Production plant, method for operating production plant, and mobile carrier for use in production plant

Abstract

The invention relates to a production device 1 for implementing a production function on a workpiece, comprising: at least one mobile carrier 3; at least one production unit 2 for carrying out a production function on the workpiece, the production unit 2 having a positioning region 4 for positioning the mobile carrier 3, the positioning region 4 having a through-opening 5; a vacuum-generating device 10, the through-opening 5 being connected to the vacuum-generating device 10 such that a vacuum guide in the through-opening 5 can be activated; at least one positioning module 7 to determine the position and orientation of the mobile carrier 3 and to generate induced positioning information of the mobile carrier 3; and a control model 8 for controlling the vacuum generating device 10, the control model 8 being configured to control the vacuum generating device 10 in order to activate a vacuum guide of at least one through-opening 5 on the basis of the positioning information, the through-opening being selected only from through-openings 5 arranged below the mobile carrier 3 such that the mobile carrier 3 is fixed to the positioning region 4.

Description

Technical Field

[0001] The invention relates to a production device having a plurality of variable processing positions. The invention also relates to a method for operating a production device and a mobile carrier. Background Art

[0002] Production plants having a plurality of processing locations are known, in which the workpieces to be processed are transported by means of conveyor belts.

[0003] Publication DE 10 2017 202 426 A1 discloses a conveying device in which the workpieces are transported on a conveyor belt as a metal belt with holes. The workpieces are positioned and oriented before being placed. To process the workpieces, the workpieces are fixed by means of a vacuum through the holes in the metal belt and then processed by means of a laser beam. Summary of the invention

[0004] The subject matter of the invention is a production device having the features of claim 1 , a method for operating a production system having the features of claim 10 , and a mobile carrier having the features of claim 14 .

[0005] The invention relates to a production device for carrying out a production function on a workpiece on a mobile carrier.

[0006] In particular, the production device is designed to be variable with respect to the operating time. The production device can be dynamically configured. This means that the processing locations can be arranged variably. Depending on customer requirements and the processing plan, processing steps can be omitted or added. The production device has a production function. The production function includes the manufacture and / or processing, measurement, quality control, provision, and transportation of workpieces.

[0007] The workpiece can be produced, for example, from a blank by machining. As an alternative or in addition, the workpiece is configured as a component, a subcomponent, a single part or the like.

[0008] The processing of a workpiece can include, in particular, a production process and / or an assembly process and / or a measuring process.

[0009] The production device includes at least one mobile carrier. Optionally, the production device can include a plurality of mobile carriers, in particular more than 10 carriers. In particular, the mobile carrier is a vehicle or a car that transports the workpiece. The mobile carrier can be configured as a driverless transport vehicle or a transport module, which has a drive device and a control unit with a sensor device. The mobile carrier can transport the workpiece. In terms of this performance, the mobile carrier can be referred to as a mobile workpiece carrier. The mobile carrier can also transport other objects, such as, for example, tools for replacement in the production unit.

[0010] The production device has at least one production unit for processing a workpiece. In particular, the production unit has a machine for processing the workpiece. Preferably, one or more robots for processing the blank or the workpiece are arranged in the production unit. Optionally, one or more robots can be used in the production unit to install the workpiece into the structural component or to assemble the structural component and the workpiece into a final product.

[0011] The production unit has a positioning area for positioning the mobile carrier. In particular, the positioning area includes a bottom on which the mobile carrier can move. The bottom can be equipped with markings for orienting the mobile carrier.

[0012] Preferably, the positioning area includes a distance relative to the machine or robot, within which the workpiece can be processed. In a production unit with a robot with a robot arm, the positioning area can occupy an area as large as the length of the robot arm, which can reach the workpiece on the movable carrier with this length. In addition to the area that can be reached by the robot arm, the area required by the movable carrier for movement is also included in the positioning area. In a production unit with a machine, the positioning area includes the distance of the movable carrier in which the workpiece can be processed by the machine. In particular, the material of the bottom is concrete, clay, glass, metal, for example steel, stainless steel. In particular, the bottom is constructed smoothly and / or flat. The bottom can also be constructed as a grid (Gitter) that can be removed in particular.

[0013] Preferably, a cavity is provided below the bottom or the positioning area, which serves as a location space for the device. In particular, the device can include a pipe for the vacuum guide. The cavity can be completely configured as a vacuum guide space. The vacuum guide space can be closed relative to the bottom, and the connected vacuum guide pipes can connect the vacuum guide space to the bottom.

[0014] The positioning area has a through opening. In particular, the through opening is configured as a hole in the bottom or positioning area. The through opening does not have to penetrate the entire bottom. Preferably, if a cavity is provided below the bottom as a location space for the device, the through opening penetrates the bottom. Alternatively, the device in the bottom can be provided, for example, as a pressure line, which is connected to the through opening, for example, which is connected on one side.

