Arrangement for processing and measuring workpieces that are manufactured or processed manually and / or industrially, and method for operating an arrangement that is designed to process and measure such workpieces

Abstract

Arrangement (1) for processing and measuring workpieces (7) which are manufactured or processed manually and / or industrially, the arrangement (1) comprising: - a transport device (3) for receiving and transporting at least one workpiece (7), wherein the transport device (3) is movable freely along mechanically predetermined paths, - a measuring sensor (12) for measuring the workpiece (7) picked up by the transport device (3) in a measuring range of the arrangement (1) or for measuring at least one of the workpieces (7) picked up by the transport device (3) in a measuring range of the arrangement (1), wherein the measuring sensor (12) is movably arranged on a sensor base (10) of the arrangement (1), relative to which the transport device (3) is movable, - a machining tool (16) for machining the workpiece (7) picked up by the transport device (3) or at least one of the workpieces (7) picked up by the transport device (3), in a machining area of ​​the arrangement (1), wherein the machining tool (16) is movably arranged on a tool base (14) of the arrangement (1), relative to which the transport device (3) can be moved.

Description

The invention relates to an arrangement for processing and measuring workpieces which are produced or processed manually and / or industrially. The invention further relates to a method for operating such a measuring arrangement. The measuring arrangement has at least one machining tool for machining at least one workpiece.The machining of workpieces frequently takes place in multiple axes. This is to be understood to mean that the machining tool and the workpiece are moved relative to one another with respect to more than one movement axis, namely before and / or during the machining. In particular, the relative movement is still multiaxial even if the possible advancement of a machining tool during machining is disregarded. Thus, a multiaxial relative movement takes place in the case of a tool operating with propulsion, which moves the workpiece and the tool with respect to more than one axis of a linear movement and / or axis of a rotational movement. The multiaxial relative movement can take place before and / or during the machining of the workpiece by the machining tool or else by a plurality of machining tools. However, the scope of the invention also includes the cases where no propulsion takes place during the machining of the workpiece or the propulsion (in particular a rectilinear relative movement between the machining tool and the workpiece) is to be regarded as part of the multiaxial relative movement.Multiple axis movements are not absolutely necessary in machining processes in which material is added or a shaping of the workpiece takes place using a production mould. In these cases too, however, multiaxial relative movements can be advantageous. For example, a 3D printer may each apply material to the workpiece from above and may be moved to various positions relative to the material application tool and / or otherwise oriented during machining and / or between individual machining steps.In particular in the case of complex geometries of workpieces with, for example, undercuts, but also in other cases, a multiaxial mobility of the measurement sensor relative to the workpiece is likewise required for the measurement of the respective workpiece during and / or the machining. As already indicated above, multiaxial is understood to mean that a relative movement can take place with respect to more than two of the six independent degrees of freedom of movement, the three linear degrees of freedom of movement and the three rotational degrees of freedom of movement. In tomographic measuring methods too, a multiaxial relative movement between the measuring sensor and the workpiece to be measured frequently takes place, for example a rotational movement of the workpiece about an axis of rotation and additionally a linear (i.e. rectilinear) movement of the radiation source along the axis of rotation. In non-tomographic measuring methods, a multifunctionality of workpieces and combinations of workpieces which is increasing in the present time may require the use of a plurality of, and in particular different, sensors in order to be able to check all desired features of the workpiece or workpieces on the basis of the measurement data generated by the sensors.In particular in an industrial manufacturing environment, which is intended to enable a plurality of processing steps by means of e.g. a plurality of different types of processing tools, flexibility with regard to the adaptation of the processing sequence to different manufacturing processes is desirable. Furthermore, the surface or space available for manufacture should be used as optimally as possible. The classic line structure of manufacture has disadvantages in this regard, since the transport of the workpieces takes place predominantly in a straight line and therefore fundamentally long straight spaces are required. If individual machining steps are no longer required in another manufacturing process or a higher number of machining steps is required, the manufacturing line must be changed in a complicated manner. More modern concepts therefore include processing machines with robots that are movable, for example, in multiple axes, wherein a plurality of processing tools can process the workpiece simultaneously or successively while the workpiece is located in an unchanged position. However, linear transport of the workpiece continues to take place to and from the location at which it is machined. For transport, the usual linear conveying devices such as conveyor belts and roller or roller transport devices are used. Transport devices with guide rails for the suspended transport of the workpieces are also customary. Guides also make possible the transport through path curves and on straight paths oriented as desired. However, the movement path is fixed. There are, if need be, branches in the manner of switches at which it can be decided on which of a plurality of predetermined paths the transport is continued.DE 20 2018 101 018 U1 describes an occupancy detection device for occupancy detection of components in a workpiece carrier comprising a plurality of mold cavities. The workpiece carrier can be moved to a machining location manually or by means of an autonomously movable transport device. For the occupancy detection of the form cavities, information can be recorded by means of a camera or by means of a brightness sensor as a function of the brightness and / or the color tone.DE 10 2014 117 978 A1 describes the tactile-optical measurement of geometric features or structures on a workpiece.It is an object of the present invention to specify a measuring arrangement for measuring workpieces which are produced or processed manually and / or industrially, and / or a method for operating such a measuring arrangement, which easily make it possible to adapt to different production processes or sequences of processing workpieces. In particular, it should be possible to measure workpieces which are produced and / or processed differently from in conventional production lines.This object is achieved by an arrangement for machining and measuring workpieces having the features of claim 1 and by a method for operating such an arrangement having the features of claim 6. Practical refinements and advantageous embodiments of the invention are specified in the dependent claims.It is proposed to transport at least one workpiece by means of a transport device which can be moved away freely from mechanically predetermined paths into a measurement region in which the workpiece is measured by at least one measurement sensor. Since the transport device is not transported by mechanical means such as guide rails or a permanently installed conveying device, there is flexibility with respect to adapting to any desired production processes. The measuring arrangement therefore has at least the transport device and a measurement sensor. The measurement sensor can be a manually guided measurement sensor. However, it is preferred that the at least one measurement sensor is arranged on a sensor base, namely either fixedly positioned relative to the base or movable relative to the base. In the case of the movable arrangement of the sensor on the sensor base, this allows a single-axis or multi-axis movement of the sensor relative to the base to take place. Furthermore, the movement with respect to at least one movement axis can be effected manually and / or automatically.In order to avoid a line connection to the transport device, the transport device can also have an energy store for supplying the drive with energy in the case of its own drive for movement. Furthermore, for the same purpose of avoiding lines, at least one transmitting / receiving unit can be arranged on the transport device and can be carried along, which enables a lineless signal transmission to and / or from the transport device in communication with at least one remote transmitting / receiving unit. In particular, the transport device can receive control signals via the transmitting / receiving unit and / or transmit signals with respect to its operation. Received control signals can be used, for example, for controlling the movement and / or for positioning the at least one workpiece picked up by the transport device, or for positioning one or more of the picked up workpieces relative to a transport frame of the transport device, in particular a chassis of a vehicle.The positioning of the workpiece or workpieces relative to the transport rack can be effected with respect to one or more axes of the rectilinear movement and / or with respect to at least one axis of a rotary movement. In this case, a mechanical axis does not have to correspond to these axes. In particular, different rectilinear or rotational movement components can be carried out simultaneously.The positioning of the workpiece or workpieces relative to the chassis can be carried out in particular as fine positioning after or while the transport device roughly positions the workpiece. With respect to at least one axis of the positioning, however, a rough positioning of the workpiece relative to the transport frame can also take place. For example, in the case of a vehicle, the vehicle may bring the workpiece relative to the ground beneath the vehicle to any position of a plane extending along the course of the ground. During and / or thereafter, the positioning device of the transport device can roughly and / or finely position the workpiece with respect to the other four degrees of freedom of movement, insofar as the respective degree of freedom is