Processing apparatus for handling workpieces, preferably plate-shaped workpieces.
By introducing shape-locking elements and control devices into the processing device, the problem of collision between the holding unit and obstacles is solved, the avoidance movement of the holding unit is realized, and the stability of the device and the safety of workpiece transfer are improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- TRUMPF WERKZEUGMASCHINEN GMBH & CO KG
- Filing Date
- 2024-11-04
- Publication Date
- 2026-06-02
AI Technical Summary
In the prior art, the problem of preventing the processing device from colliding with obstacles during the transfer motion has not been effectively solved.
By introducing shape-locking elements on the load-bearing structure side and the retaining unit side into the processing device, the longitudinal mobility of the retaining unit is controlled by the control device to achieve avoidance movement to avoid collisions, and the stability and avoidance capability of the retaining unit are ensured by adjusting the driver and the guide device.
It effectively prevents collisions between the holding unit and obstacles, improves the stability and safety of the processing device, and ensures the smooth transfer and processing of workpieces.
Smart Images
Figure CN122138893A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a processing apparatus for processing workpieces, preferably plate-shaped workpieces, and especially sheet materials, the processing apparatus comprising: • A load-bearing structure that can move in a transfer motion by means of a transfer drive for handling workpieces; • A workpiece-side holding unit, which is disposed on a support structure and has at least one holding element configured to abut against the workpiece and to fix the workpiece to the holding unit; • An adjustment driver for holding the unit, the adjustment driver having an adjustment drive motor by means of which the holding unit can be moved relative to the support structure in an adjustable manner to an end position away from the support structure and at least one position on the support structure side, the position on the support structure side being positioned relative to the end position away from the support structure or toward the support structure along the movement trajectory of the adjustment movement; and • A guiding device by means of which the holding unit is guided on the load-bearing structure during adjustment movement, and the guiding device has a load-bearing structure side guiding element that is movably connected to the load-bearing structure and a holding unit side guiding element that is movably connected to the holding unit.
[0002] The aforementioned types of processing devices are used, for example, in sheet processing to automate the loading and unloading of sheet processing machines. Background Technology
[0003] Prior art of the type discussed is disclosed in DE 10 2008 019 110 A1. In the prior art, a sheet conveying device transfers sheet products from a sheet processing machine to a pallet or sheet transport vehicle. For this purpose, a shifting element is provided, which has: a base portion that can be shifted on a track, and a suction cup plate that can be raised and lowered on the base portion and is provided with a holding suction cup. By means of the shifting element, the sheet product is received at the workpiece support of the sheet processing machine, transferred to the pallet or sheet transport vehicle, and then transferred to the pallet or sheet transport vehicle. In order to receive the sheet product, the suction cup plate is lowered relative to the base portion of the shifting element toward the sheet product to be received. After the sheet product is fixed by means of the holding suction cup, the suction cup plate with the sheet product fixed thereto is raised relative to the base portion, and then the base portion, together with the suction cup plate and the sheet product fixed to the suction cup plate, is shifted to the pallet or sheet transport vehicle. At the pallet or sheet transport vehicle, the suction cup plate is lowered relative to the base portion, the sheet product is placed on the pallet or sheet transport vehicle, and the suction cup is released from its hold on the sheet product. Summary of the Invention
[0004] The objective of this invention is to provide preventative measures integrated into the remaining functions of the processing device in case of collisions between the holding unit of the processing device and / or the workpiece fixed to the holding unit and an obstacle during transport.
[0005] According to the present invention, this task is accomplished by the processing apparatus according to claim 1.
[0006] In the case of the present invention, if the holding unit and / or the workpiece fixed to the holding unit collides with an obstacle, the holding unit can perform an avoidance movement oriented towards the support structure. This avoidance movement is achieved by means of a guide element on the support structure side and a guide element on the holding unit side, and thus by means of components of the processing apparatus according to the present invention, which incidentally guide the holding unit when receiving and storing the workpiece.
