Processing equipment for processing workpieces

Abstract

The present invention relates to a free-running transport vehicle for transporting at least one workpiece. According to the present invention, in addition to a control device, the free-running transport vehicle further comprises a near-field sensor arrangement that can be coupled to a trajectory control unit, wherein the trajectory control unit can determine the relative position of one or more points of the free-running transport vehicle with respect to one or more position information sources of the near-field driving environment based on position raw information measurable by the near-field sensor arrangement. By means of the trajectory control unit, the main orientation and the variable conveying direction of the transport vehicle can be matched with each other. The present invention also relates to a conveying system for transporting at least one workpiece, which comprises at least one such free-running transport vehicle; to a processing device, to a processing device comprising such a conveying system, and to a method implemented by the trajectory control unit.

Description

Technical Field

[0001] The invention relates to a freely moving transport vehicle for transporting at least one workpiece, in particular at least one vehicle body, along a transport section in a variable transport direction, comprising:

[0002] a) a traveling mechanism defining a main axis and a main orientation of the transport vehicle, a fastening device for at least one workpiece, and a connecting device coupling the traveling mechanism to the fastening device; and

[0003] b) a control device configured to control the traveling mechanism along the transport section based on position information provided by at least one position information encoder.

[0004] Furthermore, the invention relates to a transport system for transporting at least one workpiece along a transport section in a variable transport direction, which comprises at least one such freely moving transport vehicle.

[0005] In addition, the invention relates to a processing device for processing workpieces, in particular for processing vehicle bodies, comprising:

[0006] a) a transport system comprising a plurality of freely moving transport vehicles, by means of which at least one workpiece can be transported along the transport section in a variable transport direction respectively;

[0007] wherein

[0008] b) each freely moving transport vehicle respectively comprises:

[0009] ba) a traveling mechanism defining a main axis and a main orientation of the freely moving transport vehicle, a fastening device for at least one workpiece, and a connecting device coupling the traveling mechanism to the fastening device; and

[0010] bb) a control device configured to control the traveling mechanism along the transport section based on position information provided by at least one position information encoder;

[0011] c) along the transport section, there is a traveling space which is connected to the workpiece transport space through a connecting passage, wherein the traveling mechanism can move within the traveling space such that the fastening device is guided together within the workpiece transport space and extends through the connecting passage.

[0012] Furthermore, the invention relates to a processing device comprising a transport system according to the invention and to a method implemented by a trajectory control unit of the processing device for processing workpieces and / or of the freely moving transport vehicle for transporting at least one workpiece. Background Art

[0013] In a processing device of the type described at the beginning, one or more processing devices are arranged along a conveying section, which can in particular be a painting booth, a dryer or a workbench. Here, the workpiece can be processed with materials or media in the processing device, for example painted, or assembled in the workbench, or machining can also be carried out, for example grinding or polishing. For a vehicle body, the workbench can in particular be formed by an assembly station, in which vehicle components are equipped for the white body.

[0014] During the processing of the workpiece, an atmosphere harmful to conveying technology is generated in the conveying space. Since the travel space for conveying technology and the conveying space for the workpiece are only connected to each other through a connecting passage, it is particularly possible to reduce the atmosphere transition between the spaces in combination with appropriate shielding tools on the connecting passage, so that the conveying technology equipment in the travel space is not overburdened by the harmful atmosphere.

[0015] Transport systems including free-running transport vehicles are also known to those skilled in the art by the terms "driverless transport system" or FTS. The free-running transport vehicle is ground-bound, i.e. its running gear travels on the running surface and can be driven and steered independently of each other. The attached position information encoder can be a known path-finding system. It can for example include path markings arranged on or in the running surface, GPS inside the equipment and / or a matrix-based position information encoder. Additionally or alternatively, an optical far-field sensor is also possible, by means of which collisions with obstacles located on the conveying section can be prevented. In this case, the basic control commands, such as travel tasks, destinations, etc., are generally coordinated by a higher-level central control system.

[0016] Especially in vehicle production, there is a desire to use FTS from the painting of the vehicle body to the final assembly of the vehicle. Thereby, the replacement of transport tools can be dispensed with, which saves costs and improves efficiency.

[0017] When the conveying direction of the transport vehicle changes, the (usually stated) forward direction vector changes. In the curved section of the conveying section, the conveying direction at the position of the transport vehicle in the curve direction is always the tangential vector extending perpendicular to the radius of the curve curvature.

[0018] The main axis and the main orientation of the free-running transport vehicle both take the direction of the forward movement of the transport vehicle with respect to the specified front of the transport vehicle. This means that even for a three-dimensional and / or omnidirectional free-running transport vehicle, the main axis and the main orientation always point in the direction of the specified front of the vehicle and the resulting forward movement direction.

[0019] A processing device using a conveying system including free-running transport vehicles has the following advantages, namely that it can be maximally flexible and adaptable to different workpieces, changing production processes, etc. In addition, there is no need to install a network structure surrounding the entire processing device composed of guide rails, electric rails, etc., because the free-running transport vehicles can directly roll on the device floor.

[0020] For the navigation and coordination of individual free-running transport vehicles, path markings are usually arranged on the device floor, which can additionally include, for example, special markings for individual routes to be traveled by the free-running transport vehicles. In order to detect these path markings and in order to detect obstacles along or on the conveying section, the free-running transport vehicles usually include a separate far-field sensor arrangement. On the one hand, it includes a path marking sensor for path markings, and on the other hand, an obstacle sensor, through which obstacles even further away from the transport vehicle can also be detected. However, the disadvantage of this far-field sensor arrangement is that it only works inadequately in narrow spaces, especially in the dedicated travel space for the free-running transport vehicles. Therefore, when entering the travel space, the far-field sensor arrangement may generate signals similar to the case of having obstacles along or on the conveying section at the travel space limiting elements. In the worst case, this may cause the control device to interpret it as an obstacle and generate a stop instruction. This results in short-term production downtimes.

[0021] In addition, for free-running transport vehicles of the type described at the beginning, there will also be an adverse collision between the connecting device and the connecting passage. In this case, this collision risk mainly increases in the curved section of the conveying section. When the connecting device comes into contact with the connecting passage, in an adverse situation, system curling and accidental damage to the transport vehicle may occur. As a result, on the one hand, the efficiency of the processing device is reduced because the transport vehicles in the curved section can no longer travel smoothly due to the occurring collisions. On the other hand, the wear at the connecting passage and the connecting device is aggravated, which causes high-cost maintenance work. Summary of the Invention

[0022] Therefore, the object of the present invention is to provide a free-running transport vehicle, a conveying system, a processing device, and a method implemented by a trajectory control unit, which overcome the disadvantages of the prior art described above.

[0023] For free-running transport vehicles of the type described at the beginning, this object is achieved in the following way:

[0024] c) In addition to the control device, the transport vehicle further includes a near-field sensor arrangement that can be coupled to the trajectory control unit, wherein the trajectory control unit can determine the relative position of one or more points of the freely moving transport vehicle with respect to one or more position information sources of the near-field driving environment based on position raw information measurable by the near-field sensor arrangement; and

[0025] d) The main orientation and the conveying direction of the transport vehicle can be matched to each other by the trajectory control unit.

