Transport system for transporting processing-related objects

Abstract

The invention relates to a transport system for transporting processing-related objects. The system includes a carrier for holding a process-related object, an autonomous vehicle, and a lifting device. The carrier includes a plurality of receiving elements and a plurality of receiving devices. An autonomous vehicle includes a plurality of coupling elements for engagement with receiving elements of a carrier. The lifting apparatus is arranged outside the autonomous vehicle and includes a column provided with a guide rail, a gripper movably mounted on the guide rail of the column, and a drive unit configured to move the gripper on the guide rail. The gripper is provided with a plurality of coupling means for engaging with the receiving means of the carrier.

Description

Technical Field

[0001] The invention relates to a system for transporting machining-related objects. Furthermore, the invention relates to a manufacturing system for machining components by means of a machine tool. Background Art

[0002] For many years, automation in machining has been highly relevant to increasing productivity. Different automation systems such as robots, automatic pallet changers and automatic tool changers are widely used in production. In a machining workshop, a large number of objects (e.g. workpieces, produced parts, machining tools) must be transported between different stations and from one machine tool to another. So far, the transportation of these objects has not been fully automated and still requires manpower. Unmanned transport vehicles are already widely used in many production facilities and logistics centers. Now, they are also intended to be used in machining workshops.

[0003] US2020 / 0324976 discloses a robot cart, which includes a cart with four wheels and a robot capable of moving autonomously. The robot features a docking module so that the cart can be docked on the robot. In this way, the robot can move with the cart to transport any object loaded on the cart.

[0004] However, if such a system is applied in a machining workshop, it has several disadvantages. In order to be combined with other automation systems applied to machine tools, the robot must be positioned with high precision. For example, if a cart carries a pallet and the robot moves to the vicinity of a machine tool where the pallet should be loaded, the automatic pallet changer installed in the machine tool must be able to automatically clamp the pallet on the cart. If the robot is not accurately positioned at a defined position, the automatic tool changer will not be able to grab the pallet on the cart. It is known that the positioning accuracy of such a robot or unmanned vehicle that can move autonomously is lower than the positioning accuracy of the automation system of the machine tool. Therefore, measures must be taken to overcome this shortcoming. US2020 / 0306903 discloses an arrangement for processing workpieces. The arrangement includes at least one processing machine, a machine library for accommodating processing tools assigned to the corresponding processing machine. The arrangement also includes a robot and an unmanned base frame for carrying the robot.

[0005] In this system, a robot is integrated on an unmanned vehicle. The unmanned vehicle must always carry an additional load, the robot, which consumes unnecessary power to drive the vehicle. Summary of the invention

[0006] The object of the present invention is to provide a transport system for transporting processing related objects, which overcomes the disadvantages of the systems shown in the prior art. A further object of the present invention is to provide a transport system for transporting processing related objects having a simple construction. Furthermore, a further object of the present invention is to provide a transport system for transporting processing related objects that requires low power.

[0007] According to the invention, these objects are achieved by the features of the independent claims.In addition, further advantageous embodiments can be derived from the dependent claims and the description.

[0008] The present invention is directed to a transport system for transporting processing-related objects. The transport system comprises a carrier for holding the processing-related objects, an autonomous vehicle, and a lifting device arranged outside the autonomous vehicle. The carrier comprises a plurality of receiving elements and a plurality of receiving devices. The autonomous vehicle comprises a plurality of coupling elements for engaging with the receiving elements of the carrier. The lifting device comprises a gripper and a drive unit configured to move the gripper in a vertical direction. The gripper is provided with a plurality of coupling devices for engaging with the receiving devices of the carrier.