[0007] The control device according to the invention for controlling the longitudinal mobility of a retaining unit oriented toward a load-bearing structure can selectively prevent a retaining unit located at an end position away from the load-bearing structure from performing an avoidance movement toward the load-bearing structure, or release the retaining unit to perform such an avoidance movement. For this purpose, the control device according to the invention comprises: a retaining unit-side shape-locking element connected to, and preferably integrally implemented with, a retaining unit-side guide element; and a load-bearing structure-side shape-locking element connected to, and preferably integrally implemented with, the load-bearing structure-side guide element. If the retaining unit is located at an end position away from the load-bearing structure, the retaining unit-side shape-locking element and the load-bearing structure-side shape-locking element form a shape lock, which substantially enables the retaining unit to perform an avoidance movement toward the load-bearing structure. Whether the retaining unit can actually perform such an avoidance movement or whether the retaining unit is prevented from performing such an avoidance movement depends on the magnitude of the clamping force applied by the retaining unit-side shape-locking element to the load-bearing structure-side shape-locking element, which is generated by a force generator controllable by the control device according to the invention.
[0008] If, during the transfer motion, the supporting structure and the holding unit move together in an area where there is no concern about the holding unit and / or the workpiece fixed to the holding unit colliding with obstacles, then the holding unit located at an end position away from the supporting structure is preferably prevented from making evasive movements toward the supporting structure.
[0009] If the holding unit is adjusted to an end position away from the load-bearing structure, and it is conceivable that the holding unit and / or the workpiece fixed to the holding unit will collide with an obstacle in the vicinity of the workpiece's receiving or placement location, then the control device according to the invention allows the holding unit arranged at an end position away from the load-bearing structure to make an avoidance movement toward the load-bearing structure, especially at the beginning or near the end of the transport movement of the load-bearing structure.
[0010] Regardless of the controllable collision protection described at the end position of the retaining unit away from the load-bearing structure, the processing apparatus according to the invention also provides the possibility of adjusting the retaining unit to a position on the load-bearing structure side. The retaining unit can be moved to a position on the load-bearing structure side, for example, so that the workpiece produced in the sheet separation process has been secured to the retaining unit and then removed from the remaining grid of the sheet processing.
[0011] Different structural types can be envisioned for the retaining element in the retaining unit used to fix the workpiece. For example, consider a controllable retaining suction cup or a controllable retaining magnet.
[0012] A specific embodiment of the processing apparatus claimed in claim 1 according to the present invention is shown in dependent claims 2 to 11.
[0013] According to claim 2, in a further improvement of the invention, the position of the holding unit along the trajectory of its adjustable movement affects the functional state of the transfer drive of the carrier structure of the processing apparatus according to the invention. If the detector of the preferred digital transfer drive control device determines that the holding unit is irregularly offset toward the carrier structure, the transfer drive motor of the transfer drive switches to collision mode. In particular, the transfer drive motor can be turned off to switch to collision mode. Alternatively, it is conceivable, for example, to control the transfer drive motor such that the speed of the transfer movement performed by the carrier structure is reduced.
[0014] In the case of the structure type of the invention according to claim 3, for simplicity, the adjusting drive motor is configured as a force generator to generate a varying clamping force between the retaining unit-side shape-locking element and the bearing structure-side shape-locking element. By means of this adjusting drive motor, the retaining unit is adjusted relative to the bearing structure to an end position away from the bearing structure and to at least one position on the bearing structure side. Alternatively, a separate force generator, such as at least one magnet having an adjustable attractive force, may be used to generate a varying clamping force between the retaining unit-side shape-locking element and the bearing structure-side shape-locking element.
[0015] In another configuration of the invention, the piston-cylinder unit is configured as an adjustment drive motor for holding the adjustment driver of the unit (claim 4).
[0016] Due to the high reliability of the processing device according to the invention and its good integration with other functions of the processing device, a pneumatic piston-cylinder unit is preferred in the case of the invention for adjusting the retaining unit relative to the support structure, and for generating a varying clamping force between the retaining unit-side shape-locking element and the support structure-side shape-locking element of the control device, which controls the longitudinal mobility of the retaining unit. Alternatively, in the case of the invention, a hydraulic or electric piston-cylinder unit can be envisioned, for example, as an adjusting drive motor for adjusting the retaining unit.
