention mentioned further above and by providing and replacing workpieces 1 and / or pallets 300.

[0563] However, an already existing machine tool 1000 can be expanded simply by additional functions and / or by workpiece and pallet handling. In addition, a modular machine tool can also be combined with a fixed machine tool to make the production / processing of the workpiece 1 more flexible.

[0564] Furthermore, according to the invention, the transport device 100 can simultaneously take on tasks and additional functions from the area of ​​the modular machine tool, for example. The transport device according to the invention is not limited to one area, but can simultaneously take on a wide variety of tasks from different areas.

[0565] Therefore, the above options should not be interpreted as limiting and may expressly be combined with each other in any way.

[0566] Reference Symbols List

[0567] 1. Component / workpiece;

[0568] 10 Chassis / Platform;

[0569] 20 wheels;

[0570] 30 energy storage;

[0571] 35 internal controller;

[0572] 40 receiving device;

[0573] 41 a tapered portion of the receiving device;

[0574] 42 receiving device interface;

[0575] 43 Fasteners and connectors;

[0576] 44 concavity;

[0577] 45 tableting;

[0578] 46 centering device;

[0579] 47 a drive for moving the recess;

[0580] 48 bolts;

[0581] 50 lifting cylinders (for wheels or suspension);

[0582] 55 lifting cylinder (for receiving device);

[0583] 60 suspension;

[0584] 70 connectors;

[0585] 71 connector pressing piece;

[0586] 72 connector fixing member;

[0587] 73 mechanical stopper;

[0588] 74 connection interface;

[0589] 75 connector body;

[0590] 100 transport devices;

[0591] 101 Library;

[0592] 102 tools;

[0593] 103 matching piece (prism);

[0594] 105 coupling (between two transport devices);

[0595] 200 pallet changer;

[0596] 210 hood;

[0597] 215 closure device;

[0598] 300 pallets;

[0599] 301 Alignment elements for pallets;

[0600] 350 pallet rack;

[0601] 351 Alignment element of the tray support;

[0602] 355 tapered recess;

[0603] 357 tray support interface;

[0604] 358 machine tool interface;

[0605] 360 collection cover;

[0606] 400 conveyor belts;

[0607] 420 suction device;

[0608] 450 workpiece receiver;

[0609] 470 rod loader;

[0610] 500 storage stations;

[0611] 510 cone receiver (at storage station);

[0612] 520 storage stations with roller technology;

[0613] 600 robots / industrial robots;

[0614] 601 closed plate;

[0615] 610 units of measurement;

[0616] 620 measuring and testing equipment;

[0617] 630 Accessories for aftertreatment components;

[0618] 640 units for sharpening and dressing tools;

[0619] 650 protective shell;

[0620] 700 modules (net boxes, material trays, other material brackets, machine trays, tool buffer space modules);

[0621] 720 tool changer, tool changer-storage combination, tool magazine;

[0622] 750 robot accessories (replacement fixture, deburring machine, tool storage box);

[0623] 770 application device;

[0624] 775 powder / medium tank;

[0625] 777 feeding / powder suction / medium;

[0626] 800 Module for collecting chips;

[0627] 810 tilt mechanism;

[0628] 820 lifting mechanism;

[0629] 825 chip container;

[0630] 830 container carts;

[0631] Module 900 for collecting or extracting used cooling lubricant from machine tools;

[0632] 910 suction device;

[0633] 920 cans;

[0634] 930 filter (for cooling chips in lubricant);

[0635] 1000 machine tools;

[0636] 1010 prism;

[0637] 1020 standard suction device;

[0638] 1030 housing;

[0639] 1035 optional cabin;

[0640] 1040 Pallet Rack Receiver;

[0641] 1041 device cone;

[0642] 1042 centering device for aligning the device;

[0643] 1043 media interface;

[0644] 1044 tray cone;

[0645] 1045 centering device for aligning the pallet;

[0646] 1051 cone receiver;

[0647] 1060 housing;

[0648] 1065 steel cover;

[0649] 1070 round door;

[0650] 1100 working spindle;

[0651] 1120 milling head;

[0652] 1150 Grinding attachment;

[0653] 1180 tailstock attachment;

[0654] 1181 stabilizing bracket;

[0655] 1200 transverse elements (machine tools);

[0656] 1300 support components (machine tools);

[0657] 1350 machine tools;

[0658] 1400 chip collector / chip cart;

[0659] 1500 tool tower;

[0660] 1600 gantry loader;

[0661] 1610 Gripper (Gantry Loader);

[0662] 1700 round storage;

[0663] 1,800 pallet intermediate storage area;

[0664] 1850 tray feeding device;

[0665] 2000 host control;

[0666] 3000 fixed robots;

[0667] 4,000-pallet setup station;

[0668] Storage station for 5,000 pallets.

