Manipulator for manufacturing environment

Abstract

The invention relates to a handling device (1) for a manufacturing environment (2) comprising at least one manufacturing apparatus (8, 9) for manufacturing objects, in particular additively, the handling device (1) having a robot device (3) configured to interact with at least one component of the manufacturing apparatus (8, 9) and / or a manufactured object and a transport device (4) configured to transport the robot device (3), the handling device (1) having a coupling device (5) configured to detachably couple the robot device (3) or at least one robot device with the transport device (4), the transport device (4) being configured to transport the at least one robot device (3) to at least one station (13-17, 21, 22) and to detach the robot device from the transport device (4) by means of the coupling device (5).

Description

Technical Field

[0001] The present invention relates to a manipulator for a manufacturing environment comprising at least one manufacturing apparatus for—particularly additively—manufacturing an object, the manipulator having a robotic device and a transport device, wherein the robotic device is configured to interact with at least one component of the manufacturing apparatus and / or the manufactured object, and the transport device is configured to transport the robotic device. Background Technology

[0002] The corresponding maneuvering devices are known in principle from the prior art. For example, such transport devices are known, constructed for transporting different modules of manufacturing equipment, such as structural modules, powder modules, etc., or devices allocated to manufacturing equipment, such as containers in storage facilities. Such transport devices can, for example, be used to transport structural modules to equipment for additively manufacturing three-dimensional objects or to remove such structural modules after the manufacturing process is completed and transport them to reprocessing equipment. The use of such transport devices to transport containers in storage facilities is also known.

[0003] Robotic devices, such as multi-axis robots, are also known in the prior art for manipulating components of manufacturing equipment, for example, to perform different tasks during manufacturing or reprocessing, assembly, or other tasks arising in the manufacturing environment. Such robotic devices can also be used for sorting or other logistical tasks in warehousing facilities. These robotic devices are typically fixed in position to a workstation, and therefore cannot usually be removed from that fixed workstation. For manufacturing equipment with relatively long cycle times, this means that the robotic device performs a task and then stops until the manufacturing equipment has completed the manufacturing process and the robotic device can be used again. Especially in additive manufacturing methods where cycle times are typically several hours to several days, this results in long downtime for the robotic device, so that, in the worst-case scenario, the robot's uptime is less than its downtime.

[0004] Furthermore, it is known that such manipulation devices have a robotic unit and a transport unit fixedly connected to each other; that is, the robotic unit itself is fixedly connected to a movable lower structure, or the transport unit has a multi-axis robot as a fixed component. The disadvantage here is that, in principle, the advantages of achieving these benefits with a single unit are lost by integrating the transport unit into the robotic unit, or vice versa. For example, the power supply for either the transport unit or the robotic unit must be shared by both units, thus requiring the power supply unit to be designed to be correspondingly larger. The transport unit also cannot be used to transport other modules, etc. Moreover, the transport unit is unavailable when the robotic unit is in use. Summary of the Invention

[0005] The objective of this invention is to provide a relatively improved control device that enables higher efficiency in the use of transport devices and robotic devices.

[0006] To this end, the present invention proposes a manipulator for a manufacturing environment comprising at least one manufacturing device for manufacturing objects. The manipulator has a robotic device and a transport device, wherein the robotic device is configured to interact with at least one component of the manufacturing device and / or a manufactured object, and the transport device is configured to transport the robotic device. A coupling device is provided, configured to detachably couple the robotic device or at least one robotic device to the transport device. The transport device is configured to transport the at least one robotic device to at least one workstation and to detach the at least one robotic device from the transport device via the coupling device. At least one positioning device is provided, disposed between the transport device and the robotic device and configured to form-lock the at least one robotic device relative to the transport device and / or disposed between the robotic device and a corresponding workstation and configured to form-lock the at least one robotic device relative to the at least one workstation. The positioning device is designed as a "cup-cone connection," in which a connecting partner is designed as a cone and embedded in a correspondingly shaped recess or trough.

[0007] As previously stated, this invention relates to a manipulator for a manufacturing environment. Within the scope of this application, a manufacturing environment or manufacturing equipment can be understood as any device configured for manufacturing objects. For example, equipment for additive manufacturing of three-dimensional objects can be understood as manufacturing equipment. Such manufacturing equipment can also be constructed as conventional manufacturing equipment, such as milling machines. Assembly equipment can also be understood as manufacturing equipment in the sense of this application, which, for example, is used in the form of or on an assembly line to join or manufacture objects by assembling different components. Here, the manufacturing environment can of course be any combination of different or similar manufacturing equipment, especially additive manufacturing equipment can be combined with conventional manufacturing equipment or assembly conveyors.

