Actuating unit, system having actuating unit, and method for operating system having actuating unit

Abstract

The invention relates to a handling unit (100) for horizontally and / or vertically moving workpieces (700), in particular designed as an unmanned transport vehicle which can be moved on the ground (500) according to its use and which has wheels (110), a support frame (120) and a workpiece receptacle (130) fastened to the support frame (120). Wherein the support frame (120) is open on several sides and has side openings (122) for the entry and / or exit of the individual actuation units (200, 300) and a bottom opening (124) facing the ground (500). The invention also relates to a system having an operating unit (100) of this type and to a method for operating such a system.

Description

Technical Field

[0001] The invention relates to an operating unit, a system having an operating unit and a method for operating a system having an operating unit, in particular for producing a vehicle. Background Art

[0002] It is known that in the production of vehicles, the painted bodies have to be processed from different heights. Usually, the bodies are moved from one processing station to another via ceiling suspensions in the production hall. The static design of the production hall must take into account the absorption of the weight of the bodies and the ceiling suspensions, which significantly increases their costs. If processing is required on the underside of the body, corresponding trenches are provided in the workshop floor at the corresponding stations in order to be able to access the underside of the body. Increasing or reducing the production volume or changing the model of the vehicle to be manufactured usually requires expensive and time-consuming construction in the trenches, ceiling suspensions and / or in the production hall. Summary of the invention

[0003] The object of the invention is to create a handling unit which can be flexibly adapted to changing requirements during the machining of workpieces.

[0004] Another project is to create a system with a group of handling units that can flexibly adapt to changing requirements when machining workpieces.

[0005] Another project is to create a system with multiple handling units that can flexibly adapt to changing requirements when machining workpieces.

[0006] A further object is to create a handling unit for picking up parts of a workpiece which can be flexibly adapted to changing requirements during the machining of the workpiece.

[0007] A further object is to create a dismantling device for dismantling parts of a workpiece which can be flexibly adapted to changing requirements during the machining of the workpiece.

[0008] A further project was to create a method for operating the system which can be flexibly adapted to changing requirements during the machining of workpieces.

[0009] These objects are achieved by the features of the independent claims. Advantageous embodiments and advantages of the invention are derived from the other claims, the description and the drawings.

[0010] The features recited in the claims can be combined with one another in a technically reasonable manner and can be supplemented by explanatory facts in the description and details in the drawings, in which further embodiment variants of the invention are shown.

[0011] According to one aspect of the present invention, a manipulating unit for moving a workpiece horizontally and / or vertically is proposed, the manipulating unit being particularly designed as an unmanned transport vehicle that can move on the ground depending on its purpose, and the manipulating unit having wheels, a support frame, and a workpiece receiving portion fastened to the support frame.

[0012] The support frame is designed to be open on multiple sides and has side openings for the individual handling units to move in and / or out and a bottom opening toward the ground. An inner volume is formed in the support frame, in which workpieces at the workpiece receiving portion can be stored, hung and / or handled.

[0013] The support frame can have at least one support column, which is particularly vertically oriented. Preferably, a plurality of support columns are provided, which are connected to each other via a crossbeam. Each support column can be provided with one or more wheels, with which the steering unit can be moved. The plurality of wheels arranged on the support column can form a wheel set and can be moved synchronously as a group, in particular can be rotated around the column axis. At least some of the wheels can optionally be provided with contact protection, such as a cover, a grille and / or a sensor for monitoring the wheel surroundings. The sensor system can include, for example, a LIDAR sensor.

[0014] The workpiece can be in particular a vehicle body or also a part of a vehicle body. The transport motor can be controlled using a radio remote control or, alternatively, a programmable drive can be used.

[0015] The wheel may have at least one omnidirectional wheel and / or at least one universal wheel or be designed as a roller that can rotate around a vertical axis. The wheel drive for advancing the steering unit may be, for example, a hub motor. Each support column may use one or two electric drives to rotate the wheel set around the axis of the corresponding support column. Two drives are advantageous for limiting the size of the device.

[0016] The drive for rotating the wheel set can be equipped with a separate rotary encoder. The drive for rotation can advantageously be operated in a synchronous manner.

[0017] A common drive may be coupled to the workpiece receiving portion for raising and / or lowering the workpiece receiving portion and to the wheels for driving at least one wheel. Alternatively, there may be separate drives for driving the wheels and for moving the workpiece at least vertically.

[0018] Advantageously, the control unit in the form of an automated guided vehicle can specifically follow a predefined path. This can be adjusted according to current conditions and requirements, for example by programming.

[0019] Since the workpiece holder is fastened to the support frame, there is no need to arrange lifting equipment on the ceiling of the production hall. Changes in the manufacturing process can be implemented flexibly, quickly and without any construction measures. In addition, the static design of the production hall can be simplified, thus saving building costs.

[0020] Advantageously, the handling unit can be a receiving handling unit into which other handling units can at least partially enter, in particular for the handover or receipt of workpieces or components. Advantageously, the support frame can have an upper part which is detachably connected to the support column. This simplifies the transport and / or storage of the handling unit. Advantageously, the workpiece receptacle can also be detachably connected to the upper part. A suitable detachable connection can be, for example, a flange connection.

[0021] According to an advantageous design of the steering unit, a plurality of wheels can each have at least one electric motor, in particular, all wheels can each have at least one electric motor, the electric motor being in particular a wheel hub motor. An electric motor can be provided for each wheel or wheel set, in particular, an electric motor can be provided for each support column, for driving the wheel or wheel set and for rotating the wheel or wheel set around a vertical axis. A plurality of electric motors can be synchronized. Optionally, the electric motor can be designed as a wheel hub motor. Alternatively, instead of individual electric motors, a central electric motor with a power transmission device, a drive shaft, etc. can be present. Alternatively, separate electric motors can be provided for driving the wheel and for rotating the wheel or wheel set around a vertical axis. Each steering unit can have at least one power storage device, in particular a rechargeable battery or a supercapacitor. Optionally, each steering unit can have its own computer unit, which can evaluate the sensor data.

[0022] Communication with a central computer is possible and commands can be input and output to actuating units, such as cranes, electric motors, etc. The trajectory, acceleration and deceleration behavior of the maneuvering unit can be calculated / recalculated depending on the workpiece to be transported, in particular the weight or size of the workpiece can be taken into account.

[0023] According to an advantageous design of the handling unit, the workpiece holder can be designed such that a workpiece arranged therein can be moved with at least one degree of freedom, in particular the workpiece can be raised and / or lowered and / or tilted and / or rotated. This makes it possible for the operator to have access to the workpiece from various areas without having to provide an expensive trench above which the workpiece must be placed. This allows for flexible adaptation to the production conditions.

[0024] In particular, there can be an adjustment mechanism for moving the workpiece receiving portion, which adjustment mechanism has a common axis for at least two bending elements. In particular, the bending element can be connected to the workpiece receiving portion via a diverting pulley.

[0025] According to an advantageous design of the handling unit, the workpiece receiving portion can be designed in the form of a hanger which is suspended from the top of the support frame into the inner volume of the handling unit. The workpiece receiving portion can be guided on at least one support column by a guide device. The guide device of the workpiece receiving portion can slide along one or more support columns.

[0026] In particular, the guide device may have at least two guide rollers, which are assigned to the support column and abut against two different faces of the support column of the support frame. In particular, the guide device may have at least two pairs of guide rollers, the two guide rollers of each pair of guide rollers in the at least two pairs of guide rollers are arranged in a stacked manner in the height direction and abut against the same face of the support column of the support frame, and each pair of guide rollers in the pairs of guide rollers abuts against two different faces of the support column of the support frame.

[0027] If the guide device has one or more guide rollers, the one or more guide rollers can roll on one or more support columns.

[0028] When the handling unit starts, moves, brakes and / or moves along a curve, the guide device can effectively reduce vibrations and / or oscillations of the workpiece receiving portion, in particular reduce the vibrations and / or oscillations of the workpiece receiving portion to a minimum.

[0029] Advantageously, in an embodiment with pairs of guide rollers arranged in a manner stacked one above the other in the height direction, an inner frame with the guide rollers fastened thereto may be arranged between the guide rollers such that the guide rollers at least partially protrude above and below the inner frame.

[0030] As an alternative or in addition to guide rollers, a sliding surface can be provided. It is advantageous if the contact surface of the sliding surface is sufficiently long in the height direction.

[0031] Instead of having such guide rollers or sliding surfaces as the workpiece receiving part of the guide device, a workpiece receiving part with a height-adjustable scissor lift device can be used instead. Through this alternative, vibrations and oscillations are also effectively reduced, particularly reduced to a minimum.

[0032] According to an advantageous design of the steering unit, the steering unit can be assigned a control system, which is configured to coordinate the movement of the steering unit with the movement of another steering unit on the ground. The steering units can be moved in sequence. For example, one steering unit can be moved at a distance behind another steering unit. The steering unit can follow a straight and / or curved and / or tortuous path on the ground, whereby the control system can move the steering unit continuously or discretely. Alternatively, the steering unit can also move freely in principle, i.e. without following a path.

[0033] According to an advantageous design of the manipulator unit, at least one sensor can be arranged on the support frame and configured to provide the control system with the position, speed, orientation and / or distance of at least another manipulator unit. The sensor can be, for example, an ultrasonic sensor, an infrared sensor, a radar sensor or a LIDAR sensor.

[0034] In particular, the at least one sensor can be designed to monitor the surroundings when the operating unit is rotated, deviates from a straight line or travels along a curve.

[0035] According to an advantageous embodiment, the handling unit can have an adjustment mechanism on its top side for vertical displacement of the workpiece holder by means of a drive.

[0036] The drive can, for example, use a chain and / or a toothed belt and / or a belt and / or a cable and / or a push-pull chain to raise and / or lower the workpiece receiving portion, so that the workpiece receiving portion can preferably be moved upward and / or downward in the vertical direction. Advantageously, the adjustment mechanism with a bending element in the form of a chain and / or a toothed belt and / or a belt and / or a cable and / or a push-pull chain can at least raise and / or lower the workpiece receiving portion via a common shaft via a diverting pulley.

[0037] According to another aspect of the invention, a system with a set of handling units is proposed, the system comprising at least one handover area, at which the workpiece or one or more parts of the workpiece are handed over from a first handling unit to a second handling unit. The first handling unit is designed as a receivable handling unit. The second handling unit is designed as a receiving handling unit with an internal volume, which at least partially accommodates the receivable handling unit together with the workpiece or a part of the workpiece in its internal volume, in particular one or more additional components.

[0038] The transfer area can be a fixed position or an open section between two processing stations. The workpiece parts can be body parts, such as doors, etc., or one or more additional parts, such as floor panels, axles, etc.