Claims

1. A system for supporting a manufacturing process on a machine tool arranged on a base surface, wherein: The system comprises: one or more modular units, each having at least one machine tool accessory device for use on the machine tool to support a manufacturing process on the machine tool; and a transport device for receiving at least one module unit, the at least one module unit being selectable from the one or more module units, so as to transport the received module unit to the machine tool, so as to use the respective machine tool accessory device of the received module unit on the machine tool, wherein the transport device is freely movable on the base surface to position the received modular unit relative to the machine tool, wherein the transport device comprises an unmanned transport vehicle configured to move independently of any type of track system to guide the transport device; Wherein, the one or more module units are selected from a module unit group, and the module unit group includes: A robot module unit with an industrial robot for handling tools, workpieces and / or workpiece pallets; a modular tool storage and tool changing unit with a tool storage device and a tool changing device for providing tools on the machine tool and changing tools on the machine tool, a chip collection module unit with a chip collection device for collecting chips in the machine tool or in the working space of the machine tool, a chip removal module unit with a chip removal device for removing chips from the machine tool or the working space of the machine tool, a coolant supply module unit having a coolant supply device for supplying coolant to the machine tool, and A coolant exchange module unit is provided with a coolant exchange device for exchanging coolant on the machine tool.

2. The system according to claim 1, characterized in that: The transport device is configured to position the one or more modular units in the area in front of and / or beside a working space of the machine tool along a spatial direction across the area by moving on the base surface.

3. The system according to claim 1, characterized in that: One or more receiving devices are used to receive respective module units.

4. The system according to claim 3, characterized in that: At least one of the one or more receiving devices comprises a centering device which is configured to align a respectively received module unit relative to the receiving device.

5. The system according to claim 4, characterized in that: The at least one of the one or more receiving devices comprising a centering device further comprises a drive for linearly moving the receiving device in the direction of the centering device.

6. System according to any of the preceding claims, characterised in that: At least one receiving device is arranged on at least one side of the transport device.

7. The system according to any one of claims 3 to 5, characterized in that: The modular unit is configured to be placed by a transport unit and / or docked on a receiver of the machine tool configured to receive the modular unit.

8. The system according to any one of claims 3 to 5, characterized in that: The one or more receiving devices have a connecting element for transmitting control signals and / or energy from the transport device to the corresponding module unit.

9. The system according to claim 8, characterized in that: When receiving the module unit, the connecting element automatically establishes a connection with the corresponding module unit to transmit electrical, pneumatic and / or hydraulic control signals and / or energy.

10. The system according to claim 8, characterized in that: Each receiving device has a control device for monitoring the state of the receiver of the corresponding module unit, wherein the control device is configured to monitor control signals, energy transmission and / or locking status of the module unit received on the corresponding receiving device.

11. The system according to any one of claims 1 to 5, characterized in that: A drive for moving a transport vehicle, and A control unit is used to control the transport device.

12. System according to any one of the preceding claims 1 to 5, characterized in that: An internal energy storage device supplies energy to the transport device.

13. System according to any one of the preceding claims 1 to 5, characterized in that: A sensor unit, which includes one or more optical, infrared and / or radar sensors, is used to monitor the environment of the transport device.

14. System according to any one of the preceding claims 1 to 5, characterized in that: a plurality of wheels for moving or displacing the transport device, wherein one, more than one or all of the wheels of the transport device are individually controllable and / or steerable; and / or One or more drive chains for moving or displacing the transport device.

15. System according to any one of the preceding claims 1 to 5, characterized in that: The transport device is configured to receive one of the one or more modular units at a storage station and transport it from the storage station to the machine tool.

16. The system according to claim 15, characterized in that: The transport device is configured to establish a connection between one or more connection elements of the transport device and one or more connection elements of the modular units when each modular unit is received.

17. System according to any one of the preceding claims 1 to 5, characterized in that: The transport device is configured to communicate with an external control device to control the plurality of transport devices.

18. System according to any one of the preceding claims 1 to 5, characterized in that: The transport device is configured to communicate with a control device of the machine tool via a communication interface.

19. The system according to claim 18, characterized in that: The communication interface comprises a wireless communication interface, and the transport device is configured to communicate with the control device of the machine tool via a wireless communication link by means of the communication interface.

20. System according to any one of the preceding claims 1 to 5, characterized in that: The transport device comprises a docking device and is configured to dock with a docking station of the machine tool, a docking station of a setup station of a manufacturing system of the machine tool, and / or a docking station of an automation device of a manufacturing system of the machine tool by means of the docking device.

21. The system according to claim 18, characterized in that: The transport device includes a docking device and is configured to dock with a docking station of the machine tool, a docking station of a setting table of a manufacturing system of the machine tool, and / or a docking station of an automation device of a manufacturing system of the machine tool by means of the docking device, and The transport device, in a state of being docked on the docking station of the machine tool having the communication interface, is configured to communicate with the control device of the machine tool via the docking device coupled to the communication interface.

22. The system according to claim 20, characterized in that: The transport device is configured to position itself and / or the one or more received modular units relative to the machine tool by docking at the docking station of the machine tool, to position itself and / or the one or more received modular units relative to the setup station by docking at the docking station of the setup station, and / or to position itself and / or the one or more received modular units relative to the automation device by docking at the docking station of the automation device.

23. The system according to claim 20, characterized in that: The transport device is configured to move between docking stations of the manufacturing system.

24. The system according to claim 20, characterized in that: The docking device of the transport device is configured to raise and / or lower the transport device for docking at the docking station.

25. System according to any one of the preceding claims 1 to 5, characterized in that: The transport device is configured to move to a module loading station configured for supply of modular units and / or storage of modular units.

26. System according to any one of the preceding claims 1 to 5, characterized in that Also includes: A central control device is configured to be connected to the one or more transportation devices.

27. The system according to claim 26, characterized in that Also includes: A module loading station is configured to provide modular units and / or storage of modular units.

Images