Mobile carrier, production device having mobile carrier, method for operating mobile carrier in production plant

Abstract

The invention relates to a mobile carrier (3) for transporting objects into a positioning region (4) for further use of the objects, comprising: a travel device (11) for moving the mobile carrier (3); a carrying device (10) for carrying an object, wherein the carrying device (10) is connected to the travel device (11); and a sealing device (14) for sealing the mobile carrier (3) with respect to a positioning region (4) such that a vacuum can be maintained between the positioning region (4) and the mobile carrier (3) in order to fix the mobile carrier (3) to the positioning region (4).

Description

Technical Field

[0001] The invention relates to a mobile carrier, a production device and a method for operating a mobile carrier in a production plant. Background Art

[0002] Mobile, self-propelled transport vehicles are known and are used for transport in production halls.

[0003] In the publication DE 4117439 C2 a flexible assembly unit for a transfer line is described, in which workpiece carriers transport materials and workpieces on rails. The rails comprise profile elements with T-slots and struts, to which machines for processing the workpieces can also be attached directly or via supports. Summary of the invention

[0004] The invention relates to a mobile carrier having the features of claim 1, a production device having the features of claim 12, and a method having the features of claim 13. Preferred or advantageous embodiments of the invention are apparent from the dependent claims, the following description and the drawings.

[0005] The subject of the invention relates to a mobile carrier for transporting objects into a positioning area. The mobile carrier is particularly designed for transporting objects. The mobile carrier is particularly implemented without tracks. In particular, the mobile carrier is automatically driven. In particular, the mobile carrier has a control mechanism for driving. Inside the production device, the control mechanism is oriented at different points, such as markings, strips, codes, numbers, radio wave triangulation, environmental recognition, etc. In particular, the mobile carrier has its own drive, such as an electric motor, and an energy supply mechanism, such as a battery, a storage battery, an induction coil. In particular, the objects include workpieces, machines, materials, etc.

[0006] The mobile carrier is arranged in a positioning area. The positioning area is arranged in particular inside a production device. In particular, the production device is designed so that the workpiece is processed into a product. Preferably, the positioning area is a floor or a surface on which the mobile carrier can move. In the positioning area, the object is transported for further use. In particular, the further use can include processing the workpiece with a machine, measuring or checking the workpiece, equipping the machine with material, transporting, for example, a processing machine, etc. The further use corresponds to the implementation of a production function on the workpiece.

[0007] The mobile carrier has a travel device for moving the mobile carrier. In particular, the travel device has a frame with supported, steerable wheels as a chassis. In particular, the travel device additionally has a control device for travel. In particular, the travel device additionally has a position determination module for determining the position of the mobile carrier. The control device for travel detects and determines data via sensors, which data cause the movement and orientation of the mobile carrier in the positioning area via the steerable wheels. The data of the position determination module are taken into account during the control.

[0008] The mobile carrier has a carrier device for carrying an object. The carrier device is connected to the travel device. In particular, a surface of the carrier device facing the travel device is larger than a surface of the travel device facing the carrier device. Preferably, the surface of the carrier device facing the travel device protrudes over the entire edge beyond a surface of the travel device facing the carrier device. It is particularly preferred that the surface of the travel device facing the carrier device fits into a surface of the carrier device facing the travel device.

[0009] The movable carrier has a sealing device for sealing the movable carrier relative to the positioning area. The sealing device is used to maintain a vacuum between the positioning area and the movable carrier. The movable carrier is fixed on the positioning area by the vacuum.

[0010] In particular, the vacuum is generated by a vacuum generating device. Preferably, the positioning area has a through hole. Each individual through hole is switchably connected to the vacuum generating device. With the activation of the vacuum guide of the through hole, the individual through hole is switched to the vacuum guide state. Air is sucked in through the through hole by the vacuum guide. The sealing device arranged between the positioning area and the movable carrier is loaded with vacuum. In particular, the sealing device is designed to load vacuum. The movable carrier is fixed to the positioning area at least by the sealing device. This process of fixing the movable carrier by means of vacuum can be called a tightening process for the movable carrier.

[0011] The embodiment of the mobile carrier has the advantage that the mobile carrier is sucked in during the vacuum guidance and cannot move. In this case, the position in the positioning area can be freely selected. As a result, the processing of the workpiece can be carried out with much greater dimension accuracy. In addition, the mobile carrier has the advantage that the sequence of the processing steps can be changed according to customer requirements. Dynamic assembly of the workpiece processing can be achieved.

[0012] In particular, the sealing device is arranged only a few millimeters above the positioning area. Preferably, the sealing device is slightly elastic. The sealing device has a vertical spacing relative to the positioning area. The movable support with the sealing device can reduce the vertical spacing between the sealing device and the positioning area. When the vacuum guide of the straight-through hole under the travel device is activated, the sealing device is sucked. The vertical spacing between the sucked sealing device of the movable support and the positioning area is reduced. The sealing device seals when the movable support is connected to the positioning area. A vacuum is formed in the positioning area surrounded by the sealing device. In particular, the housing of the travel device is designed to be vacuum-stable or negative pressure-stable together with the sealing device and the positioning area surrounded by the sealing device. In particular, the travel device with wheels is placed in a vacuum.