[0026] According to the present invention, it is known that with such a near-field sensor arrangement, it is possible to move a freely moving transport vehicle more simply along a conveying section where there are obstacles or objects that may be interpreted as obstacles by the control device. Similarly, due to the additional near-field sensor arrangement, it is possible to configure the conveying section particularly flexibly and in accordance with requirements. For example, the conveying section can include one or more curved sections.

[0027] In order for the freely moving transport vehicle to be particularly flexible in matching the variable conveying direction, it is beneficial that the trajectory control unit is arranged on or inside the freely moving transport vehicle. In particular, when there are multiple freely moving transport vehicles of the same type, it would be particularly advantageous if each transport vehicle can be independently matched to the variable conveying direction without relying on other freely moving transport vehicles. For this purpose, it is particularly advantageous that there is no need for any higher-level trajectory control unit that coordinates all freely moving transport vehicles. Thus, the main orientation of the freely moving transport vehicle and the corresponding conveying direction can be particularly flexibly and individually matched to each other based on one or more position information sources of the near-field driving environment.

[0028] Particularly advantageously, the near-field sensor arrangement includes at least one camera or optical scanner, in particular a laser scanner, and / or at least one ultrasonic sensor and / or at least one radar sensor, which are arranged on the freely moving transport vehicle and can measure position raw information by means of camera images and / or optically scannable structures and / or reflective structures, and the position raw information can be processed by the trajectory control unit into position information. Therefore, the position raw information can include, for example, brightness values or contrast values. Additionally or alternatively, it can include, for example, edge images of the orientation of connecting paths, reflection spectra, absorption spectra, and / or polarization spectra, and / or more complex marking information, such as information on barcodes, etc.

[0029] Additionally or alternatively, it may be advantageous for the near-field sensor arrangement to include at least one force sensor arranged on the connecting device or on the traveling mechanism housing, which is configured to detect collisions of the connecting device with the edge or inner surface of the connecting path and / or with the travel space limiting members of the travel space. Then the position raw information can be the force measured by the force sensor. For example, the force sensor can be designed as a strain gauge or a measuring head, etc.

[0030] Furthermore, it may be advantageous for the near-field sensor arrangement to additionally or alternatively include a rotation value encoder, which is configured to provide the rotational position of at least one wheel arrangement of the freely traveling transport vehicle. Then, the position raw information can be the angle etc. provided by the rotation value encoder.

[0031] Advantageously, the traveling mechanism respectively includes one or more actively rotatable wheel arrangements, which

[0032] a) can be actively rotated respectively about a rotation axis, and the rotation axis extends perpendicular to the wheel suspension axis, particularly vertically; and

[0033] b) are coupled to the trajectory control unit by a rotation drive, such that the trajectory control unit activates one or more rotation drives according to the position raw information that can be determined by at least one near-field sensor arrangement, so that the correspondingly activated rotation drive causes the corresponding wheel arrangement to rotate about the rotation axis.

[0034] This means that in this advantageous variant, the trajectory control unit receives the position raw information from the near-field sensor arrangement, and according to these position raw information, one or more rotation drives for one or more wheel arrangements can be controlled.

[0035] Thereby, for example, it is possible to match the rotational position of the wheel arrangement to the rated rotational position at a specific point along the conveying section by means of the rotation value (such as an angle) that can be determined by the rotation value encoder for the corresponding wheel arrangement, and thereby generally follow the preset section path.

[0036] For this purpose, it is particularly beneficial that one, more or all of the actively rotatable wheel arrangements can be rotated individually by means of the trajectory control unit. Thereby, it is possible to align the wheel suspension axes of the wheel arrangements respectively individually to the center of curvature of the curve section in the curve section of the conveying section.

[0037] For the conveying system of the type described at the beginning for conveying at least one workpiece, the object mentioned at the beginning is achieved in such a way that the conveying system includes at least one freely traveling transport vehicle having several or all of the features mentioned above.

[0038] For a processing device of the type described at the beginning, the object set out above is achieved as follows:

[0039] d) In addition to the control device of the freely moving transport vehicle, the processing device also includes mechanical and / or sensor-dependent path support means, which are arranged to actively and / or passively match the main orientation and the conveying direction of the freely moving transport vehicle to each other as a function of at least one parameter dependent on the connecting path.

[0040] It is known according to the invention that with the aid of such path support means, the connecting means extending through the connecting path can be guided through the connecting path along the conveying section more safely, that is to say largely collision-free. Thanks to the additionally present path support means, it is also possible to configure the conveying sections in the processing device particularly flexibly and in accordance with requirements. As a result, section runs which are currently not possible due to the lack of matching between the conveying direction and the main orientation of the freely moving transport vehicle become possible. For example, a curved section run of the processing device thus becomes possible, in which the workpieces can then also be processed in the curved region. In addition, the connecting path can be kept particularly narrow by the invention, whereby, for example, the travel space can be shielded more efficiently from the harmful atmosphere in the workpiece conveying space.

[0041] In the case of the path support means, it is particularly advantageous if the parameter dependent on the connecting path is at least indirectly:

[0042] a) the course of the edge and / or the inner surface of the connecting path in the conveying direction; and / or

[0043] b) the inclination of the inner surface of the connecting path relative to a vertical plane extending in the conveying direction; and / or

[0044] c) the local width of the connecting path.

[0045] The local width is understood to be the distance between the edge or the inner surface of the connecting path and the edge or the inner surface which is usually opposite and perpendicular to the conveying direction. Preferably, the width of the connecting path along the conveying section is constant.

[0046] Preferably, the main orientation and the conveying direction of the freely moving transport vehicle can be matched to each other by the path support means such that

[0047] a) after or during the matching of the freely moving transport vehicle, the main orientation always extends parallel to or perpendicular to the conveying direction or is maintained parallel to or perpendicular to the conveying direction; and / or

[0048] b) after or during the matching, at least one section of the connecting means extending through the connecting path is at or remains within a preset tolerance distance from at least one edge and / or the inner surface of the connecting path.

[0049] Thereby, it is possible to keep the section of the connecting device relative to one or both edges and / or the inner surface of the connecting passage within a respectively preset tolerance distance overall. The section of the connecting device extending through the connecting passage can be, for example, a strut or a brace.

[0050] Preferably, the tolerance distance is at least 3 to 7 mm, preferably at least 6 to 9 mm, and particularly preferably at least 8 to 14 mm.

[0051] In a particularly preferred design, the center of the maximum lateral extent of the section of the connecting device is kept on the center line of the connecting passage. The center line of the connecting passage is understood as an imaginary line in the connecting passage and in the conveying direction, which always has the same distance from the two edges and / or the inner surface of the connecting passage.