[0039] The system is advantageously suitable for vehicle construction, in which additional components are mounted on a workpiece in the form of a vehicle body.

[0040] Since the first receivable handling unit can be accommodated at least partially in the inner volume of the receivable second handling unit, workpieces can be transferred between the handling units there.

[0041] According to an advantageous design of the system, the receiving manipulator unit at least partially accommodates the manipulator unit that can be received in its inner volume, and the receiving manipulator unit can be designed as a manipulator unit for moving the workpiece horizontally and / or vertically, in particular, the receiving manipulator unit is designed as an unmanned transport vehicle that can be used for moving on the ground and has wheels, a support frame, and a workpiece receiving portion fastened to the support frame. The support frame can be designed to be open on multiple sides and have side openings for the individual manipulator units to drive in and / or out and a bottom opening facing the ground.

[0042] According to an advantageous design of the system, at least one of the manipulator units, in particular the manipulator unit, can be designed as an unmanned transport vehicle or a fixed lifting platform. This allows the unmanned transport vehicles or fixed lifting platforms to be arranged flexibly and cost-effectively. Alternatively or in addition to the lifting platform, there can also be conveyor belts and / or roller conveyor units, etc. In particular, the system can have a plurality of receiving manipulator units of the same type and a plurality of receiving manipulator units of the same type, which continue to be each designed as an unmanned transport vehicle and can be controlled by a common control unit. This makes it possible to design a fleet with interchangeable and cooperatively operable transport vehicles.

[0043] More preferably, the transport vehicle interacts with a plurality of lifting platforms and / or conveyor belts and / or roller conveyor units.With such a fleet of transport vehicles a manufacturing facility for assembling large quantities of complex products, such as motor vehicles, can be obtained.

[0044] According to an advantageous design of the system, workpieces distributed on at least two handling units can be assembled together at at least one handover region. The handling units can be positioned relative to one another as desired. In particular, the handover of the workpieces can take place in the vertical direction, while the handling units can preferably be moved relative to one another in the horizontal direction. Advantageously, an operator can, for example, handle and, for example, assemble the workpieces under ergonomic conditions.

[0045] According to an advantageous embodiment of the system, the interior volume of the receiving operating unit can be at least as large as the volume of the operating unit that can be received plus the volume of the workpiece that is present during the transfer.

[0046] According to another advantageous embodiment, at least one clear height and clear width of the receiving operating unit can be at least as large as the height and width of the receiving operating unit plus the height and width of the workpiece present during the transfer. The workpiece can protrude longitudinally from the receiving operating unit on one or both sides.

[0047] The receivable handling unit can be inserted almost completely into the inner volume together with the workpiece. In this way, workpieces can be safely transferred between the handling units. In addition, the receivable handling unit can be fixed in the receiving handling unit, and the two can be moved together via the receiving handling unit.

[0048] According to an advantageous embodiment of the system, the receiving operating unit can have an opening for the entry and / or exit of the receivable operating unit, in particular a workpiece being arranged or capable of being arranged on the receivable operating unit.

[0049] Advantageously, the receivable operating unit can be moved into the receiving operating unit, or the receiving operating unit can be moved above the receivable operating unit. This means that mobile and fixed operating units can be easily combined with each other. In a variant embodiment, the receiving operating unit has an opening for the receivable operating unit to move in and / or out and another opening for the receivable operating unit to move in and / or out. The mentioned openings are preferably arranged on opposite sides of the receiving operating unit.

[0050] According to an advantageous embodiment of the system, the receiving operating unit and the receivable operating unit can be arranged at least partially at a common ride height. The receiving operating unit and the receivable operating unit can be easily moved toward and / or into each other as required.

[0051] According to an advantageous design of the system, the receiving handling unit can have a workpiece receptacle which is higher than the handling unit and the workpiece to be received so as to be able to receive the workpiece and hold it in a suspended position. The vertical position of the workpiece in the receiving handling unit can be adjusted as required. This allows flexible and convenient access to different areas of the workpiece.

[0052] According to an advantageous design of the system, the workpiece receptacle can be designed in the form of a hanger which hangs from the top of the support frame into the inner volume of the handling unit.The workpiece receptacle can be guided on at least one support column by a guide device.

[0053] Advantageously, the hanger is thereby protected from vibrations in the horizontal spatial direction. The guide device can have at least one sliding surface and / or at least one guide roller, which rests against one or more outer surfaces of at least one support column and / or at least one frame, which can completely or partially surround the support column in the circumferential direction.

[0054] In particular, there can be an adjustment mechanism for moving the workpiece receiving portion, the adjustment mechanism having a common axis for at least two bending elements, in particular, wherein the bending element can be connected to the workpiece receiving portion via a diverting pulley. The bending element can be designed as a belt, chain, cable or push-pull chain.

[0055] According to an advantageous design of the system, the guide device can have at least two guide rollers or sliding surfaces which are assigned to the support column and which bear against two different surfaces of the support column of the support frame.

[0056] Optionally, the guide device may have at least two pairs of guide rollers or sliding surfaces, wherein two guide rollers or sliding surfaces in each pair of guide rollers or sliding surfaces are arranged in a stacked manner on top of each other in the height direction and abut against the same surface of the support column of the support frame. Each pair of guide rollers or sliding surfaces in the pair of guide rollers or sliding surfaces abuts against two different surfaces of the support column of the support frame.

[0057] Advantageously, the suspension frame is thereby particularly well stabilized against vibrations in the horizontal spatial direction.

[0058] Advantageously, in an embodiment with pairs of guide rollers arranged one above the other in height direction, an inner frame to which the guide rollers are fastened may be arranged between the guide rollers such that the guide rollers at least partially protrude above and below the inner frame.

[0059] As an alternative or in addition to the guide rollers, a sliding surface may be provided. It is advantageous if the contact surface of the sliding surface is long enough in the height direction. Instead of a pair of sliding surfaces, a sliding surface of sufficient length may alternatively be provided.

[0060] According to an advantageous design of the system, the receiving operating unit can have an opening toward the ground, through which the workpiece located in the operating unit can be reached from the ground. The operator can access the workpiece from below in an ergonomically advantageous position. Alternatively or additionally, the mobile operating unit can be engaged from below into the receiving operating unit, or the receiving operating unit can be placed above a stationary or mobile receiving operating unit. In this way, workpieces can be transferred between the operating units in the vertical direction.

[0061] According to an advantageous design of the system, the receiving handling unit can have at least three support columns, in particular four support columns, which can be rolled on the floor with one or more wheels, and the workpiece receptacle can be arranged between the support columns. This enables a particularly stable design of the support frame. In particular, at least some of the wheels can have a contact protection. The contact protection can, for example, comprise a cover, a grille at least partially covering the wheel, and / or a sensor that monitors the area around the wheel. The sensor can comprise, for example, a LIDAR sensor.

[0062] Advantageously, the contact protection element may also be designed as a touch-sensitive element, and when the operating unit contacts the touch-sensitive element, the touch-sensitive element may generate a signal for stopping the operating unit.

[0063] According to an advantageous design of the system, at least one of the handling units can be designed as a movable base open to the ground. This allows the receivable handling unit to be arranged vertically in the receiving handling unit, in particular for transferring workpieces or for manipulating workpieces.

[0064] According to an advantageous design of the system, at least one of the receiving operating units can be designed to have an operating opening for the operating unit that can be received. The operating opening can be present in a side opening or a bottom opening of the receiving operating unit.

[0065] According to an advantageous embodiment of the system, the receiving handling unit can have an adjustment mechanism for moving the workpiece relative to the receiving handling unit. This enables the workpiece to be positioned in a flexible and demand-based manner for different processing steps.

[0066] According to an advantageous embodiment of the system, the receivable handling unit can have an adjustment mechanism for moving the workpiece relative to the receivable handling unit. This enables the workpiece to be positioned in a flexible and needs-based manner for different processing steps.

[0067] According to an advantageous design of the system, a transfer area can be provided for transferring parts from a transport track to a receivable handling unit and for transferring a workpiece (particularly a car body) from a transport path to a receivable handling unit, the transfer area being particularly a first transfer area, the part being particularly a door of the workpiece, the workpiece being particularly a car body, the receivable handling unit being particularly designed as a self-propelled transport vehicle, the receivable handling unit having a holder for the workpiece part.

[0068] Alternatively or additionally, there may be a transfer area, in particular a second transfer area, for transferring workpieces, in particular vehicle bodies, from a receivable operating unit, in particular for the installation of interior trim and components, in particular windows, to a receiving operating unit.

[0069] Alternatively or additionally, there can be a transfer area, in particular a third transfer area, for transferring a component to be mounted on a workpiece, in particular a base plate, from a receivable handling unit (in particular for further assembly of workpiece and component) to a receiving handling unit with the workpiece.

[0070] Alternatively or additionally, there can be a transfer area, in particular a fourth transfer area, for transferring workpieces from a receiving handling unit (in particular for producing connections and linings) to a receivable handling unit. Alternatively or additionally, there can be a transfer area, in particular a fifth transfer area, for transferring workpieces from a receivable handling unit (in particular for moving through the test station) to a ground platform.

[0071] Alternatively or additionally, there can be a transfer area, in particular a sixth transfer area, for transferring workpieces from the floor platform, in particular for carrying out a functional test, to a handling unit that can be received.

[0072] Alternatively or additionally, there may be a transfer area, in particular a seventh transfer area, for transferring workpieces from a receivable handling unit (in particular for dividing a series of continuous receivable handling units into at least two parallel process lines) to the ground platform and to the receiving handling unit.

[0073] Alternatively or additionally, there can be a transfer area, in particular an eighth transfer area, for transferring workpieces from the receiving handling unit, in particular for carrying out a leakage test, to the ground platform.

[0074] Alternatively or additionally, there can be a handover area, in particular a ninth handover area, for handing over finished workpieces from the floor platform, in particular in order to provide finished workpieces for a shipping line, to the floor conveyor belt.

[0075] Advantageously, the transfer areas can be arranged in a sequence coordinated with one another for production, in particular for vehicle production.

[0076] According to a kind of advantageous design of this system, the receiving type steering unit and / or the receiving steering unit can be arranged at least partially on different heights.For example, the receiving type steering unit can move at least partially on the raised platform, while the receiving platform moves on the height located below it.

[0077] Conveniently, for example, parts of the workpiece can be transported on the receptable handling unit at a transport height that is lower than the height at which the workpiece is moved in the receptable handling unit. The transport of parts of the workpiece can be carried out independently of the transport of the workpiece.