[0013] In particular, the sealing device has a sealing lip. The sealing lip is arranged at a vertical distance relative to the positioning area. The sealing lip can form a sealing connection with the positioning area. In particular, the sealing lip forms a closure of the sealing device in the direction of the positioning area. The sealing lip is preferably designed as a contact seal. In particular, the sealing lip has an elastic plastic. Preferably, the sealing lip is closed circumferentially. In particular, the sealing lip is arranged a few millimeters above the positioning area.

[0014] This embodiment has the advantage that the sealing device forms a kind of ring. Different pressure conditions, such as negative pressure or vacuum, may occur inside the ring than outside the ring. The vacuum is better maintained with the surrounding seal. Thus, better fixing of the mobile carrier in the positioning area can be achieved.

[0015] In one embodiment, the sealing device is arranged in such a way that it surrounds the travel device and / or the wheels of the travel device. In particular, the sealing device is connected to the support device. Preferably, the travel device is arranged within the expanded surface of the support device. In particular, the sealing device is connected to the travel device. The sealing device can be arranged on the housing of the travel device via a surrounding connector. The sealing device can be arranged on the housing of the travel device in a surrounding manner on the upper side of the travel device. In particular, the sealing device surrounds the wheel in a surrounding manner.

[0016] As an alternative, the sealing device only surrounds the wheels of the travel device and thus, in particular, only partially surrounds the travel device in the area of ​​the wheels. In particular, the sealing device does not completely surround the travel device. The sealing device can be arranged circumferentially on the housing of the travel device on the underside of the travel device.

[0017] This embodiment has the advantage that a relatively large surface can be used for fixing the movable carrier by means of a vacuum.

[0018] In a preferred development, the sealing device has at least a shape-elastic material section in order to reduce the vertical distance of the sealing device relative to the positioning area.

[0019] In particular, the shape-elastic material section is arranged between the movable support, in particular the support device and / or the chassis, and the sealing lip.

[0020] The elastic-in-shape material section is designed to be able to achieve a change in length by a change in its shape in order to reduce the vertical distance of the sealing device relative to the positioning region.

[0021] The advantage of a shape-elastic material section is that larger distances can be overcome.

[0022] In one embodiment, the shape-elastic material section is designed as a bellows.

[0023] In particular, the material of the bellows comprises metal, metal alloy and / or plastic. Metals have the advantage that they are less susceptible to wear and are more stable with respect to the action of a vacuum or negative pressure. The bellows can comprise a mixture of metal and plastic. The bellows can comprise a mixture of a metal alloy and plastic. The bellows can comprise a mixture of a metal alloy. Preferably, the bellows comprises an elastic material on the lower side facing the positioning area. The elastic material in particular forms a sealing lip. The elastic material can be applied to the bellows. As an alternative, the lower side of the bellows is formed by an elastic material.

[0024] In particular, the bellows has a folded plastic. The plastic is materially elastic and shape-elastic. The folds consist of stable plastic strips, which are connected to stretchable material areas of the plastic. The strips overlap one another in the basic state. In the stretched state, the strips can be almost side by side with one another. These stretchable material areas allow the connected strips to be rotated between about -10° and about 0° up to about 180°. In the basic state, in which the strips overlap one another with a degree of rotation of about 5° to 0°, there is a small length stretch of the folds. The length stretch of the folds increases with increasing rotation. In the stretched state, rotated by about 180°, the folds have the greatest length stretch. The length stretch can eliminate the vertical spacing between the sealing device and the positioning area.

[0025] In particular, the lower side of the bellows is arranged a few millimeters above the positioning area. The vacuum guide is activated from the through-hole in the positioning area, which causes the length of the bellows to stretch. The lower side of the bellows can connect the movable carrier to the positioning area in a sealing manner. The bellows is particularly closed all around. The positioning area closed all around by the bellows forms a space with the movable carrier that is stable with respect to vacuum or negative pressure.

[0026] The use of a bellows has the advantage that the travel device can be connected directly and rigidly to the support device. The length extension of the bellows bridges the distance of the sealing device to the positioning area. This allows for better fixing of the mobile support in the positioning area. In particular, the support device has a vertical distance to the positioning area that is as constant as possible while the vacuum is applied.

[0027] In another embodiment, the mobile carrier has at least one lowering module for indirect or direct lowering. The lowering module reduces the vertical spacing of the sealing device relative to the positioning area. In particular, the mobile carrier has a lowering module and a shape-elastic material section, in particular a bellows. Preferably, after the lowering of the lowering module and when the vacuum is applied, the sealing device is connected to the positioning area in a sealing manner. The lowering module reduces the vertical spacing of the sealing device from the positioning area during the lowering. In particular, the lowering module can completely eliminate the vertical spacing of the sealing device from the positioning area during the lowering.