[0052] For the processing device, it is further beneficial that:

[0053] a) In order to actively match the main orientation and the conveying direction with each other, the track support device includes at least one near - field sensor arrangement, which is coupled to the track control unit,

[0054] wherein

[0055] b) The track control unit can respectively at least indirectly determine the relative position of one or more points of the freely moving transport vehicle in one or more parameters depending on the connecting passage through the position raw information measurable by the near - field sensor arrangement. The position raw information can be processed by the track control unit into position information.

[0056] In this sense, the active matching means that there is at least one driver to match the main orientation of the freely moving transport vehicle with the conveying direction.

[0057] In this case, the position information measurable by means of the position raw information preferably includes at least one of the following groups of information: the position of at least one edge and / or the inner surface of the connecting passage, the position of the center line of the connecting passage, the distance of the connecting device from at least one edge and / or the inner surface of the connecting passage. Similarly, for effective position information, it is necessary to incorporate the specified rated value or other measurement information into the determination.

[0058] Preferably, the position information is compared with the rated values so that, based on the comparison result, the main orientation can be matched with the variable conveying direction. These rated values can be, for example, information from at least one of the following groups: the rated orientation of the edge and / or inner surface of the connecting passage, the rated orientation of the center line of the connecting passage, the tolerance distance of the connecting device relative to at least one edge and / or inner surface of the connecting passage.

[0059] The processing device having one, more or all of the features mentioned above preferably includes a conveying system according to the present invention.

[0060] In order to passively match the main orientation and the conveying direction with each other along the conveying section, the track support device preferably presets one or more mechanical guiding structures, which can respectively exert guiding resistance on the freely moving transport vehicle.

[0061] In this sense, passive matching is understood as not mandatorily requiring a dedicated drive to match the main orientation of the freely moving transport vehicle with the variable conveying direction.

[0062] The guiding structure can ideally be formed by

[0063] a) one or more running mechanism guiding structures, which are arranged in the running space, particularly on the running ground in the running space, and can exert guiding resistance on the running mechanism, wherein the rotation axis extends perpendicularly to the wheel suspension axis, particularly vertically; and / or

[0064] b) running space limiters, which can exert guiding resistance on the running mechanism housing of the running mechanism.

[0065] The running mechanism guiding structure can be formed, for example, by a guiding plate extending in accordance with the orientation of the connecting passage. However, it is also possible to preset corresponding grooves or similar recesses in the running ground, in which the running mechanism travels.

[0066] In order to additionally avoid possible collisions between the connecting device and the connecting passage, it is advantageous to arrange contact elements, particularly rolling or sliding elements, on the connecting device, which can roll or slide along at least one edge and / or inner surface of the connecting passage.

[0067] Preferably, in a variant, the force sensors already mentioned for the freely moving transport vehicle can be arranged in or on the rolling or sliding elements. As already mentioned above, the force sensor can also be designed as a measuring head, for example. In particular, an implementation can be considered in which the measuring head extends beyond the connecting device in the moving direction of the freely moving transport vehicle respectively. The measuring head then at least sectionally detects the deviation from one of the above-mentioned rated values by recording the contact.

[0068] Additionally or alternatively, a force sensor designed as a strain gauge can also be arranged, for example, on the connecting device such that it records its minimum reversible deflection when sliding, rolling, or hitting the connecting path along the connecting path.

[0069] Preferably, a conveying system of a processing device including a mechanical guiding structure through which passive matching can be achieved is a conveying system according to the present invention, and the conveying system includes at least one trajectory control unit for actively matching the main orientation to a changing conveying direction.

[0070] In order to improve the efficiency of the processing device in a particularly beneficial manner, it is advantageous that the active part and the passive part of the matching between the main orientation of the transport vehicle and the conveying direction can be superimposed on each other. In other words, this means that there are both elements of a mechanical trajectory support device and elements of a sensor-dependent trajectory support device, and the matching can be achieved sequentially or simultaneously.

[0071] According to another aspect of the present invention, this object is achieved in that a processing device having several or all of the features mentioned above is part of a manufacturing device for workpieces (in particular for vehicle bodies).

[0072] According to another aspect of the present invention, the above-mentioned object is achieved by the application of a freely moving transport vehicle in a processing device for processing workpieces (in particular for processing vehicle bodies), wherein the freely moving transport vehicle has several or all of the features mentioned above for the freely moving transport vehicle.

[0073] For the method mentioned at the beginning, this object is achieved in that the method includes the following steps:

[0074] a) Receiving position raw information provided by a near-field sensor arrangement, which is particularly arranged on a freely moving transport vehicle;

[0075] b) Processing the position raw information into position information, and based on the position information, determining the relative position of one or more points of the freely moving transport vehicle according to one or more parameters depending on the driving environment, in particular depending on the connecting path and / or the driving space of the processing device;

[0076] c) Generating a position correction instruction according to the determined position information, wherein the position correction instruction causes the matching, in particular adaptation, of the main orientation defined by the driving mechanism of the freely moving transport vehicle and the variable conveying direction.

[0077] Advantageously, the near-field sensor arrangement provides the trajectory control unit with position raw information from the following components:

[0078] a) at least one camera or at least one optical scanner, in particular a laser scanner, which is arranged on a freely moving transport vehicle and determines position raw information from above and / or from below the connection path by means of camera images or optically scannable structures; and / or

[0079] b) at least one force sensor, which is arranged on the connecting device or on the running gear housing of the freely moving transport vehicle and detects collisions of the connecting device with the edge or inner surface of the connection path and / or with the travel space limiting elements of the travel space.

[0080] Preferably, at least one rotation drive is activated by a position correction instruction such that the rotation drive causes a corresponding wheel arrangement to rotate about a rotation axis, wherein the rotation drive is connected to the actively rotatable wheel arrangement by a rotation axis extending perpendicular to the wheel suspension axis of the wheel arrangement (in particular vertically). Additionally or alternatively, for a freely moving transport vehicle comprising at least two actively drivable wheel arrangements, the position correction instruction can also preferably cause the wheel arrangements to be driven towards each other, thereby achieving a main orientation that is matched to the variable conveying direction.

[0081] Advantageously, at least one rotation drive is activated by a position correction instruction such that the wheel suspension axis remains aligned with the center of curvature of the curve section in the curve section of the conveying section. This means that during the conveying movement of the freely moving transport vehicle, a main orientation that continuously matches the changing tangential vector of the variable conveying direction is achieved. Thereby, a particularly smooth turning movement of the freely moving transport vehicle can be ensured in a particularly narrow space.

[0082] The executed position correction instructions can be stored in a correction protocol, which can be transferred to the central control system mentioned above, and the central control system can calculate a corrected basic movement track for the subsequent transport vehicles for the section passed through and transmit it to the subsequent transport vehicles accordingly. If necessary, such a correction protocol can also be exchanged between two or more transport vehicles, so that the corrected basic movement track can be calculated by the control system carried by the transport vehicle. If necessary, the corrected basic movement track can also be changed again by a position correction instruction if required.

