Production equipment and methods for providing components in production equipment

Abstract

The present invention relates to a production apparatus and a method for providing a component (3) in the production apparatus, wherein the production apparatus has: an assembly area (1) having at least one assembly tool (2) for engaging the component (3); and a provisioning and manual operation area (5) separated from the assembly area (1) by a safety device (4). The production apparatus further includes at least one transport vehicle (6) for providing the component (3), wherein at least one transport vehicle (6) stores at least one component (3) in a filled state via a storage structure (7) of the transport vehicle (6). Furthermore, the transport vehicle (6) is positioned in a provisioning position (9) in the assembly area (1) of the production apparatus at least segmentally via a passageway (8) of the safety device (4). This ensures the possibility of quickly replacing the transport vehicle (6) with minimal personnel exposure. Furthermore, it is configured that during or after the transport vehicle (6) in the provisioning position (9) transitions from its filled state to an empty state, the transport vehicle (6) in the filled state is replaced with the transport vehicle (6) in the empty state.

Description

Technical Field

[0001] The present invention relates to a production apparatus and a method for providing components in the production apparatus, wherein the production apparatus has an assembly area with at least one assembly tool for joining components and a provisioning and manual operation area separated from the assembly area by safety devices. Background Technology

[0002] The storage or movement of components or other goods can be carried out in various ways.

[0003] For example, EP0111887A1 discloses a method and apparatus for loading a container with individual cargo and stacked packaging units. In this method, the cargo is first positioned on a roller trailer and introduced into the container, and then removed at the height of the roller trailer via a hinged flip-top door with a bottom cutout hinged to the loading opening of the container; this is done by pulling the roller trailer out of the container via the bottom cutout after the flip-top door is closed.

[0004] Furthermore, a loading system for loading containers from a loading vehicle to an aircraft is known through US3454172A. The loading vehicle and aircraft are designed such that they can queue up. Both have a double-track roller system on which containers can be carried from the loading vehicle to the aircraft via a continuous chain extending between the tracks of the roller system. For this purpose, separately arranged portions of the continuous chain in the loading vehicle and aircraft are connected to each other, and the containers are connected to the chain by hook mechanisms, such that the containers undergo propulsion as the chain moves.

[0005] However, it is precisely during the supply of components to production equipment that component storage is periodically arranged, based on a drawer-type storage system. In this case, with the drawer-type storage system, two drawers are required for each type of component to be supplied because the time required for the filling process, especially after the drawers are emptied, is much longer than the cycle time for assembling the components in the production equipment. Here, for filling, the drawers are pulled out to an area adjacent to the assembly area and are typically filled manually. On the one hand, since two drawers are required for each type of component to be supplied, a large installation space is needed; on the other hand, the filling process, due to its relatively long filling time, exposes personnel to a high degree of exposure in the hazardous area of ​​the production equipment. Summary of the Invention

[0006] In this context, the present invention is based on the objective of implementing a production equipment of the type mentioned at the beginning in such a way that the installation space requirements and personnel exposure in the hazardous areas of the production equipment are minimized.

[0007] The task is accomplished using the production equipment according to the invention.

[0008] According to the invention, a production apparatus (or production line) is thus provided, wherein the production apparatus comprises: an assembly area with at least one assembly tool for joining components; and a provisioning and manual operation area separated from or distinguishable from the assembly area by safety devices. It is conceivable that the corresponding assembly tool is a robot, particularly an industrial robot with one or even multiple tools. Regarding the possible reception or removal of components to be joined in the assembly area, such a tool is preferably configured as a gripping tool, wherein, in the case of multiple assembly tools configured as robots and, particularly, as industrial robots, tools at least partially different from each other can be arranged at the industrial robot.

[0009] Furthermore, the described safety devices may include, for example, components of barrier grilles or safety fences. However, it is also conceivable that the safety devices may be implemented as components of sensor systems, such as safety laser scanners and / or light curtains, where the sensor system therefore does not form a physical obstruction, but outputs a warning notification and / or causes the traversal to at least temporarily shut down the production equipment or to at least temporarily suspend the assembly process in the assembly area of ​​the production equipment when the sensor system is crossed, especially by an operator. Furthermore, combinations of the listed safety devices are also possible.

[0010] Furthermore, according to the invention, the production equipment has at least one, particularly movable, and therefore non-stationary or non-positionally fixed, transport vehicle for providing components to be joined. Here, at least one transport vehicle, particularly at least one of a plurality of transport vehicles located within the production equipment, stores at least one component via a storage structure in its filled state. Furthermore, this transport vehicle, which stores at least one component via its storage structure in its filled state, or correspondingly a plurality of transport vehicles, each storing at least one component via its respective storage structure in its filled state, is positioned at least segmentally through the passageway of the safety device in the assembly area of ​​the production equipment and / or particularly capable of being positioned in the provisioning position. Preferably, storing a large number of components via the storage structure of the one or more transport vehicles avoids excessively frequent replacement of the transport vehicles in their provisioning positions, and thus advantageously achieves low operator exposure in hazardous areas, which exist particularly through the assembly area and portions of the provisioning and manual operation areas of the production equipment adjacent to the safety devices.