[0028] The lowering module has the advantage that the distance between the sealing device and the positioning area can be changed. Thus, during the movement of the mobile carrier, a higher ground clearance of the sealing device relative to the positioning area can be achieved. In addition, after the vacuum is removed, the sealing device can be separated from the positioning area by lifting the mobile carrier.

[0029] In one development, at least one lowering module is designed to change a vertical distance between the support device and the travel device and / or between the travel device and the positioning area.

[0030] In particular, at least one lowering module is designed to change the vertical distance between the supporting device and the traveling device. Preferably, the lowering module is arranged on the upper side of the traveling device. The lowering module is supplementarily connected to the lower side of the supporting device.

[0031] In particular, at least one lowering module is designed to change the vertical distance between the travel device and the positioning area. Preferably, the lowering module is arranged in the travel device. Particularly preferably, the lowering module is arranged on the chassis. The lowering module is supplementarily connected to the wheel.

[0032] In particular, at least one lowering module is designed to change the vertical spacing between the support device and the travel device and between the travel device and the positioning area. Preferably, the lowering module is arranged on the upper side of the travel device. The lowering module is supplementarily connected to the lower side of the support device. In addition, the lowering module is arranged in the travel device. It is particularly preferred that the lowering module is arranged on the chassis. The lowering module is supplementarily connected to the wheels.

[0033] The change in the vertical spacing has the advantage that the spacing of the sealing device relative to the positioning area is reduced during descent. As a result, it is possible for the sealing device to be tightly connected to the positioning area. In this way, a vacuum or negative pressure can be maintained.

[0034] In one specific embodiment, at least one descent module is designed as an active and / or passive descent module.

[0035] The passive lowering module achieves a reduction in distance without external energy, in particular without supplying electrical or hydraulic energy. Preferably, the passive lowering module has an accumulator. The accumulator can use material constants, such as elasticity, for energy storage. It is particularly preferred that the accumulator is charged with energy by means of an external force, wherein the vertical distance of the sealing device relative to the positioning area is reduced. After the external force is removed, the accumulator is unloaded with energy, wherein the vertical distance of the sealing device relative to the positioning area is expanded. In particular, the passive lowering module is implemented in a purely mechanical manner. Preferably, the passive lowering module includes a system of springs, cylinders, rods, etc. The passive lowering module has the advantage that no additional current is required.

[0036] In particular, the active lowering module is electromechanically constructed. In particular, the active lowering module has at least one actuator, wherein the actuator can be constructed in an external energy-supported manner and / or in an electromechanical, hydraulic or pneumatic manner. Preferably, the active lowering module includes a sensor and an actuator. The sensor and the actuator are electrically controlled. The microprocessor outputs corresponding electrical signals to the sensor and the actuator. The active lowering module includes a servomotor, a cylinder that can be moved pneumatically or hydraulically, etc. The active lowering module has the advantage that the vertical spacing between the sealing device and the positioning area can be enlarged when the mobile carrier is traveling. In addition, the separation of the sealing device after the vacuum guidance can be improved.

[0037] In a preferred structural embodiment, the active lowering module has at least one servomotor and / or at least one fluidically movable cylinder within the chassis and / or between the chassis and the support device.

[0038] In particular, fluidically movable cylinders include pneumatic systems, for example with air, gas, etc., or hydraulic systems, for example with water, oil, a mixture of water and oil, or other media.

[0039] In particular, at least one lowering module is designed to change the vertical distance between the support device and the travel device. Preferably, the lowering module is arranged on the upper side of the travel device. In particular, at least one lowering module comprises at least one fluidically movable cylinder or at least one servomotor. Preferably, the lowering module has a plurality of, for example, four fluidically movable cylinders or a plurality of, for example, three servomotors. The fluidically movable cylinders or servomotors are arranged on the travel device. The fluidically movable cylinders or servomotors are supplementarily connected to the support device.

[0040] In particular, at least one lowering module is designed to change the vertical distance between the travel device and the positioning area. Preferably, the lowering module is arranged in the travel device. In particular, the lowering module comprises a plurality of, for example, four, fluidically movable cylinders or a plurality of, for example, four servomotors. The fluidically movable cylinders or servomotors are arranged on the chassis. The fluidically movable cylinders or servomotors are supplementarily connected to the wheels.

[0041] In particular, at least one lowering module is designed to change the vertical spacing between the carrier and the travel device and between the travel device and the positioning area. Preferably, the lowering module is arranged on the travel device. In particular, the lowering module comprises a fluidically movable cylinder or a servomotor. The fluidically movable cylinder or the servomotor is arranged on the upper side of the travel device. The fluidically movable cylinder or the servomotor is supplementarily connected to the carrier. A further fluidically movable cylinder or the servomotor is supplementarily arranged on the chassis. Furthermore, a further fluidically movable cylinder or the servomotor is connected to the wheel.