[0083] In sections of the conveying section that are not subdivided into a travel space for the travel mechanism and a workpiece conveying space, the free-running transport vehicle is usually controlled by a control device. Some sections of the conveying section are characterized by a narrowed travel space and a connecting passage from the travel space to the workpiece conveying space. As a result, in these sections, competition for control dominance occurs between the control device and the trajectory control unit. Particularly advantageously, the trajectory control unit completely or partially blocks the control instructions of the control device for the travel mechanism of the free-running transport vehicle based on one or more specified decision parameters. In this way, potential production downtimes are avoided, where, for example, production downtimes may occur because the transport vehicle stops due to the control device recognizing a narrowing and the transport vehicle cannot continue to move forward.

[0084] In this case, such decision parameters can be calculated, for example, based on a specified brightness value or contrast value, a certain position of the edge in the edge image, a specified reflection spectrum, absorption spectrum or polarization spectrum, and / or a specified force sensor value. In this case, one or more decision parameters for blocking the control device can be consistent with the position information previously described, and position correction instructions are implemented based on these position information. Description of the Drawings

[0085] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings:

[0086] Figure 1a and Figure 1b show a cross-section and a partial longitudinal section of a processing device for processing workpieces known from the prior art, including a workpiece conveying space that is connected to a travel space for a conveying system arranged below it through a connecting passage. Through this travel space, workpieces are conveyed along the conveying section in a variable conveying direction, where the conveying system includes a plurality of free-running transport vehicles;

[0087] Figure 2a and Figure 2b respectively show enlarged partial views of the processing device corresponding to the cross-section of Figure 1a and the longitudinal section corresponding to Figure 1b , including a first embodiment of a trajectory support device according to the present invention;

[0088] Figure 3a and Figure 3b respectively show cross-sections of the processing device corresponding to Figure 2a and Figure 2b , including a second embodiment of a trajectory support device according to the present invention;

[0089] Figures 4a to 4cA bottom view of the respective chassis of various freely moving transport vehicles is shown, wherein four wheel arrangements are respectively shown, which can be actively rotatable or passively rotatable and each comprise one or two wheels;

[0090] Figures 5a to 5e Shown according to Figure 4c a top view of a freely moving transport vehicle, wherein the transport vehicle is shown in a plurality of stages of traveling through a curved section of a conveying section, and wherein in all the stages shown the main orientation of the transport vehicle and the conveying direction are matched to one another;

[0091] Figures 6a to 6d Shows the corresponding Figures 5a to 5d A view of a freely moving transport vehicle in which two vertical struts of the connecting device extend through the connecting passage;

[0092] Figure 7 The free-traveling transport vehicle is shown in the corresponding Figure 6b Detailed views in curved sections of the connecting passages showing different conveying directions and tolerance distances relative to the edge and / or the inner surface of the connecting passage;

[0093] Figure 8 Shown according to Figure 7 An enlarged view of region VIII of , wherein the nominal course of the edge and / or the inner surface of the connecting passage is shown by a dotted line;

[0094] Figure 9 A schematic diagram of a method implemented by a trajectory control unit is shown in a flow chart. DETAILED DESCRIPTION

[0095] Figure 1a and Figure 1b A processing device, designated as a whole by 10 , for processing a workpiece 12 is schematically illustrated, as is known per se and is also used in the present case unless any differences are explained. The workpiece 12 is shown by way of example as a vehicle body 14 .

[0096] The processing device 10 comprises a processing device 16 with a housing 18, wherein the housing defines a processing space 20. In the processing device 16, for example, a drying step, a pretreatment step or a coating step (for example a painting step) can be carried out on the workpiece 12. However, the processing device 16 can also be a working device 22, in which assembly steps and / or processes such as quality control for checking the coating quality can be carried out.

[0097] In the following, the present invention is described based on an example of a processing device 16, wherein a processing space 20 is designed as a processing tunnel 24 and includes two tunnel walls in the form of side walls 26 and two additional tunnel walls in the form of a ceiling 28 and a floor 30. The processing device 16 can alternatively be upwardly open and not have any side walls 26 and ceiling 28. However, regardless of its specific design, i.e., whether open or closed, the processing space 20 has a floor 30 in any case.

[0098] By means of a conveying system 32, along a conveying section S F , workpieces 12 are conveyed in a variable conveying direction R F . In the present embodiment, the workpieces 12 are conveyed through the processing space 20, i.e., are conveyed through the processing tunnel 24 of the processing device 16 here, and are also conveyed outside the processing device 16. In the latter case, for example, they are conveyed between two processing devices 16 existing along the conveying section S F , or are conveyed on the way to the processing device 16, or are conveyed on the way away from the processing device 16, for example, even to the storage area of the processing equipment 10.

[0099] The workpieces 12 move along the conveying section S F , in a workpiece conveying space 34 located above the floor 30 and extending along the conveying section S F . The floor 30 can also exist in front of and / or behind the respectively existing processing device 16. Within the scope of the processing device 16, the workpiece conveying space 34 coincides with its processing space 20. The workpiece conveying space 34 can thus likewise be open or closed.

[0100] The conveying section S F can include one or more curved regions 36, which are shown in Figures 5a to 8 . One or more curved regions 36 can exist within the scope of the processing device 16. However, curved regions can also occur outside the processing device 16 in order to convey the workpieces 12, for example, meanderingly through the processing equipment 10. In the curved regions 36 of the conveying section S F , the conveying direction R F always describes a tangential vector V K extending perpendicular to the radius r of the curve curvature T . These tangential vectors V T are shown in Figure 7 ; this will be discussed in more detail below.

[0101] In the current embodiment, the processing device 16 operates in the through-mode, and the processing device correspondingly has an inlet at the end face side end and an outlet at the opposite end, which are not visible in the drawings. The inlet and outlet can be designed as gates, as is known per se according to the prior art. However, the processing device 16 can also be planned as a batch system and, if necessary, has only a single access end through which the workpiece 12 is conveyed into the processing space 20 and conveyed out of it again after processing. The single access end can also be designed as a gate if necessary.

[0102] The conveying system 32 includes a plurality of freely moving transport vehicles 38, and only a single transport vehicle is shown in the drawings. The workpiece 12 is on the freely moving transport vehicle 38 and is conveyed along the conveying section S F , in the transport direction R F through the processing device 16. The transport vehicle 38 travels on the travel ground 40 in the travel space 42 arranged below the workpiece conveying space 34 and is ground-based. The conveying system including the freely moving transport vehicles 38 is also known to those skilled in the art under the name "driverless transport system" or simply FTS, and is characterized in that the transport vehicles can be driven and steered independently of each other.

[0103] Each transport vehicle 38 includes a traveling mechanism 44 having a traveling mechanism housing 46, and the traveling mechanism housing at least partially outwardly limits the traveling mechanism 44 when viewed from the outside. The traveling mechanism 44 defines the main axis shown only in Figures 5a to 7 and at the same time defines the main orientation A H . In the current embodiment of the freely moving transport vehicle 38, the main axis is the longitudinal axis, specifically referring to the shown embodiment, and it will also be referred to as the longitudinal axis in the rest.