[0008] Therefore, the transport devices and robotic devices described below can perform tasks related to various manufacturing equipment or other equipment within a manufacturing environment. Here, the transport device can ultimately be used to transport any module, container, or other device within the manufacturing environment. Correspondingly, the robotic device can perform any task within the manufacturing environment. This can be particularly for reprocessing steps of manufactured objects, manipulation of various tasks within manufacturing equipment, such as removing or placing structural plates and objects, tasks during the assembly of manufacturing equipment, etc. The robotic device can also be equipped with fixed or replaceable tools to perform assembly tasks, etc.

[0009] This invention is based on the understanding that a control device has a coupling device configured to detachably couple the robot device, or at least one robot device, to a transport device, wherein the transport device is configured to transport the at least one robot device to at least one workstation and decouple the robot device from the transport device via the coupling device. According to this invention, the transport device and the robot device are thus detachably coupled to each other. This allows the robot device to be transported to a specific workstation via the transport device and decoupled from the transport device there. In other words, the transport device can receive the robot device at the current workstation, move the robot device to another workstation and park the robot device at that other workstation, and then perform other transport tasks detachably from the robot device.

[0010] This allows the transport unit and the robotic unit to ultimately be used separately, enabling each unit to fully utilize its respective advantages. Furthermore, the robotic unit can be moved between workstations as needed, ensuring that it is not idle at one workstation, especially given the relatively long cycle time, and can be used at another workstation during this period. While the robotic unit is in use, the transport unit can perform other tasks and does not need to remain at the workstation with the robotic unit due to its fixed coupling to it.

[0011] Within the scope of this application, "workstation" is understood as a location where a robotic device can be placed and perform corresponding tasks within a manufacturing environment. Therefore, a workstation can be assigned to a specific manufacturing equipment or a portion thereof. In this case, the robotic device can perform tasks or interact with the manufacturing equipment at the workstation, such as inserting or removing structural panels, removing manufactured objects, reprocessing the objects, or performing other tasks, such as maintaining or cleaning the manufacturing equipment. Of course, the robotic device can also be used with other manufacturing equipment, such as conventional manufacturing equipment or assembly conveyors. Workstations can also be defined within warehousing facilities so that robotic devices can perform corresponding tasks, such as sorting or allocating parts, especially components, in storage units.

[0012] For example, the central control unit in the manufacturing environment can determine which tasks the robotic units and transport units should perform or should perform next. Accordingly, the robotic units can be moved to the next workstation and parked there by the transport units, allowing them to perform the tasks assigned to them. While the robotic units are performing their tasks, the transport units can perform their assigned (transport) tasks, such as transporting other modules, robotic units, etc. Transport units can therefore be understood in particular as "mobile" transport units because they can move within the manufacturing environment and transport different modules, tools, robotic units, and other devices within the manufacturing environment.

[0013] According to one design of the control device, the coupling device includes a lifting mechanism configured to lift the robot device in a transport state relative to a parking state, wherein the robot device can be transported by a transport device in the transport state. In other words, a lifting mechanism can be provided in the coupling device to lift the robot device. The robot device can thus move between a transport state and a parking state in terms of the lifting mechanism, particularly from the parking state to the transport state and from the transport state to the parking state. In the parking state, the robot device can, in particular, contact a supporting surface, especially the floor of the manufacturing environment or the corresponding manufacturing equipment, by means of a corresponding support.

[0014] If a robot device needs to be transported, the transport device can move accordingly to the robot device, wherein a lifting device raises the robot device to place it in a transport state, in which the robot device is raised relative to its parking state. In the raised transport state, the transport device can receive and transport the robot device. If the robot device is transported by the transport device to the next workstation, it can be lowered by the lifting device and parked there again, thus decoupling the transport device from the robot device and allowing it to be used to perform other tasks.

[0015] The lifting device can be integrated into or connected to the robot or transport device. For example, the transport device can have an integrated lifting device or can carry the lifting device. The lifting device can also be located on or integrated into the robot. For example, the transport device can move below the robot in the receiving section, thereby lifting the robot—for example, by supporting it on the transport device. Thus, the robot, along with its support, is lifted from the ground and can be transported by the transport device. At the next workstation, a lowering movement can be performed, or the robot can be lowered again and rested on its support surface, allowing the transport device to detach from the robot and perform other transport tasks.

[0016] The transport device may, for example, have at least one automatically controlled vehicle or be configured as such. The at least one robotic device may be configured as a multi-axis robot, particularly a 6-axis robot. The transport device can be understood as an unmanned transport vehicle or a so-called automated guided vehicle (AGV). The transport device is particularly capable of automatically traveling to different workstations and accordingly receiving or parking the at least one robotic device. Between the transport of the robotic devices, other devices or modules can also be moved within the manufacturing environment via the transport device, thereby enabling the most efficient utilization of both the robotic devices and the transport device.