[0042] In another preferred structural embodiment, the passive lowering module has a spring inside the chassis and / or between the chassis and the support device.

[0043] In particular, at least one lowering module is designed to change the vertical distance between the support device and the travel device. Preferably, the lowering module is arranged on the upper side of the travel device. In particular, the lowering module comprises a spring. The spring is arranged on the travel device. The spring is supplementarily connected to the support device. Preferably, the spring is designed as a compression spring. The spring supplementarily has a guide for stabilization.

[0044] In particular, at least one lowering module is designed to change the vertical distance between the travel device and the positioning area. Preferably, the lowering module is arranged in the travel device. In particular, the lowering module comprises a spring. The spring is arranged on the chassis. The spring is supplementarily connected to the wheel. Preferably, the spring is designed as a compression spring. In the case of a compression spring, the chassis is arranged above the axle of the wheel. As an alternative, the spring is designed as a tension spring. In the case of a tension spring, the chassis is arranged below the axle of the wheel. The spring supplementarily has a guide for stabilization.

[0045] In particular, at least one lowering module is designed to change the vertical spacing between the support device and the travel device and between the travel device and the positioning area. Preferably, the lowering module is arranged on the travel device. In particular, the lowering module comprises a spring. The spring is arranged on the upper side of the travel device. The spring is supplementarily connected to the support device. Preferably, the spring is configured as a compression spring. A further spring is supplementarily arranged on the chassis. A further spring is additionally connected to the wheel. Preferably, the further spring is configured as a compression spring. In the case of a compression spring, the chassis is arranged above the axle of the wheel. As an alternative, the further spring is configured as a tension spring. In the case of a tension spring, the chassis is arranged below the axle of the wheel. The spring supplementarily has a guide for stabilization.

[0046] In another preferred structural embodiment, a sealing panel surrounding the chassis is formed on the underside of the support device.

[0047] The sealing baffle can be designed as a surrounding wall. The wall is arranged in particular on the lower side of the support device. The wall can be made of sheet metal, metal, metal alloy or plastic. The wall is connected to the support device. In particular, the wall surrounds the travel device. The wall is closed laterally.

[0048] The surrounding wall can have an annular, oval, rectangular, rectangular with rounded corners and edges, or a square surrounding portion. The wall extends in a surrounding manner in the direction of the positioning area. On the lower side of the wall, the spacing relative to the positioning area is very small. The sealing device is arranged on the lower side of the wall. The lower side of the carrier device forms an upper closure for the sealing baffle.

[0049] The lower side of the carrying device forms an upper closing portion for the sealing baffle. The sealing device is arranged on the lower side of the sealing baffle. The sealing baffle with the sealing device can be connected to the positioning area in a sealing manner after being lowered.

[0050] The sealing baffle with the sealing device forms a vacuum chamber when it is sealedly connected to the positioning area. The vacuum chamber is stable with respect to negative pressure. The straight-through hole with the activated vacuum guide in the positioning area guides the vacuum or negative pressure into the vacuum chamber. When the vacuum guide of the straight-through hole is activated, the sealing connection between the sealing baffle and the sealing device does not necessarily exist. The generated vacuum or negative pressure can establish a sealed connection between the sealing device and the positioning area. The vacuum or negative pressure causes a reduction in the distance between the sealing device and the positioning area.

[0051] The sealing flap has the advantage that a vacuum chamber is formed around the carriage, so that the carriage is fixed and thus fastened to the positioning area.

[0052] In another preferred structural embodiment, the movable carrier has a sealing bell jar. In particular, the sealing bell jar includes a space that opens downward as a vacuum chamber. The sides of the vacuum chamber and / or the sealing bell jar surround the travel device. The sides are connected to the upper closing part of the sealing bell jar in a pressure-tight manner. The upper closing part is arranged around the travel device. The sides and the upper closing part form a sealing bell jar. In a top view, the sealing bell jar has an elongated, preferably angular structure. The travel device is surrounded by the sealing bell jar as a vacuum chamber. In particular, the sealing bell jar is connected to the travel device. As an alternative, the sealing bell jar can be connected to the carrier device.

[0053] The sealing device is arranged on the lower side of the sealing bell. The sealing device has a spacing relative to the positioning area. The sealing bell and the sealing device form a vacuum chamber in combination with the positioning area. The positioning area in combination with the sealing device represents the closing part of the sealing bell that opens downwards.