[0078] According to an advantageous design of the system, the processing station can be at least partially surrounded by a wall, which can be at least temporarily opened to the self-propelled receiving handling units. Thus, these handling units can move through one or more such processing stations. There may be sensors or light barriers to open the wall, or there may be corresponding gaps.

[0079] According to another aspect of the present invention, a system with a plurality of manipulating units is proposed. At least one of the manipulating units is designed as an unmanned transport vehicle without a lifting function, which is particularly used for receiving and transporting vehicle doors and / or individual prefabricated workpieces for vehicle bodies. Alternatively or additionally, at least one of the manipulating units is designed as an unmanned transport vehicle with a lifting function, which is particularly used for receiving and transporting vehicle bodies and / or individual prefabricated workpieces for vehicle bodies. Alternatively or additionally, at least one of the manipulating units is designed as an unmanned transport vehicle, which is used to move workpieces horizontally and / or vertically, which can be used to move on the ground and has wheels, a support frame, and a workpiece receiving portion fastened to the support frame, wherein the support frame is designed to be open on multiple sides and has at least one side opening for the individual manipulating units to drive in and / or out, and a bottom opening facing the ground.

[0080] Advantageously, a corresponding design of the actuation unit can be flexibly adapted as required.

[0081] According to an advantageous embodiment of the system, three types of operating units can exist, each of which has a plurality of tasks which, when added together, reflect the basic tasks of the entire production, in particular the basic tasks of vehicle production.

[0082] Advantageously, one type may be a manipulating unit for moving a workpiece horizontally and / or vertically, the manipulating unit being particularly designed as an unmanned transport vehicle that can be used to move on the ground, the unmanned transport vehicle having wheels, a support frame and a workpiece receiving portion fastened to the support frame. The support frame is designed to be open on multiple sides and has side openings for a separate manipulating unit to drive in and / or out and a bottom opening toward the ground. Another type of manipulating unit may be designed as an unmanned transport vehicle without a lifting function. Yet another type of manipulating unit may be designed as an unmanned transport vehicle with a lifting function. Optionally, a fixed lifting platform may also be provided. Further optionally, a conveyor belt and / or a roller conveyor unit may be provided as the manipulating unit.

[0083] According to another aspect of the invention, a handling unit for picking up components of a workpiece, in particular for picking up a door of a vehicle body during a manufacturing process, is proposed, the handling unit having a holder for picking up components of the workpiece. Advantageously, components of the workpiece can be processed and tested in the handling unit. Advantageously, the handling unit can pick up exactly those components of the workpiece which are later to be returned to the workpiece in a processed state.

[0084] Alternatively, the handling unit can be designed as an unmanned guided vehicle.

[0085] According to an advantageous design of the manipulating unit, the holder can be designed so that the components of the workpiece can be moved normally. In particular, the holder can enable a door of the vehicle body to be pivoted. Thus, the holder allows the door to be opened and closed.

[0086] According to an advantageous embodiment of the handling unit, the handling unit can be used to store components of workpieces, in particular for storing doors of vehicle bodies. An inexpensive handling unit can be created in which the holder is designed without a pivoting function.

[0087] Optionally, the handling unit can be designed as an unmanned transport vehicle. The processed component, in particular a door, can be transported to the workpiece by the handling unit so as to be reunited with the workpiece.

[0088] According to another aspect of the present invention, a disassembly device for disassembling parts of a workpiece, in particular for disassembling a door of a car body during the manufacturing process of a vehicle, is proposed, the disassembly device having an area for the workpiece, in particular for the car body, a transfer area for transferring the workpiece from a transport device to a receivable operating unit for receiving the workpiece, and a receivable operating unit for receiving parts of the workpiece, in particular at different heights.

[0089] In this way, those parts of the workpiece which have to undergo less complex machining than the workpiece can be machined independently of the workpiece itself and transported in a space-saving manner.

[0090] According to an advantageous embodiment of the disassembly device, at least one robot can be arranged in the transfer area within the reach of the receiving handling unit and the handling unit that can be received. Its placement position can be easily adapted to the possible reach of the robot.

[0091] According to an advantageous design of the disassembly device, at least one such robot can be arranged on a vertical track. The disassembly of the components of the workpiece, in particular the door of the vehicle body, can be completed in a space-saving manner, and the vertical free space can be fully utilized.

[0092] According to an advantageous design of the disassembly device, at least one robot can be arranged on the lift. The disassembly of the components of the workpiece, in particular the door of the main body, can be completed in a space-saving manner, and the vertical free space can be utilized.

[0093] According to another aspect of the invention, a method for operating a system is proposed, in which two operating units are moved relative to each other so that one operating unit, which is a receivable operating unit, at least partially extends into the other operating unit, which is a receivable operating unit, and in a further method step, a workpiece is transferred between the operating units.

[0094] According to an advantageous embodiment of the method, self-propelled transport vehicles, conveyor belts and / or roller conveyor units and / or fixed lifting platforms can be used as handling units. In a preferred embodiment of the method, a plurality of self-propelled transport vehicles of the same type are used to form a preferably interoperable and / or jointly manipulable fleet of self-propelled transport vehicles, which in turn cooperate with other handling units. The workpiece is transferred from one handling unit to another and guided through a manufacturing process or an assembly process. In addition, different handling units are used to bring different workpieces and / or components together in space and subsequently assemble and / or join them into larger components by means of robots and / or human labor.

[0095] According to an advantageous design of the method, the workpiece can be transferred from the receivable handling unit to the receiving handling unit by moving at least one of the two handling units so that the receivable handling unit can be arranged at least partially in or below the receiving handling unit. In particular, the receivable handling unit can be moved into the receiving handling unit or moved below the receiving handling unit. When the workpiece or a part of the workpiece is transferred to the conveyor belt as the receivable handling unit, the receiving handling unit can be moved above the receivable handling unit if the receiving handling unit has a supporting frame or can be driven below the receivable handling unit if the receiving handling unit is designed as a lifting vehicle. This allows the processing station to be flexibly arranged and designed.

[0096] According to an advantageous embodiment of the method, the handling unit can bring the workpiece, in particular the vehicle floor, close to the conveyor belt and / or the roller conveyor unit and / or the lifting platform and transfer the workpiece to the conveyor belt and / or the roller conveyor unit and / or the lifting platform. In this way, the self-propelled handling unit can cooperate with the stationary handling unit.

[0097] According to an advantageous design of the method, the receiving handling unit can be moved above the lifting platform and / or the conveyor belt and / or the roller conveyor unit so that the lifting platform and / or the conveyor belt and / or the roller conveyor unit with the workpiece is at least partially accommodated in the inner volume of the receiving handling unit. The workpiece can be transferred safely and accurately.

[0098] According to an advantageous embodiment of the method, a workpiece, in particular a base plate, can be transferred to the receiving handling unit and the workpiece arranged in the receiving handling unit, in particular a vehicle body, by means of a lifting platform and / or a conveyor belt and / or a roller conveyor unit. The workpieces arranged on the two handling units can be combined in an ergonomic manner and in the correct position.

[0099] According to an advantageous embodiment of the method, the transfer of workpieces, in particular vehicle bodies, can be performed in the following manner: the receiving operating unit is moved above the receiving operating unit. Thus, the workpiece can be transferred from the receiving operating unit to the receiving operating unit. This can be done as required.

[0100] According to an advantageous embodiment of the method, the handling units can be moved away from each other after the workpiece has been handed over. One handling unit or all handling units can be designed to be movable. This can be flexibly adapted to the processing station or the available free space as required.

[0101] According to an advantageous design of the method, the receivable handling unit can be moved into the receivable handling unit at one position and moved out at another position, in particular from the other side and / or at another time. This can be flexibly adapted to the processing station or the existing free space as required.

[0102] According to an advantageous embodiment of the method, parts of a workpiece, in particular a door of a workpiece, in particular a body of a car, can be disassembled on the disassembly device. Thus, parts of the workpiece that must be subjected to less complex machining than the workpiece can be machined independently of the workpiece itself and transported or temporarily stored in a space-saving manner.

[0103] According to an advantageous design of the method, for disassembling the components, the workpieces can be placed within the reach of at least one robot, wherein the at least one robot can be moved on one or more vertical rails. Alternatively or additionally, the at least one robot can be moved on a lift.

[0104] According to an advantageous embodiment of the method, when removing parts of a workpiece and transferring parts of a workpiece to a handling unit and transferring a workpiece to another handling unit, a height change can occur between the part of the workpiece located on the respective handling unit and the workpiece located on the respective handling unit. In particular, the handling unit with the part of the workpiece can be moved below the level of the handling unit with the workpiece. Vertical free space in the production facility can be advantageously utilized. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] Other advantages are obtained from the following description of the drawings. The drawings show embodiments of the invention. The drawings, the description and the claims contain a large number of combined features. Those skilled in the art will also observe these features individually and combine them into other useful combinations where appropriate.

[0106] Wherein by way of example:

[0107] Figure 1 A front view of a receiving maneuvering unit according to an embodiment of the present invention is shown, wherein the receiving maneuvering unit is of the type of an unmanned transport vehicle, wherein the unmanned transport vehicle is in contact with a track;

[0108] Figure 2 A front view of a receiving maneuvering unit according to an embodiment of the present invention is shown, the receiving maneuvering unit being of the type of an unmanned guided vehicle, wherein the unmanned guided vehicle is not in contact with a media track;

[0109] Figure 3 A side view of a receiving steering unit according to an embodiment of the present invention is shown, wherein the receiving steering unit is not in contact with the media track and has two drive motors for rotating the wheel set of the support column;

[0110] Figure 4 A front view of a receiving steering unit according to an embodiment of the present invention is shown, the receiving steering unit having a wheel set provided with a contact protection element;

[0111] Figure 5 Shown according to Figure 4 A three-dimensional top view of a receiving control unit, wherein the receiving control unit has a pantograph in contact with an external medium track;

[0112] Figure 6 shows the contact with the external medium track according to Figure 5 Front view of the pantograph;

[0113] Figure 7 shows the contact with the external medium track according to Figure 5 A side view of the pantograph;

[0114] Figure 8 A perspective top view of a receiving control unit without a pantograph according to an embodiment of the present invention is shown;

[0115] Fig. 9 A perspective top view shows a detail of a receiving actuating unit according to an exemplary embodiment of the present invention, the receiving actuating unit having an adjustment mechanism for a workpiece receptacle;

[0116] Fig.10 A perspective view showing a detail of a wheel set of a receiving steering unit according to an exemplary embodiment of the invention, the receiving steering unit having two drives for the rotational movement of the wheel set;

[0117] Fig.11 A perspective view showing a detail of a wheel set with a contact protection element of a receiving actuating unit according to an embodiment of the present invention;