[0017] The control device can also be extended via at least one receiving device configured to receive the robotic device on the transport device or at the at least one workstation. The receiving device can, for example, be positioned between the transport device and the robotic device, or between the robotic device and the workstation. Of course, the receiving device can be positioned between the robotic device and the transport device, and also between the at least one robotic device and the corresponding workstation. The receiving device can be understood in particular as a modular interface through which the robotic device can be positioned on the transport device or at the workstation. Here, in particular, different robotic devices can be received on different transport devices and at different workstations.

[0018] The manipulator may also have at least one positioning device configured, particularly for positioning the at least one robot device relative to a transport device, especially on the transport device, and / or for positioning the at least one robot device relative to at least one workstation, in a form-locking manner. The positioning device may be designed separately from or together with the receiving device. The positioning device may, for example, be designed as a so-called "cup-cone connection," wherein the positioning device is configured for positioning the robot device. If the robot device is not positioned perfectly accurately by the transport device, particularly the AGV, the final positioning of the robot device can be achieved by the positioning device. Here, such a positioning device may be provided between the transport device and the robot device and / or between the robot device and the corresponding workstation. In particular, each transport device, each robot device, and each workstation may have such a positioning device, so that the positioning of the robot device is performed when it is placed in a corresponding state, for example, from a transport state to a parking state or from a parking state to a transport state.

[0019] The control device may also include a position detection device configured to detect the position of the transport device and / or the at least one robot device, particularly relative to at least one workstation. The position detection device can be implemented, for example, attached to or replacing the aforementioned positioning device for detecting the position of the transport device and / or the robot device. For example, it may be specified that the robot device is positioned only relatively coarsely, while the position detection device performs a more precise position determination. For this purpose, corresponding position markers can be set for the robot device at the workstation or on the transport device, allowing the robot device to determine its position by specifically traveling to the position markers. This can also be applied to the transport device. Other position detection devices can also be provided for the transport device, such as magnetic strips, positioning systems, especially so-called "indoor GPS," optical inspection devices, laser interferometry devices, triangulation devices, etc. Here, especially when using magnetic strips to guide or position the transport device, positioning accuracy in the sub-millimeter range can be achieved.

[0020] According to another design of the manipulator, the robot device can be configured to interact with manufacturing equipment or objects in a coupled state with a transport device, wherein the transport device provides at least one additional machine axis relative to the robot device. Finally, the robot device's motion can be performed through the coupling of the robot device and the transport device. As previously mentioned, a robot device configured as a multi-axis robot can perform motion using portions of the robot device that can move about corresponding axes. Furthermore, the motion degrees of freedom of the transport device can be used to provide additional degrees of freedom or additional machine axes. If the transport device can only move along one axis, for example, it can provide a "seventh axis" relative to a six-axis robot.

[0021] The transport device can also achieve multiple degrees of freedom of motion, such as two substantially perpendicular directions of motion or rotation about a vertical axis. Therefore, the machine axes of the robotic device can be extended through the motion axes or motion possibilities of the transport device. The relatively precise positioning of the robotic device—for example, when using magnetic strips—allows for precise positioning of the robotic device, or more precisely, the tool of the robotic device.

[0022] According to another design, the manipulator may have at least one interface, particularly integrated into the at least one receiving device, configured to connect the at least one robotic device to a transport device and / or manufacturing equipment and / or an external power source and / or control device. This interface can be used, in particular, to exchange data with the transport device and / or the robotic device or to provide data and / or energy to the robotic device or the transport device. This interface may, for example, have a bus system capable of enabling the corresponding transmission. The robotic device and the transport device are powered, for example, in the form of a low-voltage system. Information, or more precisely, data, can be provided to the robotic device and the transport device via various interfaces, such as radio, especially WLAN, optically or via cable.

[0023] The interface can be integrated, in particular, into the aforementioned receiving or positioning device. For example, the described "cup-cone connection" can provide an interface that closes when the robot is positioned on a transport device or workstation, thereby ensuring power supply or data provision. This particularly allows the robot to be designed without its own power supply, as it can be powered by the transport device when mounted on it or by an interface of the manufacturing equipment or environment when at a workstation.

[0024] According to another design of the control device, at least one locking device can be provided, which is configured to lock the robot device, especially when performing dynamic movements, to the workstation and / or transport device. This robot device is particularly configured to perform highly dynamic movements, which cause corresponding accelerations to the robot device or the structure connected to it. The locking device here ensures reliable connection of the robot device to the transport device or workstation. The locking device can therefore be provided between the transport device and the robot device and / or between the robot device and the workstation. The locking device can be configured, for example, as a magnetic clutch or a force-locking and / or form-locking coupler. The locking device is preferably separable or adjustable, so that the force applied by the locking device can be reduced or canceled when the robot device transitions between a stationary state and a transport state.