[0017] According to claim 5, in another preferred configuration of the processing apparatus according to the invention, when the holding unit-side guide element is offset relative to the bearing structure-side guide element in the direction toward the bearing structure, the holding unit has lateral mobility relative to the bearing structure in the lateral direction of the movement trajectory of the holding unit's adjustment movement. This is achieved by the holding unit-side guide element having clearance relative to the bearing structure-side guide element in the lateral direction of the movement trajectory of the holding unit's adjustment movement. In this embodiment of the invention, the holding unit can perform biaxial avoidance movement relative to the bearing structure.
[0018] To ensure the lateral mobility of the retaining unit configured for collision protection of the processing device according to the invention, the piston-cylinder unit is pivotally connected to the bearing structure on one hand and to the retaining unit on the other hand in the lateral direction of the movement trajectory of the adjusting movement of the retaining unit (claim 6).
[0019] In another preferred embodiment of the processing apparatus according to the invention, the retaining unit-side guide element is guided relative to the supporting structure-side guide element, and thus the retaining unit is also guided relative to the supporting structure in a backlash-free manner on the supporting structure in the transverse direction of the plane stretched by the longitudinal and transverse axes of mobility of the retaining unit (claim 7). The backlash-free direction is determined according to the application, especially when considering the direction of the transfer movement performed by the supporting structure.
[0020] According to claim 8, a sliding guide is provided for guiding the retaining unit side guide element perpendicular to the plane in a gapless manner.
[0021] In a preferred embodiment of the invention, the sliding guide has a sliding element, particularly a sliding block, for this purpose, which is arranged between the retaining unit-side guide element and the load-bearing structure-side support, which is connected to the load-bearing structure (claim 9).
[0022] In order to adjust the sliding guide of the retaining unit-side guide element and / or compensate for wear, in an improved embodiment of the present invention, the sliding element of the sliding guide for retaining the retaining unit-side guide element can be adjusted relative to the bearing structure side support in the direction toward the retaining unit-side guide element (claim 10).
[0023] In the case of the structural type of the invention according to claim 11, the holding unit is connected to the support structure of the processing device at multiple locations in the manner described above. For this purpose, the holding unit is provided with multiple adjustment actuators, multiple guide devices, and multiple control devices for controlling the longitudinal mobility of the holding unit. Attached Figure Description
[0024] The present invention will now be described in more detail based on exemplary schematic diagrams.
[0025] In the attached diagram: Figure 1 A handling apparatus with a load-bearing structure and holding unit is shown for loading and unloading sheet processing machines. Figure 2 Shown in magnified view Figure 1 Details II Figure 3 The diagram shows the position of the retaining unit at the end far from the load-bearing structure. Figure 2 The arrangement Figure 4 The diagram shows the position of the retaining unit at the end of the load-bearing structure side. Figure 2 The arrangement Figure 5a The guide elements on the load-bearing structure side and the guide elements on the retaining unit side are shown in accordance with... Figure 3 The mutual arrangement under the circumstances, and Figure 5b It shows Figure 5a The load-bearing structure side guide element and the retaining unit side guide element are based on Figure 4 The mutual arrangement under the condition of. Detailed Implementation
[0026] according to Figure 1 The processing device 1, configured for loading and unloading the sheet processing machine 2, has a support structure 3 and a workpiece-side holding unit 4. To process the sheet to be processed on the sheet processing machine 2 and / or the sheet preforms generated on the sheet processing machine, the support structure 3 and the holding unit 4 can be moved together in a transfer motion by means of a conventional CNC transfer drive 5 of the processing device 1. The holding unit 4 is provided with holding elements of a conventional structural type, in the form of different types of holding suction cups 6.
[0027] In order to receive the raw sheet to be processed on the sheet processing machine 2, the processing device 1 is moved above the stack of raw sheets (not shown). During the moving motion, the holding unit 4 is located at the end position away from the support structure 3. Figure 1 , Figure 3 , Figure 5a With the holding unit 4 in its end position away from the support structure, the support structure 3 is lowered, and the holding suction cup 6 abuts against the upper side of the uppermost original sheet arranged in the original sheet stack. By manipulating the holding suction cup 6, the original sheet loaded by the holding suction cup 6 is secured to the holding unit 4 in a conventional manner. With the holding unit 4 in its end position away from the support structure and the original sheet secured to the holding unit, the processing device 1 then moves to a position above the workpiece support of the sheet processing machine 2 (also not shown). By lowering the support structure 3 together with the holding unit 4 arranged in its end position away from the support structure, the original sheet is placed on the workpiece support of the sheet processing machine 2.