adjustable.In contrast to a rough positioning, a fine positioning is understood to mean that the position can be set more precisely with respect to the respective degree of freedom of movement. In particular, the position in the fine positioning can be adjusted in smaller steps than the rough positioning or continuously. However, the range of movement of the fine positioning is generally smaller than in the case of the rough positioning.The mentioned wireless communication does not mean that the signals transmitted via the wireless connection must be transmitted continuously wireless between the sender and the receiver. Rather, a unit of the transport device, for example, which receives control signals, can be connected to the transmitting / receiving unit of the transport device via a signal connection. At the opposite end of the signal transmission connection, a transmission / reception unit for wireless communication with the transmission / reception unit of the transport device can in turn be followed by a line connection which leads to the sender of the control signals or at least part of the control signals or leads to a receiver for signals about the operating state of the transport device. In particular, the transmitting / receiving unit of the transport device can be incorporated into a signal transmission network, so that it can transmit signals not only to a further transmitting / receiving unit and can receive them from it, but to a plurality of such units or of such units.The wireless signal transmission can be, for example, a transmission by radio (such as, for example, in a mobile radio network), an optical communication (for example via light signals in the visible range or in the infrared range) and / or a different wireless signal transmission, such as, for example, by means of ultrasound.According to an advantageous embodiment of the invention, the transport device transports the at least one picked-up workpiece not only into at least one measurement region, but also into at least one machining region in which the workpiece or at least one of the picked-up workpieces is machined by means of at least one machining tool. The machining tool could be a hand-guided machining tool. According to the claims, the at least one machining tool operable in the machining area is arranged on a tool base. With regard to the relative movement with respect to the base, which is preferably present, wherein fixed positioning is also possible, the same applies as before and also below to the movement of the at least one measurement sensor on its sensor base. This relates in particular to the properties of the movement device, the degrees of freedom of movement and the coarse or fine positioning.Since the same transport device can transport the workpiece or workpieces both to at least one measurement region and to at least one processing region, a very flexible configuration of the production of workpieces is realized with the simultaneous possibility of measuring the workpieces. Manufacturing and surveying processes can be changed in a simple manner and without high outlay. It is also possible for at least one of the measurement regions and / or one of the processing regions to be used for a plurality of parallel production processes. If, for example, the duration of the measurement of a workpiece which is produced in a first production process is short compared to the duration for the machining of the workpiece in at least one machining region, then workpieces which are produced in different production processes can be measured successively and / or simultaneously in the same measurement region.At least one base, e.g. a sensor base or a tool base, can be stationary and can be connected, e.g. firmly, to a floor, a wall or a ceiling of a room of the measuring arrangement. It is preferred that the fastening is releasable and fastening of the base can be produced again at another location. In particular during operation of the measuring arrangement, however, the position of the base is unchanged. The operation of the measuring arrangement is to be considered in particular to be equivalent to carrying out a production process, the part of which is the measurement of workpieces produced in the production process.In the case of the fixed positioning of the respective base (for example on a floor), mobility of the at least one measurement sensor / machining tool arranged on the base is preferred. This reduces the degrees of freedom of the movement and / or the size of the movement regions which must be provided by a movement device of the transport device for moving the workpiece or workpieces relative to the transport device (in particular relative to a transport frame). The movement device, which allows a movement between the base and the measurement sensor / tool, also makes it possible to change the sequence of a production process. In particular, the used or available part of the measurement range or of the processing range can thereby be changed.It is preferred that the measuring arrangement has a plurality of the transport devices, each of which is configured to pick up and transport one or more workpieces. In particular, the transport devices can be configured identically. In this way, in particular a simultaneous execution of the measurement of workpieces in different measurement regions and / or a simultaneous machining of workpieces in different machining regions is possible. In particular, a transport device is also present for each workpiece which is simultaneously located in the process phase of the surveying, and in the case of the association of the measurement process with a production process, for each workpiece which is located in the production process including the surveying process, wherein, as mentioned, at least one transport device can also record a plurality of workpieces simultaneously.In general, it is preferred that the transport device has a smaller dimension than the average distance of a plurality of measurement areas and / or processing areas present. When both measurement areas and machining areas are present, the average distance is the average of the distance given for each pair of adjacent areas. Adjacent regions may be locally adjacent regions. Alternatively, when there is an order of conveying workpieces with a chain of regions, adjacent regions may be the regions consecutive in the chain.Preferably, however, the movement device of the transport device has a greater number of degrees of freedom of movement with respect to the movement of the respective workpiece relative to a transport frame of the transport device than the mobility of at least one measurement sensor relative to the sensor base on which it is arranged and / or than the mobility of at least one machining tool relative to the tool base on which it is arranged. Degrees of freedom of movement are understood to mean degrees of freedom that are independent of one another. Altogether, six independent degrees of freedom of movement are available for the relative movement of two bodies, three translatory or linearly movable and three rotatory degrees of freedom.The movement device of the transport device preferably enables a movement of the respective workpiece relative to the transport frame with respect to all six degrees of freedom of movement. In particular, if the measurement sensor or the machining tool is rotationally symmetrical, such as the contact ball of a tactile probe, or if the measurement sensor is rotatable about an axis of rotation relative to the sensor base or the machining tool is rotatable relative to the tool base, a corresponding rotational degree of freedom of the movement device of the transport device can be dispensed with. In this case, the movement device therefore only has two rotational degrees of freedom of movement. However, it preferably also has three linear degrees of freedom of movement in this case.The provision of degrees of freedom of the movement by the transport device and in particular also of such degrees of freedom of the movement which do not already exist as a result of the movement, for example along a floor, has the advantage that in any case not all measurement sensors and machining tools present in the measurement arrangement have to be configured to be movable in such a way as the measurement or machining of the workpiece requires.In the case of a transport device which transports at least one workpiece above a ground, it is preferred that the transport frame of the transport device (e.g. chassis of a vehicle) is steerable with respect to the transport direction. In this way, three degrees of freedom of movement can already be provided by the transport, two linear degrees of freedom along the ground and one rotational degree of freedom about an axis which runs perpendicular to the ground.In the event that the movement of the transport frame of the transport device does not allow a sufficiently fine positioning, at least one of the three degrees of freedom of movement of the same can also be provided by the movement device which allows a movement of the respective workpiece relative to the transport frame.It should be noted here in general that the movement device can have a one-piece movement mechanism, as is the case, for example, with an articulated arm robot, or a multi-piece movement device with regions which are mechanically separated from one another. Preferably, however, in each case a common control of the movement is realized for the entire movement device of the transport device for the movement of a single workpiece or a plurality of workpieces. As already mentioned and explained in more detail, control signals can be transmitted to the transport device and received by it, and these control signals can be converted by a positioning device of the transport device into corresponding control signals for controlling at least one actuator for generating a movement.Examples of actuators are electric motors with a stator and a rotatable rotor and linear motors. In particular for fine positioning, other actuators such as, for example, piezo actuators can also be used. In a piezoelectric actuator, the piezoelectric effect is utilized, wherein an electrical voltage is applied to the actuator by the positioning device. The use of mechanically movable actuators does not exclude that alternatively or additionally also other movement principles are used, for example the inflation and deflation of air from a volume with movable envelope, so that the workpiece abutting the envelope is positioned.As will be explained in more detail below, the position and / or orientation of the workpiece in the measurement region or machining region can be determined absolutely or relative to the transport frame or relative to the measurement sensor or machining tool or a coordinate system in the measurement region or machining region by optical