[0009] Processing-related objects include all objects required for or produced by machine tool processing. They can be, for example, workpieces, processing tools, produced parts, measuring equipment. In particular, processing-related objects can also be pallets for holding objects. During processing and manufacturing, many processing-related objects such as workpieces, processing tools, and produced parts must be transported from one location in a manufacturing facility to another, in particular from one machine tool to another. The carrier can be loaded onto a lifting device by a robot or manually. Then, the processing-related objects can be loaded onto the carrier manually or automatically. For example, if the processing-related object is a pallet, an automatic pallet changer can load the pallet onto the carrier. When the autonomous vehicle is driven to a defined position, the lifting device can load the carrier onto the autonomous device.

[0010] The machine tool may be a machining tool for milling, laser machining, electrical discharge machining or additive manufacturing.

[0011] The positioning accuracy of autonomous vehicles is not sufficient for use with automated systems for processing, such as automatic pallet changers or robots for gripping objects. For example, a robot is used to pick up an object carried by an autonomous vehicle. Due to positioning inaccuracies, the autonomous vehicle does not arrive at exactly the same position each time when it brings the object to the robot. This means that there is a positioning deviation of the vehicle. Therefore, it may be the case that the robot may not be able to pick up an object because the vehicle is positioned at a different position than expected. Additional sensors may be arranged to monitor the position of the vehicle in order to determine the position of the vehicle very accurately. However, such a solution is complex and increases the cost of the system.

[0012] In order to solve this problem, a lifting device is arranged outside the vehicle and serves as an intermediate station for temporarily holding the carrier. The positioning accuracy of the lifting device is much higher than the positioning accuracy of the autonomous vehicle. In addition, the automation system of the machine tool (such as a robot) can be calibrated once according to the position of the lifting device. Since the lifting device is fixedly installed at one position, the automation system always knows the position of the lifting device correctly. When the object can be temporarily stored on the lifting device first, the automation system of the machine tool can reliably pick up the object from the lifting device or load the object onto the lifting device. The coupling mechanism between the gripper and the carrier and the coupling mechanism between the vehicle and the carrier are designed so that the positioning inaccuracy of the vehicle can be tolerated.

[0013] The transport system of the invention compensates for positioning inaccuracies of the autonomous vehicle by arranging the lifting device on the outside of the vehicle. In addition, the transport system of the invention has the advantage that less weight must be carried by the autonomous vehicle because the lifting device is arranged on the outside of the vehicle.

[0014] Furthermore, not only is the coupling device mounted on the gripper, but the coupling element is also provided on the vehicle. This is important for machining applications, since the vehicle must transport the object from one machine tool to another. The carrier must be transferred from the vehicle to the lifting device and from the lifting device back to the vehicle.

[0015] When a carrier with an object on it has to be loaded from the vehicle to the lifting device, the autonomous vehicle is driven to a defined position close to the lifting device. The lifting device is configured so that: the gripper moves upwards from the starting position until the coupling device engages with the receiving device at the second position, and the gripper moves further upwards until the coupling element disengages from the receiving element at the third position. In particular, an end position in the vertical direction is defined and the gripper is controlled to stop at the end position. This means that the gripper moves further upwards from the third position to the end position. Preferably, the gripper moves continuously from the starting position to the end position. Alternatively, the gripper stops at the second position and / or the third position. In particular, the speed of the gripper may be constant or variable.

[0016] When a carrier with objects on it has to be loaded from a lifting device to a vehicle, the autonomous vehicle travels to a defined position close to the lifting device. The lifting device is configured so that: the gripper moves downwards until the coupling element engages with the receiving element and the gripper moves further downwards until the coupling means disengages from the receiving means.

[0017] The carrier is a stable and rigid element, since the processing-related objects can have a weight of up to 200 Kg. This also applies to the lifting device. Therefore, the lifting device is designed to be able to carry this load.

[0018] Since the object may have a high weight, arranging the lifting device outside the autonomous vehicle may significantly reduce the weight of the load to be carried by the vehicle and reduce the energy consumption of the vehicle.

[0019] The autonomous vehicle may be any mobile device that can move in an unmanned manner. The coupling element has a simple design, therefore, it allows to apply any autonomous vehicle to the transport system of the invention.