[0028] After the retaining suction cup 6 is released from the original sheet placed on the workpiece support, the processing device 1, with the retaining unit 4 arranged at the end position away from the supporting structure, moves to a waiting position in the vicinity of the sheet processing machine 2. The processing device 1 remains there until a sheet preform has been produced by separating the original sheet on the sheet processing machine 2. Then, the processing device 1 moves back to the workpiece support of the sheet processing machine 2 to receive the sheet preform produced by processing the original sheet there.
[0029] For this purpose, the supporting structure 3 and the retaining unit 4, located at the end position away from the supporting structure, are lowered toward the sheet preform until the corresponding retaining suction cup 6 is placed on the upper side of the sheet preform. After activating the retaining suction cup 6 in contact with the sheet preform, the retaining unit 4, together with the fixed sheet preform, is raised relative to the supporting structure 3 from the end position away from the supporting structure to the end position on the supporting structure side. Figure 2 , Figure 4 , Figure 5b ).
[0030] Two adjusting drives 7 and two guiding devices 8, spaced apart from each other in the longitudinal direction of the supporting structure 3, are used to perform the described movement of the holding unit 4 relative to the supporting structure 3. Figure 1 Adjustment driver 7 on the right side and Figure 1 The guide device 8 on the right side of the middle Figures 2 to 4 This is shown in detail in the text.
[0031] The regulating actuator 7 has a pneumatic piston-cylinder unit 9 as the regulating drive motor. The piston 10 of the piston-cylinder unit 9 is pivotally supported on the support and guide frame 12 of the support structure 3. Here, a support eyelet 13 provided on the piston 10 is passed through by the support shaft 14 of the support and guide frame 12. The direction of the pivotable movement of the piston 10 relative to the support structure 3 is... Figure 2 It is shown in the middle by double arrow 15.
[0032] The free end of the piston rod 11 of the piston-cylinder unit 9 is pivotally fixed to the retaining unit 4. Figure 3 ).
[0033] By means of the piston-cylinder unit 9 moving along the trajectory that raises the retaining unit 4 to the end position on the side of the load-bearing structure and lowers it to the end position away from the load-bearing structure, Figures 3 to 5b The axis of motion 16 is shown as a dashed line.
[0034] During the adjustment movement of the retaining unit 4, the retaining unit 4 is guided on the supporting structure 3 by means of the guiding device 8. The guiding device 8 includes a supporting structure side guiding element 17 connected to the supporting structure 3 and a retaining unit side guiding element 18 connected to the retaining unit 4 on both sides of the piston-cylinder unit 9.
[0035] In the transverse direction of the motion axis 16, there is a gap 19 between the unit-side guide element 18 on one side and the load-bearing structure-side guide element 17 on the other side, and thus there is clearance.
[0036] The trapezoidal retaining unit side shape locking element 20 is integrally implemented with each retaining unit side guide element 18. On both sides of the piston-cylinder unit 9, the bearing structure side shape locking element 21 is integrally implemented with the bearing structure side guide element 17. The bearing structure side shape locking element 21 has an inner contour that is complementary to the outer contour of the respective associated retaining unit side shape locking element 20.
[0037] The retaining unit side shape locking element 20 and the bearing structure side shape locking element 21 are part of the control device 28, which is used to control the longitudinal mobility of the retaining unit 4 relative to the bearing structure 3 along the motion axis 16.
[0038] If the retaining unit 4 is lowered relative to the supporting structure 3 to an end position away from the supporting structure ( Figure 1 , Figure 3 , Figure 5a If the shape locking element 20 on the retaining unit side is engaged with the shape locking element 21 on the bearing structure side, then a shape lock is generated.