[0118] Fig.12 A front view showing a detail of a guide device of a receiving actuating unit according to an exemplary embodiment of the invention, the guide devices each having two guide rollers arranged one above the other;

[0119] Fig.13 The receiving type operating unit according to an embodiment of the present invention is shown. Fig.12 A perspective view of a detail of a guide device having two guide rollers arranged one above the other;

[0120] Fig.14 A side view of a receivable operating unit according to an embodiment of the present invention is shown;

[0121] Fig.15 A front view of a receivable operating unit with a lifting function according to an embodiment of the present invention is shown;

[0122] Fig.16 Shown according to Figure 1 A side view of a receiving actuating unit of the embodiment of the present invention, which in a manufacturing step has a workpiece in the form of a vehicle body;

[0123] Fig.17 Shown according to Figure 1 A front view of a receiving actuating unit of the embodiment of the present invention, wherein a workpiece in the form of a vehicle body is in a raised position in a further production step;

[0124] Fig.18 is based on Figure 1 A front view of a receiving operating unit, wherein a workpiece in the form of a vehicle body is in a raised position in a further production step, and a receivable operating unit is at least partially received by the receiving operating unit;

[0125] Fig.19 Shown according to Figure 1 A front view of a receiving actuating unit, wherein a workpiece in the form of a vehicle body is in a raised position in a further production step and has a stationary actuating unit which can be received;

[0126] Fig. 20 Shown according to Figure 1 A three-dimensional top view of a receiving actuating unit, which in a manufacturing step has a workpiece in the form of a vehicle body;

[0127] Fig.21 A front view of a receiving steering unit according to an embodiment of the present invention is shown, wherein the supporting frame of the receiving steering unit has a detachable upper part;

[0128] Fig. 22 A block diagram of a processing station in a vehicle production facility is shown;

[0129] Fig.23 Shown according to Fig. 22 Flowchart of the process of vehicle production. DETAILED DESCRIPTION

[0130] In the figures, components of the same type or having the same function are denoted by the same reference numerals. The figures show examples only and are not to be construed as limiting.

[0131] Before describing the present invention in detail, it should be noted that the present invention is not limited to the corresponding components of the device or the corresponding method steps, because these components and methods can vary. The terms used herein are intended only to describe specific embodiments and are used in a non-restrictive manner. In addition, if a singular or indefinite article is used in the specification or claims, the plural number of these elements is also intended, unless the overall context clearly indicates otherwise.

[0132] Directional terms used below with terms such as "left", "right", "upper", "lower", "front", "rear", "after", etc. are only used to better understand the drawings and are by no means intended to limit the generality. The components and elements shown and their design and use may vary according to the considerations of those skilled in the art and may be adapted to the respective application.

[0133] Figure 1A front view of a receiving control unit 100 according to an embodiment of the present invention is shown, the receiving control unit 100 being of the type of an unmanned transport vehicle having a support frame 120, with a pantograph 142 extending from the top of the support frame 120 in a vertical direction 404, the pantograph at least temporarily contacting an external media rail 180 on the system side. For example, the media rail 180 can be advantageously used to transmit power and / or data. In this embodiment, the media rail 180 is vertically aligned so that the pantograph 142 engages the media rail 180 from the side.

[0134] The receptacle steering unit 100 can be moved in a longitudinal direction 400, in this case perpendicular to the plane of the drawing, by means of a wheel set with rollers or wheels 110. For this purpose, a drive 114 is arranged on the wheel set, the drive being in particular a hub motor. The wheel set is arranged on a support column 126 of a support frame 120. If the wheel set is rotated, the steering unit 100 can be moved in a transverse direction 402, so that the steering unit 100 can be disengaged from a straight-line movement in the longitudinal direction 400 and can also travel along a curve.

[0135] Figure 2 Shows Figure 1 1 , but the pantograph 142 of the steering unit 100 is not in contact with the dielectric rail on the top side of the steering unit. In this case, an onboard device can be used, in particular the power supply can be provided autonomously by means of at least one energy storage device located on the steering unit 100, such as a rechargeable battery and / or a supercapacitor. The data transmission can be carried out, for example, by radio.

[0136] In particular, when the operating unit 100 deviates from the straight-line motion along the medium track 180 or performs a U-turn, the operating unit 100 is able to switch from being powered by the medium track 180 to an onboard autonomous power supply device, and when performing a U-turn, the pantograph 142 is no longer in contact with the medium track 180.

[0137] Optionally, the reception-type steering unit 100 may also be designed without the pantograph 142 at all, and may be operated autonomously only by a power supply device loaded on the reception-type steering unit 100 .

[0138] In this example, the receiving manipulator unit 100 is designed to move a workpiece (not shown) horizontally and vertically, which workpiece can be moved conventionally above the ground 500. The manipulator unit 100 has a support frame 120, which has, for example, four support columns 126, and a workpiece receptacle 130, which is fastened to the support frame 120.

[0139] The workpiece receiving portion 130 in the form of a suspension is suspended from the top of the support frame 120 into the inner volume 102 of the manipulation unit 100, and includes, for example, two arched elements connected to each other in the longitudinal direction 400, each of the arched elements having an inwardly protruding shelf 132. The arched elements are connected to the inner frame 131, wherein the connection with the inner frame 131 can be designed to be detachable, for example, designed as a flange connection.

[0140] The workpiece receptacle 130 rests on the support column 126 via a guide 136. The guide 136 is designed here in the form of pairs of guide rollers 137, which point in different horizontal directions so that each guide roller 137 rests on the outer surface of each support column 126. In this way, the suspension is advantageously protected from vibrations in the horizontal spatial direction.

[0141] The manipulating unit 100 has an adjustment mechanism 134 on its top side, which is used to use a drive to make the workpiece receiving portion 130 move vertically in a manner transverse to the longitudinal direction 400. The drive can, for example, use a chain and / or a toothed belt and / or a strip to raise and / or lower the workpiece receiving portion 130, so that the workpiece receiving portion 130 can preferably move vertically upward and / or downward. At this time, the guide roller 137 of the guide device 136 rolls on the support column 126. Therefore, when the manipulating unit 100 starts, travels, brakes and / or travels along a curve, the oscillation and / or swing of the workpiece receiving portion 130 can be effectively reduced, especially to a minimum. The guide roller 137 is arranged at the corner of the internal frame 131, and the workpiece receiving portion 130 is connected to the internal frame. In this embodiment, two guide rollers 137 are arranged on each support column 126 at the corner and the two guide rollers are supported on different surfaces of the corresponding support column 126.

[0142] Movement of the workpiece receiving portion 130 in the elevation direction 404 is indicated by the double arrow.

[0143] Alternatively, instead of a workpiece receiving portion 130 having such a guide device 136 , a workpiece receiving portion having a height-adjustable scissor-lift hanger may be used.

[0144] Furthermore, at least one energy storage device (not shown), for example a rechargeable battery or a supercapacitor, may be arranged on the top side of the operating unit 100 .

[0145] The system-side media rail 180 can be used for data transmission and, if necessary, can be used as a power supply during straight-line operation of the steering unit 100 when the pantograph 142 is in contact with the media rail 180. In the turning area or for a staggered travel or a travel transverse to the longitudinal direction 400, at least one energy storage device can be used, since the pantograph 142 is then not in contact with the media rail 180.

[0146] The workpiece 700 in the workpiece receptacle is always arranged below the top side of the handling unit 100 .

[0147] The workpiece receiving portion 130 can be designed in a hook shape, so that a placement 132 is present on the vertical leg to receive the workpiece, and the workpiece can be placed on the placement 132 and optionally fixed on the placement.

[0148] The workpiece may in particular be a vehicle body, or a component of a vehicle body, or an attachment connected to the vehicle body.

[0149] Wheels 110 are arranged on each support column 126, and in this example, wheels 110 constitute a wheel set at each support column 126. Each wheel set includes two wheels 110 in the form of rollers. The wheel set can rotate around the vertical axis as a whole. In particular, it can rotate around the vertical axis in an angle range between 0° and 90°. By 90° of rotatability instead of 360° of rotatability, it is advantageously possible to move the steering unit 100 in all directions, while easily realizing cable wiring from the support column 126 to the wheel set, which is for example used to transmit power and / or data.

[0150] In an improved embodiment, at least one wheel 110 or roller has a friction drive and / or friction brake, wherein a friction element is arranged adjacent to the wheel 110 or roller and drives and / or brakes the wheel or roller by friction on the outer circumference of the wheel or roller.

[0151] In an alternative embodiment that is not shown, at least one wheel 110 is designed as an omnidirectional wheel and / or a universal wheel.

[0152] The support frame 120 is designed to be open on multiple sides and has side openings 122 on all four sides for driving in and / or out a separate handling unit (not shown), as well as a bottom opening 124 open toward the ground 500. The workpiece placed in the workpiece receiving portion 130 is advantageously accessible from all sides.

[0153] The movement during transport may be controlled, for example, by a radio remote control or, alternatively, by a programmable drive.

[0154] The manipulator unit 100 has an adjustment mechanism 134 for moving the workpiece in the support frame 120. Separate drives 138, 114 can be arranged on the support frame 120 for raising and / or lowering the workpiece receptacle 130 and for driving at least one of the wheels 110. Alternatively, a common drive can be provided in the support frame 120 for realizing a vertical movement and a linear or tilting movement of the workpiece.

[0155] A plurality of wheels, in particular all wheels 110, can each have at least one electric motor as drive 114, in particular a wheel hub electric motor. In particular, each wheel or wheel set of each support column 126 can have an electric motor for driving the wheel 110 and for rotating the wheel 110 about a vertical axis. Optionally, at least one wheel 110 can be driven and / or braked by a friction drive and / or friction brake, wherein friction elements act on the outer circumference and drive and / or brake the wheel 110 by friction.

[0156] The plurality of electric motors may be synchronized. Alternatively, instead of individual electric motors, a central electric motor may be used, which may be powered by a drive shaft. Alternatively, separate electric motors may be provided to drive the wheels 110 and to rotate the wheels 110 about a vertical axis. Each steering unit 100 may have at least one power storage device, in particular a rechargeable battery and / or one or more supercapacitors.

[0157] Optionally, each manipulating unit 100 can have its own computer unit (not shown), by means of which the sensor data can be evaluated and / or communicated with a central computer, commands can be input and output to actuating units such as workpiece holders 130, lifting devices, wheel motors, etc., and the trajectory along which the manipulating unit 100 should be moved can be calculated / recalculated. Likewise, the travel speed, acceleration characteristics and / or deceleration characteristics of the manipulating unit 100 can be calculated and monitored depending on the workpiece to be transported and / or depending on the energy capacity of the power storage device, for example depending on the weight or size of the workpiece and / or depending on the energy capacity of the power storage device.