[0011] The transport vehicle should be implemented, particularly in cases of manual positioning, such as by an operator, as a roller cart, manual cart, or handcart, and / or, preferably with self-steering rollers or wheels and handles. Here, it is not equipped with its own drive system. However, on the other hand, it is also conceivable that the transport vehicle be implemented as an unmanned transport vehicle with its own drive system, wherein the transport vehicle will be controlled by an operator and / or guided by the control system of the production equipment.

[0012] Furthermore, in a particularly advantageous improvement of the invention, each provisioning position is determined by a removal portion constructed adjacent to the passageway in the direction of the assembly area. Thus, each removal portion is arranged within the assembly area of ​​the production equipment and, on the object, represents a provisioning position occupied by a transport vehicle, thereby substantially spatially defined and precisely reproducible. For example, the possible design of the removal portion can be achieved here by a profile, such as an aluminum profile, which at least segmentally forms a frame for the transport vehicle. To facilitate a reproducible provisioning position, the upper edge region of the passageway adjacent to the provisioning and manual operation areas can form a stop for the transport vehicle. Here, it can also be arranged such that, in particular, the handle of the transport vehicle stops at the upper edge region, thereby determining the provisioning position in the direction of the assembly area. The design of the removal portion, substantially in the form of a frame for the transport vehicle, provides further advantages because, according to the improvement, the corresponding removal portion has at least one safety device, in particular at least one measuring sensor, through which the occupancy status of the removal portion by the transport vehicle can be detected. Such a safety device, or preferably multiple safety devices, can be arranged in a practical design, particularly mounted at the removal point, to detect the occupancy status of the removal point without requiring other fixing options for the single or multiple safety devices. This thus ensures low installation space requirements. Individual safety devices can also be implemented as gratings, optical scanners, or security laser scanners.

[0013] Furthermore, the safety device should be configured as a fixing device, such as a tensioner, wherein when the fixing device is activated, it prohibits movement of the transport vehicle and thus prohibits changes in the position of the transport vehicle. This, in particular, ensures the safe removal or reception of components from the storage structure of the transport vehicle, which is locked by the fixing device, using assembly tools, especially grippers of industrial robots, since changes in the position of the transport vehicle cannot be performed, especially not by operators.

[0014] A further promising embodiment of the invention lies in storing components of only one component type through a storage structure of corresponding, separate transport vehicles. Therefore, it is advantageous to eliminate the need to distinguish between different component types stored on the transport vehicles, thereby simplifying the design of assembly tool control. Furthermore, according to the improved embodiment, more than one retrieval point is implemented. Specifically, for each component type to be provided in the assembly process, only one transport vehicle is positioned in its delivery location determined by one of the retrieval points. Therefore, for each component type, always only one transport vehicle is positioned in one or more retrieval points and thus in its delivery location. In particular, this minimizes the structural space required for providing components compared to component storage based on a drawer-type storage system. In the case of a drawer-type storage system, two drawers would be needed for each component type to store components because the time required for the filling process, especially after the drawers are emptied, is much longer than the cycle time for assembling components. Furthermore, it should be noted that within the design scope of the improved embodiment, the production equipment can have more retrieval points than the number of different component types required for the current assembly process. However, despite this, a certain number of transport vehicles will still be positioned in corresponding take-up locations, which will correspond to the necessary number of component types. Excess possible take-up locations will remain empty accordingly. However, this ensures greater flexibility in terms of the components that can be assembled using the production equipment. Furthermore, it is possible to position transport vehicles storing components of a specific type in any take-up location, thus providing a suitable position. Therefore, transport vehicles storing a particular component type do not necessarily need to be assigned to fixed take-up locations.

[0015] In the corresponding supply location determined by the removal point, the transport vehicle will also essentially close off the passageway, making it virtually impossible to access the assembly area from the direction of the supply and manual operation areas, especially for operators. This reduces the likelihood of operators reaching the assembly area and being exposed to safety risks there.

[0016] Furthermore, the following design of the present invention can then be considered advantageous: the storage structure is constructed as a component container regardless of the component type. Thus, a storage structure exists in this component container that has a quasi-standardized structural form that is always the same, independent of the type of component to be stored. Therefore, the storage structure does not need to be adapted to the specific component type to be provided, which in particular saves on the cost of specialized structural design and thus reduces increased costs. For example, the component container may have dimensions of 450 mm × 600 mm × 1000 mm. Components of different types are stored in the component container in an ordered or disordered manner, and are then removed from the component container by an assembly tool, such as an industrial robot equipped with a gripper, for assembly. Such a removal process can also be described as "reaching into the box" from the component container "for all". However, it is generally important for this, especially when components are stored disorderedly in the component container, to identify the component type, location, and / or orientation of the components in order to ensure safe removal, for example, by gripping with the gripper of an industrial robot.