[0039] Based on the magnitude of the force applied by the piston-cylinder unit 9 to the retaining unit located at the end of the retaining unit 4 away from the load-bearing structure, the retaining unit side shape locking element 20 presses against the load-bearing structure side shape locking element 21 with a larger or smaller clamping force.
[0040] If the pressure inside the piston 10 of the piston-cylinder unit 9 is set to a relatively low value, the retaining unit 4 has longitudinal mobility along the motion axis 16, and the retaining unit 4, located at an end position away from the load-bearing structure, can perform a avoidance movement relative to the load-bearing structure 3 along the motion axis 16 toward the load-bearing structure 3. When the raw sheet is placed on the workpiece support of the processing machine 2 and / or when a sheet preform is received from the workpiece support, the pressure inside the piston 10 of the piston-cylinder unit 9 is set to a relatively low value for collision protection of the processing device 1. Under these operating conditions, there is a particular risk of collision between the retaining unit 4 or the workpiece fixed to the retaining unit 4 and obstacles.
[0041] If the pressure inside the piston 10 of the piston-cylinder unit 9 is set to a large value, the retaining unit side shape locking element 20 applies a large clamping force to the bearing structure side shape locking element 21, thereby preventing the retaining unit 4 from making avoidance movements toward the bearing structure 3 along the motion axis 16.
[0042] This adjustment of the pressure inside the piston 10 of the piston-cylinder unit 9 is selected during a phase of the transfer motion implemented by the processing device 1, in which the risk of collision between the holding unit 4 or the workpiece fixed to the holding unit 4 and an obstacle is at most low. By reliably fixing the holding unit 4 at an end position away from the load-bearing structure, accidental displacement of the holding unit 4 in the direction of the load-bearing structure 4 and the undesirable response of the collision protection of the processing device 1 associated therewith are effectively prevented.
[0043] If the shape locking element 20 and the guide element 18 on the retaining unit side are offset relative to the shape locking element 21 and the guide element 17 on the bearing structure side towards the bearing structure 3 due to the collision between the retaining unit 4 or the workpiece fixed on the retaining unit 4 and the obstacle, then the retaining unit 4 can perform avoidance movement relative to the bearing structure 3 in the transverse direction of the motion axis 16, in addition to the avoidance movement along the motion axis 16.
[0044] The avoidance movement of the retaining unit 4 in the lateral direction of the motion axis 16 can be achieved through the clearance existing between the retaining unit-side guide element 18 and the bearing structure-side guide element 17 in the lateral direction of the motion axis 16. The axis 22 of the lateral mobility of the retaining unit 4 is... Figure 5a and Figure 5b It is shown in the middle with a dotted line.
[0045] Figure 5a The condition is shown at the end of the retaining unit 4 furthest from the load-bearing structure. When the clamping force between the retaining unit-side shape-locking element 20 and the load-bearing structure-side shape-locking element 21 is small, in the event of a collision, the retaining unit-side guide element 18 can, together with the retaining unit 4, perform an avoidance movement oriented towards the load-bearing structure 3 relative to the load-bearing structure-side guide element 17 and the load-bearing structure 3 along the axis of motion 16. If the retaining unit-side shape-locking element 20 presses against the load-bearing structure-side shape-locking element 21 with a correspondingly large clamping force, then in the event of a collision, the retaining unit 4 is prevented from performing an avoidance movement oriented towards the load-bearing structure 4.
[0046] Perpendicular to Figure 5a and Figure 5b The drawing plane is formed by the motion axis 16 (the axis of longitudinal mobility of the retaining unit 4) and the lateral mobility axis 22 of the retaining unit 4. The retaining unit side guide element 18 and the retaining unit 4 are supported on the bearing structure 3 in a clearance-free manner.
[0047] For this purpose, sliding guides 29 are provided on both sides of the piston-cylinder unit 9. Figure 2 The sliding guides 29 are formed by sliding elements arranged on both sides of the relevant retaining unit side guide element 18. The sliding blocks 31 provided on both sides of each retaining unit side guide element 18 serve as sliding elements. Figure 2 The only visible component is the sliding block 31 on the observer-facing side of the two retaining unit side guide elements 18.
