Device and method for processing workpieces with a stationary storage station for assemblies for process automation

Abstract

The invention relates to a device 10 for processing workpieces 80, in particular wooden frame elements or the like, comprising a motion unit 20 movable in the longitudinal direction of the device 10 for an aggregate 50 for process automation, wherein the device 10 further comprises a storage station 40 stationary, in particular with respect to the longitudinal direction of the device 10 and a transverse direction perpendicular to the longitudinal direction of the device 10, with a provision unit 42 for providing the aggregate 50 for process automation, wherein the motion unit 20 comprises a receiving unit 30, and wherein the motion unit 20 is configured to assume a predefined transfer position with respect to the storage station 40 and preferably to automatically receive the aggregate 50 for process automation with the receiving unit 30 from the storage station 40 or preferably to automatically place it into the storage station 40.The invention further relates to a corresponding method for picking up or putting down an aggregate 50 for process automation of a device 10 for processing workpieces 80 from a storage station 40 or into the storage station 40.

Description

[0001] The invention relates to a device for processing workpieces according to the preamble of claim 1. Furthermore, the invention relates to a method for picking up or placing down an aggregate for process automation according to the preamble of claim 12.

[0002] Devices of this type are used particularly in industrial prefabricated house construction. In industrial prefabricated house construction, components, especially building modules, are prefabricated by machine in a production hall. These building modules are then used to assemble prefabricated houses. Besides saving time on the construction site, the machine prefabrication of the building modules in the production hall also offers qualitative advantages. The building modules are preferably wall elements and roof / ceiling elements of a prefabricated house. Prefabricated wall elements and roof / ceiling elements are preferably flat and elongated timber frame elements. At various stations, different process steps are carried out on the timber frame elements. In particular, various panel materials are attached to a wooden substructure using fasteners. Furthermore, cutouts are made in the panel materials, which are required, for example, for windows, doors, or electrical outlets.Today, the process steps are performed either manually by carpenters or by machining centers equipped with clamping units and cutting tools. It is common practice for a machining spindle, which is mounted on the machining center and movable, to be used for machining the workpiece. This spindle is either permanently coupled to a cutting tool or can be used to change between different cutting tools via a moving tool changer. Furthermore, it has been standard practice for the various clamping units to be mounted on the machining center by the operator using separate, movable mounting units. Compared to the cutting tools, the clamping units are significantly larger and heavier.This makes the machining portals heavier overall and less agile when moving along the workpiece. Furthermore, operators of such machining devices must manually replace individual clamping units, for example, for maintenance or replacement, which increases the potential for errors. In particular, it can happen that either the wrong clamping units are installed or removed, or that the clamping units are incorrectly mounted on the machining portal. Moreover, no machining of the workpieces can take place during the sometimes time-consuming manual replacement of the clamping units. Due to the limited space on the machining portal and the lack of technical solutions, many process steps still have to be performed manually by the operator.

[0003] It is therefore an object of the present invention to optimize existing processing methods, particularly for timber frame structures used in prefabricated house construction, with a view to increasing the automation of process steps. This object is achieved according to the invention by a device according to claim 1 and a method according to claim 12.

[0004] The device according to the invention for processing workpieces, such as, in particular, wooden frame elements, comprises a motion unit for a process automation unit that is movable in the longitudinal direction of the device. The device further comprises a storage station with a provisioning unit for providing the process automation unit. The storage station is preferably arranged in a stationary position with respect to the longitudinal direction of the device and a transverse direction of the device perpendicular to the longitudinal direction. The motion unit comprises a receiving unit for the process automation unit and is designed such that, for a changeover operation, the motion unit can assume a predefined position relative to the storage station and preferably automatically pick up the process automation unit from the storage station into the receiving unit or, more preferably, automatically place it from the receiving unit into the storage station.

[0005] The term "storage station" refers to any magazine in which process automation components can be stored. The term "motion unit" refers to any movable structure that can move relative to the storage station. The term "receiving unit" refers to any coupling device with which the process automation component can be coupled to or uncoupled from the motion unit. The term "process automation component" refers to any device that includes an interface for coupling to the receiving unit, a frame, and a device that is preferably removable and mounted within the frame. The device is selected for a specific functionality or process step to be performed on the workpiece. Examples of such functions or process steps include...Fastening, cleaning, measuring, marking but also machining, whereby the respective device for machining includes its own spindle drive.