detection of the workpiece. In this case, for example, camera systems known per se, for example at least one stereo camera pair and / or a combination of at least one camera and a pattern projector, are used. However, any other method, in particular with optical detection, can alternatively be used for determining the position and / or orientation of the workpiece. Alternatively or additionally, methods for more coarsely locating the workpiece and / or for determining the presence of the workpiece can also be used. In this case, as an alternative or in addition to optical sensors, other sensors such as, for example, ultrasonic sensors can be used.According to claim 1, an arrangement is proposed for processing and measuring workpieces which are produced or processed manually and / or industrially, wherein the measuring arrangement comprises:a transport device for receiving and transporting at least one workpiece, wherein the transport device is movable away free of mechanically predetermined paths,a measurement sensor for measuring the workpiece, which is received by the transport device, in a measurement range of the arrangement or for measuring at least one of the workpieces, which are received by the transport device, in a measurement range of the arrangement, wherein the measurement sensor is arranged movably on a sensor base, relative to which the transport device can be moved,a machining tool for machining the workpiece picked up by the transport device or at least one of the workpieces picked up by the transport device, in a machining region of the arrangement, wherein the machining tool is movably arranged on a tool base of the arrangement, relative to which the transport device can be moved forward.Furthermore, a method is proposed for operating an arrangement which is designed to process and measure workpieces which are produced or processed manually and / or industrially, wherein:a transport device, of which at least one workpiece is received, moves freely of mechanically predetermined paths and thereby transports the at least one received workpiece,the transport device transports the at least one picked-up workpiece into a measurement region in which the workpiece or at least one of the workpieces which is / are transported by the transport device is measured by at least one first measurement sensor which is arranged movably on a first sensor base,the transport device also transports the at least one picked workpiece into a first machining area in which the workpiece or at least one of the workpieces which is / are transported by the transport device is machined by at least one first machining tool which is arranged movably on a first tool base.Features and embodiments of the arrangement and the method are described below. In this case, in each case one embodiment of the method can be configured in accordance with a described embodiment of the arrangement and vice versa.The transport device is freely movable away from mechanically predetermined paths, i.e. it allows a movement (locomaction) to other locations together with the at least one workpiece transported thereby, which is not predetermined by mechanical means such as mechanical guides or conveyor belts. This does not exclude that the travel of the transport device can be limited by mechanical means, such as walls of a manufacturing shop or sleepers at the edge of areas into which the transport device is not to move.In particular, the transport device allows a movement on a ground at least with respect to two linear degrees of freedom of movement which run perpendicular to one another and parallel to the ground. If the surface of the floor does not extend or does not extend completely in a plane, the direction of the two linear degrees of freedom of movement depends on the location at which the transport device is located. Preferably, the transport device is supported on the ground. Examples of such transport devices are vehicles running on wheels, vehicles floating on air cushions above the ground, transport devices moving over the ground by means of articulated supports, for example in the manner of persons or animals running on the ground, and vehicles running on chains. In particular, the transport device can be lowered at the end of a movement on the ground. As a result, for example in the case of an air cushion transport device, a stable and unambiguously defined positioning of the transport device over the ground is possible.However, it is also possible for the transport device to be movable without support on a floor or on the existing floor. This is the case, for example, with a drone. Unlike air bags which provide support to a ground, drones and other aircraft are floating or flying due to the acceleration of matter such as air or rocket fuel.In particular, the transport device has a transport frame, in the case of a vehicle a chassis, on which preferably at least one movement device for moving the transport device in the surrounding space and / or at least one support device for supporting the transport device on the ground is / are arranged and in particular is / are fastened thereto.The measurement sensor for measuring the workpiece or the workpieces is arranged movably on a sensor base. For example, a sensor holder is connected to the sensor base, and various measurement sensors can be sequentially arranged on the sensor holder, so that a measurement sensor currently arranged on the sensor holder can be replaced with another measurement sensor.The measurement sensor can be a sensor that measures contactless or a tactilely measuring sensor. Examples of non-contact measuring sensors are optical measuring sensors, for example imaging sensors such as cameras, in particular digital cameras for generating one-dimensional or two-dimensional images, capacitive or inductive sensors, in particular distance sensors, sensors measuring the focus of reflected radiation and thus sensors measuring the distance to the workpiece, X-ray radiation, positron radiation, neutron radiation or other invasive radiation, in particular for generating computer tomographic reconstructions of workpieces and laser interferometers. In particular in the case of a camera, this can be combined with a pattern projector for projecting radiation patterns on the workpiece to be measured. Preferably, the pattern projector as well as the measurement sensor is arranged, fixedly positioned or movable on the sensor base. Examples of tactilely measuring sensors are sensors with at least one stylus, for example with control of the touching force or with measurement of the deflection travel, and tactile sensors of the switching type.It is preferred that the measurement data obtained using the sensor and preferably using a plurality of sensors are suitable for ascertaining coordinates of at least one surface or boundary surface of the workpiece. Sensors suitable for this purpose can therefore also be referred to as coordinate measuring sensors. All examples of sensors mentioned in the preceding paragraph are suitable for this purpose.In particular, the at least one sensor is configured to automatically measure the workpiece or the workpieces.In particular, the measuring operation of at least one measuring sensor of the measuring arrangement and / or the machining operation by at least one machining tool of the arrangement can be carried out using control signals which are transmitted at least in sections in a line-less manner between components of the arrangement such as transport devices, machine tools, machining tools, movement devices, positioning devices, position detection devices and / or measuring sensors. In particular, at least with respect to the measurement of one or more tools in at least one measurement range of the measurement arrangement and / or with respect to the machining of at least one tool in at least one machining range, a controller can be provided in each case, which controls the measurement or machining in this range. In a specific embodiment, the control unit is arranged in a fixed manner on the measurement region or machining region or is at least not located on the transport device, from which the workpiece to be measured or machined is received. Alternatively, however, the control can be carried out by the transport device, so that it is transported along to the respective measurement region or processing region. This has the advantage that the controller can already have information and in particular all information for controlling the measurement or machining which is required with respect to the workpiece transported by the transport device.The arrangement is also designed for machining the workpiece which is received by the transport device or for machining at least one of the workpieces which are received by the transport device and for this purpose has at least one machining tool which is arranged movably on a tool base. The transport device is movable relative to the tool base.In a preferred embodiment of the method, the transport device therefore transports the at least one workpiece to at least one first machining region in which machining by at least one machining tool arranged on the tool base is possible. The transport device also transports the at least one workpiece by means of the same transport device into a measurement region in which a measurement of the workpiece or the workpieces by at least one measurement sensor is possible, which is arranged on the sensor base. Preferably, the same transport device also transports the at least one workpiece into a second, different processing region than mentioned above, in which processing of the workpiece or at least one of the workpieces which are transported by the transport device is possible by at least one second processing tool which is arranged on a second tool base. Alternatively or additionally, the same transport device can also transport the at least one workpiece into a second measurement region, different from the aforementioned measurement region, in which measurement of the workpiece or at least one of the workpieces which are transported by the transport device is possible by at least one second measurement sensor which is arranged on a second sensor base. It is also possible for more than two different machining regions and / or more than two different measurement regions to be present, into which the transport device can transport or transport the at least one picked-up workpiece. For each of these regions, a (in particular stationary) base is present on which at least one machining tool or, in the case of a sensor base, at least one measurement sensor is arranged. The at least one machining tool or the at least one measurement sensor can / can be fixedly positioned or movable relative to the base.In particular, the measuring arrangement including all measuring sensors and, if present, including all machining tools and any associated