[0048] In order to adjust the sliding guide 29, and especially to compensate for wear-related clearance in the sliding guide 29, the sliding block 31 can be adjusted relative to the bearing structure side support 32 in the direction toward the relevant retaining unit side guide element 18.
[0049] To protect the processing unit 1 from collisions, the irregular avoidance movement of the holding unit 4, located at the end away from the load-bearing structure, along the motion axis 16 toward the load-bearing structure 3 causes corresponding control of the transfer drive 5. For this purpose, a digital transfer drive control device 23 for the transfer drive 5 is configured. Figure 1The diagram is shown in a strongly schematic manner. The transfer drive control device 23 includes a detector 24, by means of which the current position of the holding unit 4 is located relative to the support structure 3 along the motion axis 16 of the adjusting movement of the holding unit 4. In the comparison unit 25 of the transfer drive control device 23, the current position of the holding unit 4 is compared with the expected position stored in the transfer drive control device 23, in which the holding unit 4 is located relative to the support structure 3 along the motion axis 16 of the adjusting movement of the holding unit 4 in the collision-free state of the processing device 1. If the comparison between the current position and the expected position of the holding unit 4 reveals a relevant deviation between the current position and the expected position, the transfer drive motor 27 of the transfer drive 5 is switched to collision mode by means of the switching device 26, stopping it in the example shown.
[0050] Figure 5b The condition at the end position of the holding unit 4 on the support structure side is shown. By means of the piston-cylinder unit 9, the holding unit 4 is raised relative to the support structure 3 along the axis of motion 16 to the position shown so that the sheet preform fixed to the holding unit 4 can be separated from the remaining grid on the workpiece support of the processing machine 2 after sheet separation processing. To remove the sheet preform, the support structure 3, the holding unit 4 located at the end position on the support structure side, and the sheet preform fixed to the holding unit are first raised relative to the workpiece support. Then, the holding unit 4 with the sheet preform is lowered relative to the support structure 3 to an end position away from the support structure and secured by applying high pressure to the piston 10 of the piston-cylinder unit 9 for subsequent transfer movements of the processing device 1 in the end position away from the support structure.
Claims
1. A processing apparatus for processing workpieces, preferably plate-shaped workpieces, especially sheet-shaped workpieces, said processing apparatus comprising: • A support structure (3), which is movable by means of a transfer drive (5) in a transfer motion, for processing the workpiece. • A workpiece-side holding unit (4), which is disposed on the bearing structure (3) and has at least one holding element (6), the holding element being configured to abut against the workpiece and to fix the workpiece to the holding unit (4). • Adjustment driver (7), the adjustment driver is used for the holding unit (4), the adjustment driver has an adjustment drive motor (9), by means of the adjustment drive motor, the holding unit (4) can be moved relative to the bearing structure (3) to an end position away from the bearing structure and at least one position on the bearing structure side in an adjustable motion manner, the position on the bearing structure side being positioned relative to the end position away from the bearing structure or toward the bearing structure (3) along the motion trajectory (16) of the adjustment motion; as well as • A guiding device (8) by means of which the holding unit (4) is guided on the support structure (3) during the adjustment movement, and the guiding device has a support structure side guiding element (17) movably connected to the support structure (3) and a holding unit side guiding element (18) movably connected to the holding unit (4). Its features are, • A control device (28) is provided for controlling the longitudinal mobility of the retaining unit (4) relative to the supporting structure (3), the longitudinal mobility being oriented toward the supporting structure (3) along the motion trajectory (16) of the adjusting movement of the retaining unit (4), the control device having: - A retaining unit side shape locking element (20) is connected to the retaining unit side guide element (18). - A shape-locking element (21) on the load-bearing structure side, which is connected to the guide element (17) on the load-bearing structure side, and - A controllable force generator • Wherein, at the end position of the retaining unit (4) away from the load-bearing structure, the retaining unit-side shape-locking element (20) and the load-bearing structure-side shape-locking element (21) generate a shape lock with controllable degrees of freedom. Due to the shape lock, the retaining unit-side guide element (18) has a controllable degree of freedom relative to the load-bearing structure-side guide element (17) in the direction toward the load-bearing structure (3), and • The degree of freedom of the retaining unit side guide element (18) relative to the bearing structure side guide element (17) is controllable in that a clamping force is generated by means of the force generator at the end position of the retaining unit (4) away from the bearing structure, by means of the clamping force, the retaining unit side shape locking element (20) loads the bearing structure side shape locking element (21), and the clamping force can be adjusted in terms of magnitude so that the retaining unit side guide element (18) can or cannot be offset relative to the bearing structure side guide element (17) in the direction toward the bearing structure (3), and thus the longitudinal mobility of the retaining element (4) is selectively present or prevented.