[0025] According to another embodiment of the manipulator, the transport device may be configured to transport and park the at least one robotic device at a workstation provided or assigned to the manufacturing equipment according to the state parameters of the manufacturing equipment, wherein the transport device is configured to perform at least one additional transport task during the duration of a task in which the robotic device interacts with an object on the manufacturing equipment or at the workstation, and is also configured to receive the robotic device at the workstation and transport it to at least one additional workstation after the duration of the task has ended.

[0026] This implementation scheme specifies that the manufacturing equipment can have or send corresponding status parameters, particularly to a central control unit. The control unit can process these status parameters accordingly, enabling the generation of instructions for the transport device and the robotic device. Thus, the transport device can receive the robotic device at the current workstation, move it to a new workstation, and park the robotic device at the new workstation. At the new workstation, the robotic device can interact with the manufacturing equipment or object. For example, the robotic device can perform maintenance, cleaning, assembly, or reprocessing processes on the manufacturing equipment. The interaction between the robotic device and the object or manufacturing equipment at the new workstation can be described or characterized by the task duration. The task duration represents the time required for the robotic device to perform a task at the new workstation.

[0027] Therefore, during or during the task duration, the transport device can be used for at least one additional transport task, such as moving another robotic device between two workstations or transporting another device or module within the manufacturing environment. If the task duration ends, the transport device can pick up the robotic device at the new workstation according to control instructions from the control unit, i.e., receive the robotic device and transport it to at least one other workstation requiring a robotic device. Clearly, this allows for the most efficient use of both the transport device and the robotic device, as neither device is fixedly coupled to the other, thus ensuring that the other does not need to remain stationary or unusable while one device performs a task.

[0028] In addition to the manipulation device, the present invention also relates to a manufacturing environment having at least two manufacturing facilities configured for, in particular, additive manufacturing of at least one object, wherein the manufacturing environment has at least one manipulation device as described above.

[0029] As mentioned above, a manufacturing environment can be understood as any environment or facility with conventional or additive manufacturing equipment that provides workstations for robotic devices. The movement of robotic devices between various workstations can be ensured here by means of manipulation devices. Furthermore, also as mentioned above, other transport tasks can be performed with respect to transport devices. The manufacturing environment here may in particular have other equipment, such as reprocessing equipment, preparation equipment, storage facilities, etc., which can also generate corresponding tasks that can be performed with respect to transport devices and / or robotic devices.

[0030] The manufacturing environment typically includes multiple additive manufacturing devices, such as different 3D printers. These different devices can be based on the same and / or different technologies. For example, at least one device may be used for selective laser sintering or selective laser melting. At least one device may also be designed as a milling machine or a screen printing machine. At least one device may also have an assembly conveyor or be designed as an assembly conveyor.

[0031] Furthermore, the manufacturing environment may have at least one control device configured to coordinate different machine processes on at least two manufacturing devices, thereby improving the utilization rate of robotic devices and / or transport devices. For example, a first machine process can be started on a first manufacturing device, for which the robotic device performs a corresponding equipment task on the first manufacturing device. Then, based on the execution of the first machine process on the first manufacturing device, a second machine process can be executed on the second manufacturing device, so that the robotic device, which became idle after the start of the first machine process on the first manufacturing device, can be used to operate the second manufacturing device. In particular, the cycle time of each manufacturing device can be considered, thereby coordinating the start of machine processes on each manufacturing device to utilize the robotic device as efficiently as possible.

[0032] Each workstation in the manufacturing environment can have a unique interface, allowing robotic devices to invoke the appropriate programs required to perform tasks based on the interfaces they connect to at the workstation. For example, if a robotic device interfaces with additive manufacturing equipment of a corresponding technology, it can invoke a suitable program to load and execute the corresponding interaction. At least one workstation can be set up in the manufacturing environment, where multiple robots or robotic devices can work together or interact individually with the corresponding manufacturing equipment or the same manufacturing equipment.

[0033] Regarding the assembly process, the robotic device can be designed with special and / or replaceable tools, particularly for specific assembly processes. In the context of assembling parts for motor vehicles on assembly conveyors, this specifically means that the robotic device has at least one special tool for specific equipment, used only on a limited number of models. If different assembly conveyors are connected in parallel, the robotic device can move accordingly to such conveyors to manufacture vehicle models / objects requiring individual special equipment assembly and thus necessitating the use of special tools. This makes it particularly unnecessary to retain such special tools or such a special robotic device for every assembly conveyor. Instead, the robotic device can be moved by a transport device to the assembly conveyor for manufacturing vehicle models / objects requiring the corresponding special equipment.