movement devices for moving the measuring sensors and the machining tools can be configured to transmit signals with control information, in particular for moving parts of the measuring arrangement, and signals for transmitting information about operating states of parts of the measuring arrangement, and signals with measurement data from the measurement of workpieces exclusively via signal connections which are line-free at least in sections. This makes it possible to rearrange the parts of the measuring arrangement, for example in the case of reconfiguration for another production process, without changing continuous signal transmission lines or at least changing connections thereto. In a simpler embodiment of the measuring arrangement, the signals mentioned are transmitted at least to and from at least one transport device and / or at least to and from at least one measurement sensor and / or to and from at least one machining tool only via connections which are cableless at least in sections. In this simple embodiment, the flexibility is then implemented in each case for at least one transport device, a measurement sensor and / or a machining tool. Preferably, the transmission of signals realized exclusively via signal connections that are wireless at least in sections is realized for a plurality of transport devices, a plurality of measurement sensors, in particular for different measurement ranges, and / or a plurality of tools, in particular for different machining ranges.Alternatively or additionally, for the components of the measuring arrangement that receive or transmit exclusively via at least sectionally wireless connections, an energy supply for operating the respective component can be realized as follows:In particular for the operation of one or more measurement sensors for a measurement region and their optionally present mobility relative to the sensor base, it is possible to use energy lines. However, it is preferred that the measurement sensor or sensors are combined with an energy store in order to avoid movable energy cable guides in the event of mobility of the measurement sensor and to avoid required safety areas. Damage to the power supply line to the respective measurement sensor is also excluded. The energy store of the measurement sensor can be exchanged, for example, when the stored energy has significantly decreased or is exhausted. Alternatively, the energy store can be charged depending on the measurement process, e.g. in pauses in the measurement operation. In this case, charging via inductive electrical components and magnetic fields can be used to transfer the energy between these components.The same applies to machining tools, wherein, however, continuous power supply by means of a power supply line has the advantage that the power requirement, which is generally increased compared to measurement sensors, can be met in this way with less effort. In the case of energy stores with a correspondingly high capacity, however, it is also possible to dispense entirely or partially with an energy supply line up to the machining tool or the machining machine which operates the machining tool. A partial omission can be, for example, a temporary omission of a power supply line.At least one of the aforementioned movements, i.e. in particular the movement of a transport device, the movement of at least one workpiece relative to a transport frame of the transport device and the movement of at least one measurement sensor or processing tool, can optionally be guided or influenceable by a person. For this purpose, e.g. face and / or gesture recognition of gestures of the person can be used. Alternatively or additionally, it is possible that the component of the measuring arrangement follows a movement of the person, i.e. moves according to the movement of the person, or responds to the person in another way by a movement or execution of another function and / or interacts with the person by a movement or another function.Optionally, the transport device can carry along at least one measurement sensor, at least one machining tool and / or required material for machining and / or measuring a workpiece during its movement, in particular for a workpiece which is accommodated and transported by the transport device.At least one of the objects mentioned carried along by the transport device can have an identifier and / or information that can be detected by a detection device. This makes it possible in particular to use the object in or on a measurement region or in or on a processing region as a function of the information. For example, it may be an identifier that allows a detection device on the sensor base or the tool base to retrieve additional data from a database. Corresponding information can alternatively or additionally be carried along wholly or partly by the transport device. Information for using a carried object is, for example, calibration values or geometry data with respect to a carried measurement sensor or a carried machining tool or a degree of wear of a carried machining tool. A detection of the carried identifier or information is possible, for example, from outside the transport device if a transponder is used, such as in the case of an RFID (English abbreviation for "identification with the aid of electromagnetic waves").The entrainment of a measurement sensor or a machining tool simplifies the component storage, since no or fewer components have to be stored at the individual measurement regions or machining regions. Corresponding magazines can be made smaller or can be omitted. The degree of utilization of the measurement sensors and machining tools can also be increased, since measurement sensors or machining tools which are not required for a process sequence to be carried out specifically are generally also stored in local magazines. By contrast, the transport device can carry only components which are required in the specifically executed process sequence. In particular, the transport device can take over the component from a central magazine at the beginning of its operation within the scope of a process sequence and can release it again at the end of its operation in the same magazine or another central magazine. When the component is transferred or discharged, the transport device can be passive or active, i.e. contribute to the movement of the object during the transfer or transfer, execute the movement completely or do not contribute to it.In particular, the transport device is an autonomously navigating device. This is to be understood in particular as meaning that the environment of the transport device is detected with sensors and the space available for a movement of the transport device is determined and / or obstacles in this space are detected and taken into account for the movement. The transport device can therefore have at least one distance sensor or other sensor, which allows the transport device to ascertain a relative position to an obstacle and / or an absolute position u. In general terms, the transport device has at least one navigation sensor which is designed to detect the surroundings of the transport device, wherein the transport device is designed to use information detected by the navigation sensor for controlling the movement.It is preferred that the information determined by the at least one navigation sensor is used for positioning the transport device relative to a measurement region or a processing region. This information is used in particular by the already mentioned transport device of the transport device for setting the position (i.e. the position and / or orientation). In particular, using available knowledge, i.e. information, about the shape and / or arrangement of at least one device on the measurement region or machining region, the transport device can determine at which location and / or with which orientation the transport device is to be positioned in order to bring the workpiece picked up and transported by it or the workpieces picked up and transported by it into a predefined position in the measurement region or machining region. In the case of a movement of the transport device over a ground, in particular at least one navigation sensor is present, which detects an environmental region in directions which extend parallel to the surface of the ground starting from the transport device. For example, radar sensors, ultrasonic sensors and / or imaging sensors can be used as navigation sensors.In one configuration of the measuring arrangement and of the method, at least on one measuring region and / or processing region, an adjusting device is present which can be coupled, in particular mechanically coupled, to the transport device and which is configured to position the coupled transport device relative to the measuring region or processing region with respect to at least one degree of freedom of movement and preferably with respect to a plurality of degrees of freedom of movement. In particular, the adjusting device can move the part coupled to the transport device in order to effect the positioning. In particular, the actuating device can have a transmitting / receiving unit for transmitting signals via at least one connection which is wireless in sections. Therefore, in the same way as described above for the transport device, the actuating device can receive control signals for controlling the movement carried out by it, detect a relative position (position and / or orientation) with respect to the measurement region or processing region, the transport device, in particular the transport frame, and / or with respect to the workpiece picked up by the transport device by means of a position detection device arranged on it, and / or transmit signals about its operating state, in particular including at least one detected relative position.In particular, a positioning device of the transport device can also be present, as already described above. The positioning device can in particular perform the rough positioning (position and / or alignment) of the workpiece picked up by the transport device relative to a measurement region or machining region. The adjusting device can perform a fine positioning of the transport device and thus also of the workpiece with respect to at least one degree of freedom of the movement. In this case, the rough positioning is preferably carried out before the fine positioning. In particular, the relative position of the workpiece after the rough positioning and / or the relative position of the transport device and in particular of the transport frame relative to the adjusting device can be fixed and in particular locked before the fine positioning is carried out.A movement device which can perform a movement of a workpiece relative to a transport frame of the transport device and which also has, for example, the positioning device for adjusting