[0054] The sealing bell jar as a vacuum chamber can be loaded with vacuum. The vacuum chamber is stable with respect to negative pressure. The through hole with activated vacuum guidance in the positioning area guides the vacuum or negative pressure into the vacuum chamber. When the vacuum guidance of the through hole is activated, the sealing connection between the sealing bell jar and the sealing device does not necessarily exist yet. The vacuum or negative pressure generated can establish a sealing connection between the sealing device and the positioning area. The vacuum or negative pressure causes a reduction in the spacing of the sealing device relative to the positioning area. The sealing device arranged on the lower side of the sealing bell jar is sealed when connected to the positioning area and forms a vacuum chamber. The vacuum chamber can maintain the loaded vacuum.

[0055] Another subject of the invention is a production device having at least one mobile carrier as described above for transporting workpieces. In particular, the production device has the function of carrying out production on the workpieces. The production function includes processing, measuring, transporting, quality assurance, and mass production of workpieces for the manufacture of products.

[0056] The production device has a production unit for carrying out production functions on a workpiece. In particular, the production unit includes the function of carrying out production on the workpiece. Preferably, the production unit has a machine and / or a robot for processing the workpiece.

[0057] The production device has the vacuum generating device described above for fixing the movable carrier. In particular, the vacuum generating device generates negative pressure as vacuum.

[0058] The production device has at least one positioning module for determining the position and orientation of at least one mobile carrier. The at least one positioning module can be arranged in a stationary or movable manner in the production device. In particular, each mobile carrier has a positioning module. Preferably, the positioning module includes a camera for detecting the environment or markings (for example numbers, barcodes, two-dimensional codes (QR codes, data matrix, Aztec codes), bars). As a supplement or alternative, the position and orientation of the mobile carrier can be determined by means of radio wave triangulation. In particular, a plurality of positioning modules, for example 10, are used.

[0059] The production device has the above-described positioning area with a switchable through-hole. The switchable through-hole has been described above. The switchable through-hole can be activated for vacuum guidance. The vacuum guidance causes the fixing of the mobile workpiece carrier. The fixing of the mobile carrier can be referred to as the tightening process of the mobile carrier.

[0060] The production device has the advantage that the mobile carrier can be fixed or tightened on the positioning area by vacuum. In particular, after the fixing and subsequent determination of the position and orientation of the mobile carrier, the production function can be carried out with exact dimensions. Machining of the workpiece during its movement leads to inaccuracies.

[0061] A further subject matter of the invention is a method for fastening a mobile carrier as described above.

[0062] The method for fixing the mobile carrier on the positioning area is carried out by the following steps:

[0063] Move the mobile carrier into the positioning area,

[0064] Applying a vacuum to the mobile carrier in order to fix the mobile carrier in the positioning region,

[0065] Implement production functions.

[0066] In particular, the vacuum can be omitted in order to omit the fixing of the movable carrier in the positioning region.

[0067] The vacuum is cancelled in particular by opening a valve for pressure equalization with the surrounding atmosphere. The vacuum is cancelled by an inflow of atmospheric air into the vacuum chamber until pressure equalization is achieved.

[0068] In particular, when the sealing device with a passive lowering module is passively lowered, after the vacuum is cancelled, the sealing device is again spaced apart from the positioning area. Preferably, the sealing device is reset, for example, by means of a spring. The sealing connection of the sealing device to the positioning area is cancelled.

[0069] After the sealing connection has been released, the movable carrier is moved out of the positioning area.

[0070] In one embodiment, the method comprises the additional step of reducing the vertical spacing of the sealing device of the mobile carrier relative to the positioning region by means of an active lowering module before the vacuum is applied.

[0071] In particular, after reducing the vertical spacing of the sealing device relative to the positioning region, the sealing device can have a sealing connection with the positioning region. In particular, the vertical spacing of the sealing device relative to the positioning region can be eliminated.

[0072] The reduction in the vertical spacing has the advantage that less vacuum pressure is required to produce a leak-tight connection of the sealing device to the positioning area.

[0073] In particular, the method has the following additional steps:

[0074] After the vacuum has been removed, the vertical spacing of the sealing device of the mobile carrier relative to the positioning region is enlarged by means of an active lowering module.

[0075] In particular, the servomotor or the fluid-operated cylinder can be controlled in such a way that the vertical spacing of the sealing device relative to the positioning region is increased. The sealing connection of the sealing device to the positioning region is eliminated.

[0076] After the sealing connection has been released, the movable carrier is moved out of the positioning area.

[0077] In a further embodiment, the method has the additional step of: after carrying out the production function, the vacuum is removed in order to remove the fixation in the positioning region of the movable carrier and to release the seal from the positioning region by means of an overpressure.

[0078] In particular, the overpressure is applied by means of a device in the mobile carrier. The device can include a piston with a cylinder. The device can be prepared by a vacuum for applying the overpressure. The overpressure is preferably applied after the vacuum is canceled. The overpressure can be applied after the vacuum is canceled using a passive and / or active lowering module.