[0158] The workpiece holder 130 is designed to move a workpiece 700 arranged therein with at least one degree of freedom, in particular to raise and / or lower and / or tilt and / or rotate the workpiece.

[0159] An operator (not shown) or even a tool can work on the floor 500 beside or inside the manipulating unit 100. Optionally, the manipulating unit 100 can also have a working platform above the floor 500. In this case, the workpiece can be processed at a suitable position according to the set height or inclination of the workpiece receiving part. Optionally, two different heights can be reached at the same time.

[0160] One or more sensors are arranged on the support frame 120 and are configured to provide the position, speed, orientation and / or distance of the steering unit 100 and / or at least one other steering unit 100 , 200 , 300 to the control system.

[0161] Advantageously, an LCD screen (not shown) used as a human-machine interface may be provided on the support frame 120. The operator may use the information displayed on the LCD screen to implement real-time monitoring of the workpiece 700 in the manipulation unit 100.

[0162] In addition, lighting elements 120, in particular LEDs, can be provided on the support frame 120. These lighting elements can illuminate the process in and / or next to the support frame 120, thereby at least reducing the need for fixed lights outside the support frame 120.

[0163] Figure 3 1 shows a side view of a receiving steering unit 100 according to an embodiment of the invention, which is equipped with a drive motor 115 on its support column 126 for rotating a wheel set with rollers or wheels 110. In this view, the transverse direction 402 ( Figure 1 , Figure 2 ) is perpendicular to the drawing plane. The operating unit 100 is shown in a state without a pantograph on the top side.

[0164] In the present embodiment, two vertical drives 115 are provided on each support column 126, each having a gear on the top side which, when the wheel set is to rotate, meshes with the gear 116 of the support column 126. The rollers or wheels 110 themselves have a drive 114 for moving the steering unit 100, in particular in the form of a hub motor.

[0165] The operating unit has an adjustment mechanism 134 on its top side, which is used to use a drive 138 to make the workpiece receiving portion 130 move vertically in a manner transverse to the longitudinal direction 400. The drive 138 can, for example, use a chain and / or a toothed belt and / or a strip to raise and / or lower the workpiece receiving portion 130, so that the workpiece receiving portion 130 can preferably move vertically upward and / or downward in the vertical direction. At this time, the guide roller 137 of the guide device 136 rolls on the support column 126. Therefore, when the operating unit 100 is started, driven, braked and / or travels along a curve, the oscillation and / or swinging movement of the workpiece receiving portion 130 can be effectively reduced, and in particular, the oscillation and / or swinging movement of the workpiece receiving portion 130 can be minimized.

[0166] As in the previous embodiment, the guide rollers 137 are arranged at the corners of the inner frame 131, and the inner frame 131 is connected to the workpiece receiving portion 130. In this embodiment, each pair of guide rollers 137 stacked up and down in the height direction is arranged approximately at the height of the inner frame 131, wherein each pair of guide rollers abuts against the same surface of the support column 126 of the support frame 120. Another pair of guide rollers 137 stacked up and down in the height direction 404 abuts against the other surface of the support column 126 of the support frame 120. Both pairs of guide rollers 137 are arranged at the corners, that is, the guide rollers abut against the adjacent side surfaces of the support column 126.

[0167] Figure 4 A similar embodiment according to the present invention is shown. Figure 3 1. Front view of a receiving operating unit 100 of an operating unit in FIG. 1, wherein the receiving operating unit has a wheel set provided with a contact protection element 112, for example in the form of a cover.

[0168] Advantageously, the contact protection element 112 can also be designed as a touch-sensitive element which can initiate a signal for stopping the operating unit 100 when contact is made with the contact protection element 112 .

[0169] On the top side of the support frame 120, a pantograph 142 can be observed, which is in contact with a media rail 180. For example, the media rail 180 can be advantageously used to transmit power and / or data. In this embodiment, the media rail 180 can be arranged horizontally so that the pantograph 142 can rest on the media rail 180 from below.

[0170] Here, the guide device 136 may also have a pair of guide rollers 137 , which are arranged in an up-and-down stacked manner in the height direction 404 , and the guide rollers respectively abut against different adjacent surfaces of the support column 126 in a corner manner.

[0171] Figure 5 Shown according to Figure 4 1 is a perspective top view of a receiving control unit 100 , wherein the pantograph 142 is in contact with an outer media rail 180 . The media rail 180 is only partially shown. Figure 6 The contact with the external medium track 180 is shown according to Figure 5 A front view of the pantograph 142 is shown. Figure 7 The contact with the external medium track 180 is shown according to Figure 5 A side view of the pantograph 142 is shown.

[0172] The pantograph 142 is aligned horizontally and guided on the media rail 180 via rollers 143. The pantograph 142 rests on the media rail 180 from below. Between the rollers 143 extend supports 146 on which flat coils 148 are arranged adjacent to one another. These flat coils are used for inductive power transmission from the media rail 180 to the control unit 100.

[0173] The support 146 with the rollers 143 is pressed against the media rail 180 by means of a scissor device 144. The scissor device 144 ensures that in operation the smallest possible distance is maintained between the media rail 180 and the coil 148. The scissor device 144 can be actuated up and down in the high and low direction 404 by means of an electric drive. If necessary, for example in the event of a power failure, the scissor device 144 can be manually operated, in particular lowered.

[0174] Figure 8 FIG. 1 shows a three-dimensional top view of a receiving type operating unit 100 according to an embodiment of the present invention. The receiving type operating unit 100 is Figure 5 For the sake of clarity, the pantograph 142 is not shown. Fig. 9 Shown according to Figure 8 1 is a perspective top view of a detail of a receiving actuating unit 100 having an adjusting mechanism 134 for a workpiece receptacle 130 .

[0175] The adjustment mechanism 134 has a common shaft 139, at each end of which a pair of rollers (not shown in detail) is arranged in order to roll up or unroll four parallel bending elements 140 by rotation, for example in the form of belts, cables, toothed belts, push-pull chains, etc. These bending elements 140 are guided by deflection pulleys and connected in pairs to the workpiece receiving part 130. Two drives 138 are arranged at both ends of the common shaft 139. On the top side of the support frame 120, a surrounding cable channel 150 can be seen.

[0176] Optionally, the upper portion of the support frame 120 can be removably connected to the support columns 126, which simplifies transportation and storage.

[0177] Fig.10 A perspective view of a detail of a wheel set of a receiving steering unit 100 according to an embodiment of the invention is shown, which has two vertically arranged drives 155 for rotating the wheel set around the axis of a support column 126. The wheel set has two parallel wheels 110, which can be rotated by drives 114, in particular by hub motors. The two drives 115 arranged vertically on both sides of the wheels 110 have gears, which are not marked in detail, on their upper end faces, the drives are, for example, electric motors, which will mesh with gears 116 when the wheel set is to be rotated. The drives 115 work in particular in a synchronous manner with each other.

[0178] Due to the presence of two drives 115 , the drive overall can be made smaller than in the case of only one drive 115 , so that the entire wheel set with the drives 114 , 115 can be designed to be relatively small.

[0179] Fig.11 A perspective view of a detail of a wheel set on a support column 126 of a receiving steering unit 100 with a contact protection element 112 according to an embodiment of the invention is shown. In this embodiment, the contact protection element 112 is designed as a solid cover. Alternatively, the cover can be designed as a grid or mesh. This allows the drive of the wheel set to be ventilated. Alternatively, the wheel set can be open and monitored with a sensor, in particular a lidar sensor. This is particularly advantageous for monitoring the surrounding environment to avoid collisions when the steering unit 100 is driving along a curve or performing a 180° U-turn.

[0180] The contact protection element 112 may have at least one sensor 113, such as a micro switch and / or a photoelectric cell, so as to brake the operating unit 100 when a collision is about to occur if necessary. Optionally, the contact protection element 112 may also be designed as a touch-sensitive element, which may trigger a signal for stopping the operating unit 100 when in contact with the touch protection element 112.

[0181] Fig.12 Shows Figure 3 and Figure 4 Detail of a guide device 130 of a receiving actuating unit 100 according to an exemplary embodiment of the invention of the type of FIG. 1 , the guide devices each having two guide rollers 137 arranged one above the other. Fig.13 Shown according to Fig.12 136, each having two guide rollers 137 arranged one above the other. Instead of the guide rollers 137, a sliding element with a sliding surface can also be provided.

[0182] exist Fig.12 and Fig.13 A pair of guide rollers 137 arranged in a stacked manner in the height direction 404 abut against one side surface of the support column 126, and Fig.12 and Fig.13 A pair of guide rollers 137 arranged in a stacked manner in the height direction 404 abut against the other side surface of the support column 126. In this example, the two pairs of guide rollers 137 are offset from each other by 90°.

[0183] The guide rollers 137 are arranged on the inner frame 131 of the support frame 120 and protrude above and below the inner frame 131. This arrangement enables a particularly stable guiding and positioning of a tool holder (not shown) connected to the inner frame 131.

[0184] Fig.14 2 shows a side view of a manipulator unit 200 that can be accommodated according to an embodiment of the invention. A workpiece (not shown) can be placed on the top side 210 of the manipulator unit 200. For this purpose, a suitable workpiece support can also be provided, on which the workpiece is fixed. A drive 236, which is not visible, is provided to drive at least one of the wheels 212. Figure 1 As described in, there may be separate electric motors, in particular wheel hub motors, or there may be a central electric motor. One or more sensors are arranged on the steering unit 200 and are configured such that the sensor provides the control system with the position, speed, orientation and / or distance of the steering unit 200 and / or at least one other steering unit 100, 200, 300.

[0185] Fig.15 A side view of a receivable handling unit 300 with a lifting function according to an embodiment of the invention is shown. A workpiece (not shown) can be placed on the top side 310 of the handling unit 300. For this purpose, a suitable workpiece support can also be provided, to which the workpiece is fixed. The handling unit 300 has a lifting mechanism 328, such as a scissor lift, with which the workpiece can be moved in the vertical direction if necessary. A drive 336, which is not visible, is provided to drive at least one of the wheels 312. Figure 1 In the embodiment described above, it can be that each has a separate electric motor, particularly a wheel hub motor, or there is a central electric motor. A separate drive or a drive 336 shared by each wheel 312 can be set to realize the vertical movement of the lifting mechanism 328.

[0186] One or more sensors (not shown) are arranged on the operating unit 300 and are configured such that they provide the control system with the position, speed, orientation and / or distance of the operating unit 300 and / or at least one other operating unit 100 , 200 , 300 .