2. The processing apparatus according to claim 1, characterized in that, A transfer drive control device (23) is provided, which is used for the transfer drive (5) of the support structure (3). The transfer drive control device has: • The detector (24) is able to detect the current position of the holding unit (4) relative to the support structure (3) along the motion trajectory (16) of the adjustment movement of the holding unit (4) in the current position. • The comparison unit (25) enables the comparison of the current position of the holding unit (4) with the expected position of the holding unit (4) in which the holding unit (4) is located in the expected position relative to the support structure (3) along the motion trajectory (16) of the adjustment movement of the holding unit (4) in the collision-free state of the processing device. • A switching device (26) is connected to the comparison unit (25), and if the current position of the holding unit (4) deviates from the proper position of the holding unit (4), the transfer drive motor (27) of the transfer driver (5) can be switched to collision mode by means of the switching device.
3. The processing apparatus according to any one of the preceding claims, characterized in that, The adjustment drive motor (9) of the adjustment driver (7) is configured as the force generator of the control device (28). The adjustment driver is used for the holding unit (4), and the control device is used to control the longitudinal mobility of the holding unit (4).
4. The processing apparatus according to any one of the preceding claims, characterized in that, The piston-cylinder unit, preferably a pneumatic piston-cylinder unit, is configured as the adjustment drive motor (9) of the adjustment driver (7), which is used for the holding unit (4).
5. The processing apparatus according to any one of the preceding claims, characterized in that, When the retaining unit side guide element (18) is offset relative to the bearing structure side guide element (17) in the direction toward the bearing structure (3), the retaining unit (4) has lateral mobility relative to the bearing structure (3) in the lateral direction of the movement trajectory (16) of the retaining unit (4) in the lateral direction of the movement trajectory (16) of the adjustment movement of the retaining unit (4), in such a way that the retaining unit side guide element (18) has clearance relative to the bearing structure side guide element (17) in the lateral direction of the movement trajectory (16) of the adjustment movement of the retaining unit (4).
6. The processing apparatus according to claims 4 and 5, characterized in that, In the transverse direction of the motion trajectory (16) of the adjustment movement of the retaining unit (4), the piston-cylinder unit is pivotally connected to the bearing structure (3) on one hand and to the retaining unit (4) on the other hand.
7. The processing apparatus according to claim 5 or claim 6, characterized in that, The retaining unit side guide element (18) is guided on the bearing structure (3) in a clearance-free manner in the transverse direction of the plane stretched by the longitudinal movable axis and the transverse movable axis (22) of the retaining unit (4).
8. The processing apparatus according to claim 7, characterized in that, The retaining unit side guide element (18) is guided on the bearing structure (3) in a backlash-free manner by means of the sliding guide (29).
9. The processing apparatus according to claim 8, characterized in that, The sliding guide (29) is formed by means of a sliding element (31) arranged between the retaining unit side guide element (18) and the bearing structure side support (32), the bearing structure side support being connected to the bearing structure (3).
10. The processing apparatus according to claim 9, characterized in that, The sliding element (31) can be adjusted relative to the bearing structure side support (32) in the direction toward the retaining unit side guide element (18).
11. The processing apparatus according to any one of the preceding claims, characterized in that, The adjustment driver (7) for the holding unit (4) is configured as a first adjustment driver, the guide device (8) is configured as a first guide device, and the control device (28) for controlling the longitudinal mobility of the holding unit (4) is configured as a first control device, and at least one additional adjustment driver (7) and / or an additional guide device (8) and / or an additional control device (28) are additionally provided.