[0006] The storage station comprises at least one staging unit. The staging units of the storage station temporarily store the process automation components required for machining the workpiece. The staging units of the storage station are located within reach of the receiving unit. The motion unit moves to the storage station and, with the aid of the receiving unit—provided a receiving position is available on the receiving unit—preferably automatically picks up the process automation component required for the next process step from the storage station without requiring manual operator intervention. The motion unit then automatically moves to the workpiece and executes the next necessary process step with the newly connected process automation component.After the relevant process step has been executed, if an uncoupled process automation unit is needed for the next process step, and in particular if there is no free space available at the receiving unit for another process automation unit, the movement unit automatically moves back to the storage station, the process automation unit is placed back into the storage station, and another process automation unit required for the next process step is picked up.

[0007] The advantages of such a device are that the process automation components do not all need to be permanently mounted on the motion unit. Consequently, the weight of the motion unit is reduced and its agility is increased. Process automation components, preferably stored near the floor in the storage station, can be conveniently serviced by operators while the workpiece is simultaneously being processed by the motion unit. The automatic exchange of individual process automation components significantly reduces changeover time. Therefore, keeping the process automation components in the storage station increases both ease of maintenance and efficiency.Furthermore, the storage station offers the possibility that significantly more process steps can be automated using the relevant units, and space is already available for future novel units for new process steps.

[0008] The workpieces consist of preferably refined raw materials assembled into a wooden frame element. Preferably, the workpieces are designed as wood panel elements or solid wood elements. In a preferred embodiment, the workpieces to be processed lie on a workpiece support of the device, the workpiece support fixing the workpieces for processing, and preferably being stationary on the floor in both the longitudinal and transverse directions. It is also possible for the workpieces to be transported on the workpiece support in the longitudinal and / or transverse direction. Furthermore, it is possible for the workpieces to be arranged upright against the workpiece support. Since several storage stations can also be positioned adjacent to the workpiece to be processed, this increases the processing versatility.The flexibility of the movement unit has been further increased. It is also possible for the storage station to be permanently mounted on a ceiling or wall.

[0009] The motion unit is, in particular, a manipulator, which in a preferred embodiment is designed as a movable gantry or as a movable articulated robot. The movable gantry essentially consists of a horizontal guide beam and two vertical supports, the horizontal guide beam being aligned parallel to the transverse direction. It is obvious that the processing device can also comprise several longitudinally movable motion units instead of just one. Multiple motion units are particularly advantageous for the parallel processing of a very large workpiece, especially one extending several meters in length. The receiving unit and the process automation unit are preferably provided with interfaces for mutual coupling.

[0010] According to a preferred embodiment, the device comprises a support structure extending along the longitudinal direction of the device, on which the motion unit for movement along the support structure is movably mounted. The receiving unit is movably mounted on the motion unit in the transverse direction and in a vertical direction perpendicular to both the longitudinal and transverse directions with respect to the bearing station. Particularly preferably, the motion unit is designed to be automatically adjustable in the vertical direction with respect to the bearing station. The support structure enables precise, predefined displacement and positioning of the motion unit in order to process the workpiece as accurately as possible at the predefined positions. The adjustability of the receiving unit along the motion unit in both the transverse and vertical directions also achieves precise positioning of the respective unit for process automation.

[0011] The term "support structure" refers to any support system or structure on which the motion unit can move longitudinally. The longitudinal direction corresponds to the extension direction of the support structure. The support structure is preferably aligned parallel to a side surface of the workpiece. With such a device, the motion unit can move the process automation unit attached to the receiving unit longitudinally, transversely, and vertically. It is advantageous that the receiving unit can reach the storage station's supply units and pick up or place down the process automation units. Furthermore, the process automation unit arranged on the motion unit can access all possible points on a workpiece's horizontal surface as well as its vertical side surfaces for processing.

[0012] In a preferred embodiment, the receiving unit is arranged on a so-called aggregate carrier. An aggregate carrier is understood to be any aggregate slide on which the receiving unit can be arranged and with which the receiving unit can be moved laterally and vertically along the movement unit.