[0187] A control system is assigned to each of the operating units 100, 200, 300 ( Figures 1 to 9 ), the control system is configured to coordinate the movement of the steering unit 100, 200, 300 with the movement of other steering units 100, 200, 300 on the ground 500. The movement of the steering unit 100, 200, 300 can be sequential, for example a plurality of receiving steering units 100 and / or two or more steering units 100, 200, 300 spaced apart from each other, which follow a straight path and / or a curved path and / or a tortuous path on the ground 500, wherein the control system moves the steering unit 100, 200, 300 continuously or discretely. Alternatively, the steering unit 100, 200, 300 can also move freely in principle, i.e. without having to follow a path.

[0188] The receivable handling units 200 , 300 are used, in particular, for transporting workpieces and / or components and not for moving the receivable handling unit 100 .

[0189] Figures 16 to 20 The actuating units 100 , 200 , 300 are shown in different states during the production of a workpiece 700 , in particular a vehicle body, either individually or in interaction with one another.

[0190] Fig.16 Shows the steps in the production according to Figure 1 1 , with a workpiece 700 in the form of a vehicle body 710, which is received in a workpiece receiving portion 130 in this step. The workpiece receiving portion 130 is lowered and holds the workpiece 700 in a position close to the ground in the interior 102 of the support frame 120. The workpiece 700 can be conveniently processed from the ground. As can be seen from the figure, the workpiece receiving portion 130 can be connected to the inner frame 131 via a detachable connection 129, for example via a flange connection.

[0191] Fig.17A front view of the receiving manipulator unit 100 is shown with the workpiece 700 in a raised position in another manufacturing step, wherein the workpiece receiving portion 130 is raised and holds the workpiece 700 in a position away from the ground in the interior 102 of the support frame 120. The bottom of the workpiece 700 can be conveniently processed from the ground 500. Optionally, a work platform (not shown) can be provided on the support frame 120, so that the workpiece 700 can be processed from the ground 500 and from the work platform.

[0192] Fig.18 A front view of the receiving handling unit 100 is shown in a further production step, wherein the workpieces 700 , 710 are in a raised position in the support frame 120 and the receivable handling unit 200 is at least partially received by the receiving handling unit 100 .

[0193] For example, the workpiece 700 can be moved out of the inner volume 102 of the receiving handling unit 100 using the receivable handling unit 200. For this purpose, the receivable handling unit 200 can be driven in through the side opening 122 in the support frame 120, or the receiving handling unit 100 is placed above the receivable handling unit 200, or the two handling units 100, 200 are driven towards each other.

[0194] The workpiece 700 is transferred to the receivable handling unit 200 by lowering the workpiece receiving portion 130 and placing the workpiece 700 on the handling unit 200. The handling units 100, 200 are then moved away from each other by correspondingly moving one or both of the handling units 100 and 200. The receivable handling unit 200 can be moved out through the same side opening 122 or through the opposite side opening 122, or even through the side opening 122 transverse thereto. Instead of the receivable handling unit 200, a receivable handling unit 300 ( Fig.15 ). In this case, the handover may be performed by moving one of the two manipulation units 100, 300 or by moving both manipulation units 100, 300.

[0195] Fig.19 Shown according to Figure 1 100 , in which a workpiece 700 in the form of a vehicle body 710 is in a raised position in a support frame 120 during a further production step by means of the receivable handling unit 350 .

[0196] For example, the workpiece 700 or other workpieces can be transported into or out of the inner volume 102 of the receiving handling unit 100 by means of a fixed receivable handling unit 350 in the form of a lifting platform. The receivable handling unit 350 in the form of a lifting platform has a lifting mechanism 358. As an alternative or alternative to the receivable handling unit 350 in the form of a lifting platform, a conveyor belt and / or a roller conveyor unit can be provided.

[0197] The receiving manipulation unit 100 may be placed above the manipulation unit 350 , and the workpiece located on the manipulation unit may be moved below the receiving manipulation unit 100 and lifted in the up-down direction 404 toward the workpiece 700 in the receiving manipulation unit 100 .

[0198] Alternatively, the workpiece 700 in the manipulation unit 100 can be unloaded onto the lifting mechanism 358 of the manipulation unit 350 that can be received in the form of a lifting platform by lowering the workpiece receiving portion 130. Then, the manipulation unit 100 and the manipulation unit 350 that can be received in the form of a lifting platform can be moved away from each other by correspondingly moving one or both of the manipulation unit 100 and the manipulation unit 350 that can be received in the form of a lifting platform.

[0199] Fig. 20 shows the manufacturing steps according to Figure 1 1 , with a workpiece 700 in the form of a vehicle body 710 in the lowered position in the support frame 120. The receiving handling unit 100 has an adjustment mechanism 134 on its top side for vertically moving the workpiece receptacle 130 transversely to the longitudinal direction 400 by means of a drive 138, which can raise and lower the workpiece receptacle 130, for example, by means of a chain and / or toothed belt and / or strip. Alternatively, a common drive can be provided.

[0200] A sensor 160 is arranged on the support frame 120 and is configured to provide the control system with the position, speed, orientation and / or distance of the manipulating unit 100 and / or at least one further manipulating unit 100, 200, 300. The sensor 160 may include, for example, LIDAR, radar or the like.

[0201] An antenna not shown in detail is arranged on the support column 126 of the support frame 120 at the rear in the figure, and the antenna can receive control signals and send current data to the control system. Similarly, it can also be arranged that the various operating units 100, 200, 300 communicate with each other.

[0202] The position of the door 720 is marked on the vehicle body 710, and the door 720 can be removed in an earlier manufacturing step and reinstalled on the vehicle body 710 in a later manufacturing step. This process can be done manually or mechanically, in particular by a robot, which removes the door 720 and transfers the removed part of the workpiece 700 to a handling unit that can be received, for example.

[0203] The door 720 can be conveniently processed separately from the body 710 between two manufacturing steps, since such processing is less expensive than processing the body 710. Before the door 720 is reassembled with the body 710 in a subsequent production step, the door 720 can be equipped with windows, linings, handles, seals, electrical equipment, etc., for example.

[0204] Fig.21 A front view of a receiving manipulator unit 100 according to another embodiment of the invention is shown, wherein a support frame 120 has a detachable upper part 121. A detachable connection 128, such as a flange connection, is arranged between the upper part 121 and the support column 126. This can simplify the transportation of the manipulator unit 100 from the manufacturer to the place of use. Advantageously, the workpiece receiving portion 130 can be designed to be detachable from the upper part 121 of the support frame 120. For this purpose, the workpiece receiving portion 130 can be connected to the inner frame 131 via a detachable connection 129. For example, the detachable connection can be designed as a flange connection.

[0205] Furthermore, the upper part 121 with the drive etc. can be provided as a standard design, while the support column 126 can be designed as required and can, for example, have a length adapted to the workpiece to be processed.

[0206] Fig. 22 A block diagram of processing stations 1000 , 1002 , 1004 , 1010 , 1012 , 1020 , 1030 , 1032 , 1040 , 1050 , 1060 , 1070 and component warehouses 1001 , 1011 in a vehicle production plant 4000 is shown.

[0207] Fig.23 Shown in accordance with Fig. 22 Flowchart of process steps S1000, S1002, S1004, S1010, S1012, S1020, S1030, S1032, S1040, S1050, S1060, and S1070 performed in vehicle production.

[0208] The system 4000 comprises several transfer areas 1, 2, 3, 4, 5, 6, 7, 8, 9, in which the workpiece 700 or one or more parts of the workpiece 700 can be transferred from the receivable manipulation unit 200, 300 to the receiving manipulation unit 100, or from the receiving manipulation unit 100 to the receivable manipulation unit 200, 300.

[0209] The part of the workpiece may be a part of the vehicle body 710 , such as a door 720 , etc., or one or more additional parts, such as a floor panel, an axle, etc.

[0210] Transfer areas 1, 2, 3, 4, 5, 6, 7, 8, 9 can be fixed locations in the system 4000, or even free sections between processing stations 1000, 1002, 1004, 1010, 1012, 1020, 1030, 1032, 1040, 1050, 1060, 1070 and component warehouses 1001, 1011.

[0211] For example, a workpiece 700 consisting of a powder-coated body 710 is transferred from a transport track to a processing station 1000. The transfer station 1 is used to transfer parts (particularly doors 720) of the workpiece 700 (particularly body 710) at the processing station 1000 from the transport track to a receivable handling unit 200.

[0212] The transport track reaches the processing station 1000 at an elevated level relative to the ground 500. The door 720 is removed from the vehicle body 710 and handed over to a level lower than the elevated level, in particular the ground 500, and is handed over to a receivable handling unit 200 for the door 720. The vehicle body 710 initially continues to move at the elevated level, then moves to a lower level, in particular the ground 500, and is handed over there to a receivable handling unit 200.

[0213] In this case, in step S1000, the door 720 is conveniently disassembled by the robot, and the door of each workpiece 700 is transferred within the operating range of the robot to a separate manipulation unit 200 having a bracket for each part of the workpiece 700. The vehicle body 710 itself is transferred as the workpiece 700 to another manipulation unit 200 located at a lower height and can be received.

[0214] To change height, the robot can be arranged on a lift or vertical tracks.

[0215] The workpiece 700 is transported to the processing station 1002 in the handling unit 200. In step S1002, for example, elastic supports for trunk lids and hoods, vehicle identification codes (Fahrzeug-Identifikationsnummer) are installed, and cable harnesses, insulation materials, plugs, air ducts (Luftführung), carpets, airbags, roof trims, sun visors, seat belts, handles, interior lighting, and / or instrument panels are installed. The corresponding components are provided by the component warehouse 1001.

[0216] In the next processing station 1004 in step S1004, for example, the windows (front windshield, rear windshield, roof sunroof) are bonded, the windshield wiper motor is installed, anti-glare is performed, the engine compartment with insulation material is prepared, the luggage compartment, the door seals are attached, the roof lining, spoiler, trunk lid and / or taillights are attached.

[0217] The workpiece 70 is moved to the processing station 1010 by the receivable handling unit 200. At the transfer area 2 in front of the processing station 1010, the body 710 is transferred from the receivable handling unit 200 to the receiving handling unit 100. At least one further receivable handling unit 200 or 300, in particular a further receivable handling unit with a lifting function and / or a longitudinal transport capability, can be inserted in between.

[0218] In step 1010, insulation materials, brakes, fuel lines, tanks (fuel tanks, urea tanks), electric drive cables, injection pipe joints, pull wires or cables for hand brakes, brake lines and / or exhaust lines are attached and installed. The parts for this are provided by the parts warehouse 1011.

[0219] At the transfer area 3, the workpiece carrier is fed to a floor conveyor line, such as a chain conveyor, which overlaps the receiving maneuvering unit 100 with the vehicle body 710. In the processing station 1012, in step S1012, the floor, the powertrain, the axle, the engine hood tunnel, the transmission hood tunnel are combined with the vehicle body. The processing station 1012 is also called a "wedding" or "marriage". The components are provided by the component warehouse 1011.