[0020] In some embodiments, the coupling element and the coupling device have a top portion having a tapered shape. This allows the coupling element to be easily coupled to the receiving element and the coupling device to be easily coupled to the receiving device.

[0021] In particular, the angle of the tapered top portion is in the range of 10 to 40 degrees. This angle facilitates the disengagement of the coupling element from the receiving element and the coupling device from the receiving device, respectively. The top portion may also have other shapes, such as a pyramid, a cylinder and a cube.

[0022] In a preferred variant, the coupling element has a support portion and a cone arranged on top of the support portion.The support portion has a cylindrical shape, but it is also possible to design the support element with other shapes, such as a cube or a triangular prism.

[0023] In a preferred variant, the coupling element has a guide portion arranged between the support element and the cone for easily guiding the cone into the receiving element of the carrier. In particular, the guide portion has a short length to reduce the risk of the coupling element getting stuck in the receiving element of the carrier. Preferably, the guide portion has a cylindrical shape. However, it may also have other shapes, such as a cube or a triangular prism.

[0024] In one variant, the support part, the guide part and the cone are made in one piece. In another variant, the guide part and the cone are made in one piece and connected to the support part. It is possible that all three parts are made of the same material (e.g. steel or aluminum). Preferably, the cone and the guide part are made of one material (e.g. steel) to increase strength and reduce wear, and the support element is made of another material (e.g. aluminum) to keep the weight low.

[0025] In an advantageous variant, the support part is designed in such a way that the carrier rests on the support part when the carrier is engaged with the coupling element. This provides a simple construction. The coupling element serves not only as an engagement element but also as a support element for holding the carrier.

[0026] The coupling device has a pin which has a conical shape. In a preferred variant, the coupling device has a guide section to which the pin is fixed. The guide section is stably seated on the holder. It is possible to provide a support section arranged below the guide section. In this variant, the support section is seated on the holder. When the coupling device is engaged with the receiving device, the carrier is seated on the support section.

[0027] In one variant, the pin and the guide section are made in one piece. In other variants, the guide section and the pin are made in two pieces and connected together. Different materials can be used, for example, steel or aluminum. Preferably, the pin and the guide section are made of steel to increase strength and reduce wear.

[0028] In a preferred variant, four coupling elements are arranged on the autonomous vehicle and four coupling devices are arranged on the gripper of the lifting device. This provides the advantage that tilting of the carrier can be avoided and the carrier can be stably held by the coupling elements and stably held on the coupling devices.

[0029] In particular, the coupling element is shorter than the coupling device. This provides space so that the gripper can enter the space between the carrier and the top surface of the autonomous vehicle.

[0030] In one variant, the holder has a U-shape and the coupling means are arranged on the two legs of the U-shaped coupling means. Preferably, the coupling elements are equally distributed on the two legs. For example, two coupling elements are on one leg and two coupling elements are on the other leg.

[0031] In some embodiments, the coupling element is arranged directly on the top surface of the autonomous vehicle. In order to reduce the weight carried by the vehicle, only the coupling element and the carrier are mounted on the vehicle. No other elements are required. Arranging the lifting device with the gripper on the outside of the vehicle makes this possible.

[0032] In one variant, the receiving element is a through hole and the receiving means is a through hole. In particular, there are four holes as receiving elements and four orifices as receiving means.

[0033] Preferably, two apertures are designed to have a higher clearance than the other two apertures.

[0034] In another variant, the receiving element is a recess having a conical shape and the receiving means is a recess having a conical shape.The receiving element and the receiving means may have any other shape, wherein it is provided that they can engage with the coupling element and the coupling means.

[0035] The carrier can have different shapes. In a simple variant, the carrier is a plate with receiving elements and receiving means. For example, additional holes can be drilled in a typical pallet for holding workpieces. This variant is suitable for carrying an object. The object can be a light object or a heavy object.