the position of the workpiece can be designed, for example, as a robot, for example as a robot having a plurality of movement axes arranged serially one behind the other in a kinematic chain, wherein the robot is fastened to the transport frame of the transport device. In particular, therefore, at least rough positioning of the workpiece held, for example, at a free end of a robot arm can be carried out in a measurement region or machining region.In particular in the case of such a rough positioning by means of a robot, an additional movement device, in particular controlled by the positioning device of the transport device, can optionally be provided, which carries out the fine positioning of the workpiece on the measurement region or machining region. The movement device for rough positioning and the movement device for fine positioning are arranged in particular kinematically serially one behind the other. The two movement devices can have the same degrees of freedom of movement. However, their degrees of freedom of movement may also differ from one another. Thus, for example, in the case of rough positioning, two degrees of freedom of movement may be missing, for example linear degrees of freedom along a floor on which the transport device can move.During the navigation of the transport device, in particular when a plurality of transport devices is present, direct communication between in each case two transport devices and / or indirect communication between in each case two transport devices can be realized or take place. In this way, when planning the movement of one transport device or all transport devices, the positions of the other transport devices and optionally also their planned movement paths can be taken into account. In this way, travel paths can be coordinated and optimized with one another. The communication can be carried out at least in sections in a wireless manner, in particular by signal transmission in each case via the transmitting / receiving unit of the transport device.In particular, the measuring arrangement also includes the tool machine, which carries out automatic machining of the workpiece by means of the at least one machining tool when it is operated. For example, the machining tool or at least one of the machining tools is a tool for removing material from the respective workpiece (such as a milling head or a drill), a forming tool for changing the shape of the respective workpiece without removing material (e.g., a pressing tool or a tool using water under high pressure), a tool (such as a 3D printer or a spray tool) adding material to the respective workpiece, or a tool for separating a material connection of the respective workpiece (such as a cutting tool).In particular, a position detection device of the measuring arrangement can detect a position and / or orientation of a workpiece picked up by the transport device and arranged in the measurement range of the measurement sensor or in the machining range of the machining tool. This has the advantage that the position and / or orientation (hereinafter, position for short) can not only be adjusted but also be established. Preferably, a positioning device of the measuring arrangement is additionally present, by means of which the position can be corrected or changed. In this way, a regulation of the position is possible.For example, those parts of the position detection device which generate information about the current position are not arranged on the transport device, but are arranged, for example, movably on the base or in the vicinity of the base of the measurement sensor or machining tool or are fixedly positioned relative to the base. In this case, a result of the detection of the position can be transmitted to a regulating unit which, for example, transmits control signals via a transmitting / receiving unit to the transmitting / receiving unit of the transport device and via the latter to the positioning device of the transport device. The control signals correspond to the control deviation determined by the control unit, for example between a desired position and an actual position. However, this can also implement a regulation of the movement of the workpiece in the measurement region or machining region, the position of which is detected.In another case, the parts of the position detection device which detect the information about the position of the workpiece are arranged on the transport device. In this case there are again two possible embodiments. In the first embodiment, the position of the workpiece relative to a transport rack or another device of the transport device is detected. This is also useful when no movement device for the targeted movement of the workpiece relative to the transport frame is present, because different positions can result in particular due to different weights of different workpieces and different arrangement of workpieces relative to the transport frame.In order to be able to detect the position and / or orientation (also referred to below as the position) of the transport device relative to the measurement region or the measurement sensor or relative to the machining region or the machining tool, an additional, second position detection device can be provided. The second position detection device can be arranged on the vehicle or be fixedly positioned relative to the base or be movable relative thereto, but not moved during the movement of the transport device.In all cases and embodiments of a position detection device, as already mentioned above, contactless and in particular optical detection of the position can take place. Besides laser interferometers, imaging methods are particularly suitable for this purpose. In this case, in particular, a pattern projection can take place and the position can be detected from the image / images of the projected pattern or patterns. Alternatively or additionally, the object of the detection (i.e. the workpiece, the transport device, the measurement sensor, the machining tool or the part connected fixedly or movably to the base) can be connected to at least one marker which is detected by the position detection device. However, it is also possible to manage without markers and, for example, to determine the position using prior knowledge about the shape of the detected object.The arrangement of the detecting parts of the position detecting device outside the transport device has the advantage that the position of the transport device itself does not have to be detected. This is advantageous in particular when a relative movement, desired or undesirable, of the workpiece relative to the transport device occurs and can be relevant. The arrangement of the detecting parts of the position detecting device on the transport device has the advantage that detecting means do not have to be provided for each measuring region and processing region. Conversely, in the case of detection means which are provided for a specific measurement range or machining range, it is not excluded that these detection means can also be used for at least one further range, for example a further measurement range and / or machining range and thus for a workpiece arranged therein.The position detection device for detecting the position and / or orientation of a workpiece picked up by the transport device has the advantage that, in particular when regulating the position, a movement device can be used which can automatically adjust a position to be adjusted less precisely or less accurately reproducibly. Without the position detection, for example, influences such as temperature fluctuations and different load states must be taken into account in advance. In particular, if the position detection is already carried out during the positioning of the workpiece and / or of the measurement sensor or of the machining tool, the information obtained therefrom can already be used for controlling the movement and thus for positioning. The desired position or relative position can therefore be reached more quickly than if a correction of the position is to be carried out subsequently. In this way, the movement can also be carried out more precisely on a predefined path and safety distances and safety spaces can be selected to be smaller.As already mentioned above, control signals can be transmitted to the transport device. In particular, the transport device can have a transmitting / receiving unit for wireless signal transmission from a remote unit anda transport device which is configured to carry out a transport movement of the transport device on the basis of control signals which are received via the transmitting / receiving unit, and / ora positioning device configured to set a position of the workpiece picked up by the transport device or of one of the workpieces picked up by the transport device depending on control signals received via the transmitting / receiving unit.In a corresponding embodiment of the method, the transport device receives control signals via a wireless signal transmission connection from a remote unit anda movement of the transport device is carried out as a function of the control signals received via the transmitting / receiving unit, and / orsetting a position of the workpiece picked up by the transport device or of one of the workpieces picked up by the transport device as a function of control signals which are received via the transmitting / receiving unit.For the purposes of the movement of the transport device, the transmission of control signals has the advantage that the movement from outside the transport device can be carried out in particular centrally for a plurality of transport devices and / or centrally for the entire production process. However, it is possible that information about the paths to be traveled by the transport device is already stored in advance in a data memory of the transport device. The transport device can therefore move completely or partially independently of an external device which is not moved with it.In the case of transmitting control signals to the positioning device, this enables external control of the positioning from outside the transport device. In this way, for example, a movement of the workpiece by the positioning device can be coordinated with a positioning of the at least one measurement sensor for the measurement region and / or with the positioning of the at least one machining tool for the machining region.Alternatively, the positioning of the workpiece relative to the transport device can be completely or partially controlled by a device of the transport device without control signals from outside the transport device, which are transmitted to the transport device during operation of the positioning device. The planning of the positioning, on the other hand, takes place, for example, already in advance and / or depends on a detection of the position