[0079] The advantage of applying excess pressure after the vacuum has been removed is that the seal can be released better from the locking region. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Other features, advantages and effects of the present invention are obtained from the following description of preferred embodiments of the present invention and the accompanying drawings. These drawings are shown as follows:

[0081] Figure 1 shows a schematic diagram of a production device;

[0082] Figure 2 A schematic diagram of a mobile carrier is shown;

[0083] Figure 3 A schematic diagram showing a horizontal section of a movable carrier;

[0084] Figure 4 A schematic diagram showing a vertical section of a mobile carrier;

[0085] Figure 5 A schematic diagram of a horizontal section showing another embodiment of a mobile carrier;

[0086] Figure 6 A schematic diagram of a vertical section showing another embodiment of a mobile carrier;

[0087] Figure 7 A schematic diagram of an embodiment of a movable carrier with a bellows is shown. DETAILED DESCRIPTION

[0088] Figure 1 A production device 1 is shown in a very schematic illustration. The production device 1 has at least one production unit 2. There is a connection between a plurality of, for example four, production units 2. The production units 2 carry out the execution of production functions on workpieces. The production units 2 have machines and / or robots.

[0089] The workpieces are transported into the production cell 2 using a mobile carrier 3. After the workpieces have been processed, the mobile carrier 3 can rotate the production cell 2.

[0090] The production cell 2 has a positioning area 4 around the process module with the machine or robot. The positioning area 4 can be designed as a floor. The positioning area 4 has a plurality of through holes 5. The through holes 5 are arranged around the production cell 2 in a circular grid 6. The grid 6 includes grid points. The grid points and thus the grid 6 can be implemented at least partially as triangles, quadrilaterals, pentagons, hexagons, irregular shapes, circles in the positioning area 4.

[0091] The through-hole 5 has a connection to a vacuum generating device 9. The vacuum generating device 9 is connected to the control module 8. The vacuum guide of the control module 8 can be activated or deactivated individually or selectively for each through-hole 5. When the vacuum guide is activated, vacuum is allowed to pass through the through-hole 5.

[0092] The mobile carrier 3 in the positioning area 4 can be sucked onto the through hole 5 by the activated vacuum guide and thus pressed. The mobile carrier 3 can be pressed onto the through hole 5 by vacuum. As an alternative or supporting solution, the mobile carrier 3 has a lowering mechanism to reduce the vertical spacing of the sealing device 14 of the mobile carrier 3 relative to the positioning area 4. By pressing, the mobile carrier 3 is fixed in position. With the fixing, processing can be performed by a machine or a robot. Fixing can be called a tightening process.

[0093] The production device 1 has at least one positioning module 7. The at least one positioning module 7 determines the position and orientation of the mobile carrier 3. The production device 1 optionally has a plurality of, for example, 30 positioning modules 7. The at least one positioning module 7 can be arranged, for example, in the mobile carrier 3, stationary or movable. The positioning module 7 optionally has a camera, which determines the position and orientation of the mobile carrier 3 based on the environment or markings, such as numbers, bar codes, two-dimensional codes (data matrix, QR code, Aztec code), strips. As a supplement or alternative, the position and orientation of the mobile carrier 3 can be determined using radio wave triangulation.

[0094] The control module 8 controls the vacuum generating device 9 and the vacuum guidance of the through-holes 5. The control module 8 activates the vacuum guidance of the covered through-holes 5 or a subset thereof when at least one through-hole 5 overlaps with the mobile carrier 3. As long as the other through-holes 5 are not also occupied by the mobile carrier 3, the other through-holes 5 remain deactivated. The mobile carrier 3 is pressed onto the at least one through-hole 5 with vacuum and fixed. After fixing as a tightening process, processing can be carried out.

[0095] After the workpiece is processed, the fixed state is released and the mobile carrier 3 leaves the production unit 2. The release of the fixed state is carried out by reducing the vacuum. The reduction of the vacuum can be achieved by deactivating the vacuum guide in the through hole 5. Optionally, a valve can be used to achieve a pressure balance between the vacuum and the surrounding atmosphere. Preferably, the valve is arranged in the sealing baffle, the carrier device 10, the sealing bell jar, and the sealing device 14. The valve can additionally have a compressed air connection. The sealed connection between the sealing device 14 and the positioning area 4 can be separated by a compressed air impact through the valve. After the sealed connection between the sealing device 14 and the positioning area 4 is separated, the mobile carrier 3 can move. In the case of an active descending module, the vertical spacing of the sealing device 14 relative to the positioning area is additionally increased before the movement. Start other production units 2 according to the database.

[0096] Figure 2An embodiment of a mobile carrier 3 is shown in a very schematic illustration. The mobile carrier 3 travels on a positioning area 4. The positioning area 4 has a through hole 5. The through hole 5 is switchably connected to a vacuum generating device 9. The vacuum guidance of the through hole 5 can be activated or deactivated. When the vacuum guidance is activated, the vacuum of the vacuum generating device 9 is guided further through the through hole 5. The through hole 5 opens when the vacuum guidance is activated. When the vacuum guidance is deactivated, the through hole 5 closes. When the through hole 5 is closed, the vacuum of the vacuum generating device 9 is not guided further.