[0036] In another variant, the carrier is a bracket for carrying more than one object. The bracket is used as a shelf. The bracket comprises a bracket base, a support element fixed to the bracket base. At least one holding element is mounted on the support element for holding the processing related objects. Preferably, each holding element comprises a plurality of storage units for storing objects therein. For example, the holding element can be arranged on top of the support element, and the plurality of storage units can be arranged in a row, each of the storage units can hold a processing tool.

[0037] The lifting device comprises a column provided with guide rails, a gripper movably mounted on the guide rails of the column, and a drive unit configured to move the gripper on the guide rails. The gripper is provided with a plurality of coupling devices for engaging with receiving devices of a carrier.

[0038] The driving unit of the lifting device is a pneumatic driving unit, an electric driving unit or a hydraulic driving unit.

[0039] In one variant, for each lifting device, a control module is provided and is configured to control the lifting device. In addition, a central control unit is provided and is configured to control the autonomous vehicle. The central control unit and the control modules are configured to be able to communicate with each other.

[0040] Preferably, the central control unit is configured to control a plurality of autonomous vehicles. The central control unit controls the autonomous vehicles to move to different lifting devices. When they reach a position close to a lifting device, the central unit sends a signal to a control module of the corresponding lifting device, so that the control module controls the lifting device to move the gripper.

[0041] Alternatively, the central control unit is configured to control not only the autonomous vehicle but also the lifting device.

[0042] The invention is directed to a manufacturing system comprising a plurality of machine tools and an automation device and a system for transporting carriers. The lifting device is arranged fixedly near the machine tools. The autonomous vehicle is used to transport workpieces, produced parts, processing tools between the machine tools. The objects are first taken over by a gripper and further loaded into the machine tool by the automation device. The automation device can be a robot, an automatic tool changer or an automatic pallet changer.

[0043] The present invention relates to a method for transporting processing-related objects by applying the transport system of the present invention. The method comprises the following steps: arranging a carrier on a lifting device; controlling an autonomous vehicle to move to the lifting device; and transferring the carrier with the processing-related objects from the lifting device to the autonomous vehicle, in particular by moving a gripper in such a way that a coupling element engages with a receiving element and a coupling device disengages from a receiving device.

[0044] In a preferred variant, the holder is controlled to move upwards so that the coupling element first at least partially engages with the receiving element and then the coupling device is disengaged from the receiving device.

[0045] Furthermore, the method comprises the steps of controlling the autonomous vehicle with the carrier thereon to move to the lifting device; and transferring the carrier with the processing-related object from the autonomous vehicle to the lifting device, in particular by moving the gripper in such a way that the coupling device engages with the receiving device and the coupling element disengages from the receiving element.

[0046] Preferably, the holder is controlled to move downwards so that the coupling means first engages with the receiving means and then the coupling element disengages from the receiving element. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In the following, a more specific description of the present invention is further described. Embodiments are described and explained in detail with reference to the accompanying drawings, in which: Figure 1 A three-dimensional view illustrating the system of the present invention; Figure 2 A three-dimensional view of an autonomous vehicle holding a first variation of a carrier is illustrated; Figure 3 A three-dimensional view of the illustrated lifting device; Figure 4 The diagram shows a state where the coupling device is engaged with the receiving device; Figure 5 The figure shows a state where the coupling element is engaged with the receiving element; Figure 6 A portion of a coupling element is shown; Figure 7 A cross-sectional view illustrating engagement of a coupling element with a receiving element of a carrier; Figure 8 A three-dimensional view of a bracket as another variant of a carrier is shown; Fig. 9 FIG. 1 shows a top view of the bracket base; Fig.10 illustrating a three-dimensional view of the autonomous vehicle holding the bracket; and Fig.11 Illustration of a 3D view of a bracket being lifted from an autonomous vehicle. DETAILED DESCRIPTION

[0048] Figure 1 Shown is a three-dimensional view of a transport system 1 comprising an autonomous vehicle 10 and a lifting device 30. The system is intended to transport a carrier with a process-relevant object 2 thereon.