[0104] However, the specific main orientation A H of the transport vehicle 38 is generally always oriented according to the direction in which the freely moving transport vehicle 38 travels forward with reference to the specified front. For example, for an embodiment of the freely moving transport vehicle 38 (not shown) having a substantially cubic shape and / or a substantially square bottom surface, this definition is very meaningful. The main orientation A H and the transport direction R F can also extend at an angle to each other completely according to the direction in which the freely moving transport vehicle 38 moves. This is particularly appropriate when the transport vehicle 38 does not travel forward with reference to the specified front. In particular, for a freely moving transport vehicle 38 that can move omnidirectionally, this difference is crucial; for example, when the omnidirectional transport vehicle 38 moves laterally with the specified front to one side, the longitudinal axis and the main orientation A Hand the transport direction R F at a 90° angle.

[0105] The transport vehicle 38 includes a fastening device 48 to which the workpiece 12 can be fastened and transported through the workpiece transport space 34. The connecting device 50 couples the fastening device 48 to the traveling mechanism 44 and, if necessary, externally to the traveling mechanism housing 46. The connecting device 50 extends through a connecting passage 51 that connects the workpiece transport space 34 to the traveling space 42. Thus, such a connecting passage 51 is particularly necessary because the contaminating atmosphere from the processing space 20 should be kept away from the traveling space 42. In a painting booth, such a contaminating atmosphere can accumulate paint particles, for example, due to overspray. However, in a dryer, the contaminating atmosphere can also be at such a temperature and / or loaded with harmful substances that prolonged exposure of the transport vehicle 38 to this atmosphere may cause noticeable damage to the transport vehicle 38. In the embodiment shown in FIGS. 1 to Figure 5e the connecting device 50 is formed by a single vertical strut.

[0106] In an embodiment of the connecting passage 51 not specifically shown, it has a shielding device that can be configured, for example, as scaly or layered. This configuration enables a continuously moving passage window that is opened by the connecting device 50 and closed again behind it during transportation along the transport section S F Thus, although the connecting device 50 can move through the connecting passage 51 along the transport section S F the transport vehicle 38 remains shielded from the harmful atmosphere as much as possible during this process.

[0107] The transport vehicle 38 obtains position information from a position information encoder 52, by means of which the freely traveling transport vehicle 38 can be navigated in a coordinated manner in the processing device 10. The position information encoder 52 can be designed, for example, as a far-field sensor arrangement 54 and arranged on the transport vehicle 38. As mentioned at the beginning, it is thus also possible for the transport vehicle 38 to avoid obstacles along the transport section S F with the aid of an obstacle sensor and, additionally or alternatively, to track path marking elements not specifically shown with the aid of a path marking sensor. In Figure 1b the far-field sensor arrangement 54 is shown in the rear region 56a of the transport vehicle 38.

[0108] The position information encoder 52 can be, for example, an in-device GPS system 58, which is represented only by a GPS receiving antenna 60 arranged in the front region 56b of the transport vehicle 38. To be able to process the position information provided by the far-field sensor arrangement 54 and / or the GPS system 58, the transport vehicle 38 also carries a control device 62.

[0109] With the aid of the control device 62, each transport vehicle can individually process the position information provided by the far-field sensor arrangement 54 and / or the GPS system 58, so that it autonomously travels along the transport section S F and drives through the processing device 10. The control device 62 can be completely autonomous. It is also possible that the control device 62, as well as the GPS system 58, communicate with the central control system within the higher-level device mentioned above. The position information measured by the far-field sensor arrangement 54 of each transport vehicle 38 is then transmitted, for example, by means of GPS, W-LAN or the like, to the central control system for processing, and the central control system in turn transmits the corresponding control instructions to the control device 62 of the freely moving transport vehicle 38.

[0110] For such a control device 62, which is known per se from the prior art, difficulties arise when the connecting device 50 has to be guided along and in the connecting path. The main problem is that the connecting device 50 collides with the edge 64a and / or the inner surface 64b of the connecting path 51, as shown in Figure 1a and Figure 2a therein. As a result, wear occurs both on the connecting path 51 and on the connecting device 50.

[0111] Another problem with known control devices 62 of this type is that, depending on the exact embodiment, the far-field sensor arrangement 54 or the GPS system 58 of the processing device 10 only enables a very rough determination of the position, if necessary.

[0112] As a result, for example, the following situation may occur: an obstacle that is erroneously recognized as being located on the transport section S by the far-field sensor arrangement 54, and then, even if the obstacle is actually located beside the transport section S F , the transport vehicle 38 stops. It may also occur that the transport vehicle 38 stops when driving into the travel space 42 of the processing device 16, because, with the aid of the far-field sensor arrangement 54, the travel space limiters 66 marked in F are erroneously recognized as obstacles. Figure 1a 、 Figure 2a and Figure 3a are erroneously recognized as obstacles.

[0113] As Figure 2a and Figure 2b show, the processing device 10 according to the invention then includes a trajectory support device 68, which, in addition to the control device 62, can align the transport direction R F and the main orientation A of the transport vehicle 38 HMatch with each other. In this case, in the current embodiment, the matching is achieved actively and / or passively. This means that the matching can be achieved either maneuverably or non-maneuverably by applying a guiding resistance to the transport vehicle 38.

[0114] In the passive case, the current embodiment of the track support device 68 includes a guiding structure 70. It is formed by the guiding structure 72 of the traveling mechanism, but may also include a traveling space limiting member 66 if necessary. In the current case, the guiding structure 72 of the traveling mechanism is designed as a guiding groove 72a in the traveling ground 40 of the traveling space 42, as Figure 2a shown. The wheel arrangement 74 of the transport vehicle 38 can roll in these guiding grooves 72a that extend along the conveying section S F and in the conveying direction R F . In this case, the guiding groove 72a extends in a manner that matches the orientation of the connecting passage 51. The width of the guiding groove 72a is arranged such that the connecting device 50 is always maintained within a tolerance distance d A from the edge 64a and / or the inner surface 64b of the connecting passage. In particular, the tolerance distance d Figure 7 and Figure 8 will also be elaborated in detail A and is only shown here.

[0115] If necessary, the transport vehicle 38 includes a sensing mechanism that detects when the wheel arrangement 74 hits the side of the guiding groove 72a, so that a reverse movement can be initiated.

[0116] The wheel arrangement 74 of the transport vehicle 38 is implemented as an actively rotatable wheel arrangement 74a. When there is no motoring energy input on the rotation axis A D , the wheel arrangement can still rotate passively around the rotation axis A D due to the guiding resistance exerted by the guiding groove 72a. In the current case, the rotation axis A D extends perpendicular to the wheel suspension axis A R of the wheel arrangement 74a, where only a number of wheel suspension axes A Figures 4a to 5e are marked in R . If the transport vehicle 38 leaves the optimal track to be maintained, a guiding resistance can be exerted on the wheel arrangement by the inner wall 76 of the guiding groove 72a, thereby preventing the transport vehicle 38 from continuing to leave the optimal area that still needs to be traversed for the connecting device 50.