[0017] In a different but still advantageous improvement of the invention, the storage structure is constructed, depending on the component type, as a component-bearing structure consisting of at least two support arms, at least one component support adapted to the component type, preferably multiple component supports, or a component holder with a structural height related to the component type. Therefore, the design of the storage structure will be related to the component type of the stored components. Furthermore, components can be arranged to be stored in an orderly manner via the corresponding storage structure. Therefore, components should be stored in a simple, stackable manner. It is conceivable, for example, that the component-bearing structure can store multiple stacked components in a stackable manner. Here, the support arms (on which the components are supported) can exist in the form of pawls, wherein the pawl feet are connected to the base plate, and the pawl arms protrude normally from the base plate. Therefore, the component-bearing structure will be constructed as at least one so-called pawl tower. Furthermore, it is possible to store only one set of components, but also multiple sets of stackable components, especially side-by-side, on the corresponding transport vehicle via the component-bearing structure. Because of the ordered and, in principle, fixed-position storage of components relative to or within a storage structure constructed in relation to component type, components can preferably be stored from a storage structure constructed in relation to component type via assembly tools, especially industrial robots, using preset, learned, and / or stored motion sequences in the controller. Reception can be achieved from a storage structure without needing to identify the component type, location, and / or orientation. However, this approach can also be conceived when using storage structures constructed in relation to component type. If a component cannot be retrieved or received from a storage structure unrelated to component type using assembly tools, especially grippers of industrial robots, reception via a stored sequence of motion can be advantageously applied. This can be based, for example, on the component type, and in particular, on the design of the component in terms of its geometry. For instance, a component of a certain type may be impossible to receive by assembly tools at all due to its geometry. Furthermore, it is conceivable that during retrieval or reception, a component may move and / or become stuck together with other components located in a storage structure unrelated to component type, making individual retrieval impossible. Therefore, using a storage structure related to component type instead of one unrelated to component type can be applied as an emergency strategy.

[0018] Advantageously, transport vehicles with storage structures constructed in relation to and independent of component type can be combined in the production equipment and positioned accordingly in their delivery locations determined by the take-out points.

[0019] The task is further solved by means of a method according to the invention for providing components in a production facility.

[0020] Therefore, according to the invention, a method for providing components in production equipment and / or production lines is also provided, wherein the production line accordingly has: an assembly area with at least one assembly tool for engaging components; and a provisioning and manual operation area separated from the assembly area by safety devices. According to the invention, during or after a transport vehicle located in a provisioning position changes from its filled state to an empty state, a transport vehicle in a filled state is used to replace a transport vehicle in an empty state. Such a transport vehicle, provided for replacement, is advantageously positioned in a corresponding storage or filling position in the provisioning and manual operation areas before replacement and is brought to a removal point for replacement. During replacement, the empty transport vehicle is removed from the removal point, while the filled transport vehicle is brought into the removal point. Here, the provision of components by one or more transport vehicles, based on the advantageously simple and easily performable replacement of transport vehicles and the associated re-provisioning of components within short time intervals, particularly achieves low operator exposure in hazardous areas. Furthermore, the assembly process can continue without interruption during replacement. Therefore, the replacement must be performed only within the following cycle time, which is required for the assembly of the following components, which correspond to the following component types, and the transport container storing the component type is being replaced.

[0021] To provide additional bridging during replacement, the production equipment should have at least one component buffer, or even one component buffer for each removal point, wherein the component buffer should be implemented, particularly in the assembly area, preferably near the corresponding removal point. The component buffer should hold at least one component, or at least one component of each type of component to be supplied. Preferably, it is configured to hold at least five components, or at least five components of each type of component to be supplied. Thus, during replacement, the component to be supplied can be removed from the component buffer by assembly tools, particularly industrial robots, and supplied to the ongoing assembly process.

[0022] Furthermore, the following design of the invention presents a promising approach: empty transport vehicles, especially after their replacement and thus after removal from their provisioning location, are taken to a filling location different from the provisioning location within the provisioning and manual operation area, and in this filling location, in particular, components are refilled and / or temporarily stored in a storage location. It is entirely conceivable that the storage location corresponds to the filling location. Therefore, the filling or refilling of the transport vehicle's storage structure can be performed in a filling location not located in the hazardous area of ​​the production equipment, thereby eliminating the risk of operator exposure when such filling is performed in a hazardous area. This is particularly advantageous compared to component storage based on drawer-type storage systems, which are fixedly located in the hazardous area of ​​the production equipment, and where the drawers must be filled by operators in the hazardous area.

[0023] Furthermore, the following embodiment of the method according to the invention can be considered highly practical: transport vehicles already in a filled state, particularly from the component warehouse of the production equipment, are preferably brought to the supply and manual operation area by route tractors or logistics tractors and temporarily stored in the supply and manual operation area for replacement at the storage location. Thus, it is possible to partially or even completely avoid filling the storage structure in the supply and manual operation area of ​​the production equipment, and consequently, to avoid retaining components in the supply and manual operation area. Transport vehicles already in a filled state can be brought to the supply and manual operation area only when needed, i.e., on a just-in-time basis, and temporarily stored in the storage location for only a short storage interval until replaced by an empty transport vehicle. This empty transport vehicle can be brought directly from the supply and manual operation area to the component warehouse after replacement, or it can be brought from the supply and manual operation area to the component warehouse after only a short stay, particularly for storage or for refilling. Driving can also be carried out by means of a route tractor. With the described embodiment of the method, the supply and manual operation area can advantageously be implemented on a small surface extension.