[0015] The production device has a vacuum generating device. In particular, the vacuum generating device is a pump which draws air out of an object, such as a pipeline, a pipe, a room, a container, a bend, and thus generates a negative pressure. The vacuum generating device can activate a vacuum guide in the through-opening, so that a negative pressure is generated at the through-opening.

[0016] The through-opening, in particular each individual through-opening, is connected to a vacuum generating device. In particular, the vacuum generating device is individually switchably connected to each connected through-opening. Preferably, the vacuum generating device is connected to more than 50 through-openings, in particular more than 100 through-openings. With respect to each individual through-opening, it is possible to activate or deactivate the vacuum guide part, in particular independently of other through-openings and / or selectively. In the case of an activated vacuum guide part, the vacuum of the vacuum generating device is guided through the through-opening. It is possible to switch activation or deactivation directly at the through-opening or at the vacuum generating device. The connection between the vacuum generating device and the through-opening can be constructed as a single pressure line. Alternatively, a plurality of through-openings are connected to the vacuum generating device in common, and each through-opening has a circuit for activating and deactivating the vacuum guide part.

[0017] In particular, if the bottom is designed as a grid, not all openings of the grid are connected to the vacuum device. In the case of a grid, only individual openings in the grid are through-openings that can be vacuum-conducted. The through-openings in the grid that can be vacuum-conducted have specific spacings from one another. The use of a grid has the advantage that during cutting machining, chips fall through the grid and do not hinder the mobile carrier during movement.

[0018] The production device has at least one positioning module, which is used to determine the position and direction as the positioning of the mobile carrier and to generate the resulting positioning information of the mobile carrier. In particular, the positioning module is constructed so that the position of the mobile carrier in the production device can be determined. Position determination can be performed by means of GPS, markings, codes or by means of sensors for determining the distance relative to the surrounding environment, such as, for example, ultrasonic sensors, infrared sensors, camera sensors, laser sensors, radio positioning by antennas. The determination of the position of the mobile carrier is particularly important in the production unit for positioning the mobile carrier in the positioning area to process the workpiece. The position of the mobile carrier is compiled by the positioning module in the positioning information. The positioning information can be transmitted, for example, by wire connection or by radio. The positioning module can also determine the direction as the orientation of the mobile carrier.

[0019] The production device has a control model for controlling the vacuum generating device. The control model is configured to control the vacuum generating device so as to activate the vacuum guide in at least one through-opening based on the positioning information, and the through-opening is selected only from the through-openings arranged below the mobile carrier, so as to fix the mobile carrier on the positioning area. Therefore, at least one, some or all of the through-openings below the carrier can be activated for vacuum guidance in order to fix the carrier. On the contrary, the other through-openings remain deactivated. "Activating the vacuum guide" is understood to load the through-opening with vacuum or negative pressure. "Deactivating the vacuum guide" is understood to remove the vacuum from the through-opening. "Deactivation" can also be understood to ventilate the through-opening with ambient air.

[0020] The control model is, for example, a digital data processor, such as a microprocessor, which is able to switch valves. The valves are arranged between the vacuum generating device and the corresponding through-openings. The valves are able to switch individual lines and / or individual through-openings. The vacuum guides in the through-openings can be activated by means of the valves. The control model outputs corresponding switching signals for activating or deactivating the valves. The control model additionally monitors and controls the vacuum generating device.

[0021] In particular, the mobile carrier moves into the positioning area so that the workpiece can be processed. A through opening is arranged in the positioning area. The positioning information is used to move the mobile carrier so that at least one through opening is completely located below the mobile carrier. After the mobile carrier stops above a position where the workpiece can be processed (for example, it can be reached by the robot arm), the mobile carrier is optionally lowered. The control model uses the positioning information to switch the vacuum guide of at least one through opening below the mobile carrier to activation. The mobile carrier that completely covers the through opening is subjected to vacuum. The mobile carrier is pressed onto the through opening by the vacuum and fixed in its position on the positioning area. The workpiece on the mobile carrier can then be processed.

[0022] The present invention takes into account that, for example, a plurality of mobile carriers are used to replace known assembly lines. In known assembly lines, the order of processing stations is predetermined. The mobile carrier has the advantage that it controls the production unit, and the workpiece needs to be processed by the production unit. In addition, the order of processing can be changed. This has the advantage that the machine used to process the workpiece can be optimally utilized. By adding or eliminating work steps, workpieces and personalized products personalized for customers can be manufactured. The suction of the mobile carrier can achieve the fixing of the mobile carrier during processing. In addition, the mobile carrier can be freely selected to be assigned a position in the positioning area, and the mobile carrier is fixed at the assigned position for processing. Therefore, production can be designed flexibly.

[0023] The positioning region, in which the mobile carrier can be fixed in a freely selectable manner in terms of position, preferably has an area at least 10 times, in particular at least 30 times, larger than the mobile carrier.