[0117] Additionally or, if necessary, alternatively, according to Figure 2a and Figure 2bThe embodiments include a near-field sensor arrangement 78, which in the present case includes at least one camera 80. The camera 80 is arranged on the upper side 82 of the traveling mechanism housing 46 and is directed at the lower side 84 of the connecting passage 51. Here, the camera 80 continuously or at a prescribed period according to application requirements captures the edge 64a or the inner surface 64b of the connecting passage 51. The position raw information thus determined is transmitted to the trajectory control unit 86 arranged in the transport vehicle 38. The camera 80 can optionally also be arranged before or after the section of the connecting device 50 that projects through the connecting passage 51. Similarly, it is possible to direct the camera 80 at the upper side of the connecting passage 51 that is not provided with a reference numeral.

[0118] The trajectory control unit 86 first compares the position raw information with the stored and determined rated values (see also Figure 9 step S4 in). As mentioned at the beginning, the system can work, for example, with brightness values or contrast values. If, for example, the average brightness value of the image captured by the camera 80 is higher than the stored brightness rated value, the position raw information is processed into position information that allows more precise information regarding the position of the transport vehicle 38 relative to the connecting passage 51. This processing mainly involves the elimination of background signals, and the position raw information thus becomes more manageable and more comparable. Similarly, within the scope of the processing, it is checked whether the transport vehicle 38 is still within the tolerance distance d A from the edge 64a or the inner surface 64b of the connecting passage 51. However, it is also possible not to directly compare the position information with the tolerance distance d A but with a tolerance range determined by testing within which position information from a specific source can fluctuate.

[0119] The trajectory control unit 86 now detects, for example, that the camera 80 is directly below the connecting passage 51 and that a position correction movement to the right along the transport direction R F is thus to be effected. This position correction movement is carried out until the position information processed by the trajectory control unit 86 is again within the rated range.

[0120] For the position correction movement, 786 generates a position correction instruction by which a rotation drive 88 coupled to the actively rotatable wheel arrangement 74a is controlled such that the associated wheel arrangement 74a rotates about the rotation axis A D during the travel of the transport vehicle 38. The rotation drive 88 can be preset as a dedicated structural unit or can also be formed only by means of a control technology-based possibility; this will be discussed again in more detail below.

[0121] However, the camera 80 can also detect, for example, the edge 64a of the connection path 51 or the orientation of the inner surface 64b by edge recognition. For generating the position correction indication, this method is significantly less susceptible to possible processing errors compared to the method of working based on luminance values described above. The trajectory control unit 86 then compares the position raw information with the stored nominal orientation, for example, by means of an edge recognition algorithm. By transforming the measured actual orientation into the nominal orientation, a position correction indication can be indirectly generated thereby, and by means of this position correction indication, the rotation drive 88 can be controlled such that the actual orientation substantially corresponds to the nominal orientation.

[0122] In principle, when the transport vehicle 38 is within the range of the connection path 51, the trajectory control unit 86 takes over its control and blocks the control device 62.

[0123] If necessary, during the process described above, or rather when arriving at the connection path 51, the control device 62 can initially still be active. Subsequently, competition for the indication dominance between the control device 62 and the trajectory control unit 86 must be avoided. To prevent the transport vehicle 38 from being unable to continue moving forward due to this conflict and thus causing production delays, when there is position information outside the tolerance range of the position information, or additionally or alternatively, when exceeding the tolerance distance d A the trajectory control unit 86 can block the control device 62. The trajectory control unit 86 then autonomously controls the transport vehicle 38. When there is a lack of position information that meets the aforementioned criteria, the blocking instruction of the trajectory control unit 86 is no longer maintained, and the control device 62 can thus take over the control of the transport vehicle 38 again.

[0124] In the current embodiment, the near-field sensor arrangement 78 of the transport vehicle 38 additionally includes a contact element 90, which can be a rolling element or a sliding element, which is arranged on the connecting device 50 and includes a force sensor 92, and this force sensor can detect the force applied to the contact element 90. The trajectory control unit 86 then generates a position correction indication for the wheel arrangement 74a based on the detected force. The position raw information provided by the force sensor 92 can be processed by the trajectory control unit 86 together with the position raw information provided by the camera 80. A particularly reliable position determination is thus possible. Alternatively, the camera 80 or rather, generally speaking, the optical system can be dispensed with, and only the contact element 90 can be used.

[0125] In Figure 3a and Figure 3b a variant of the trajectory support device 68 is shown.

[0126] First, the guiding structure 72 of the mechanical traveling mechanism is not designed as a guiding groove 72a here, but as a guiding plate 72b. In a manner similar to the guiding groove 72a, the guiding plate 72b is adapted to the connecting path 51 and extends in coordination with the changing conveying direction R along the conveying section S. F and extends in coordination with the changing conveying direction R F The guiding plate 72b also has inner walls 76b that can exert guiding resistance on the wheel arrangement 74.

[0127] As another difference from the Figure 2a and Figure 2b embodiment, instead of the camera 80, the current trajectory support device 68 has two optical scanners 94, which are implemented as laser scanners not specifically provided with reference numerals, for example. They continuously direct a light beam 96 at a marking element 98 arranged on the lower side 84 of the connecting path 51. In a variant not specifically shown, the light can mainly consist of the red spectral region or the infrared spectral region. The marking element 98 can be implemented either as an optically scannable structure, such as a continuous bar code, or as a regularly repeating geometric structure. In other embodiments, the marking element 98 can also be arranged along the travel space limiting member 66.

[0128] In a variant not specifically shown, alternatively or additionally, there can also be one or more ultrasonic sensors or radar sensors that cooperate with a reflecting structure such that position raw information that can be processed into position information by the trajectory control unit 86 can be determined.

[0129] In the current embodiment, the optical scanner 94 continuously measures the reflection spectrum of the light reflected by the marking element 98 incident on a photosensitive sensor not shown. Compared to the previous embodiment, Figure 3a and Figure 3b the embodiment shown does not have any force sensors 92 arranged in the contact element 90. Rather, a measuring head 99 is arranged on the connecting device 50, which projects out of the connecting device 50 in the connecting path 51 in the forward movement direction. Thereby, a change in the orientation of the connecting path 51 can be detected in advance. In this case, the measuring head 99 can be arranged on a movable guiding member not shown.

[0130] In an embodiment not shown, additionally or alternatively if necessary, a force sensor 92 designed as a strain gauge is arranged on the connecting device 50 and is included in the near-field sensor arrangement 78. By means of this, it is also possible to detect the smallest reversible deflections of the connecting device 50 when it slides, rolls or collides along the edge 64a or the inner surface 64b of the connecting path 51. In this case, the position raw information generated by the strain gauge is processed by the trajectory control unit 86 in a manner comparable to that of the other force sensors 92. Similar to what has already been described for the camera 80 and the other force sensors 92, this position raw information is continuously compared with the setpoint. If the position raw information deviates from the setpoint, the position raw information is processed by the trajectory control unit 86 into position information. If these average position information exceed the tolerance range, the trajectory control unit generates a position correction indication, thereby activating the rotation drive 88. This is the case, for example, when the light of the optical scanner 94 no longer impinges on the marking element 98, or when the force sensor measures a force exceeding the noise value (Rauschwert).