of the workpiece by a position detection device of the transport device and optionally also on a detection of the position of the measurement sensor, the sensor base or a device connected thereto or of the machining tool, the tool base or a device connected thereto carried out by a device of the transport device. Controlling the positioning of the workpiece completely or partially without control signals transmitted to the transport device during operation has the advantage that no central control unit is required which has to have access to information about the current position of the workpiece in the respective measurement region or machining region. A central control unit is also understood to mean a control unit which is provided in each case only for a measurement region, a processing region or a subset of the regions.In particular, a signal transmission network can be used for the transmission of the signals already mentioned between the components of the measuring arrangement. In this or another way, it is possible in particular to transmit the measurement data generated by the at least one measurement sensor to a processing device, in particular a central processing device for processing the measurement data from a plurality of or all measurement sensors. In particular, the processing device can fuse the measurement data and / or other information and / or process it together.In particular, time is required for the transmission of the signals via signal connections which are wireless at least in sections, and the duration of the time depends, inter alia, on which data set is to be transmitted at the moment. External influences such as disturbances due to electromagnetic fields can also change the duration of the transmission time. However, a signal transmission network having a predefined maximum transmission time duration is preferred. To ensure this, additional transmitting / receiving devices and thus additional paths for the wireless signal transmission can be provided. Alternatively or additionally, routines are implemented during operation of the signal transmission network, which check compliance with the maximum transmission time duration. This makes it possible to detect an overload of the signal transmission network and to output corresponding information.It is proposed to provide a common time base for the signal transmission network. Corresponding time information with respect to the common time base or information derived therefrom is transmitted to the processing device together with the data generated by the respective sensor. The common time base is alternatively or additionally used for controlling movements in the measuring arrangement, for example for one, several or all of the movements mentioned in this description. In particular, if control signals for controlling one or more movements are transmitted via the signal transmission network, and the movement is to be coordinated with another function (in particular another movement) in the measuring arrangement, a common time base is likewise advantageous. In any case, some and preferably all of the components of the measuring arrangement participating in the communication via the signal transmission network should have as exactly the same time base as possible.Signals are transmitted from a common device, which is common to all the components of the measuring arrangement participating in the communication, to the components from which the time information relating to the common time base can be determined for each of the components. In particular, these time signals are transmitted to a plurality or each of the components via an at least partially line-free signal transmission connection of the signal transmission network or via a signal transmission connection of an additionally present signal transmission network.The common time base can be, for example, a time, wherein the corresponding clock can be provided at least on the reception side of the wireless data transmission, i.e. on the processing device side. Information derived from the time information may be, for example, information that the transmitted data belongs to a specific set of data formed by the data of a plurality of sensors. For example, at 12 o'clock, 30 minutes, and 45 seconds, such a set of data may have been generated and the derived information may indicate the set of data, for example, only by a single digit (e.g., "third" set).Embodiments of the invention will now be described with reference to the accompanying drawings. The individual figures of the drawing show: FIG. 1 schematically shows an arrangement with a transport device for transporting a workpiece, a measuring station, a processing station and a central data processing device, wherein the various components of the arrangement can be connected to one another via radio connections or other wireless signal transmission connections, FIG. 2 schematically shows an imaging sensor which can be connected to a transmitting / receiving unit of a processing device via a wireless signal transmission connection, FIG. 3 schematically shows a transport device which carries a workpiece via a multiaxially movable movement device, wherein the figure also shows a measurement station for measuring the workpiece, FIG. 4 shows a representation as in FIG. 3, wherein however instead of a measuring station a machining station for machining the workpiece is shown, and FIG. 5 shows a flow chart for illustrating an exemplary embodiment of a method for operating a measuring arrangement.FIG. 1 shows a measuring arrangement in schematic form and in greatly simplified form. Components of the measuring arrangement 1 are a transport device 3, here a transport vehicle, as symbolized by two circles representing wheels, a measuring station 13, a processing station 17 and a processing device 2, which is connected via a signal transmission line to a transmitting / receiving unit 4, which can communicate with other transmitting / receiving units 5, 11 and 15 without a line for transmitting signals. The transmitting / receiving units are, for example, mobile radio stations, wherein at least the transmitting / receiving units 5, 11 and 15 are movable stations.The processing device 2 serves in particular for processing measurement data of the measurement sensor 12 of the measurement station 13 and any further measurement sensors within the measurement arrangement 1, which are not illustrated in FIG. 1 but may be present. For example, each further measurement sensor is part of a further measurement station. However, there may be at least one measuring station having more than one measuring sensor. Each measuring station has a measuring region in which a workpiece can be positioned in order to measure the workpiece with the measuring sensor or sensors of the measuring station.The measurement sensor 12 shown in FIG. 1 is fixedly positioned or movably connected to a sensor base 10. The measuring station also has the aforementioned transmitting / receiving unit 11, which is connected to the sensor base 10 in the illustration of FIG. 1. However, as will be described with reference to the exemplary embodiment of FIG. 2, it can be connected directly to the sensor. The sensor base 10 can be fastened to a floor and / or supported thereon. However, it is also possible for the sensor base 10 to be arranged movably on a floor, a wall or a ceiling of a room in which the measuring arrangement 1 is located.FIG. 1 also shows a machining station 17 with a machining tool 16 which is arranged on a tool base 14. Like the measuring station 13, the processing station 17 has a transmitting / receiving unit 15, which has already been mentioned. The tool base 14 can also be firmly connected to a floor and / or supported thereon. It can alternatively be arranged movably on the floor, a wall or a ceiling of the room. Alternatively or additionally, the machining tool may be movable relative to the tool base 14. This mobility may be provided by the mobility of a machine tool relative to the tool base 14 and / or due to a relative mobility of the machining tool 16 and the machine tool. Note that it is not necessary to use a machine tool in all kinds of machining tools. For example, in a laser cutting tool, no machine is required. If mobility of the laser is required or desired, it can be moved by a movement device. As with the measuring stations, there may be a plurality of processing stations, each of which has at least one processing tool.The transport device 3 shown in FIG. 1 has the aforementioned transmitting / receiving unit 5, which is connected via signal transmission lines within the transport device 3 or on the transport device 3 to a position detection device 6, a positioning device 8, a transport device 9 and a navigation sensor 19. The position detection device 6 is configured to detect a position and / or orientation of the workpiece picked up by the transport device 3 and therefore transportable by it in a contactless manner. The position detection device 6 can be configured to determine the position and / or orientation from the detected information. However, the determination can also be carried out by another device or unit of the measuring arrangement 1, e.g. by the positioning device 8 or the processing device 2. corresponding signals with the acquired information can therefore be transmitted within the transport device 3 via the signal transmission lines represented by lines and / or via the line-less connection between the transmitting / receiving unit 5 of the transport device 3 and the transmitting / receiving unit 4 and subsequently via the signal transmission line between the unit 4 and the processing device 2.The positioning device 8 is configured to adjust a position of the workpiece picked up by the transport device 3, or in another case, not shown, of one of a plurality of workpieces picked up by the transport device, depending on control signals. These control signals can be received in particular via the transmitting / receiving unit 5 from another device, such as the processing device 2 of the measuring arrangement. Alternatively, the control signals can be received by a controller of the transport device 3. The controller can also be part of the positioning device 8, so that the control signals are transmitted internally within this device. Furthermore, alternatively, e.g. the position detection device 6 can have the controller. Furthermore, alternatively or additionally, a control unit not shown in FIG. 1 can be part of the transport device.In addition, the transport device 3 has a transport device 9 which is designed to control a movement of the transport device 3. In this case, the transport device can cooperate with a drive device not shown in FIG. 1 and control it for driving the transport device. Further, the traveling device 9 can control the traveling of the transportation device 