[0024] In one embodiment of the invention, the through openings are arranged in a grid (Raster) and / or a matrix. In particular, the grid is a regular pattern of grid points distributed on a surface. The grid is implemented at least partially as a triangle, quadrilateral, pentagon, hexagon, irregular shape, circle in the positioning area. In particular, in the case of a triangular, quadrilateral, pentagonal, hexagonal grid, the grid points have the same spacing relative to each other.

[0025] In particular, in the case of a circular embodiment of the grid, the spacing of the grid points within the circle is the same. The spacing of the grid points between two circles can differ from the spacing of the grid points within the circle. In particular, in the case of an irregular distribution, the spacing between two grid points is different. The through-openings are arranged at the locations of the grid points.

[0026] A matrix is ​​a regular pattern of matrix points distributed on a surface. In the case of a matrix, the pattern is a quadrilateral. In particular, in the case of a matrix, the matrix points have the same spacing relative to each other. The through openings are arranged in the positions of the matrix points.

[0027] The embodiment as a grid or matrix has the advantage that the mobile carrier can be stopped at different positions in the positioning area and can be moved in such a way that further movement of the mobile carrier is possible after the workpiece has been processed.

[0028] In one embodiment, at least one of the through-openings has an interface for an energy supply, a data transmission and / or a control of the mobile carrier. In particular, the interface is arranged in the through-opening. Preferably, the interface is configured as a plug. The plug has a cable for the energy supply. Additionally, other cables for the data transmission and the control can be included in the plug. The interface can also be configured as a sheet metal for the energy supply, the data transmission and / or the control. The sheet metal can include wires, wire braids, for example, cables with insulation removed and / or unbent or bent plates. This has the advantage that the sheet metal is also configured as a sheet metal as a counterpart. The interface can also be arranged outside the through-opening. The interface is therefore arranged in the positioning area.

[0029] The interface has the advantage that the battery of the mobile carrier can be recharged and data can be transmitted during the processing of the workpiece. The data can include the processing step currently being carried out, the quality of the processing being carried out, the next processing step, movement instructions to the next workstation and / or similar data.

[0030] In a continuation, the mobile carrier additionally has an interface for an energy supply, a data transmission and / or a control, which can be connected to an interface in the positioning area. In particular, the interface in the mobile carrier is configured correspondingly to the interface in the positioning area. The interface in the mobile carrier can be configured as a plug, which can be connected to a plug of a through opening. Alternatively, the interface is configured as a metal sheet, which can be connected to a metal sheet of a through opening.

[0031] The interface in the mobile carrier has the advantage that the battery of the mobile carrier can be recharged and data can be transmitted during the processing of the workpiece. The data can include the processing step currently being carried out, the quality of the processing being carried out, the next processing step, the movement instructions to the next workstation and / or similar data.

[0032] In other embodiments, at least one positioning module is arranged on the mobile carrier, in the production unit and / or in another area of ​​the production device. Preferably, each positioning module has a position determination. Each positioning module can determine the position of the mobile carrier in the production device. Each positioning module generates positioning information, which can be transmitted to the control model or the local control part, for example, by radio and / or by cable, for evaluation and / or further processing. The positioning information can be evaluated, processed and / or transmitted in the control model and / or the local control part.

[0033] In particular, at least one positioning module is arranged in the mobile carrier. In the case of a plurality of mobile carriers, for example 10 mobile carriers, each mobile carrier can have its own positioning module.

[0034] A positioning module in the mobile carrier has the advantage that the position of the mobile carrier can be determined at any time. The positioning information created with the positioning module can be used to control the mobile carrier.

[0035] In particular, at least one positioning module is arranged in the production cell. In the case of a plurality of production cells, for example 10 production cells, each production cell can have its own positioning module. The positioning module of the production cell acquires position data of the mobile carrier in the positioning area. In particular, the positioning module of the production cell can also acquire position data of the mobile carrier outside the positioning area.

[0036] Preferably, the positioning module in the production cell is a supplement to the positioning module for the mobile carrier. The positioning information together with the position of the mobile carrier in the positioning area can be used, evaluated and / or processed by the control of the production cell in order to orient the mobile carrier, the machine and / or the robot to the processing of the workpiece. In addition, a transfer to a control model can be realized. In particular, the control model can evaluate and process the positioning information in order to move the mobile carrier and process the workpiece.

[0037] A positioning module in the production cell has the advantage that the positioning information of the mobile carrier can be compared with the positioning information of the production cell and the position of the mobile carrier can be corrected.

[0038] In particular, at least one positioning module is arranged in the production device. In the case of a plurality of connections of a production unit, for example 10 connections, for example, a positioning module can be arranged in each case. The positioning module in the connection generates positioning information of objects passing by, such as, for example, a mobile carrier. The positioning module in the connection has the advantage that the embodiment of the movement path of the mobile carrier can be detected.

[0039] A plurality of positioning modules can be used in combination, for example in at least one mobile carrier and in at least one production unit. In addition, for example in the case of a connection, the positioning modules can also be used in the production device. Preferably, the positioning modules are arranged in a distributed manner on the production device. The positioning modules can be connected to the control model, for example via a cable or by radio. The control model can compare the position data and monitor and control the movements.