[0034] All the advantages, details, designs and / or features already described regarding the operating device can of course be transferred to the manufacturing environment and vice versa. Attached Figure Description

[0035] The present invention will be described in detail with reference to the accompanying drawings and embodiments. The drawings are as follows:

[0036] Figure 1 A perspective schematic diagram of the operating device according to the first embodiment is shown;

[0037] Figure 2 A schematic diagram of the manufacturing environment according to the second embodiment is shown in top view;

[0038] Figure 3 A schematic diagram of the manufacturing environment according to the third embodiment is shown in top view;

[0039] Figure 4 A schematic diagram of the position detection device for a manufacturing environment according to the fourth embodiment is shown in the side view.

[0040] Figure 5 Shown from top view according to Figure 4 A schematic diagram of the position detection device. Detailed Implementation

[0041] Figure 1 A manipulator 1 for manufacturing environment 2 is shown, wherein the manipulator 1 has a robotic device 3, such as a six-axis robot, and the manipulator has a transport device 4, particularly an unmanned transport vehicle or so-called "automated guided vehicle" (AGV). The robotic device 3 and the transport device 4 are detachably coupled to each other via a coupling device 5.

[0042] The coupling device 5 may, for example, have a lifting device, which is disposed on or integrated into the transport device 4. The transport device 4 can thus travel to the base 6 of the parked robot device 3 and lift the robot device 3, in particular the base 6 along with the robot device 3, via the lifting device of the coupling device 5, thus placing it in a transport state, in which the transport device 4 can move the robot device 3. Furthermore, the corresponding lifting device can also be integrated into or disposed on the robot device 3, in particular the base 6, and perform the corresponding lifting movement relative to the transport device 4 or relative to a supporting surface, such as the floor of the manufacturing environment 2. Other variations of the coupling between the transport device 4 and the robot device 3 are also possible, such as form-locking, force-locking, and especially magnetic coupling.

[0043] The transport device 4 is configured to transport the robot device 3. As described above, the robot device 3 is detachably coupled to the transport device 4 via a coupling device 5, allowing the robot device to move together with or be mounted on the transport device 4 during transport, thereby enabling the robot device 3 to be transported to the place of use. A positioning device, for example in a so-called "cup-cone connection," can be provided between the transport device 4 and the robot device 3, allowing the robot device 3 to be positioned on the transport device 4. In this cup-cone connection, a connecting partner is designed as a cone and embedded in a correspondingly shaped recess or trough, thereby compensating for or adjusting for any deviation from the desired positioning by means of the corresponding conical surface, or when parking or lifting the robot device 3.

[0044] As described above, the transport device 4 can move or be controlled automatically. For example, the transport device 4 can be controlled based on the magnetic strip 7 laid in the manufacturing environment 2. Of course, other additional or alternative control mechanisms are also possible, such as control via radio, "indoor GPS," or optical control signals. The robot device 3 can carry different tools depending on the task it is to perform. Of course, the robot device 3 can be fitted with appropriate tools, making the robot device configuration suitable for performing various tasks in the manufacturing environment 2.

[0045] Even in a decoupled state, i.e., when separated from the robot device 3, the transport device 4 can still perform other transport tasks, such as transporting containers or modules, especially structural modules used in the manufacturing process. The transport device 4 can also undertake other transport tasks, such as transporting manufactured objects. The manipulator 1 may also have a position detection device (not shown in detail). The position detection device can detect the position of the transport device 4 and / or the robot device 3, for example, by optical detection or by driving to a defined position marker. For example, the robot device 3 can be manipulated to drive to a positioning marker located in the surrounding environment of the robot device 3 or the workstation and determine its position there. Thus, the robot device 3 can be adjusted or calibrated in the workstation environment.

[0046] Alternatively, in the transport state, i.e., in the coupled state of robot device 3 and transport device 4, the extension of the machine axis of robot device 3 can be achieved through transport device 4. For this purpose, in addition to the motion degrees of freedom of robot device 3, at least one motion axis of transport device 4 can also be used. Transport device 4 can move along at least one axis, but in particular, it can also move rotatably or along at least two motion axes. Accordingly, the machine axis provided by robot device 3 is extended or supplemented.

[0047] Figure 2 A top view shows a manufacturing environment 2 with a control device 1 in the second embodiment. Here, the manufacturing environment 2 includes two manufacturing devices 8 and 9, a storage facility 10, a preparation device 11, and a reprocessing device 12. Figure 2 In the case shown, the robot device 3 is positioned at station 13, which is assigned to the manufacturing equipment 8. The other equipment 8-12 also have stations 14-17, and the robot device 3 can be selectively transported to these stations to perform corresponding tasks or interact with them, manipulate objects, etc.