[0024] Furthermore, the following construction scheme of the present invention is very promising, in which the assembly tool in the assembly area retrieves or receives components stored in a storage structure constructed independently of component type through fully autonomous component identification performed, particularly via image processing. Here, in principle, there is no need for a somewhat immutable motion sequence stored beforehand, particularly in the controller of the assembly tool (preferably an industrial robot), which ensures high flexibility in the design, position, and / or orientation of the components to be retrieved or received. This also enables simplified, unordered storage of components via a corresponding storage structure of a transport vehicle. When a component is received or retrieved individually by the storage structure constructed independently of component type, particularly when the component is removed from the component container, the corresponding motion sequence will always be adapted to the component type, position, and / or orientation of the component. On the other hand, according to the improved scheme, the retrieval or reception of components stored in a storage structure constructed in relation to component type is performed by the assembly tool in the assembly area through a stored motion flow; this is also combined, particularly, with at least one, particularly initial, component search process for determining the occupancy of the retrieval location by a component of the corresponding component type. Therefore, it is advantageous to employ a predetermined and therefore somewhat immutable sequence of motion stored in the controller of the assembly tool, especially the industrial robot, and to perform the retrieval or acceptance of components from a storage structure constructed in relation to the component type of the transport vehicle by means of said sequence of motion, especially when the component type requires it. This is particularly true when the design of the component, especially in terms of its geometry, makes retrieval or acceptance from a storage structure or location unrelated to the component type, achieved through fully autonomous component identification, difficult or even impossible, for example, when the component moves during retrieval or acceptance and / or gets stuck with other components located in a storage structure unrelated to the component type, making individual retrieval impossible.

[0025] In a design-advantageous manner, the improvement of the invention further lies in that: if the maximum replacement time for performing the replacement is exceeded, the assembly process, particularly by means of an automated assembly tool, is halted in the production equipment. This ensures that, as the transport vehicle departs, the passageway opens without exceeding the dimensions required to prevent overstepping, for example, by an operator, into the assembly area, thus minimizing safety risks. The replacement time resulting from performing the replacement should here be maximized to correspond to the cycle time for assembling components, particularly components of a certain type. Preferably, the maximum replacement time is 60 seconds. Attached Figure Description

[0026] This invention allows for numerous implementations. To further clarify its basic principles, several implementations are illustrated in the accompanying drawings and described below. See the following drawings:

[0027] Figure 1 , 2 A partial view of an improved production equipment according to the present invention is shown;

[0028] Figures 3 to 3c This illustration shows an embodiment of the transport vehicle and possible storage structure;

[0029] Figures 4 to 4b Another embodiment of the transport vehicle and possible storage structure is shown;

[0030] Figure 5 The diagram shows a storage structure with component supports, which is related to the component type.

[0031] Figure 6 The undercarriage of the transport vehicle is shown;

[0032] Figure 7a , 7b Showing the rear and side views of the removal area;

[0033] Figure 8a , 8b Additional rear and side views of the removal area are shown.

[0034] Figure 9a , 9b The removal section with guide rails is shown;

[0035] Figure 9c , 9d The image shows a comparison between sections of the removal area with and without a guide rail on the bottom side. Detailed Implementation

[0036] Figure 1 and Figure 2 A partial embodiment of an improved production apparatus according to the present invention is shown. Here, Figure 1 The production equipment is shown in a schematic top view. Figure 2 The production equipment is shown in perspective. This equipment has an assembly area 1, where assembly tools 2, configured as industrial robots, are arranged. The assembly area 1 is separated from the supply and manual operation area 5 by safety devices 4, thereby ensuring... Figure 2 The operator 17 shown cannot easily access the assembly area 1 from the supply and manual operation area 5, and will be exposed to a very high potential hazard due to the movement of the assembly tool 2. A portion of the safety device 4 is configured here, especially... Figure 2 The safety barrier assembly 18 is clearly visible. Furthermore, from... Figure 1 and Figure 2 It can also be learned that the production equipment includes a transport vehicle 6 for supplying component 3. For example... Figure 1As shown, in the filled state shown, each transport vehicle 6 also has a component 3 stored through the storage structure 7 of the transport vehicle 6. Figure 1 The transport vehicle 6 is positioned in its respective delivery position 9 within the assembly area 1 of the production equipment via corresponding passageways 8 of the safety device 4 (in this safety barrier assembly 18). This segmented arrangement occurs solely because the transport vehicle 6 (especially for the operator 17) is easily accessible for positioning, and the operator 17 is not excessively exposed to hazards posed by the assembly tools 2, which are configured as industrial robots. It should also be noted that each delivery position 9 is defined by a take-out portion 10 constructed adjacent to the passageway 8 in the direction of the assembly area 1. In principle, this is configured such that only one type of component 3 is stored via the storage structure 7 of the corresponding transport vehicle 6. Figure 1 and Figure 2 In the improved scheme, four take-out points 10 are implemented for this purpose, wherein, for each type of component 3 to be provided, only one transport vehicle 6 is positioned in its corresponding provide-out position 9 determined by one of the take-out points 10. Therefore, four different component types of components 3 are provided in the production equipment for the assembly process to be performed by the assembly tool 2, with only one component type provided for each transport vehicle 6. This advantageously results in the minimization of the installation space or space requirements used for providing the components 3, especially compared to a drawer-type storage system. Furthermore, compared to... Figure 1 In comparison, Figure 2 In this case, only the storage structure 7 of the transport vehicle 6 located in position 9 still stores component 3. Therefore, this transport vehicle 6 is still in its filled state. In contrast, the other three transport vehicles 6 have changed from their filled state to an empty state, in which the corresponding storage structure 7 no longer stores component 3. Within the scope of the method according to the invention, it is now configured that, after the current change to an empty state, the corresponding transport vehicle 6 in the empty state is replaced with the transport vehicle 6 in the filled state. This replacement can be performed in... Figure 2 The improved solution is implemented, particularly by operator 17. Within a single replacement, one of the empty transport vehicles 6 will be removed from the relevant take-out location 10 or supply location 9 and taken to storage location 16 for temporary storage or to filling location 15 for refilling with component 3, both of which are located in the supply and manual operation area 5. Figure 2 Some of the transport vehicles 6 in such filling position 15 or storage position 16 have been shown here.