[0049] Figure 1 and Figure 2 The carrier shown in FIG. 5 is a first variant of a carrier, which is a plate 50. Processing-related objects can be placed on the top surface of this plate.

[0050] Four coupling elements 20a, 20b, 20c and 20d are fixed on the top surface 11 of the autonomous vehicle. As shown in the figure, the number of coupling elements and the position of the coupling elements are not limited. It is possible to arrange more or less coupling elements than the four shown in the figure. Figure 1 In the embodiment, the coupling elements are positioned in a regular manner, but it is also possible to mount the coupling elements in an irregular manner at other positions if the carrier can be stably supported thereon. Figure 1 Four identical coupling elements are shown. However, the use of coupling elements having different shapes or sizes is not excluded. Figure 1 The coupling element shown in has a support part and a guide part 21 and a cone 22. The support part, the guide part and the cone are formed in one component. However, the cone can also be a separate component and connected to the guide part. In particular, the cone is aligned concentrically with the guide part.

[0051] The plate 50 comprises four holes 51a, 51b, 51c and 51d as receiving elements and four orifices 52a, 52b, 52c, 52d as receiving means. When the carrier is loaded onto the autonomous vehicle, the coupling element engages with the receiving element. In particular, each cone enters into each hole. Furthermore, the diameter of the holes is designed in such a way that the carrier is seated on the coupling element. Figure 2 The situation is shown when a carrier holding a processing-related object 2 is supported by coupling elements 20a, 20b, 20c, 20d.

[0052] like Figure 3As shown in , the lifting device 30 has a base 31 and a column 34 fixedly mounted on the base. The lifting device can be installed near the machine tool by fixing the base to the floor with screws. The column is provided with a guide rail 33 arranged in the vertical direction. The clamp 40 is movably mounted on the guide rail. The drive unit 32 is arranged on the column to drive the clamp to move it along the guide rail in the vertical direction. The clamp has a U-shape. Four coupling devices 43a, 43b, 43c, 43d are installed on the two legs 41, 42 of the U-shaped clamp 40. As shown in the enlarged view of the coupling device, the coupling device has a tapered pin 46 and a guide section 47 for engaging with an orifice formed on the carrier.

[0053] Figure 4 A side view of the system is shown. In particular, it shows the state when a plate is transferred from an autonomous vehicle to a gripper by engaging the plate with the gripper and disengaging the plate from the vehicle. To achieve this, the autonomous vehicle is driven to a defined position so that the gripper is inserted between the plate and the top surface of the vehicle 11 and the pins 43b, 43d of the gripper are positioned close to the orifices 52b, 52d of the plate. The gripper is then raised by the drive unit 32 so that each pin of the gripper enters each orifice of the plate. The pin first enters the orifice, then the guide section guides the coupling device further into the orifice until it engages with the orifice, and the drive unit further raises the gripper upwards until the hole of the plate disengages from the coupling element. By applying this procedure, the carrier moves from a more undefined position given by the positioning of the autonomous vehicle to an accurately defined position given by the position of the coupling device, in particular the guide section of the coupling device.

[0054] Figure 5 A side view of the system is shown. In particular, it shows the state when the plate is transferred from the gripper to the autonomous vehicle by engaging the plate with the vehicle and disengaging the plate from the gripper. The transport system of the present invention also makes it possible to tolerate positioning deviations of the autonomous vehicle at this stage. To achieve this, the autonomous vehicle is driven to a defined position so that the vehicle is positioned below the gripper and the coupling element is positioned to align roughly vertically with the holes 51b, 51d of the plate. Due to the positioning inaccuracy of the autonomous vehicle, the coupling element is incorrectly aligned with the hole, but the coupling element is designed in a way that they can be guided into the hole. Then, the gripper is lowered by the drive unit 32 so that each cone of the coupling element enters each hole of the plate. After the cone engages with the pin, the drive unit further lowers the gripper downwards until the orifice of the plate disengages from the pin of the gripper. Finally, the plate is transferred to the actual position of the autonomous vehicle.