[0048] Manufacturing environment 2 may, in particular, have a central control unit 18 configured to control the manipulator 1, i.e., to determine which of the workstations 13-17 the robotic device 3 should be transported to. In the illustrated embodiment, the robotic device 3 is positioned at workstation 13 and interacts with the manufacturing equipment 8. Simultaneously, the transport device 4 is manipulated to perform other transport tasks. For example, the transport device 4 transports modules for the manufacturing process from storage facility 10 to preparation equipment 11. Of course, the illustrated situation is merely exemplary, wherein the robotic device 3 may interact with each of the equipment 8-12 and thus be positioned at each workstation 13-17. The transport device 4 may also perform arbitrary transport tasks within manufacturing environment 2.

[0049] In particular, the control device 18 can define the task duration, during which the robot device 3 should remain positioned at the manufacturing equipment 8, i.e., station 13, to complete the task assigned to it. During the task duration, the transport device 4 can therefore be used for other transport tasks. If the task duration ends, i.e., the task has been completed or finished with respect to the robot device 3—for example, a structural panel has been replaced in the manufacturing equipment 8, or cleaning, maintenance, object removal, or similar work has been performed—the robot device 3 can be picked up by the transport device 4, i.e., the transport device 4 moves to station 13 and couples with the robot device 3, or places the robot device 3 in a transport state. In the transport state, the robot device 3 is coupled to the transport device 4 and can be moved by the transport device 4 to the next station 14-17 where the robot device 3 is needed next.

[0050] In this embodiment, any equipment used to manufacture an object can be understood as manufacturing equipment 8 or 9. Manufacturing equipment 8 or 9 can be understood, for example, as conventional manufacturing machines such as milling machines, or as additive manufacturing equipment such as equipment for selective laser melting. Here, manufacturing equipment 8 or 9 can be constructed as the same or different manufacturing equipment. Of course, the number, arrangement, and type of the corresponding equipment 8-12 can be arbitrarily selected or adapted according to the specific manufacturing environment 2.

[0051] Each workstation 13-17 also has a positioning device, represented by a square. These positioning devices can also be designed as a "cup-cone connection". The described positioning device can also have an interface constructed for connecting the parked robot device 3 to the transport device 4 or to the corresponding workstation 13-17. Data can be transmitted or power can be supplied to the robot device 3 through this interface. In particular, this allows the robot device 3 to have "real-time capability", that is, the robot device 3's response time to corresponding signals is below a defined time threshold, especially below 200ms. Thus, in particular, it can be ensured that corresponding shutdown signals cause a sufficiently fast response from the robot device 3 regarding operational safety. This interface also allows the robot device 3 to operate without its own power supply. The interface can be connected to an external power supply.

[0052] Furthermore, a locking device can be provided on the transport device 4 or on each station 13-17. This locking device is configured to absorb the forces generated by the movement of the robot device 3. For example, such a locking device can be configured for force-locking and / or form-locking. For example, a magnetic clutch can be provided to lock the robot device 3 so as to ensure reliable positioning of the robot device 3 even when performing dynamic movements.

[0053] Figure 3Manufacturing environment 2 according to the third embodiment is shown. Manufacturing environment 2 is similar in basic structure to... Figure 2 The manufacturing environment 2 is equivalent. Therefore, the same reference numerals are used for the same parts or components in manufacturing environment 2. In principle, regarding Figure 1 and 2 The details of the description can be transferred to... Figure 3 In the embodiment, the reverse is also true. Manufacturing environment 2 has two manufacturing devices 8 and 9, which provide workstations 13 and 14. Workstation 15 is also assigned to storage facility 10 so that robotic device 3 can, for example, be parked there to perform sorting or distribution tasks in storage facility 10.

[0054] Figure 3 The manufacturing environment 2 also has two assembly conveyor belts 19 and 20, on which objects are transported for assembly. For example, motor vehicles can be assembled on assembly conveyor belts 19 and 20. For this purpose, for example, two workstations 16 and 17 and 21 and 22 are assigned to each assembly conveyor belt 19 and 20 respectively. The robotic device 3 is specifically constructed to provide the corresponding tools by which components can be installed onto the vehicle. If it is necessary to install such a component, the transport device 4 can move the robotic device 3 to one of the workstations 16, 17, 21, and 22 and park it there, so that the robotic device 3 can perform the corresponding assembly task.

[0055] Especially for components installed in only a few models / vehicles, this prevents the need to retain the same tools multiple times. Instead, the robotic device 3 can provide tools at the corresponding stations 16, 17, 21, and 22 when needed. Of course, the number of assembly conveyors 19 and 20 is not limited to two. Instead, any number of assembly conveyors 19 and 20 with any number of stations 16, 17, 21, and 22 can be provided.