[0131] As already in Figure 2a and Figure 2b In the embodiment described, the trajectory control unit 86 then continuously generates a position correction indication until the connecting device 50 is again at a tolerance distance d A from the edge 64a or the inner surface 64b of the connecting path 51.

[0132] Now, in Figures 4a to 4c only three embodiments of possible designs of the travel mechanism 44 are shown. The freely moving transport vehicle 38 is shown from below in each case. Figure 4a The transport vehicle 38 shown in D has a rotatable wheel arrangement 74a that can be actively rotated in the front region 56b. These wheel arrangements are each coupled to the rotation drive 88 and each have a wheel 100 arranged thereon. The rotation axis A D intersects the steering axis here. Another type of rotatable wheel arrangement 74b is arranged in the rear region 56a, where the rotation axis A D does not intersect the steering axis; the steering axis or the steering bearing can be seen here as a circle, which is offset in the direction of the front region 56b relative to the rotation axis A Figure 4b The transport vehicle in Figure 4cShown therein is a transport vehicle 38, which includes four actively rotatable wheel arrangements 74a, each of which includes two wheels 100 arranged thereon. In such a wheel set including two wheels 100, the rotational drive 88 is preferably formed in such a way that the two wheels 100 can rotate towards each other, so that the wheel set (i.e., the wheel arrangement 74a thus formed) rotates as a whole about the rotation axis A D rotate.

[0133] For reasons of simplicity and clarity, additional embodiments are not specifically shown. The first of these additional embodiments has a rotationally fixed wheel arrangement 74 in the tail region 56a, and these wheel arrangements are thus not rotatable about the rotation axis A D rotate, and in this regard, they cannot be deflected either. In the second embodiment, three actively rotatable wheel arrangements 74a are arranged along the circumference. Embodiments not shown may also include only three or five or more wheel arrangements 74.

[0134] In Figures 5a to 5e , an embodiment of the transport vehicle 38 is shown in a plurality of movement stages in the curve region 36. The transport vehicle 38 travels along the transport section S F , with a varying transport direction R F . The transport section S F has a curved section 102 within the curve region 36. It can be seen that the trajectory control unit 86 controls the transport vehicle 38 along the transport section S F such that from Figure 5a when entering the curved section 102 to the position according to Figure 5c , the main orientation A H is always consistent with the transport direction R F .

[0135] This is achieved in such a way that the wheel suspension axis A of the wheel arrangement 74 located in the curved section 102 R is always oriented by the trajectory control unit 86 such that it is aligned with the center of curvature M of the curved section 102 and remains aligned during the movement along the curved section 102. In order to provide other position raw information for the trajectory control unit 86 in addition to or instead of the solutions mentioned so far, for each wheel arrangement 74, there may respectively be a rotation value encoder not shown, which transmits the rotational position of the wheel arrangement 74 to the trajectory control unit 86 and is included in the near-field sensor arrangement 78. These rotational positions can then be compensated by the trajectory control unit 86 with the rotational positions predefined for specific sections of the transport section S F and adapted to the rated value when there is a deviation from the rated value.

[0136] In Figure 5d and Figure 5eshows: the main orientation A H is not always parallel to the respective actual conveying direction R F extends. The main orientation A H is perpendicular to the conveying direction R here F extends, and the transport vehicle 38 faces one side and is transverse to its longitudinal axis A H moves.

[0137] In Figures 6a to 6d a further embodiment of the transport vehicle 38 is shown in a manner similar to Figures 5a to 5e . In this transport vehicle 38, the connecting device 50 includes two vertical struts, which are marked here with 50a and 50b and are spaced apart from each other in the direction of the longitudinal axis A H .

[0138] In this case, the near-field sensor arrangement 78 is adapted to the two struts 50a, 50b present. For example, for each strut 50a, 50b, there is a dedicated camera 80 respectively, which scans the connecting path 51 in front of each strut 50a, 50b. The corresponding content applies to cases with more than two struts 50 and the like.

[0139] This embodiment and Figures 6a to 6d as well as Figure 7 and Figure 8 show how the main orientation A H and the conveying direction R F can be matched to each other by means of the trajectory support device 68 according to the invention in the presence of string effects (Sehneneffekten). When more than just one, for example rod-shaped section of the connecting device 50 extends through the connecting path 51, such a "string" marked with 104 in Figures 6a to 6d will always be formed. Then the control of the transport vehicle 38 along the curved section 102 must be regarded as conveying an article along the connecting path 51 with a longitudinal extension having a string 104.

[0140] For this, Figure 7 shows a detailed view of the transport vehicle 38 on the curved section 102 of the conveying section S Figure 6b in the position according to F . The conveying direction R F is also shown with respect to the tangential vector V of the transport vehicle 38 at different positions in the curved region 36 T . Figure 8 Fragment VIII in Figure 7 is shown on an enlarged scale, and the tolerance distance d A is shown, where the connecting device 50 is held at least within this tolerance distance from the edge 64a or the inner surface 64b of the connecting path 51.

[0141] shows the actual run 106a of the edge 64a or the inner surface 64b and the nominal run 106b of the edge 64a or the inner surface 64b. When determining this deviation of the actual run 106a from the nominal run 106b, the trajectory control unit 86 generates a position correction indication, whereupon the wheel arrangement 74 is actuated by the rotation drive 88 such that the transport vehicle performs a correction movement until the actual run 106a and the nominal run 106b again substantially correspond. In this case, the exact nominal run 106b depends first of all on how the tolerance distance d is arranged or preset A .

[0142] Figure 9 shows a flow chart of the method 108 implemented by the trajectory control unit 86. In step S1, position raw information is continuously generated by the near-field sensor arrangement 78, and this position raw information is transferred to the trajectory control unit 86 in step S2. After receiving the position raw information in step S3, in step S4 it is then checked in the trajectory control unit 86 whether the transmitted position raw information exceeds a specified nominal value. If this is not the case, the method 108 jumps back to step S1. However, if the nominal value is exceeded, in step S5 the position raw information is processed into position information by the trajectory control unit 86. Now, in step S6, on the basis of the stored or measured parameters, this position information is used to determine the relative position of the transport vehicle 38 with respect to the driving environment, in particular with respect to the edge 64a or the inner surface 64b of the connecting path 51.

[0143] In the illustrated embodiment, the points with respect to which the relative position is determined are in each case one or more places on the transport vehicle 38 on which a camera 80 or an optical scanner 94 is arranged. In an embodiment not specifically shown, representative values of the relevant points of the transport vehicle 38 in the XYZ coordinate system are stored in the trajectory control unit 86. By means of the position information, the relative position of the camera 80 or the optical scanner 94 with respect to the driving environment can be determined; with the aid of this position information, the relative position of the connecting device 50 or other points of the transport vehicle 38 with respect to the driving environment can also be determined by means of a corresponding matrix transformation.