[0097] The mobile carrier 3 has a carrier device 10. The carrier device 10 is a plate for carrying objects.

[0098] The mobile carrier 3 has a travel device 11. The travel device 11 comprises a chassis with wheels 12, a control device for automatic travel and optionally a positioning module 7 for position determination.

[0099] Figure 3 The movable carrier 3 is shown Figure 2 Schematic diagram of the horizontal section in .

[0100] The expanded area of ​​the carrying device 10 is larger than the expanded area of ​​the travel device 11. The travel device 11 with wheels 12 is arranged inside the expanded surface of the edge of the carrying device 10. The travel device 11 has a plurality of connections to the carrying device 10 on the surface facing the carrying device 10. The travel device 11 has four connections to the carrying device 10.

[0101] Figure 4 The movable carrier 3 is shown Figure 2 Schematic diagram of the vertical section in .

[0102] The surface of the travel device 11 is connected to the support device 10 by means of four springs 13. The springs 13 include compression springs 13. The springs 13 belong to a passive lowering module. As an alternative, the mobile support 3 has an active lowering module. The active lowering module includes a servomotor or a fluidically movable cylinder, such as a hydraulic cylinder or a pneumatic cylinder. The servomotor or the fluidically movable cylinder is used to replace the springs 13.

[0103] The carrying device 10 is arranged above the traveling device 11. A wall is arranged on the lower side of the carrying device 10. The wall is spaced apart from the positioning area 4. The wall surrounds the traveling device 11. The wall is arranged around the traveling device 11 as a sealing baffle. The sealing baffle is closed at the top by the lower side of the carrying device 10. The lower side of the carrying device 10 forms a negative pressure sealed space together with the sealing baffle.

[0104] A sealing device 14 is arranged on the lower side of the wall or sealing baffle. The sealing device 14 has a sealing lip. The sealing lip is preferably made of plastic or rubber. Preferably, the plastic is elastic.

[0105] The spring 13 has a spring travel which is preferably greater than the distance of the seal 14 from the positioning area 4. The reduction in the distance of the seal 14 from the positioning area 4 is taken into account in the spring travel and is allowed by the spring 13 with the expenditure of force.

[0106] Figure 5 A schematic diagram of a horizontal section of another embodiment of the mobile carrier 3 is shown. Figure 5 The embodiment of the mobile carrier 3 in the embodiment shown in FIG. Figure 2 The differences between these embodiments are discussed below. The same reference numerals represent the same features.

[0107] In this embodiment, the travel device 11 is connected to the support device 10. The connection is not movable but rigid. The support device 10 surrounds the travel device 11. Preferably, the support device 10 is arranged at a fixed distance relative to the travel device 11. Optionally, the support device 10 is arranged without a distance relative to the travel device 11.

[0108] Figure 6 Shows Figure 5 Schematic diagram of a vertical section of an embodiment of a mobile carrier in FIG.

[0109] The carrier device 10 has a wall as a sealing baffle on the lower side. The sealing baffle surrounds the travel device 11. A sealing device 14 is arranged on the sealing baffle on the lower side pointing to the positioning area 4. The travel device 11 has a chassis and a plurality of wheels 12. The wheels 12 are arranged in the travel device 11 by means of springs 13 as passive lowering modules. The spring 13 is designed as a compression spring 13. The spring travel is greater than the distance of the sealing device 14 relative to the positioning area 4. The reduction of the distance of the sealing device 14 relative to the positioning area 4 is taken into account in the spring travel, and the reduction of this distance is allowed by the spring 13 under the condition of consuming force.

[0110] When the vacuum guide of the through hole 5 in the positioning area 4 is activated, the distance of the seal 14 to the positioning area 4 is reduced. The sealing stop with the seal 14 is connected to the positioning area 4 in a sealing manner. The movable support 3 is fixed on the positioning area 4 when the vacuum guide of the through hole 5 is activated.

[0111] The mobile carrier 3 with the sealing flap can optionally have a passive and / or active lowering module. In addition to the active and / or passive lowering module, the mobile carrier 3 can have a bellows 15 .

[0112] As an alternative to a sealing flap, the mobile carrier can have a sealing bell around the carriage 11. The sealing bell with the seal 14 forms a vacuum chamber together with the positioning region.

[0113] The mobile carrier 3 with the sealing flap can optionally have a passive and / or active lowering module. In addition to the active and / or passive lowering module, the mobile carrier 3 can have a bellows 15 .

[0114] The advantage of the lowering module with the optional bellows 15 is that the mobile carrier 3 can have a higher clearance from the ground and can therefore better navigate unevenness, inclines or descents in the ground.