[0040] In one embodiment, the positioning module includes at least one camera, at least one antenna, an ultrasonic sensor, a laser sensor and / or an infrared sensor. In particular, the camera and the associated image processing can be used to identify the surrounding environment and the position relative to the production device. Preferably, a mark, such as a QR code, a barcode, a color mark, a strip, a number, a logo on a nameplate, an antenna arrangement, etc. can be used in the production device. In particular, an ultrasonic sensor can be used. This has the advantage that the sensor is not so easily affected by dirt or poor visible conditions. In addition, since it is not necessary to process the pixel matrix, it is easier to perform processing. In particular, a laser sensor can be used. This has the advantage that the sensor is not so easily affected by poor visible conditions. In particular, an infrared sensor can be used. This has the advantage that the sensor is not so easily affected by dirt or poor visible conditions. In particular, multiple antennas can be used as radio wave positioning for triangulation of radio signals. In terms of using multiple antennas, electromagnetic waves can be generated as radio waves, and the position in the production device can be determined by triangulation from the characteristics of the radio waves, such as running time, pulse duration, phase, etc. This has the advantage that the sensor is less susceptible to dirt or poor visibility conditions. In particular, a positioning module of multiple sensors can be used in combination with other positioning modules. A camera sensor can be used in combination with at least one antenna, an ultrasonic sensor, an infrared sensor and a laser sensor, for example.

[0041] Particularly preferably, a graphical marking, in particular a coding of the position, is applied to the positioning surface and / or in the production device, wherein the positioning module is designed to read out the graphical marking and to determine the positioning information based on the graphical marking.

[0042] In another embodiment, at least one mobile carrier has at least one curved portion at the lower side. In particular, the curved portion is a concave notch on the lower side of the mobile carrier. Preferably, the curved portion is configured as a quarter-spherical to hemispherical concave notch. Alternatively, the curved portion can be designed as a spherical arch in the section on the lower side of the mobile carrier. The lower side of the mobile carrier can have a plurality of curved portions that do not intersect, for example 13 curved portions. The curved portion can be referred to as a cavity. The advantage of at least one curved portion is that, compared with the smooth bottom at the lower side of the mobile carrier, the curved portion is more stable relative to the effect of the vacuum from the through-opening. In particular, the mobile carrier moves by means of positioning information until the curved portion is located above one of the through-openings. Information about the position of the curved portion in the mobile carrier can be stored in a database or is known in the case of the same structural form of the mobile carrier. When the vacuum guide is activated, the curved portion is pressed onto the through-opening. The mobile carrier is fixed by pressing. The mobile carrier can be lowered before the vacuum guide is activated.

[0043] In one embodiment, at least one mobile carrier has a feature for identification. The feature for identification is preferably constructed as a code. In particular, the code can have: information for identifying the mobile carrier, the size of the mobile carrier, the position of the curved portion in the mobile carrier, the operating parameters for vacuum, the position of the interface and the specific implementation of the interface as a plug, a metal sheet, etc., the operating parameters for pressing on the through opening, the mobile carrier's movement plan, the station sequence in the production device or the production unit sequence, etc. Preferably, a camera or a laser is used to obtain or scan the code. In particular, the code includes, for example, a QR code, a barcode, numbers, letters. The advantage of the code is that after identifying the mobile carrier, a data set about the mobile carrier can be queried in a database. Therefore, for example, when a production unit fails or when a production unit is temporarily over-occupied, data about the mobile carrier and other processing steps can be retrieved and changed.

[0044] In a further embodiment, the production device has a position correction module which is designed such that it controls and corrects the position and orientation of the mobile carrier in the positioning region based on the positioning information of the mobile carrier and based on the arrangement of the through-opening in the positioning region, taking into account the position conditions.

[0045] In particular, the position condition comprises, for example, the positioning of the mobile carrier in such a way that the machine or robot can process the workpiece. In the case of an arch in the mobile carrier, the position condition can be aligned with the mobile carrier for coupling with the through-opening. The carrier is positioned in particular in such a way that an interface of the mobile carrier can be connected to an interface in the positioning area. The position correction module can control the mobile carrier in such a way that an optimal position of the mobile carrier is achieved in order to comply with the position condition. When the position condition changes, for example because other processing is required, the position correction module corrects and thus changes the position of the mobile carrier so that the position condition is complied with again.

[0046] Another subject of the invention is a method for operating the production device described above. In the method, at least the following steps are implemented. The mobile carrier moves into the positioning area of ​​the production unit. The position of the mobile carrier is determined by means of a positioning module to generate positioning information. In addition to optional further information, the positioning information also has position information of the mobile carrier. The mobile carrier stops above at least one through-opening in the positioning area.

[0047] With the activated vacuum guide, the through-opening fixes the movable carrier in position. The fixing of the movable carrier by means of vacuum is also referred to as a clamping process.