3 using information from detection of an environment of the transportation device 3. For this purpose, the navigation sensor 19 is provided and optionally further navigation sensors. Furthermore, alternatively or additionally, the transport device 9 can control the movement of the transport device 3 using information and / or control signals that have been received via the transmitting / receiving unit 5. Such information and / or control signals can be transmitted, for example, from the processing device 2 and / or a position detection device of the measuring station 13 or of the processing station 17 to the transport device 3 and thus to the transport device 9. In the case of using information from the detection of the environment of the transport device 3 by the navigation sensor 19, the transport device is in particular configured such that the movement of the transport device 3 is controlled using the detected information such that the transport device is moved to a predefined position and / or with the result of a predefined orientation relative to a measurement region of the measurement sensor 12 or relative to a machining region of the machining tool 16. The term "relative" refers to the predetermined position and / or orientation.In particular, the transport device 3 can transport the workpiece 7 first into the processing region of the processing station 17. In general, not only with regard to the description of the figures and the description of specific exemplary embodiments, it is preferred that the transport device carries or holds the workpiece or the workpieces in a continuing manner even when the respective workpiece is located in a measurement region of at least one measurement sensor or in a machining region of at least one machining tool of the measurement arrangement. In other words, the tool is not unloaded from the transport device after transport or during transport into the measurement region or machining region.After the workpiece 7 has been machined by the machining station 17, the workpiece 7 can be transported by the transport device 3 into a measurement range of the measurement station 13, i.e. into a measurement range of the measurement sensor 12. The resulting measurement data can then be transmitted via the transmitting / receiving unit 11 to the transmitting / receiving unit 4 and from there to the processing device 2, which checks whether the measurement result corresponds to the expectation and can trigger a post-processing of the workpiece 7 by one processing tool or a plurality of processing tools of the measuring arrangement 1, in particular in the case of an unacceptable deviation from the expectation, for example if a tolerance range for a measurement feature is not complied with. For this purpose, in particular corresponding information is transmitted to the transport device 3 and to the processing station(s) which is / are to be involved in the post-processing. The transport device 3 then transports the workpiece 7 into the machining area of the respective machining station, where it is post-machined.The block diagram shown in FIG. 2 shows on the right a sensor 21, which is for example the measurement sensor 12 shown in FIG. 1. As is schematically represented by blocks, the sensor 21 has an irradiation device 22 for uniformly irradiating the region of a measurement object to be detected, a pattern projection device 23 for projecting irradiation patterns onto a region of the workpiece to be detected, a further device 24, an energy supply device 25 internal to the sensor for supplying energy to the electrical devices of the sensor 21, and a camera 26 for detecting the workpiece and generating corresponding surface measurement data. The further device 24 can be, for example, a device which establishes a connection between the camera 26 and the irradiation device 22 and / or the pattern projection device 23. In this way, for example, the irradiation of the measurement object can be coordinated with the recording of the respective image by the camera 26. In particular, in this way, the irradiation can take place only during the image recording or a sequence of different irradiation patterns can be projected during the image recording. The further device 24 is therefore, for example, a corresponding control or control connection. Alternatively or additionally, the further device 24 can be a device for conditioning the energy supply for at least one of the devices 22, 23, for example for generating the required electrical supply voltage from the supply voltage provided by the energy supply device 25.The camera 26 can be, in particular, a digital camera which generates two-dimensional images. The image data then represents the surface measurement data. For example, if one or more patterns are projected onto the imaged surface region of the workpiece during the recording of a camera image, the information about the course of the imaged surface region in the viewing direction of the camera can be determined from the generally occurring change in the appearance of the projected pattern or patterns in the at least one recorded image, i.e. corresponding coordinates of the surface can be determined at least in the viewing direction of the camera. Other methods for determining the surface coordinates from the surface measurement data of contactless measuring sensors are known and will therefore not be described in more detail at this point. The irradiation device 22 serves to irradiate the surface region of the workpiece to be detected by the camera more uniformly. For example, surface regions are also irradiated in this way and reflected radiation from these surface regions can be detected by the camera, onto which no radiation or radiation with a low radiation flux density impinges on account of the pattern projection.As part of the sensor 21, an image data memory 30 is also provided, which is connected to the camera 26. Unlike shown, the image data store could be directly connected to an interface or device of the sensor 21 for sending image data from the sensor 21 without having to communicate via the camera 26. The image data memory 30 may therefore be part of the camera 26 or may be a separate memory.FIG. 2 further shows, to the left of the sensor 21, in a region surrounded by a dashed line, three further devices which are not part of the sensor 21, but which can be fixedly coupled to the sensor 21 during the detection of one or more workpieces. In particular, these devices in the exemplary embodiment of FIG. 1 can be mechanically connected to the transmitting / receiving unit 11 or form it.The devices are an energy store 27 for supplying electrical energy to the energy supply device 25 of the sensor 21, a charging device 28 for charging the energy store 27 on occasion, and a radio module 29 for wirelessly transmitting and receiving signals and data which the sensor 21 has generated. The energy store 27 can be charged by means of the charging device 28, in particular when the combination of the sensor 21, the energy store 27 and the charging device 28 has been moved to a service device. For example, the service device transmits electrical energy to the energy store 27 by converting electrical energy into magnetic field energy and converting the field energy back into electrical energy by the charging device 28 by induction. In an alternative embodiment, the charging device 28 can be connected to a charging connection of the service device via electrical contacts.FIG. 3 shows a transport device 33, which can be, for example, the transport device 3 from FIG. 1. A workpiece 40 is connected to the transport frame 32 of the transport device 33 via a movement device with a link chain. The link chain is constructed in the manner of an articulated arm robot. The transition between two successive links 35, 37 and 37, 39, respectively, has a respective joint 36, 38. In addition, a joint 34 is also arranged at the transition between the transport frame 32 and the first link 35. Rotational directions of the joints 34, 36, 38 are indeed illustrated in FIG. 3 merely about rotational axes which run perpendicular to the plane of the figure. However, in a specific embodiment, the axes of rotation of the joints can also not run parallel to one another. In particular, it is also possible for an axis of rotation of a joint to extend in the longitudinal direction of a link. Further, the number of links and thus joints may vary in various embodiments.Connected to the last link 39 of the link chain is a holder for holding the workpiece 40. The workpiece 40, as is schematically indicated in FIG. 3 by an arrow pointing to the left on the transport frame 32, is moved by the transport device in the direction of a measurement sensor 45. The target position in the measurement range of the measurement sensor 45 is indicated by dashed outlines of the workpiece 40. In this position, the workpiece 40 is detected by a position detector 46 in order to determine whether the predetermined position has been reached. Otherwise, the position can be corrected by a movement of the link chain relative to the transport frame 32, by a movement of the transport frame 32 relative to the measurement sensor 45 and / or by a movement of the measurement sensor 45 relative to its sensor base 41. The position detection device 46 therefore detects in particular the relative position of the workpiece 40 and of the measurement sensor 45. For the movement of the measurement sensor 45 a movement device 43 is schematically shown, which in the simplified exemplary embodiment only allows a linear movement in the vertical direction. However, more degrees of freedom of movement and / or other degrees of freedom of movement can be enabled by a different movement device between the sensor base and the measurement sensor.FIG. 4 is a view similar to FIG. 3 but with the position detecting means omitted for simplicity. However, it can be additionally provided in the arrangement in FIG. 4. As in the case of FIG. 3, the position detecting means may be disposed in the vicinity of the area where the workpiece is to be transported or attached to the transporting means.The representation of the transport device is the same as in FIG. 3 in FIG. 4, but the transport device 33 is located on the approach to a processing station. This has a tool base 47, a movement device 49 (here for the sake of simplicity only with mobility indicated in the vertical direction) and a machining machine 51 with a machining tool 52 arranged thereon. The machining tool 52 is linearly movable in the horizontal direction due to, for example, a thrust generated from the machine tool 51. When the workpiece 40 is located in the desired, in particular predetermined position, in the machining region of the tool 52, machining begins.A method for operating a measuring arrangement, for example the measuring arrangement shown in FIG. 1, can