[0056] exist Figure 3 In the manufacturing environment 2 shown, components manufactured by manufacturing equipment 8 and 9, such as additively manufactured objects, can also be removed by robotic device 3 and moved by transport device 4 to one of workstations 16, 17, 21, and 22, where the objects can be installed, for example, onto a motor vehicle. Of course, transport device 4 can also transport objects or devices only from manufacturing equipment 8 and 9, storage facility 10, or between the various assembly conveyors 19 and 20.

[0057] Of course, the number of robot devices 3 and transport devices 4 can be arbitrarily chosen. Multiple control devices 1 can also be allocated to the manufacturing environment 2. Each control device 1 can have any number of transport devices 4 and robot devices 3. The routes that the transport devices 4, represented by the magnetic strip 7, can travel are of course arbitrarily chosen and are only shown schematically. In particular, it can be specified that each of workstations 13-17, 21, and 22 can be traversed independently. Other controls for the transport devices 4 besides the magnetic strip 7 or alternative magnetic strip 7 are also possible, for example, via radio, optics, or other means.

[0058] Figure 4 Details of the manipulation device 1 in the manufacturing environment 2 according to the fourth embodiment are shown. Here, the manipulation device 1 may have a position detection device 23, which is configured to detect the position of the robot device 3 and the transport device 4 individually and / or in a coupled manner. Figure 4 In the diagram, the robot device 3 is shown coupled to the transport device 4. Here, the position detection device 23 can also detect the position of the robot device 3 in a parked state or the position of the transport device 4 in a separated state.

[0059] The position detection device 23 has at least one detection element 24, such as a camera, which is particularly disposed in the ceiling area of ​​the manufacturing environment 2. The position detection device 23 may have multiple detection elements 24, such as multiple cameras disposed in the ceiling area of ​​the manufacturing environment 2. Here, each detection element 24 has a detection area 25, in which the detection element 24 is configured to detect the position or orientation of the robot device 3 and / or the transport device 4. The respective detection areas 25 may at least partially overlap or be adjacent to each other. Similarly, the detection elements may be disposed only or reinforcedly in the areas of workstations 13-17, 21, 22.

[0060] exist Figure 5 The detection area 25 is schematically shown in a top view, in which the robot device 3 and the transport device 4 are shown offset relative to the target area 26. In other words, the position detection device 23 can optically, particularly through a network of cameras on the workshop ceiling of the manufacturing environment 2, detect the actual positions of the robot device 3 and the transport device 4. The detected actual positions can be corrected against the target position or target area 26, which can be stored, for example, in the control device 18.

[0061] For example, positional errors in the x and y directions can be detected here. Errors relative to the angle around the z-axis can also be detected. The detected positional errors can then be transmitted to the robot device 3 and / or the transport device 4. For example, the robot device 3 can be repositioned in relation to the transport device 4 via the control device 18. The at least one detected positional error can also be incorporated into or taken into account in the manipulation of the robot device 3. In other words, the robot device 3 can be manipulated based on the detected positional errors in order to compensate for the positional errors in the movements performed in relation to the robot device 3.

[0062] The position detection device 23 can be attached to or replace the aforementioned positioning device, especially the "cup-cone connection" type. If the position detection device 23 replaces the positioning device, especially the receiving device, the robot device 3 can be powered by a separate power supply. For this purpose, the robot device 3 has an electrical energy storage module, which is particularly independent of the power supply of the transport device 4. For example, the robot device 3 can have a battery installed within it. Thus, compared to a manufacturing environment 2 with a positioning system fixed to the workshop floor, flexibility can be further improved.

[0063] The advantages, details and features shown in the various embodiments can of course be used interchangeably or exchanged and combined with each other.

[0064] List of reference numerals

[0065] 1. Control device

[0066] 2 Manufacturing Environment

[0067] 3. Robotic Device

[0068] 4. Transport equipment

[0069] 5. Coupling device

[0070] 6 supports

[0071] 7. Magnetic band

[0072] 8, 9 Manufacturing equipment

[0073] 10. Warehousing facilities

[0074] 11. Prepare equipment

[0075] 12. Reprocessing equipment

[0076] Workstations 13-17

[0077] 18. Control device

[0078] Assembly conveyor belts 19 and 20

[0079] Workstations 21 and 22

[0080] 23 Position Detection Device

[0081] 24 Detection elements

[0082] 25 Detection Areas

[0083] 26. Target area.