[0048] The movement of the mobile carrier into the positioning area of ​​the production unit is a sign of the processing provided for the production unit to which the workpiece is moved. The movement into the positioning area enables the processing of the workpiece. The position of the mobile carrier is determined by means of positioning modules of the production unit, the mobile carrier and / or the production device. In particular, the positioning information of one or more positioning modules can be used for the position determination of the mobile carrier. When covering at least one through-opening, the mobile carrier stops. The mobile carrier is pressed and fixed to the through-opening by activation of the vacuum guide.

[0049] In one embodiment of the method described above, the following additional subsequent steps are implemented. After the mobile carrier is fixed, the workpiece is processed. After the processing is completed, the fixing is released and the mobile carrier leaves the positioning area of ​​the production unit. The mobile carrier can then be moved to other production units or a supply point for finished workpieces.

[0050] The advantage of moving to the localization area of ​​the production unit is that a dynamic arrangement of the production steps can be achieved. Customer expectations can thus be better met. In a further embodiment of the method described above, the following additional steps are implemented.

[0051] After the positioning information has been generated, the position correction module controls and / or corrects the position of the mobile carrier in the positioning area based on the positioning information of the mobile carrier and on the arrangement of the through-opening in the positioning area, taking into account the positional conditions.

[0052] In particular, in the case of an arch in the mobile carrier, the position condition comprises the positioning of at least one or more arches above at least one, preferably a plurality of through-openings. As a position condition, the arch can completely cover the through-opening. This has the advantage that the orientation and pressing of at least one arch onto the through-opening, preferably a plurality of arches onto a plurality of through-openings, performs the fixing of the mobile carrier. Thus, the machining can be performed more precisely and with smaller tolerances.

[0053] In particular, the mobile carrier can be identified by the positioning module via a code. The code is a feature for identifying the mobile carrier. The code can include further data for the mobile carrier. The code can be assigned data from a database, which can be retrieved from the database. The code can consist of a barcode, a QR code, a number, a number. The data can include: indicators about the mobile carrier (e.g. position, size, position of a possible bend, pressure of the working vacuum, maximum vacuum load, position of the workpiece on the carrier, etc.); indicators about the machining of the workpiece with the tool; indicators about the machining sequence of the workpiece, the machining steps completed, quality characteristics.

[0054] In particular, the mobile carrier is guided through at least one through-opening by means of the positioning information of the positioning module using the control unit, the control model and / or the position correction module. Preferably, the positioning information of one or more positioning modules can be used for determining the position of the mobile carrier. In addition, in the through-hole or in the bottom, modules for the energy supply unit, the data transmission unit and / or the control unit can be connected to the mobile carrier. Preferably, the connection is made before or during the pressing of the mobile carrier onto the through-opening. This has the advantage that the battery of the mobile carrier can be charged during the pressing. In addition, data, such as the next processing step, quality data, current processing, can be transmitted.

[0055] In the additional embodiment of the method described above, the subsequent additional steps are implemented. After fixing and before processing the workpiece, the position of the fixed, mobile carrier is determined using the positioning module. In particular, the positioning information of one or more positioning modules can be used for the position determination of the mobile carrier.

[0056] The advantage of determining the position is that when the mobile carrier is pressed against the through-opening, movements may occur which lead to a change in the position of the mobile carrier. Determining the position of the mobile carrier after fixing has the advantage that a machine or robot of the production cell can better adapt the machining to the position of the mobile carrier. This allows tolerances to be reduced and machining to be carried out with greater precision.

[0057] Another subject of the present invention is a mobile carrier, which is used in the production device described above. The mobile carrier has an arched portion for fixing by means of a vacuum through at least one through opening. Preferably, the mobile carrier has an interface for an energy supply unit, a data transmission unit and / or a control unit. The interface described above can be arranged in the smooth bottom of the mobile carrier. It is particularly preferred that the interface described above is arranged in addition to at least one arched portion in the mobile carrier. In particular, the interface can be arranged in the arched portion. The interface of the mobile carrier is then connected to the interface in the through opening arranged in the positioning area.

[0058] As an alternative or in addition, the mobile carrier has a lowering mechanism. With this lowering mechanism, the mobile carrier can vertically change the distance to the through-opening and in particular place the bottom of the mobile carrier flat on the foundation so that suction can be achieved by vacuum. Ideally, the lowering mechanism can be used to close at least one through-opening with the mobile carrier. This has the advantage that a lower vacuum pressure is required for fixing. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Further features, advantages and effects of the present invention are obtained from the following description of preferred embodiments and the accompanying drawings. These drawings show:

[0060] Figure 1 shows a schematic diagram of the production device,

[0061] Figure 2 shows a schematic diagram of a production unit in a production device with a mobile carrier in a positioning area and connections between the production units,

[0062] Figure 3 A schematic block diagram is shown for fixing a mobile carrier in a positioning area around a production cell. DETAILED DESCRIPTION

[0063] Figure 1 A production device 1 is shown in a highly diagrammatic illustration for processing workpieces on a mobile carrier 3. The production device 1 has at least one production unit 2. Connections exist between a plurality of production units 2. The production units 2 are provided for processing workpieces. The production units 2 can have machines and / or robots for processing workpieces.