[0144] Now, in method step S7 it is checked whether the points whose relative position has been determined by means of the position information exceed the tolerance distance d with respect to the driving environment AIf this is not the case, the method starts again from step S1. However, if this is the case, then in step S8 of method 108 it is checked whether the control device 62 is activated and whether a control instruction is transmitted to the travel mechanism 44 of the transport vehicle 38. In order to avoid production stoppages, in particular due to competition regarding the indication of sovereignty, the trajectory control unit 86 blocks the control device 62 for a certain period of time, during which the trajectory control unit 86 controls the transport vehicle 38. In this case, the trajectory control unit 86 controls not only the rotary drive 88, but also the remaining drive mechanisms of the transport vehicle 38, which, for reasons of clarity, are not specifically shown.

[0145] Subsequently, in method step S9, a position correction instruction is generated, based on which the rotary drive 88 of the wheel arrangement 74 is activated in method step S10.

[0146] Once the position raw information transmitted by the near-field sensor arrangement 78 no longer exceeds or falls below the stored nominal value, the control device 62 takes over the control of the transport vehicle 38 again, i.e. for example when leaving or after leaving the travel space 42.

[0147] However, although not shown in Figure 9 additionally, for this purpose the control device 62 also needs to implement a similar method. The far-field sensor arrangement 54 of the control device 62 measures position information, which, after being balanced with the preset nominal value, allows conclusions to be drawn about how the travel environment of the transport vehicle 38 is formed, so that for example the blocking instruction of the trajectory control unit 86 can then be ignored.

[0148] In another embodiment, not shown, in order to avoid the trajectory control unit 86 taking over the control of the transport vehicle 38 due to exceeding or falling below the nominal value, although such remote control is not required, the trajectory control unit 86 is only activated when a specific marker is detected by the far-field sensor arrangement 54. This marker can for example be arranged at the entrance of the travel space 42 below the workpiece transport space 34. Correspondingly, another marker can then be arranged at the exit of the travel space 42, which causes the blocking instruction of the trajectory control unit 86 to be ignored or alternatively deactivates the trajectory control unit 86. The trajectory control unit can then be reactivated when the corresponding marker is detected again.

Claims

1. A processing device for processing a workpiece (12), comprising: a) A conveying system (32), said conveying system comprising a plurality of freely moving transport vehicles (38), by means of which at least one workpiece (12) can be conveyed respectively along a conveying section (S F ) in a variable conveying direction (R F ). wherein b) each of the freely moving transport vehicles (38) respectively comprises: ba) Define the main axis and the main orientation (A H ) of the traveling mechanism (44) of the transport vehicle (38) traveling freely, the fastening device (48) for at least one workpiece (12), and the connecting device (50) coupling the traveling mechanism (44) and the fastening device (48); and bb) a control device (62) which is configured to control the traveling mechanism (44) along the conveying section (S F ) on the basis of position information provided by at least one position information encoder (52); c) Along the conveying section (S F ) there is a travel space (42) which is connected to the workpiece conveying space (34) by a connecting passage (51), wherein the traveling mechanism (44) can move within the travel space (42) such that the fastening device (48) is guided together within the workpiece conveying space (34), and the connecting device (50) extends through the connecting passage (51), characterized in that d) In addition to the control device (62) of the freely moving transport vehicle (38), a mechanical and / or sensor-dependent path support device (68) is provided, which is designed to actively and / or passively match the main orientation (A H ) and the conveying direction (R F ) of the freely moving transport vehicle (38) to each other as a function of at least one parameter depending on the connecting path (51). wherein the parameter depending on the connection path (51) is at least indirectly: The edge (64a) and / or the inner surface (64b) of the connecting passage (51) in the conveying direction (R F ); and / or The inclination of the inner surface (64b) of the connection passage (51) with respect to a vertical plane extending in the conveying direction (R F ); and / or the local width of the connection path (51).

2. The processing device according to claim 1, characterized in that the workpiece (12) is a vehicle body (14).

3. The processing device according to claim 1, characterized in that The main orientation (A H ) of the freely moving transporter (38) and the conveying direction (R F ) can be matched to each other by means of the track support device (68) such that a) After or during the adaptation of the transport vehicle (38) moving freely, the main orientation (A H ) is always parallel or perpendicular to the conveying direction (R F ) extends or is held parallel or perpendicular to the conveying direction; and / or b) After or during said matching, at least one section of the extension of the connecting means passing through the connecting passage (51) is present or held at a preset tolerance distance (d A ) from at least one edge (64a) and / or inner surface (64b) of the connecting passage (51).

4. The processing device according to claim 3, characterized in that The tolerance distance (d A ) is at least 3 to 7 mm.

5. The processing device according to claim 3, characterized in that The tolerance distance (d A ) is at least 6 to 9 mm.

6. The processing device according to claim 3, characterized in that The tolerance distance (d A ) is at least 8 to 14 mm.

7. The processing device according to claim 3, characterized in that a) In order to actively match the said main orientation (A H ) and the said conveying direction (R F ), the track support device (68) comprises at least one near-field sensor arrangement (78) which is coupled to a track control unit (86), wherein b) the trajectory control unit (86) can respectively determine the relative positions of one or more points of the freely moving transport vehicle (38) with respect to one or more parameters depending on the connection path (51) through the position raw information measurable by the near - field sensor arrangement (78).

8. The processing device according to claim 3, characterized in that In order to passively match the main orientation (A H ) and the conveying direction (R F ), the track support device (68) has one or more guiding structures (66; 70; 72: 72a, 72b) along the conveying section (S F ), and the guiding structures can respectively exert guiding resistance on the freely running transport vehicle (38).

9. The processing device according to claim 8, characterized in that one or more guiding structures (66; 70; 72: 72a, 72b) are formed by a) One or more travel mechanism guiding structures (72) are formed, which are arranged within the travel space (42) and are capable of exerting guiding resistance on the travel mechanism (44), wherein the rotation axis (A D ) extends perpendicular to the wheel suspension axis (A R ) ; and / or b) a travel space limiting member (66) which can exert a guiding resistance on the travel mechanism housing (46) of the travel mechanism (44).

10. The processing device according to claim 8, characterized in that one or more of the guiding structures are formed by a) One or more running gear guiding structures are formed, which are arranged on the running surface (40) within the running space (42) and are capable of exerting guiding resistance on the running gear (44), wherein the rotation axis (A D ) extends perpendicular to the wheel suspension axis (A R ) and / or b) a travel space limiting member (66) which can exert a guiding resistance on the travel mechanism housing (46) of the travel mechanism (44).

11. The processing device according to claim 9 or 10, characterized in that The rotating shaft (A D ) extends vertically.

12. The processing device according to any one of claims 8 to 10, characterized in that a contact element (90) is arranged on the connecting device (50), which can roll or slide along at least one edge (64a) and / or the inner surface (64b) of the connection path (51).

13. The processing device according to claim 12, characterized in that the contact element (90) is a rolling or sliding element.

14. The processing device according to any one of claims 1 to 10, characterized in that The main orientation (A H ) of the transport vehicle (38) and the active and passive parts of the match with the transport direction (R F ) can be superimposed on each other.

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