be carried out, for example, as follows. Reference is made to the flow chart of FIG. 5 in the following.In a first step S 1, at least one workpiece is picked up by a transport device. In a subsequent step S 2, the workpiece is transported by the transport device into a first machining area and machined there by means of at least one machining tool. In a following step S 3, the workpiece is transported and measured by the transport device into the measurement region of at least one measurement sensor. In addition, in step S 3, the generated measurement information is transmitted to a processing device such as the processing device 2 of FIG. 1. As is indicated by arrows, steps S 2 and S 3 can be repeated, wherein in two successive machining steps the workpiece is transported from one machining area into another and is further machined there, and wherein in two successive measurement steps either two different measurement processes take place in the same measurement area or the workpiece is transported after a first measurement process by the transport device into another measurement area in order to be further measured there. It is also possible that the sequence of a processing step and a measuring step is carried out repeatedly.In a step S 4 following a measurement step or processing step, which in the illustrated exemplary embodiment follows a measurement step S 3, it is checked, in particular by the processing device which has received the measurement information, whether the measurement results correspond to the expectation. If this is not the case, the evaluation device can trigger the generation of control signals, by which the transport device is controlled in such a way that the workpiece is transported for a post-processing, which is carried out in the following step S 5. In the subsequent measurement step S 6, the workpiece is transported by the transport device into the measurement region of at least one measurement sensor and measured there again. The measurement information is transmitted again to the evaluation device, in particular the processing device 2 from FIG. 1. In the following step S 7, the evaluation device checks whether the expected measurement results are now present. If yes, then in the following step S 8, the workpiece is transported by the transport device to a destination location of the process chain and unloaded there. Otherwise, the post-processing in step S 5 is optionally repeated by another processing tool and the subsequent measurement in step S 6. The check as to whether the expected measurement results have been reached in step S 7 is also repeated.If it is already determined during the execution of the checking step S 4 that the measurement results correspond to the expectation, the method continues with step S 8.List of reference characters1 Measuring arrangement 2 Processing device 3 Transport device 4, 5 Transmitting / receiving unit 6 Position detecting device 7 Workpiece 8 Positioning device 9 Transport device 10 Sensor base 11 Transmitting / receiving unit 12 Measurement sensor 13 Measuring station 14 Tool base 15 Transmitting / receiving unit 16 Machining tool 17 Machining station 19 Navigation sensor 21 Sensor 22 Irradiation device 23 Pattern projecting device 24 Further device 25 Energy supply device 26 Camera 27 Energy storage device 28 Charging device 29 Radio module 30 Image data storage device 32 Transport frame 33 Transport vehicle 34 Joint 35 Arm 36 Joint 37 Arm 38 Joint 39 Arm 40 Workpiece 41 Sensor base 43 Movement device 45 Measurement sensor 46 Position detecting device 47 Tool base 49 Movement device 51 Tool machine 52 Tool

Claims

Arrangement (1) for processing and measuring workpieces (7) which are produced or processed manually and / or industrially, wherein the arrangement (1) has: - a transport device (3) for receiving and transporting at least one workpiece (7), wherein the transport device (3) can be moved away without mechanically predefined paths, - a measurement sensor (12) for measuring the workpiece (7) which is received by the transport device (3) in a measurement range of the arrangement (1) or for measuring at least one of the workpieces (7) which are received by the transport device (3) in a measurement range of the arrangement (1), wherein the measurement sensor (12) is arranged movably on a sensor base (10) of the arrangement (1) relative to which the transport device (3) can be moved away, a machining tool (16) for machining the workpiece (7) picked up by the transport device (3) or at least one of the workpieces (7) picked up by the transport device (3), in a machining region of the arrangement (1), wherein the machining tool (16) is movably arranged on a tool base (14) of the arrangement (1), relative to which the transport device (3) can be moved away.Arrangement (1) according to claim 1, wherein the transport device (3) has a transmitting / receiving unit (5) for wireless signal transmission from a remote unit and - has a transport device (9) which is configured to carry out a transport movement of the transport device (3) on the basis of control signals which are received via the transmitting / receiving unit (5), and / or - has a positioning device (8) which is configured to set a position of the workpiece (7) picked up by the transport device (3) or of one of the workpieces (7) picked up by the transport device (3) on the basis of control signals which are received via the transmitting / receiving unit (5).Arrangement (1) according to Claim 2, wherein the transport device (3) has at least one navigation sensor (19) which is designed to detect the surroundings of the transport device (3) and to transmit information detected by the detection to the transport device (9) of the transport device (3), wherein the transport device (9) is designed to control a movement of the transport device (3) using the detected information and wherein the transport device (9) is furthermore designed to control the movement of the transport device (3) using the detected information in such a way that the transport device (3) is moved to a predefined position and / or with the result of a predefined orientation relative to the measurement region or relative to the processing region.Arrangement (1) according to Claim 1, wherein the transport device (3) has at least one navigation sensor (19) which is designed to detect the surroundings of the transport device (3) and to transmit information detected by the detection to a transport device (9) of the transport device (3), wherein the transport device (9) is designed to control a movement of the transport device (3) using the detected information and wherein the transport device (9) is furthermore designed to control the movement of the transport device (3) using the detected information in such a way that the transport device (3) is moved to a predefined position and / or with the result of a predefined orientation relative to the measurement region or relative to the processing region.Arrangement (1) according to one of Claims 1 to 4, wherein the arrangement (1) has a position detection device (6) for the contactless detection of a position and / or orientation of the workpiece (7) picked up by the transport device (3) and arranged in the measurement region or in the machining region.Method for operating an arrangement (1) which is designed to process and measure workpieces (7) which are produced or processed manually and / or industrially, wherein: - a transport device (3) from which at least one workpiece (7) is picked up moves freely from mechanically predefined paths and thereby transports the at least one picked workpiece (7), - the transport device (3) transports the at least one picked workpiece (7) into a first measurement region in which, by means of at least one first measurement sensor (12) which is arranged movably on a first sensor base (10), the workpiece (7) or at least one of the workpieces (7) which is / are transported by the transport device (3) is measured, - the transport device (3) also transports the at least one picked workpiece (7) into a first processing region in which, by means of at least one first processing tool (16), the workpiece (7) is measured, which is movably arranged on a first tool base (14), the workpiece (7) or at least one of the workpieces (7) which is / are transported by the transport device (3) being machined.Method according to claim 6, wherein the transport device (3) - transports the at least one picked-up workpiece (7) also into a second machining area in which the workpiece (7) or at least one of the workpieces (7) which are transported by the transport device (3) is machined by at least one second machining tool which is arranged on a second tool base, and / or - also transports it into a second measurement area in which the workpiece (7) or at least one of the workpieces (7) which is / are transported by the transport device (3) is measured by at least one second measurement sensor which is arranged on a second sensor base.Method according to claim 6 or 7, wherein the transport device (3) receives control signals from a remote unit via a wireless signal transmission connection and - carries out a movement of the transport device (3) depending on the control signals received via a transmitting / receiving unit (5), and / or - adjusts a position of the workpiece (7) picked up by the transport device (3) or of one of the workpieces (7) picked up by the transport device (3) depending on control signals received via the transmitting / receiving unit (5).Method according to one of Claims 6 to 8, wherein a position detection device (6) of the arrangement (1) detects a position and / or orientation of a workpiece (7) which is picked up by the transport device (3) and arranged in the first measurement region of the first measurement sensor (12) or in the first machining region of the first machining tool (16).Method according to one of Claims 6 to 9, wherein a navigation sensor (19) of the transport device (3) detects surroundings of the transport device (3) and transmits information detected during the detection to a transport device (9) of the transport device (3), wherein the transport device (9) controls a movement of the transport device (3) using the detected information and wherein the transport device (9) also controls the movement of the transport device (3) using the detected information in such a way that the transport device (3) is moved to a predefined position and / or with the result of a predefined orientation relative to the first measurement region of the first measurement sensor (12).The method according to claim 10, wherein the moving device (9) controls the movement of the conveying device (3) using the acquired information such that the conveying device (3) is moved relative to the first machining area of the first machining tool (16).

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