[0037] from Figure 3And from 3a to 3c, we can learn about the implementation method of the transport vehicle 6 or the possible storage structure 7 of the transport vehicle 6, such as Figure 3 As described, they are positioned in the assembly area 1 in their provisioning position 9, as determined by the corresponding removal part 10, via the passage portion 8 of the safety device 4 (which is also part of the safety barrier assembly 18). Figure 3 The two transport vehicles 6 shown have storage structures 7 that differ from each other, wherein both storage structures 7 are implemented as component-bearing structures 12 related to the component type. Figure 3 The component bearing structure 12 shown on the left in the illustration is also shown again in a detailed view. Figure 3a As shown in, Figure 3 In the diagram, the component bearing structure 12 shown on the right is... Figure 3b and 3c As shown in the figure, the component-bearing structure 12 is composed of multiple support arms 19, and the components 3 are supported and abutted against the support arms, and can be stacked on top of each other. Figure 3a An improved version of the component-supporting structure 12 is described here, in which three sets of components 3 are arranged side by side on the base plate of the component-supporting structure 12. Therefore, Figure 3a The component-supporting structure 12 is designed with three so-called ratchet towers. In contrast, Figure 3b and 3c The improved scheme shows an embodiment of the component-supporting structure 12, in which only one set of components 3 arranged in a stackable manner are implemented by the support arm 19. Therefore, in Figure 3b and 3c In this implementation, only one ratchet tower exists. It should also be noted that the name of the ratchet tower can be derived from the implementation of the support arms 19 and their arrangement relative to each other. Figure 3c The diagram shows a detailed perspective view of the component support structure 12, featuring a design with support arms 19. The support arms 19 are in the form of pawls, with the pawl feet of the respective pawls connected to the base plate of the component support structure 12. The pawl arms extending from the pawl feet also protrude normally from the base plate. Different storage structures 7, and the component support structures 12 constructed differently here, advantageously enable the storage of components 3 of different component types. Therefore, components 3 of the first component type are stored in… Figure 3a In the component-bearing structure 12, the second component type component 3 is stored in Figure 3b and 3c The component load-bearing structure 12.

[0038] from Figure 4 And as can be seen in 4a and 4b, other embodiments of the transport vehicle 6 and the possible storage structure 7 of the transport vehicle 6, such as Figure 4As shown, they are positioned in the assembly area 1 in the provisioning position 9 determined by the corresponding removal part 10 via the passage part 8 of the safety device 4 (which is also part of the safety barrier assembly 18). Figure 3 The two transport vehicles 6 shown have storage structures 7 that differ from each other, wherein both storage structures 7 are implemented as component supports 14 related to the component type, and have a corresponding structural height related to the component type. Figure 4 The diagram shows component 14 on the left in a detailed view. Figure 4a As shown in, Figure 4 In the illustration, component 14, shown on the right, is placed in... Figure 4b As shown in the diagram. Here, component 3 of the third component type is stored, or in this case, placed... Figure 4a The component 14 is placed on the component holder, and the fourth component type component 3 is stored and placed on it in this case. Figure 4b The component is placed on the support 14. Because the corresponding components 3 have different component types (these components have different component heights), Figure 4a The component placement part 14 is implemented with a ratio Figure 4b The component placement piece 14 has a larger structural height.

[0039] exist Figure 5 The image shows another possible design of the storage structure 7 related to the component type in a very simplified form. The component 3 of the fifth component type is stored here by a plurality of component supports 13 adapted to the component type, wherein, in particular, each component 3 is held by a single component support 13.

[0040] It is important to note that, via Figure 1 and Figure 2 The assembly tool 2 shown and implemented as an industrial robot retrieves or receives components 3 stored in the storage structure 7, which is constructed in relation to the component type, through a motion sequence stored, in particular, in the controller of the production equipment or assembly tool 2.