[0220] As an alternative to a floor conveyor line, the workpiece carriers can also be transported through the workstations of the “wedding” processing station 1012 by means of a handling unit which is designed, for example, as an unmanned transport vehicle.

[0221] In the processing station 1012, the receiving manipulator unit 100 is positioned as precisely as possible above the workpiece carrier. The vehicle body 710 is then joined with the base plate and other additional components, such as axles, drives, etc., using a scissor lift. After joining, the component is further transported to the first tightening station. The manipulator unit 100 and the conveyor device with the workpiece carrier are moved precisely synchronously. Corresponding floating and compensating mechanisms can be used to compensate for minor deviations.

[0222] In the tightening station and all subsequent stations, conveyor belts are integrated to move the workpiece carrier from one station to another. The receiving handling unit 100 with the body 710 moves autonomously and always synchronously from one station to another.

[0223] In a further screwing station of the processing station 1012 , the additional component is now screwed automatically or manually to the vehicle body 710 .

[0224] Tightening can be performed using a screwing tool attached to a linear unit, a robot or other handling device. The screwing tool is positioned automatically or manually in all three spatial directions. Using the screwing tool, multiple threaded parts can be screwed into different positions. The threaded parts can be moved together in the spare parts magazine on the tool head.

[0225] The spare parts magazine can also be filled with threaded parts automatically or manually. The threaded parts contained therein are transferred to the spare parts magazine. The supply tank can be filled with the aid of a robot and a camera system or manually.

[0226] All workstations in the processing station 1012 can be protected from access by protective fences and light barriers. The receiving and handling unit 100 of the vehicle body 710 and the conveyor device with workpiece carriers can be moved safely through these areas. All fixing systems can be removed from the movement area of ​​the receiving and handling unit 100 to allow the receiving and handling unit 100 to move in and out. Intersection with the movement area of ​​the receiving and handling unit 100 is only possible when the receiving and handling unit 100 is in a stationary state.

[0227] Depending on the position and accessibility of the threaded connection points in the engine compartment of the workpiece 700 , tightening is performed semi-automatically or fully automatically from above, for example by manually introducing a tool as well as by automated tightening.

[0228] A work platform for operators can be provided in the processing station 1010. The inner area of ​​the work platform can be separated from the outer area by a passage ladder and can be entered by a movable bridge.

[0229] The automatic and manual tightening stations are followed by the rework station, where unfinished tightening can be re-done or tightening that is not in place can be repeated.

[0230] As soon as the additional component has been completely screwed onto the vehicle body 710 , the workpiece carrier can be lowered into the separation station of the processing station 1012 .

[0231] The entire vehicle is now conveyed by the receiving handling unit 100 to the next processing station 1020. The empty workpiece carrier is transported by the conveyor device to the receiving handling unit 200 or 300 and is received by the receiving handling unit.

[0232] In processing station 1020, the following operations are performed in step S1020: installation and wiring of the fan, ABS wiring, exhaust system, silencer, heat shield, installation of floor covering (Unterbodenverkleidung), connection of brake lines to wheel arches, door sill guards, wheel arch covers, hydraulic and electrical connections in the engine compartment, and / or filling of various containers with corresponding liquids and / or filling with fuel.

[0233] The filled and loaded workpiece 700 is transferred from the receiving operating unit 100 to the receivable operating unit 200 at the transfer area 4. In the processing station 1030, the following operations are performed in step S1030: connection of the steering column to the steering gear, adjustment of the handbrake lever, attachment of the inner tunnel and the dashboard trim, installation of the bumper, headlights, various electrical connections, wheel installation, spare wheel cover, brake pedal testing and seat installation.

[0234] In a further processing station 1032, in step S1032, the vehicle door 720 is mounted on the vehicle body 710 in the receiving operating unit 100. For this purpose, the vehicle door is delivered together with the receivable operating unit 200 or 300 serving as a door storage.

[0235] At the transfer area 5, the workpiece 700 is transferred from the receivable operating unit 200 to the ground platform in order to adjust the vehicle door 720 to, for example, the correct gap size and closing function. At the next transfer area 6, the workpiece 700 is transferred from the ground platform to the receivable operating unit 200 or 300, with which the vehicle body 700 is moved to the processing station 1040, where the windshield wipers, windshield washing system, battery, engine compartment, air filter are tested for various functions in step S1040 and the installed vehicle is electrically checked.

[0236] In the transfer area 7, the workpiece 700 is transferred from the receptable handling unit 200 or 300 to a ground platform, with which the assembled vehicle is transported as a workpiece 700 to the processing station 1050. In the processing station 1050, a so-called end-of-line test is performed, for which the workpiece is picked up by the receptable handling unit 100. In the processing station 1050, a plurality of parallel processing lines are available, so that a plurality of workpieces 700 can be tested in parallel therein. For example, in step S1050, the running gear geometry, the headlights, the driver assistance system and the brake system are tested and, if necessary, adjusted or calibrated. This process can be carried out manually, semi-automatically or fully automatically.

[0237] In the next transfer area 8 , the workpiece 700 is transferred from the receiving handling unit 100 to the floor platform, wherein a leak test is performed in the processing station 1060 in step S1060 .

[0238] In the handover area 9, the finished workpiece 700 is handed over from the ground platform to the ground conveyor belt. The vehicle is transported from the ground conveyor belt to the processing station 1070. In step S1070, for example, stickers, manuals, and documents of the vehicle are put in.

[0239] Depending on the desired number of workpieces 700 (in particular vehicles) to be completed per unit of time, the number of manipulator units 100, 200, 300 used in the manufacturing process can be easily adjusted without having to take construction measures in the production hall. The equipment of the vehicle can also be adjusted in a simple manner along the individual processing stations 1000, 1002, 1004, 1010, 1012, 1020, 1030, 1032, 1040, 1050, 1060, 1070 and component warehouses 1001, 1011 in the system 4000. If the transport route needs to be changed, only the path that needs to be traveled by the manipulator units 100, 200, 300 needs to be adjusted.

[0240] Reference numerals

[0241] 1Transfer area

[0242] 2Transfer area

[0243] 3. Transfer Area

[0244] 4Transfer Area

[0245] 5Transfer Area

[0246] 6Transfer Area

[0247] 7 Transfer Area

[0248] 8 Transfer Area

[0249] 9 Transfer Area

[0250] 100 receiving control unit

[0251] 102 Contents

[0252] 110 rounds

[0253] 112 Anti-contact parts

[0254] 113 Sensors

[0255] 114 wheel drive

[0256] 115 Rotary drive

[0257] 116 Gear

[0258] 120 Support frame

[0259] 121 Upper part

[0260] 122 side opening

[0261] 124 bottom opening

[0262] 126 support column

[0263] 128 Connectors

[0264] 129 Connectors

[0265] 130 Workpiece accommodating part

[0266] 131 Framework

[0267] 132 Hook

[0268] 134 Adjustment mechanism

[0269] 136 Guidance Device

[0270] 137 Guide roller

[0271] 138 Drive

[0272] 139 axis

[0273] 140 bending elements

[0274] 141 Steering pulley

[0275] 142 Pantograph

[0276] 143 Roller

[0277] 144 Scissor device

[0278] 146 support

[0279] 148 Coil

[0280] 150 Cable Channels

[0281] 160 Sensors

[0282] 180 medium track

[0283] 200 control units can be accommodated

[0284] 210 Top Side

[0285] 212 rounds

[0286] 236 Driver

[0287] 300 control units can be accommodated

[0288] 310 Top Side

[0289] 312 rounds

[0290] 328 lifting mechanism

[0291] 336 Drive

[0292] 350 lifting platform

[0293] 358 lifting mechanism

[0294] 400 vertical direction

[0295] 402 Horizontal Orientation

[0296] 404 High and Low Direction

[0297] 500 Ground

[0298] 700 artifacts

[0299] 710 Body

[0300] 720 Door

[0301] 1000 processing stations

[0302] 1001 Parts Warehouse

[0303] 1002 Processing Station

[0304] 1004 Processing Station

[0305] 1010 Processing Station

[0306] 1011 Parts Warehouse

[0307] 1012 Processing Station

[0308] 1020 Processing Station

[0309] 1030 Processing Station

[0310] 1032 Processing Station

[0311] 1040 Processing Station

[0312] 1050 Processing Station

[0313] 1060 Processing Station

[0314] 1070 Processing Station

[0315] 4000 System

[0316] S1000 Steps

[0317] Step S1002

[0318] Step S1004

[0319] S1010 Steps

[0320] S1012 Steps

[0321] S1020 Steps

[0322] S1030 Steps

[0323] S1032 Steps

[0324] S1040 Steps

[0325] S1050 Steps

[0326] S1060 Steps

[0327] Step S1070.

Claims

1. A manipulating unit (100) for moving a workpiece (700) horizontally and / or vertically, in particular, the manipulating unit is designed as an unmanned transport vehicle that can be moved on the ground (500) according to its use, the manipulating unit having wheels (110), a support frame (120), and a workpiece receiving portion (130) fastened to the support frame (120), in, The support frame (120) is designed to be open on multiple sides and has side openings (122) for the individual operating units (200, 300) to move in and / or out, and a bottom opening (124) facing the ground (500).

2. The manipulation unit according to claim 1, wherein: The workpiece receiving portion (130) is configured to move the workpiece (700) arranged therein with at least one degree of freedom, in particular, the workpiece receiving portion (130) is configured to raise and / or lower and / or tilt and / or rotate the workpiece (700), in particular, there is an adjustment mechanism (134) for moving the workpiece receiving portion (130), the adjustment mechanism having a common axis (139) for at least two bending elements (140), in particular, wherein the bending element (140) is connected to the workpiece receiving portion (130) via a diverting pulley.

3. A manipulation unit according to any one of the preceding claims, wherein: The workpiece receiving portion (130) is designed in the form of a hanger, which is suspended from the top of the support frame (120) into the inner storage portion (102) of the manipulation unit (100), and the workpiece receiving portion (130) is guided by a guide device (136) on at least one support column (126). In particular, the guide device (136) has at least two guide rollers (136, 137) or sliding surfaces, which are assigned to the support column (126) and bear against two different surfaces of the support column (126) of the support frame (120), In particular, the guiding device (136) has at least two pairs of guiding rollers (137) or sliding surfaces, wherein each pair has two guiding rollers (137) or sliding surfaces arranged in a vertical direction in a stacked manner on top of each other and abut against the same surface of the support column (126) of the support frame (120), and each of the pairs of guiding rollers (137) or sliding surfaces has a pair of guiding rollers (137) or sliding surfaces abut against two different surfaces of the support column (126) of the support frame (120).