[0064] The workpieces are transported into the production unit 2 by means of the mobile carrier 3. After the workpieces have been processed, the mobile carrier 3 can be replaced by the production unit 2 via the connection. If the workpiece has been run through the final processing step in the production device 1, it is removed from the mobile carrier 3 as a product and supplied to another application. The processing steps can be changes to the workpiece, such as cutting removal, heating, cooling, welding, connection with other workpieces, etc.

[0065] The production cell 2 has a positioning area 4 around the machine or robot. The positioning area 4 can be designed as a base. The positioning area 4 has a plurality of through openings 5. The through openings 5 ​​are arranged in a circular grid 6 around the production cell. The grid 6 comprises 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. Alternatively, the through openings 5 ​​can be arranged in a matrix 6.

[0066] Each of the through-openings 5 ​​has a connection to a vacuum generating device 10. The vacuum generating device 10 is connected to the control model 8. For each of the through-openings 5, a vacuum guide can be activated or deactivated individually or selectively by the control model 8. In the case of an activated vacuum guide, vacuum is allowed to pass through the through-opening 5.

[0067] The mobile carrier 3 in the positioning area 4 can be sucked by the activated vacuum guide and thus pressed onto the through-opening 5. The mobile carrier 3 can be pressed onto the through-opening 5 by vacuum. Alternatively or additionally, the mobile carrier 3 has a lowering mechanism, which is used to reduce the vertical spacing of the mobile carrier 3 relative to the through-opening 5. This makes it easy to press the mobile carrier 3 onto the through-opening 5. The mobile carrier 3 is fixed in position by pressing. The fixing can be processed by a machine or a robot. The fixing can be called a clamping process.

[0068] The production device 1 has at least one positioning module 7. At least one positioning module 7 can be arranged at a central position for monitoring at least one mobile carrier 3 and at least one production unit 2. Preferably, at least one positioning module 7 is arranged in at least one production unit 2. Preferably, a plurality of production units 2, for example 40 production units 2, each having a positioning module 7 are arranged in the production device 1. Optionally, only a part of the plurality of production units 2 has a positioning module 7. Preferably, there is a positioning module 7 in at least one mobile carrier 3. Preferably, a plurality of mobile carriers 3, for example 70 mobile carriers 3, each have a positioning module 7. Optionally, only a part of the plurality of mobile carriers 3 have a positioning module 7. In addition, at least one positioning module 7 can be fixedly arranged at a specific position of the production device 1. Preferably, a positioning module 7 is arranged at a plurality of positions, for example 20 positions, such as, for example, at the connection between the production units 2. The positioning module 7 includes at least one antenna, at least one camera, an ultrasonic sensor, a laser sensor and / or an infrared sensor. Each positioning module 7 determines the position of the mobile carrier 3. For position determination, the surroundings are detected, installed markers such as strips, barcodes, QR codes, numbers, etc. are detected, and / or triangulation is performed by radio.

[0069] The positioning information contains information about the position of at least one mobile carrier 3. The positioning information is processed in the local control. In addition, the positioning information is sent to the control model 8 for processing. The control model 8 can transmit the obtained positioning information, for example to the control. The positioning information of the fixed part of the production unit 2 and the positioning module 7 can then be sent to the control in the mobile carrier 3 via the control model 8. The positioning information is preferably used in the mobile carrier 3 by the control of the mobile carrier 3 in order to determine the position in the production device 1 more accurately. This has the advantage that the position can be compared with a plurality of reference points and thus the position can be acquired as accurately as possible. The positioning information can be transmitted to the control model 8 by means of a cable or by radio.

[0070] The positioning information can also be used to orient the mobile carrier 3 in the positioning area 4 around the production unit 2. The purpose of the orientation is to stop the mobile carrier 3 above at least one of the through-openings 5. In order to determine the position for the stop, the position of the mobile carrier 3 is compared with the position of at least one through-opening 5. This can be achieved in the position correction module 9 and / or in the control model 8. Preferably, the position correction module 9 is connected to the control model 8. The position correction module 9 can control the position of the mobile carrier 3 on the positioning area 4. The position correction module 9 corrects the position of the mobile carrier 3 by moving the mobile carrier 3 so that the position condition is followed. The position condition can be that at least one through-opening 5 is completely covered by the mobile carrier 3. The position correction module 9 can correct the position of the mobile carrier on the positioning area 4 so that the mobile carrier 3 covers at least one through-opening 5. Covering the through-opening 5 by the mobile carrier 3 means that the mobile carrier 3 is positioned so that the through-opening 5 is completely below the bottom of the mobile carrier 3. The through-opening 5 can thus be completely closed with the movable carrier 3 . This makes it possible to fix the movable carrier 3 on the through-opening 5 when the vacuum guide of the through-opening 5 is activated.