[0115] Figure 7 A schematic diagram of another embodiment of a mobile carrier 3 with a bellows 15 is shown. Otherwise, only the differences with respect to the preceding embodiments will be discussed. The same reference numerals represent the same features.

[0116] The movable carrier 3 has a bellows 15. Preferably, the bellows 15 is connected to the carrier device 10. As an alternative, the bellows 15 can be connected to the travel device 11. The bellows 15 has a sealing device 14 in the form of a sealing lip on the lower side pointing to the positioning area 4. As an alternative, the lower side pointing to the positioning area 4 has an elastic material. The elastic material provides the sealing function of the sealing lip. In this embodiment, the travel device 11 is rigidly or directly connected to the carrier device 10. The bellows 15 with the sealing device 14 has a spacing relative to the positioning area 4. When the vacuum guidance of the through hole 5 in the positioning area 4 is activated, the bellows 15 expands and thus reduces the spacing relative to the positioning area 4. The sealing device 14 represents a sealed connection with the positioning area 4.

Claims

1. A mobile carrier (3) for transporting the object to a positioning area (4) for further use of the object, the mobile carrier: A travel device (11) is provided for moving the movable carrier (3). A carrying device (10) for carrying an object is provided, wherein the carrying device (10) is connected to a traveling device (11). A sealing device (14) is provided for sealing the movable carrier (3) relative to the positioning area (4), so that a vacuum can be maintained between the positioning area (4) and the movable carrier (3) so as to fix the movable carrier (3) on the positioning area (4).

2. The mobile carrier (3) according to claim 1, characterized in that: The sealing device (14) is arranged in such a way as to surround the running device (11) and / or the wheels (12) of the running device (11).

3. Mobile carrier (3) according to any one of the preceding claims, characterized in that The sealing device (14) has at least a shape-elastic material section in order to reduce the vertical distance between the sealing device (14) and the positioning area (4).

4. The mobile carrier (3) according to claim 3, characterized in that: The shape-elastic material section is designed as a bellows (15).

5. Mobile carrier (3) according to any one of the preceding claims, characterized in that The mobile carrier (3) has at least one lowering module for indirectly or directly lowering the sealing device (14) in order to reduce the vertical distance of the sealing device (14) relative to the positioning area (4).

6. The mobile carrier (3) according to claim 5, characterized in that The at least one lowering module is configured to change the vertical distance between the carrying device (10) and the traveling device (11) and / or between the traveling device (11) and the positioning area.

7. The mobile carrier (3) according to claim 5 or 6, characterized in that: The at least one descent module is designed as an active and / or passive descent module.

8. The mobile carrier (3) according to claim 7, characterized in that The active lowering module has at least one servomotor and / or at least one fluidically movable cylinder within the travel device (11) and / or between the travel device (11) and the support device (10).

9. The mobile support (3) according to claim 7 or 8, characterized in that: The passive lowering module has a spring (13) inside the travel device (11) and / or between the travel device (11) and the supporting device (10).

10. Mobile support (3) according to any one of the preceding claims, characterized in that A sealing baffle surrounding the travel device (11) is constructed on the lower side of the carrier device (10), wherein the lower side of the carrier device (10) forms an upper closing portion for the sealing baffle, and the sealing device (14) is arranged on the lower side of the sealing baffle, so that the sealing baffle and the sealing device (14) form a vacuum chamber in combination with the positioning area (4).

11. Mobile support (3) according to any one of the preceding claims, characterized in that The mobile support (3) has a sealing bell, wherein the sealing device (14) is arranged on the lower side of the sealing bell, so that the sealing bell and the sealing device (14) form a vacuum chamber in combination with the positioning area (4).

12. Production plant (1) having at least one mobile carrier (3) for transporting objects according to any one of the preceding claims, having a production unit (2) for carrying out a production function on a workpiece, A vacuum generating device (9) is provided for fixing the movable carrier (3). A positioning module (7) is provided for determining the position of the mobile carrier (3), A positioning region (4) is provided which has a vacuum-guided, switchable through-opening (5).

13. Method for fixing a mobile carrier, in particular according to any one of the preceding claims 1 to 11, characterized in that The mobile carrier (3) is fixed to the positioning area (4) by means of the following steps: The movable carrier (3) is moved into the positioning area (4), Applying a vacuum to the mobile carrier (3) in order to fix the mobile carrier (3) in the positioning area (4), Implement production functions.

14. The method according to claim 13, characterized in that Perform the following additional steps: Before the vacuum is applied, an active lowering module is used to reduce the vertical distance of the sealing device (14) of the mobile carrier (3) relative to the positioning area (4).

15. The method according to any one of claims 13 or 14, characterized in that Perform the following additional steps: After the production function has been carried out, the vacuum is released in order to release the fixation in the positioning region (4) of the movable carrier (3) and the seal (14) is released from the positioning region (4) by overpressure.

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