[0041] In an improved embodiment of the invention, the arrangement of the corresponding storage structure 7 shown in the figures on the transport vehicle 6 is designed to be detachable, so that different storage structures 7 can be arranged on a chassis 20 of the same type of construction on the transport vehicle 6. Such a chassis... Figure 6 As shown, the chassis 20 has a handle 21 for manual operation, particularly by means of, for example... Figure 2The operator 17 shown is responsible for manual operation. To facilitate loading or unloading of the storage structure 7 onto or from the transport vehicle 6, the underframe 20 has two roller tracks 22, spaced apart from each other and extending substantially along the length of the underframe 20. These roller tracks allow the storage structure 7 to be pushed up or pulled up and pulled down or pushed down in a substantially horizontal direction. The handle 21, in conjunction with the upper edge region of the passageway 8, serves as a stop for securing the position 9 of the transport vehicle 6. This... Figure 7a and 7b It is clearly shown in the text.

[0042] Figure 7a and 7b Also shown are a portion of the safety device 4 (here again, the safety barrier assembly 18) and two transport vehicles 6 positioned in their provisioning locations 9 as defined by the removal portions 10 and thus segmentally positioned in the assembly area 1, a rear view and a sectional side view. The removal portions 10 can here be arranged adjacent to each other at a spacing of 300 mm. Figure 8a and 8b Such an arrangement structure is also described, in which, Figure 8a and 8b Only one in the middle, here Figure 8aIn the illustration, the transport vehicle 6 on the right is located in its provisioning position 9, as defined by the retrieval section 10. The corresponding storage structure 7 of the transport vehicle 6 is constructed here as a component container 26, independent of the component type. Furthermore, the retrieval section 10, constructed essentially in the form of a frame, has multiple safety devices 11 by which the occupancy status of the corresponding retrieval section 10 by the transport vehicle 6 can be detected. The first safety device 11 is implemented here by a safety laser scanner 23 having two scanning areas 23a, 23b. In addition, three safety devices 11 in the form of gratings 24 are arranged in the provisioning and manual operation area 5, spaced apart from the retrieval section 10 or safety device 4 in the direction of the provisioning and manual operation area 5, such that these safety devices are behind the transport vehicle 6 positioned in its provisioning position 9. Thus, when the transport vehicle 6 is in its provisioning position 9, the gratings 24 are closed. If the transport vehicle 9 (e.g., within the replacement range) is removed from or brought into the removal location 10 or its provisioning location 9, the associated grating 24 is interrupted during the removal or bringing-in process, i.e., as long as the transport vehicle 6 is in the optical path. In addition to the grating 24 and the safety laser scanner 23, two additional safety devices 11 are arranged at the improved removal location 10, which are implemented as optical scanners 25a and 25b. Here, a frontal optical scanner 25a and a lateral optical scanner 25b are implemented for each removal location 10. Here, the optical scanners 25a and 25b are positioned opposite the safety device 4 and are located at the end of the lateral bar at the upper part of the frame-shaped removal location 10, and in this improved embodiment, at approximately the height of the upper edge of the component container 26. Furthermore, it is conceivable that in the improved embodiment of the invention, the safety device 11 implemented as the grating 24 is also implemented as an optical scanner.

[0043] The occupancy status of the removal section 10 can be advantageously determined by the safety device 11, and thus it can be determined whether, for example, removal is permitted. Figure 1 and 2 The assembly tool 2 shown, implemented as an industrial robot, performs the assembly process, especially, for example, in Figures 1 to 5The component 3 shown is retrieved or received from the storage structure 7, specifically from the component container 26 in this improved embodiment. Such retrieval or reception of component 3 is impossible when the transport vehicle 6 is not located in the retrieval section 10, or is already impossible during continuous replacement of the transport vehicle 6. On the one hand, the assembly tool 2 may collide with the transport vehicle 6, for example, via the gripper of an industrial robot; on the other hand, the operator 17 will be exposed to a high degree of danger. Conversely, if component 3 happens to be retrieved or received from the storage structure 7, specifically from the component container 26, replacement of the transport vehicle 6 is not permitted. For this purpose, a fixing device is provided that directly fixes the transport container 6 before and during the retrieval or reception of component 3, so that the transport container 6 cannot move, especially not for replacement purposes. However, after component 3 has been received or received, the transport container 6 is released. The retrieval or reception of component 3 stored in the storage structure 7, constructed regardless of component type, and in the component container 26, is carried out within the scope of this method through fully autonomous component identification.