[0071] Optionally, a code for identifying the mobile carrier 3 is mounted on the mobile carrier 3. The code can be visually recognized, for example, using a camera or a laser scanner. The mobile carrier 3 can be identified using the code. Additionally, the size of the mobile carrier 3 can be included in the code. Alternatively, the size of the mobile carrier 3 can be queried in a database based on the identification. Additionally, other dimensions or operating parameters, such as vacuum pressure, can be stored in the code and / or by a database. The code can be included as numbers, letters, barcodes, QR codes, etc.

[0072] The carrier 3 can be smoothly constructed at the lower side so that it can be sucked or pressed with vacuum support through the through opening 5. Optionally, the mobile carrier 3 can have a curved portion at the lower side. Compared with a smooth surface, the curved portion has the advantage of being more stable relative to vacuum. The mobile carrier 3 must be positioned so that the curved portion is located above the through opening 5. Optionally, the position of the curved portion in the mobile carrier 3 can be stored in a code or in a database. The position correction module 9 corrects the position of the mobile carrier 3 according to the position of the curved portion and the arrangement of the through opening 5. The position correction module 9 moves the mobile carrier 3 so that the curved portion covers the through opening 5. After the curved portion of the mobile carrier 3 is pressed onto the through opening 5, a vacuum is applied in the curved portion under the condition of the activated vacuum guide of the through opening 5.

[0073] Preferably, the mobile carrier 3 has an interface for an energy supply unit, a data exchange unit and / or a control unit. The interface can be arranged in the curved portion. The interface is configured as a plug, a metal sheet and / or a metal strip. The corresponding interface in the positioning area 4 can be arranged in the through-opening 5. The corresponding interface can be configured as a plug, a metal sheet and / or a metal strip. This has the advantage that when the mobile carrier 3 is pressed onto the through-opening 5, the interface of the mobile carrier 3 can be connected to the interface in the positioning area 4. After the connection, the battery of the mobile carrier 3 can be charged. In addition, data, such as other processing sequences, processing states, the next position to be moved to, etc. can be exchanged. The position of the interface in the mobile carrier 3 can be stored in a code and / or in a database or identified.

[0074] The control model 8 controls the vacuum generating device 10 and the vacuum guide of the through-opening 5. When at least one through-opening 5 is covered with the mobile carrier 3, the control model 8 activates the vacuum guide of the covered through-opening 5 or part thereof. Other through-openings 5 ​​remain deactivated if they have not been occupied by the mobile carrier 3. The mobile carrier 3 is pressed and fixed to at least one through-opening 5 by vacuum. Processing can be achieved after fixation as a clamping process. In order to improve the dimensional accuracy of the processing, it is preferred to use the positioning module 7 to determine the position of the mobile carrier 3 again after fixing the mobile carrier 3. The positioning information of one or more positioning modules 7 can be used to determine the position of the mobile carrier. The position of the mobile carrier 3 may have changed slightly during pressing. This change is detected and taken into account when processing the workpiece. More dimensional precision processing can be achieved.

[0075] After the workpiece has been processed, the fastening is released and the mobile carrier 3 leaves the production cell 2. It moves to another production cell 2 according to the database.

[0076] exist Figure 2 , a highly diagrammatic illustration of a production installation 1 can be seen having two production units 2 connected to one another. Figure 2 The diagram is Figure 1 Correspondingly, relative to Figure 1 exist Figure 2 There are differences in Figure 2 and Figure 1 The same reference numerals denote the same features.

[0077] Figure 2 In this regard Figure 1The difference is that in addition to the production unit 2 with the connection, a second production unit 2 is shown. Both production units 2 each have a robot for further processing the workpiece. Both production units 2 have through-openings 5 ​​arranged in a matrix 6 in the positioning area 4, which each have a connection to a vacuum device for fixing the mobile carrier 3. A plurality of mobile carriers 3 are shown, which are located in the corresponding positioning area 4 of the robot for processing the workpiece. Before processing by the robot, the mobile carrier 3 is fixed above the through-opening 5 by means of a vacuum. Preferably, the position and orientation of the mobile carrier 3 are acquired after fixing.

[0078] exist Figure 3 A schematic block diagram of a method for fixing a mobile carrier in a positioning area 4 around a production unit 2 of the production device 1 described above is shown in FIG. The fixing is a clamping process of the mobile carrier 3 .

[0079] In the production device 1, at least one, preferably a plurality of production units 2 are connected to one another. A mobile carrier 3 is used to transport workpieces. The mobile carrier 3 can be moved into the processing area and thus into the positioning area 4 of the individual production units 2 via a connection.