[0055] Figure 6 A side view of a cone 23 and a guide portion 23 of a coupling element is shown. The cone has a conical shape and the guide portion has a cylindrical shape.

[0056] Figure 7 A detailed view of the engaged cone and hole is shown. The guide portion 23 and the cone 22 are fully inserted into the hole. The support portion 21 has a larger diameter than the inner diameter of the hole so that the carrier can be seated on the support portion. Figure 7 As shown in , the inner diameter of the hole is slightly larger than the diameter of the guide portion to ensure engagement regardless of the tolerances of the cone and the guide portion. The height of the guide portion is much smaller than the depth of the hole to reduce the distance of the guide path.

[0057] Figure 8 A second variant of a carrier is shown, namely a carriage 60. The carriage has a carriage base 61 which is a plate-like element and comprises a receiving element and receiving means. Figure 8 A variant is shown in which the holes and orifices are arranged for engagement with the coupling element and the coupling means. However, other variants of the receiving element and the receiving means may also be applied, such as a conical recess. In addition, the carriage has a plurality of supporting elements 62 which stand on the carriage base. On top of the supporting elements of the carriage, a holding element 63 is mounted. Each holding element comprises a plurality of storage units 64 for storing processing related objects, such as processing tools.

[0058] Fig. 9 The arrangement of holes and orifices is shown. In this variant, four holes and four orifices are respectively regularly distributed on the carrier. This arrangement is complementary to the arrangement of the coupling element and the coupling device.

[0059] Fig.10 The bracket is shown in a state where it is carried by the host vehicle, with the holes being engaged with the coupling elements.

[0060] Fig.11 The autonomous vehicle is shown positioned at the lifting device for transferring the carriage to the lifting device. In particular, the autonomous vehicle stands freely under the gripper of the lifting device. The autonomous vehicle is controlled to reach a defined position, but it is not locked in this position to provide a certain freedom of movement during the coupling of the carrier and the gripper. When the autonomous vehicle stops at this position, the gripper is positioned between the carriage base and the top surface of the autonomous vehicle, and the receiving device is positioned approximately above the coupling device of the gripper. The lifting device is then driven to move the gripper upwards until the coupling device of the gripper is guided into the orifice and finally engages with the orifice of the carriage. Due to the conical shape of the coupling device, positioning errors of the autonomous vehicle can be compensated.

[0061] Reference numerals list 1. Transportation System 2 Pallets 10 Autonomous Vehicles 11 Top surface of autonomous vehicle 12 rounds 20a First connecting element 20b Second connecting element 20c Third connecting element 20d Fourth connecting element 21 Supporting portion of the coupling element 22 cones 23 Guide portion of coupling element 30 Lifting equipment 31 Base 32 drive units 33 rails 34 columns 40 Clamp 41 First Leg 42 Second Leg 43a First connecting device 43b Second connecting device 43c Third connecting device 43d Fourth connecting device 46 pins 47 Guide section 50 boards 51a The first hole of the plate 51b Second hole of plate 51c The third hole of the plate 51d The fourth hole of the plate 52a First orifice of plate 52b Second opening of plate 52c The third opening of the plate 52d The fourth opening of the plate 60 brackets 61 Bracket base 62 Bracket support element 63 holding element 64 storage units.