[0044] When an inquiry into the front light scanner 25a indicates that the front light scanner is being operated, the take-up position 10 is given an occupancy status as occupied by the transport vehicle 6, although this operation cannot initially reliably confirm occupancy by the transport vehicle 6. This is based on the fact that the light scanner 25a has a scanning range in which it operates. However, the transport vehicle 6 may not be fully in a stop position, thus providing position 9 is not fully occupied. Therefore, further operation of the lateral light scanner 25b is required to reliably detect occupancy. If an inquiry into the light scanner 25b indicates that it is being operated, it is highly likely that the take-up position 10 is occupied by the transport vehicle 6. To verify that the take-up position 10 is occupied, the grating 24 is further inquired. If the grating 24 assigned to the corresponding take-up position 10 is closed, it can be substantially inferred that the transport vehicle 6 is positioned in the providing position 9 determined by the take-up position 10. The removal or receipt of component 3 from the transport container 6 can be performed by an assembly tool 2, which is particularly implemented as an industrial robot. When the removal location 10 is occupied by the transport vehicle 6, the safety laser scanner 23 is inactive. Activation is unnecessary because the corresponding transport vehicle 6 closes the passageway 8 of the safety device 4 in its providing position 9, where the safety barrier assembly 18 is located, thereby, for example... Figure 2 The operator 17 shown can only reach the assembly area 1 from the supply and manual operation area 5 under very high costs. However, once the transport vehicle 6 is moved from its supply position 9, as determined by the removal part 10, especially when replacing the transport vehicle 6, it can move to the assembly area 1. Figure 2This situation changes in the filling position 15 or storage position 16 shown. Due to the dimensions of the passage 8, which has a height of 1200 mm and a width of 700 mm, the operator 17 can basically pass through the passage.

[0045] When an inquiry into the front light scanner 25a reveals that it is not in operation, the removal section 10 is given an occupied state where it is not occupied by the transport vehicle 6. However, this cannot reliably confirm that it is not occupied. This is because of the scanning range of the light scanner 25a, as described above. Thus, for example, when the transport vehicle 6 is removed, the front light scanner 25a is still in operation, even though the transport vehicle 6 is no longer fully located in the provision position determined by the removal section 10. For this purpose, it is also necessary to further inquire into the lateral light scanner 25b. If an inquiry into the light scanner 25b reveals that it is also not in operation, it is highly likely that the removal section 10 is not occupied by the transport vehicle 6. To verify that the removal section 10 is occupied as not occupied by the transport vehicle 6, the grating 24 is also inquired. If the grating 24 assigned to the corresponding removal section 10 is closed, it can be reasonably inferred that no transport vehicle 6 is positioned in the corresponding removal section 10. Thus, attempts to remove or receive component 3 from transport container 6 by assembly tool 2, particularly implemented as an industrial robot, are prevented. However, the ongoing assembly process is not interrupted. If a component 3 of a certain type is required for the assembly process, and there is no transport container 6 positioned in the supply position 9 determined by the removal part 10 for that assembly process, then the necessary component 3 is removed from the component buffer. Replacement, i.e., removal, and the introduction of transport vehicle 6 into removal part 10, can also be detected by grating 24. On the one hand, the determination of the passage of transport vehicle 6 by grating 24 helps to detect the occupancy status of the corresponding removal part 10; on the other hand, it is set so that if the maximum replacement time for performing the replacement of transport vehicle 6 is exceeded, the production equipment stops the ongoing assembly process, and thus the assembly tool 2, implemented as an industrial robot, stops.

[0046] Since the passageway 8 is no longer closed by the transport vehicle 6 after the transport vehicle 6 is removed, the security laser scanner 23, which has two scanning areas 23a and 23b, is activated. Here, scanning areas 23a and 23b are activated, and the occupancy status of the removal section 10 corresponding to these scanning areas is detected as not being occupied by the transport vehicle 6. This is... Figure 8aAs shown in the figure, no transport vehicle 6 is positioned in the illustration of the left-hand take-out section 10. Since the occupancy status of the left-hand take-out section 10 has been detected as not being occupied by the transport vehicle 6, the left-hand scanning area 23a of the safety laser scanner 23 is activated. This allows it to be determined that the operator 17 has crossed over from the supply and manual operation area 5 into the assembly area 1, because the passageway 8 is covered by the scanning area 23a. If such crossing is detected, the production equipment will halt all ongoing assembly processes, and the assembly tool 2, implemented as an industrial robot, will stop. Here, the assembly tool 2, implemented as an industrial robot, has a distance of 1550 mm from the scanning areas 23a or 23b.

[0047] In order to improve Figure 2 To enhance the safety of the operator 17 and minimize the operator's exposure to danger, particularly from manipulating the safety device 11, the improved removal section 10 is configured such that it has a guide rail 27 on its bottom side. This is in Figure 9a and 9b As shown in the image. Figure 9c and 9d A comparison of maneuverability is also shown between sections of the extraction section 10 with and without bottom-side guide rails 27. To minimize the maneuverability of the extraction section 10, the guide rails 27 have a triangular cross-section, with the inclined sides facing the transport vehicle 6, and furthermore, two guide rails 27 are provided for each extraction section 10, arranged on both sides of the passage 8. The guide rails 27 extend from the supply and manual operation area 5 to the assembly area 1 via the passage 8, through the safety device 4 (here, the safety barrier assembly 18). Furthermore, the safety device 11 arranged on the bottom side is configured as a lateral light scanner 25c, 25d. The scanning height of the light scanners 25c, 25d extends above the height of the guide rails 27, thereby enabling detection of the transport vehicle 6. This... Figure 9b This is clearly shown in the diagram. The width of the guide rail 27 is now determined such that the transport vehicle 6 can be brought into the extraction section 10 without problems due to its internal rollers, without colliding with the guide rail 27. However, the scanning range of the optical scanners 25c and 25d is high enough to operate the optical scanner 27 in the presence of the transport vehicle 6, and thus detect the transport vehicle 6. When attempting to manipulate it, this is shown in the diagram. Figure 9c and 9d When the obstruction object 28, as shown, causes a false detection of the transport vehicle 6, the obstruction object 28, as shown, Figure 9cIn this case, the obstructing object cannot be guided close enough to the light scanner 25c without being tilted due to its tilted side. This tilt causes the scanning range of the light scanner 25c to be insufficient to trigger its operation. Therefore, it cannot perform false detection on the transport vehicle 6. In contrast, in Figure 9d The diagram shows a successful maneuver using a blocking object 28, which, due to the lack of a guide rail 27, can be positioned within the scanning range of the optical scanner 25d, enabling false detection of the transport vehicle 6.