[0080] In one embodiment, the following steps are performed to fix the mobile carrier 3. In step 101, the mobile carrier 3 is in the positioning area 4. In step 102, the mobile carrier 3 is positioned using the positioning module 7. In step 103, the mobile carrier 3 is compared with the position condition. One of the position conditions can be covering at least one through-opening 5. In the case of the presence of an arch, the position condition is the position of the arch relative to the through-opening 5, wherein the through-opening 5 is preferably covered with the arch. In step 104, compliance with the position condition is determined. In branch step 105, the position of the mobile carrier 3 is corrected without complying with the position condition. After step 105, the position is rechecked using step 102. In branch step 106, the vacuum guide is activated by the through-opening 5 while complying with the position condition. The mobile carrier 3 is pressed onto the through-opening 5. In step 107, the mobile carrier 3 is positioned using the positioning module 7 after fixation. In step 108, the fixation is terminated. Therefore, the clamping process is also terminated. The workpiece can be processed on the fixed movable carrier 3. After processing, the fixing is released and the movable carrier 3 leaves the positioning area. The workpiece is transported to the next processing in the production device 1.

Claims

1. A production device (1) for realizing a production function at a workpiece, the production device comprising: At least one movable carrier (3); At least one production unit (2) for carrying out a production function on a workpiece, wherein: The production unit (2) has a positioning area (4) for positioning the movable carrier (3), wherein the positioning area (4) has a through opening (5); A vacuum generating device (10); wherein the through-opening (5) is connected to the vacuum generating device (10), so that a vacuum guide in the through-opening (5) can be activated; at least one positioning module (7) for determining the position and orientation of the mobile carrier (3) and for generating induced positioning information of the mobile carrier (3); A control model (8) is used to control the vacuum generating device (10), wherein the control model (8) is constructed to control the vacuum generating device (10), thereby activating a vacuum guide portion of at least one through opening (5) based on the positioning information, and the through opening is only selected from the through openings (5) arranged below the movable carrier (3), thereby fixing the movable carrier (3) on the positioning area (4).

2. The production device (1) according to claim 1, characterized in that The through openings (5) are arranged in a grid (6) and / or a matrix (6), wherein the grid (6) is at least partially embodied as a triangle, a quadrilateral, a pentagon, a hexagon, an irregular shape, or a circle in the positioning area (4).

3. The production device (1) according to any one of claims 1 to 2, characterized in that: At least one of the through-openings (5) has a connection for an energy supply, a data transmission and / or a control of the mobile carrier (3).

4. The production device (1) according to claim 3, characterized in that The mobile carrier (3) has an interface for an energy supply, a data transmission and / or a control unit, which can be connected to an interface in the positioning area (4).

5. A production plant (1) according to any one of the preceding claims, characterised in that The at least one positioning module is arranged on the mobile carrier (3), in the production unit (2) and / or in another area of ​​the production device (1).

6. A production plant (1) according to any one of the preceding claims, characterised in that The positioning module (7) comprises at least one camera, at least one antenna, an ultrasonic sensor, a laser sensor and / or an infrared sensor.

7. A production plant (1) according to any one of the preceding claims, characterised in that The at least one mobile carrier (3) has at least one curvature on the underside.

8. A production plant (1) according to any one of the preceding claims, characterised in that The at least one mobile carrier (3) has a feature for identification.

9. A production plant (1) according to any one of the preceding claims, characterised in that A position correction module (9), wherein the position correction module (9) is constructed to control and / or correct the position and direction of the movable carrier (3) in the positioning area (4) taking into account position conditions based on the positioning information of the movable carrier (3) and based on the arrangement of the through opening (5) in the positioning area (4).

10. Method for operating a production plant (1) according to any one of the preceding claims, characterized in that At least the following steps are implemented: The mobile carrier (3) moves into the positioning area (4) of the production unit (2); Using the positioning module (7) to determine the position of the movable carrier (3) to generate the positioning information; The movable carrier (3) stops above at least one through opening (5) in the positioning area (4); The through-opening (5) secures the mobile carrier (3) in position by activating the vacuum guide.

11. The method according to claim 10, characterized in that The following additional steps are performed so that: After the movable carrier (3) is fixed, the workpiece is processed; After the processing is completed, the fastening is released and the mobile carrier (3) leaves the production unit (2).

12. The method according to any one of claims 10 to 11, characterized in that The following additional steps are performed so that: After generating the positioning information, the position correction module (9) controls and / or corrects the position of the mobile carrier (3) on the positioning area (4) based on the positioning information of the mobile carrier (3) and based on the arrangement of the through opening (5) in the positioning area (4) and taking into account the position conditions.

13. The method according to any one of claims 10 to 12, characterized in that The following additional steps are performed so that: After the workpiece has been fixed and before it has been processed, the position of the fixed mobile carrier (3) is determined using the positioning module (7).

14. A mobile carrier (3) for use in a production plant (1) according to any one of the preceding claims 1 to 9, characterized in that The movable bearing member (3) has: an arched portion for fixing by means of a vacuum through the at least one through opening (5); and / or Interfaces for energy supply, data transmission and / or control; and / or A lowering mechanism is used to lower the mobile carrier (3) onto the through opening (5) of the production device (1).

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