Claims

1. A manipulation device (1) for a manufacturing environment (2), said manufacturing environment including at least one manufacturing device (8, 9) for manufacturing objects, said manipulation device (1) having a robotic device (3) and a transport device (4), wherein, The robot device (3) is configured to interact with at least one component of the manufacturing equipment (8, 9) and / or a manufactured object, and the transport device (4) is configured to transport the robot device (3), characterized in that it is provided with a coupling device (5) configured to detachably couple the robot device (3) or at least one robot device to the transport device (4), wherein the transport device (4) is configured to transport the at least one robot device (3) to at least one workstation (13-17, 21, 22) and to separate the at least one robot device from the transport device (4) by means of the coupling device (5), and is provided with at least one positioning device disposed between the transport device (4) and the robot device (3) and configured to position the at least one robot device (3) relative to the transport device (4) in a form-locking manner and / or the positioning device is disposed between the robot device (3) and the corresponding workstation (13-17, 21, 22). The coupling device (5) is configured to position the at least one robot device (3) relative to at least one workstation (13-17, 21, 22) in a form-locking manner. The positioning device is designed as a "cup-cone connection" in which a connecting partner is designed as a cone and embedded in a corresponding shaped recess or trough, thereby compensating for or adjusting the deviation from the desired positioning by the corresponding conical surface, and adjusting the deviation when parking or lifting the robot device (3). The coupling device (5) includes a lifting device configured to lift the robot device (3) from the ground so that the robot device (3) can be transported by the transport device (4). The lifting device is also configured to park the robot device (3) at the corresponding workstation (13-17, 21, 22) by lowering it, so that the transport device (4) can be decoupled from the robot device (3) and can be used to perform other tasks.

2. The operating device (1) according to claim 1, characterized in that, The lifting device is integrated into the transport device (4) or the robot device (3), or connected to the transport device or the robot device.

3. The operating device (1) according to claim 1 or 2, characterized in that, The transport device (4) has at least one automatically controlled vehicle or is configured as such a vehicle, and / or the at least one robotic device (3) is configured as a multi-axis robot.

4. The operating device (1) according to claim 1 or 2, characterized in that, At least one receiving device is provided, which is configured to receive the robot device (3) on the transport device (4) or at the at least one workstation (13-17, 21, 22).

5. The operating device (1) according to claim 1 or 2, characterized in that, The positioning device is configured to position the at least one robotic device (3) on the transport device.

6. The operating device (1) according to claim 1 or 2, characterized in that, At least one position detection device (23) is provided, which is configured to detect the position of the transport device (4) and / or the at least one robot device (3).

7. The operating device (1) according to claim 1 or 2, characterized in that, The robot device (3) is configured in a coupled state with a transport device (4) for interacting with manufacturing equipment (8, 9) or objects, wherein the transport device (4) provides at least one additional machine axis relative to the robot device (3).

8. The operating device (1) according to claim 1 or 2, characterized in that, The device is provided with at least one interface configured to connect the at least one robot device (3) to a transport device (4) and / or manufacturing equipment (8, 9) and / or an external power source and / or a control device (18).

9. The operating device (1) according to claim 1 or 2, characterized in that, At least one locking device is provided, the locking device being configured to secure the robot device (3) to the workstation (13-17, 21, 22) and / or the transport device (4).

10. The operating device (1) according to claim 1 or 2, characterized in that, The transport device (4) is configured to transport and park the at least one robot device (3) at a workstation (13-17, 21, 22) provided by the manufacturing equipment (8, 9) according to the state parameters of the manufacturing equipment (8, 9), wherein the transport device (4) is configured to perform at least one additional transport task during the duration of the task in which the robot device (3) interacts with objects on the manufacturing equipment (8, 9) or the workstation (13-17, 21, 22) and after the end of the task duration, receive the robot device (3) at the workstation (13-17, 21, 22) and transport the robot device to at least one additional workstation (13-17, 21, 22).

11. The operating device (1) according to claim 1, characterized in that, The manufacturing equipment (8, 9) is a manufacturing equipment for additively manufacturing objects.

12. The operating device (1) according to claim 3, characterized in that, The at least one robotic device (3) is configured as a six-axis robot.

13. The operating device (1) according to claim 6, characterized in that, The at least one position detection device is configured to detect the position of the transport device (4) and / or the at least one robot device (3) relative to at least one workstation (13-17, 21, 22).

14. The operating device (1) according to claim 8, characterized in that, The at least one interface is integrated into at least one receiving device, which is configured to receive the robot device (3) on the transport device (4) or on the at least one workstation (13-17, 21, 22).

15. The operating device (1) according to claim 9, characterized in that, The locking device is configured to secure the robot device (3) to the workstation (13-17, 21, 22) and / or the transport device (4) when performing dynamic movements.

16. A manufacturing environment (2) having at least two manufacturing devices (8, 9), said manufacturing devices being configured to manufacture at least one object, characterized in that, The manufacturing environment (2) has at least one operating device (1) according to any one of claims 1 to 15.

17. The manufacturing environment (2) according to claim 16, characterized in that, The manufacturing equipment is configured to additively manufacture at least one object.

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