[0048] List of reference numerals

[0049] Assembly Area 1

[0050] 2 Assembly tools

[0051] 3 components

[0052] 4 safety devices

[0053] 5. Provided and manual operation areas

[0054] 6 transport vehicles

[0055] 7 Storage Structure

[0056] 8Access Department

[0057] 9. Provide location

[0058] 10 Removal Site

[0059] 11 Safety Devices

[0060] 12-component load-bearing structure

[0061] 13-component support

[0062] 14 component placement parts

[0063] 15 Filling positions

[0064] 16 Storage Locations

[0065] 17 operators

[0066] 18 Safety Fence Components

[0067] 19 support arms

[0068] 20 car chassis

[0069] 21 handles

[0070] 22 roller track

[0071] 23 Security Laser Scanner

[0072] 23a, 23b scanning areas

[0073] 24 gratings

[0074] 25a, 25b optical scanner

[0075] 25c, 25d light scanner

[0076] 26-component container

[0077] 27 guide rails

[0078] 28 blocking objects

Claims

1. A production apparatus comprising: an assembly area (1) having at least one assembly tool (2) for engaging components (3); and a supply and manual operation area (5) separated from the assembly area (1) by a safety device (4), wherein, The production equipment has at least one transport vehicle (6) for providing the component (3), and wherein at least one transport vehicle (6) stores at least one component (3) in a filled state via a storage structure (7) of the transport vehicle (6) and is positioned in a providing position (9) in the assembly area (1) of the production equipment at least in sections via a passage (8) of the safety device (4), wherein each providing position (9) is defined by a take-out portion (10) constructed adjacent to the passage (8) in the direction toward the assembly area (1), characterized in that the transport vehicle (6) located in the corresponding providing position (9) defined by the take-out portion (10) closes the passage (8) in the safety device (4), thereby making the assembly area (1) inaccessible from the direction of the providing and manual operation area (5), especially for the operator.

2. The production equipment according to claim 1, characterized in that, The corresponding removal section (10) has at least one safety device (11) that can detect the occupancy status of the removal section (10) by the transport vehicle (6).

3. The production equipment according to claim 1 or 2, characterized in that, The storage structure (7) of the corresponding transport vehicle (6) stores only one component type of component (3), which is implemented with more than one take-out point (10), and for each component type of component (3) to be provided, only one transport vehicle (6) is positioned in the providing position (9) determined by one of the take-out points (10) of the transport vehicle.

4. The production equipment according to at least one of the preceding claims, characterized in that, The storage structure (7) is constructed as a component container (26) regardless of the component type.

5. The production equipment according to at least one of the preceding claims, characterized in that, The storage structure (7) is constructed in relation to the component type as a component bearing structure (12) consisting of at least two support arms (19), at least one component support (13) adapted to the component type, or a component shelf (14) with a structural height related to the component type.

6. A method for providing component (3) in a production apparatus according to at least one of the preceding claims, wherein, The production equipment has: an assembly area (1) with at least one assembly tool (2) for joining components (3); and a supply and manual operation area (5) separated from the assembly area (1) by a safety device (4), wherein, during or after a transport vehicle (6) in the supply position (9) changes from its filled state to an empty state, the replacement of a transport vehicle (6) in the empty state with a transport vehicle (6) in the filled state is performed, characterized in that the replacement of the transport vehicle (6) is performed within a period of time required for the assembly of components (3) corresponding to component types, and the transport vehicle (6) storing the component type is being replaced.

7. The method according to at least one of the preceding claims, characterized in that, The empty transport vehicle (6) is brought to a filling position (15) in the supply and manual operation area (5) that is different from the supply position (9) and is filled in the filling position (15) using the component (3) and / or temporarily stored in the storage position (16).

8. The method according to at least one of the preceding claims, characterized in that, The transport vehicle (6) that is already in a filled state is brought to the supply and manual operation area (5) and temporarily stored in the supply and manual operation area for replacement in the storage location (16).

9. The method according to at least one of the preceding claims, characterized in that, The assembly tool (2) of the assembly area (1) performs fully autonomous component identification to retrieve or receive components (3) stored in a storage structure (7) constructed in a manner independent of component type, and / or the assembly tool (2) of the assembly area (1) performs the retrieval or reception of components (3) stored in a storage structure (7) constructed in a manner related to component type through a stored motion sequence.

10. The method according to at least one of the preceding claims, characterized in that, If the maximum replacement time for performing the replacement is exceeded, the assembly process in the production equipment is suspended.

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