Claims

1. A transport system (1) for transporting a processing-related object (2), comprising: a. a carrier (50, 60), the carrier (50, 60) being used to hold the processing-related object, comprising a plurality of receiving elements (51a, 51b, 51c, 51d) and a plurality of receiving devices (52a, 52b, 53c, 53d); b. an autonomous vehicle (10), the autonomous vehicle (10) comprising a plurality of coupling elements (20a, 20b, 20c, 20d) for engaging with the receiving element of the carrier; and c. A lifting device (30) arranged outside the autonomous vehicle, wherein the lifting device comprises a clamp (40) and a drive unit, wherein the drive unit is configured to move the clamp in at least one direction, in particular in a vertical direction, wherein the clamp is provided with a plurality of coupling devices (43a, 43b, 43c, 43d) for engaging with the receiving device of the carrier.

2. The transport system according to claim 1, wherein: The lifting device is configured such that the gripper is moved upwards until the coupling means engages the receiving means and the gripper is further moved upwards until the coupling element disengages the receiving element for transferring the carrier from the autonomous vehicle to the lifting device.

3. The transport system according to claim 1 or 2, wherein: The lifting device is configured such that the gripper is moved downwards until the coupling element engages with the receiving element and the gripper is further moved downwards until the coupling device disengages from the receiving device for transferring the carrier from the lifting device to the autonomous vehicle.

4. The transport system according to any one of claims 1 to 3, wherein: The coupling element has a top portion having a conical shape, and the coupling device has a top portion having a conical shape, in particular, the angle of the conical shape of the top portion is in the range of 10 to 40 degrees.

5. The transport system according to any one of claims 1 to 4, wherein: Four coupling elements are provided on the autonomous vehicle and four coupling devices are provided on the gripper of the lifting device.

6. The transport system according to claim 5, wherein: The coupling element has a bearing portion, a guide portion arranged on top of the bearing portion and a cone on top of the guide portion, in particular the bearing portion is designed in such a way that the carrier sits on the bearing portion when the carrier is engaged with the coupling element.

7. The transport system according to any one of claims 1 to 6, wherein: The coupling device has a guide section (47) and a pin (46) formed on the guide section and having a conical shape.

8. The transport system according to any one of claims 1 to 7, wherein: The holder has a U-shape and the coupling device is arranged on two legs (41) of the U-shaped coupling device.

9. The transport system according to any one of claims 1 to 8, wherein: The receiving element and the receiving device are through holes or recesses having a tapered shape.

10. The transport system according to any one of claims 1 to 8, wherein: The carrier is a plate having the receiving element and the receiving device formed thereon.

11. The transport system according to any one of claims 1 to 8, wherein: The carrier is a bracket (60), which includes a bracket base (61) and a supporting element (62) fixed on the bracket base, wherein the bracket base has the receiving element and the receiving device formed thereon, wherein at least one retaining element (63) is installed on the supporting element for retaining the processing-related object.

12. The transport system according to any one of claims 1 to 11, wherein: The lifting device comprises a column (31) provided with a guide rail (33), a gripper (40) movably mounted on the guide rail of the column, and the drive unit configured to move the gripper on the guide rail.

13. A manufacturing system comprising a plurality of machine tools, a transport system according to any one of claims 1 to 11, and an automated device for transferring the processing-related objects from the lifting device to the machine tools, wherein: The lifting device is arranged fixedly near the machine tool.

14. A method for transporting processing-related objects by applying a transport system according to any one of claims 1 to 12, comprising the following steps: a. Arranging the carrier on the lifting device; b. controlling the autonomous vehicle to move to the lifting device; as well as c. Transferring the carrier with the processing-relevant object from the lifting device to the autonomous vehicle, in particular by moving the gripper in such a way that the coupling element engages with the receiving element and the coupling device disengages from the receiving device.

15. The method according to claim 14, wherein: The method further comprises the following steps: a. controlling the autonomous vehicle having the carrier thereon to move to the lifting device; and b. Transferring the carrier with the processing-relevant object from the autonomous vehicle to the lifting device, in particular by moving the gripper in such a way that the coupling means engages with the receiving means and the coupling element disengages from the receiving element.

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