4. A steering unit according to any one of the preceding claims, wherein the steering unit has at least one sensor (160), which is arranged on the support frame (120) and is configured to provide a control system with position, speed, orientation and / or distance information of at least one other steering unit (200, 300), in particular, at least one of the sensors (160) is designed to monitor the environment when the steering unit (100) turns, deviates from a straight line or travels along a curve.

5. A system (400) having a set of handling units (100, 200, 300), the system comprising at least one handover area (1, 2, 3, 4, 5, 6, 7, 8, 9) at which a workpiece (700) or one or more parts (720) of a workpiece (700) is handed over from a first handling unit (200, 300) to a second handling unit (100), in, The first operating unit (200, 300) is designed as an accommodable operating unit (200, 300), The second operating unit (100) is designed as a receiving operating unit (100) having an inner storage portion (102). The receivable operating unit (200, 300) together with the workpiece (700) or a component (720) of the workpiece (700) can be at least partially accommodated in an inner volume (102) of the receivable operating unit (100).

6. The system according to claim 5, wherein: A receiving operating unit (100) which at least partially accommodates a receivable operating unit (200, 300) in an inner volume (102) is designed according to one of claims 1 to 3.

7. The system according to claim 5 or 6, wherein: At least one of the manipulator units (200, 300) is designed as an unmanned transport vehicle or as a fixed lifting platform (350) and / or as a conveyor belt and / or a roller conveyor unit. In particular, the manipulator units (200, 300) that can be accommodated are designed as an unmanned transport vehicle or as a fixed lifting platform (350) and / or as a conveyor belt and / or a roller conveyor unit.

8. A system according to any one of claims 5 to 7, wherein: Workpieces (700) arranged on at least two handling units (100, 200, 300) are assembled in at least one transfer area (1, 2, 3, 4, 5, 6, 7, 8, 9).

9. The system according to any one of claims 5 to 8, wherein: The receiving operating unit (100) has an opening (122, 124) for the receiving operating unit (200, 300) to be moved in and / or displayed, in particular, a workpiece (700) is arranged on the receiving operating unit (200, 300) or can be arranged on the receiving operating unit (200, 300).

10. The system according to any one of claims 5 to 9, wherein: The receiving operating unit (100) and the receivable operating unit (200, 300) are arranged at least partially at a common ride height.

11. The system according to any one of claims 5 to 10, wherein: The receiving manipulation unit (100) has a workpiece receiving portion (130), which is higher than the receivable manipulation unit (200, 300) and the workpiece (700) so as to receive the workpiece (700) and hold it in a suspended manner.

12. The system according to claim 11, wherein: The workpiece receiving portion (130) is designed in the form of a hanger, which is suspended from the top of the support frame (120) into the inner volume (102) of the manipulation unit (100), and the workpiece receiving portion (130) is guided by a guide device (136) on at least one support column (126). In particular, there is an adjustment mechanism (134) for moving the workpiece receiving portion (130), and the adjustment mechanism (134) has a common axis (139) for at least two bending elements (140). In particular, the bending element (140) is connected to the workpiece receiving portion (130) via a diverting pulley.

13. The system according to claim 12, wherein: The guide device (136) has at least two guide rollers (136, 137) or sliding surfaces which are assigned to the support column (126) and bear against two different surfaces of the support column (126) of the support frame (120), In particular, the guiding device (136) has at least two pairs of guiding rollers (137) or sliding surfaces, wherein each pair has two guiding rollers (137) or sliding surfaces arranged in a stacked manner on top of each other in the vertical direction and abutting against the same surface of the support column (126) of the support frame (120), and each pair of guiding rollers (137) or sliding surfaces has a pair of guiding rollers (137) or sliding surfaces abutting against two different surfaces of the support column (126) of the support frame (120).

14. A system according to any one of claims 5 to 13, wherein: The receiving operating unit (100) has at least one opening (124) toward the floor (500) and / or the receiving operating unit is open toward the floor (500), so that a workpiece (700) located in the operating unit (100) can be reached from the floor (500).

15. A system according to any one of claims 5 to 14, wherein: The receiving type operating unit (100) has at least three supporting columns (126), in particular, the receiving type operating unit (100) has four supporting columns (126), the supporting columns (126) can roll on the ground (500) using one or more wheels (126), and workpiece receiving parts (130) are arranged between the supporting columns, in particular, at least some of the wheels (110) have anti-contact parts (112).

16. A system according to any one of claims 5 to 15, wherein: The receiving operating unit (100) has an adjusting mechanism (134) for moving a workpiece (700) relative to the receiving operating unit (200, 300).

17. A system according to any one of claims 5 to 16, wherein: The receivable operating unit (200, 300) has an adjusting mechanism (324) for moving a workpiece (700) relative to the receivable operating unit (100).

18. A system according to any one of claims 5 to 17, wherein: The processing stations (1000, 1002, 1004, 1010, 1020, 1030, 1040, 1050, 1060, 1070) are at least partially surrounded by a wall which is at least temporarily open to the receiving manipulation unit (100).

19. A system (400) comprising a plurality of manipulation units (100, 200, 300), in, At least one of the manipulating units (100, 200) is designed as an unmanned transport vehicle without a lifting function, in particular, the manipulating unit (100, 200) is used to receive and transport doors (720) and / or individual prefabricated workpieces for a vehicle body (710), and / or At least one of the manipulating units (300) is designed as an unmanned transport vehicle with a lifting function, in particular, the manipulating unit (300) is used to receive and transport a vehicle body (710) and / or a separate prefabricated workpiece for the vehicle body (710), and / or At least one of the manipulation units (100, 200, 300) is designed as an unmanned transport vehicle for moving a workpiece (700) horizontally and / or vertically, the unmanned transport vehicle being movable on the ground (500) and having wheels (110), a support frame (120), and a workpiece receiving portion (130) fastened to the support frame (120), wherein the support frame (120) is open on multiple sides and has at least one side opening (122) for a separate manipulation unit (200, 300) to drive in and / or out, and a bottom opening (124) facing the ground (500).

20. The system of claim 19, wherein: The three types of operating units (100, 200, 300) each have a plurality of tasks, which when added together reflect the basic tasks of the entire production, and in particular, the plurality of tasks when added together reflect the basic tasks of vehicle production.

21. A handling unit for picking up a component of a workpiece (700), the handling unit having a holder for picking up the component of the workpiece (700), in particular, the handling unit is used for picking up a door (720) of a vehicle body (710) during a manufacturing process.

22. The manipulation unit according to claim 21, wherein: The holder is designed to enable a component of the workpiece (700) to be moved according to its use, in particular, the holder enables a door (720) of a vehicle body (710) to be pivoted.

23. A manipulation unit according to claim 21 or 22, wherein: The handling unit is used to store components of the workpiece (700), and in particular, the handling unit is used to store a door (720) of a vehicle body (710).

24. A disassembly device for disassembling parts of a workpiece (700), the disassembly device being particularly used for disassembling a door (720) of a vehicle body (710) during the manufacturing process of a vehicle, the disassembly device having a transfer area (1), the transfer area being used to transfer the workpiece (700) from a transport device to a receivable manipulation unit (200, 300) and a receivable manipulation unit (200) for picking up the workpiece (700), particularly, the workpiece (700) is a vehicle body (710), particularly, the receivable manipulation unit (200) is used to pick up parts of the workpiece (700) at different heights.

25. A method for operating a system (400), in particular the system (400) according to any one of claims 5 to 20, wherein: Two operating units (100, 200, 300) are moved relative to each other so that one operating unit (200, 300) as a receivable operating unit (200, 300) at least partially extends into another operating unit (100) as a receivable operating unit (100), wherein in a further method step, a workpiece (700) is transferred between the operating units (100, 200, 300).

26. The method according to claim 24, wherein: At least one self-propelled transport vehicle or lifting platform (350) and / or a conveyor belt and / or a roller conveyor unit is used as a handling unit (200, 300).

27. The method according to claim 25 or 26, wherein: The workpiece (700) is transferred from the receivable manipulation unit (200, 300) to the receiving manipulation unit (100) by moving at least one of the two manipulation units (100, 200, 300) so that the receivable manipulation unit (200, 300) is at least partially arranged in or under the receiving manipulation unit (100), in particular, the receivable manipulation unit (200, 300) is moved into the receiving manipulation unit (100) or moved under the receiving manipulation unit (100).

28. The method according to any one of claims 25 to 27, wherein: The manipulation unit (200, 300) brings the workpiece close to the lifting platform (350) and / or the conveyor belt and / or the roller conveyor unit, and transfers the workpiece to the lifting platform (350) and / or the conveyor belt and / or the roller conveyor unit, in particular, the workpiece is a base plate. The receiving manipulation unit (100) is moved above the lifting platform (350), so that the lifting platform (350) with the workpiece is at least partially accommodated in the inner storage part (102) of the receiving manipulation unit (100).

29. The method according to claim 28, wherein: The workpiece is transferred to the receiving manipulation unit (100) and the workpiece (700) arranged in the receiving manipulation unit by means of the lifting platform (350) and / or the conveyor belt and / or the roller conveyor unit. In particular, the workpiece transferred is a base plate, and the workpiece arranged in the receiving manipulation unit is a car body (710).

30. The method according to any one of claims 28 to 29, wherein: A workpiece (700), in particular a vehicle body (710), is transferred in such a manner that the receiving operating unit (100) moves above an operating unit (200, 300) that can be received. In particular, after the workpiece has been handed over, the handling units (100, 200, 300) move away from each other.

31. The method according to any one of claims 25 to 30, wherein: The receivable operating unit (200, 300) is moved into the receiving operating unit (100) at one position and is moved out again at another position, in particular the receivable operating unit (200, 300) is moved out from another side and / or at another time.

32. The method according to any one of claims 25 to 31, wherein: The component of the workpiece (700) is disassembled on the disassembly device, the component of the workpiece (700) is particularly a door (720) of the workpiece (700), particularly, the workpiece (700) is a vehicle body (710), and particularly, the disassembly device is a disassembly device according to claim 24, In particular, when parts of the workpiece (700) are disassembled and transferred to a manipulation unit (100, 200, 300) and during the transfer of the workpiece (700) to another manipulation unit (100, 200, 300), a height change occurs between the parts of the workpiece (700) located on the corresponding manipulation unit (100, 200, 300) and the workpiece (700) located on the corresponding manipulation unit (100, 200, 300), and in particular, the manipulation unit (200, 300) having the parts of the workpiece (700) is moved below the height of the manipulation unit (100) having the workpiece (700).

Images