[0013] In alternative embodiments, at least that part of the motion unit on which the receiving unit is arranged is designed to be adjustable along a vertical direction relative to the storage station, either automatically or manually. With automatic adjustability of the motion unit, the motion unit can be preset to different height profiles of the workpiece before processing. This advantageously allows the vertical distance between the process automation unit and the workpiece to be kept small, thereby increasing the processing speed.

[0014] According to a preferred embodiment, the support structure is designed in the form of two longitudinally parallel and aligned travel profiles spaced at a predefined distance. The storage station is arranged according to at least one of the following variants: longitudinally overlapping with the travel profiles and / or overlapping with an imaginary extension of the travel profiles, and / or transversely overlapping with at least one travel profile, or within the travel profiles, or outside the travel profiles. The various arrangement variants allow the processing device to be flexibly designed depending on the size of the storage station and the configuration of the motion unit, for example, as a gantry or articulated robot. For example, if a very large storage station with many (i.e.,If more than 10 storage units are required, the storage station could be designed and arranged such that it overlaps both travel profiles in the transverse direction and is positioned both alongside the travel profiles and along an imaginary extension of the travel profiles in the longitudinal direction. Conversely, if only a small storage station with a few (i.e., a maximum of 5) storage units is required, the storage station could be designed and arranged such that it overlaps only one of the travel profiles in the transverse direction and is positioned along the imaginary extension of the travel profiles in the longitudinal direction.With such a small storage station and two motion units in the form of two articulated robots, each on one of the travel profiles, the articulated robot on the travel profile overlapping the storage station could move to a maximum distance close to the storage station, while the articulated robot on the other travel profile could move longitudinally beyond the position of the storage station. Furthermore, the various arrangement options for the storage station allow for optimal provision of the process automation components and the adaptation of their positioning within the storage station to customer-specific requirements.

[0015] The term "two parallel travel profiles" refers to any rail or guide system on which the motion unit can move and is guided. It is advantageous that the motion unit can not only move along the travel profiles in the longitudinal direction but is also guided, thus enabling precise and repeatable positioning of the motion unit in the longitudinal direction, particularly with respect to the storage station.

[0016] In particular, the two parallel guide profiles are each arranged next to the workpiece and preferably run longitudinally along the longest side of the workpiece. It is advantageous that the orientation of the movable portal in the longitudinal and transverse directions coincides with the orientation of the workpiece. In a further embodiment, it is advantageous to guide an articulated robot arm on one of the parallel guide profiles.

[0017] According to a preferred embodiment, the storage station with the process automation unit has an upper height profile in the transverse direction. Correspondingly, the motion unit with the process automation unit has a lower height profile in the transverse direction, which lies at least partially and preferably completely above the height profile of the storage station.

[0018] The upper height profile of the storage station is a transverse profile line that reflects the upper extent of the storage station in the vertical direction. Similarly, the lower height profile of the motion unit is a transverse profile line that runs along a lower edge of the motion unit and reflects its lower extent in the vertical direction. This arrangement and configuration of the motion unit and the storage station allows the motion unit to move longitudinally across the storage station. Such an arrangement is particularly advantageous when two workpieces arranged side-by-side in the longitudinal direction are to be processed by a single motion unit.In this case, the storage station is arranged between the two workpieces, whereby the motion unit with at least one process automation unit can reach both workpieces for processing and, if necessary, can exchange the at least one process automation unit at the storage station for at least one other process automation unit.

[0019] According to a further preferred embodiment, the device also comprises a workpiece support, wherein a processing chamber for a workpiece to be processed, arranged on the workpiece support, is provided above the workpiece support. The processing chamber has an upper height profile in the transverse direction. The storage station with at least one unit for process automation similarly has a lower height profile in the transverse direction, which, according to the preferred embodiment, is arranged at least partially, or more preferably, over the entire transverse direction of the workpiece support processing chamber above the upper height profile of the processing chamber.

[0020] The lower height profile of the storage station is a third profile line running transversely, which follows a lower edge of the storage station. The upper height profile of the workpiece support processing area is a fourth profile line running transversely, which reflects the upper extent of the processing area in the vertical direction. The processing area is a space that can accommodate, in particular, the largest possible workpiece in the vertical direction.

[0021] With this arrangement and design of the workpiece support, including the previously defined workpiece dimensions and the storage station, it is possible for either the workpiece alone or the workpiece support with the workpiece to be transported under the storage station. Such an arrangement is particularly advantageous in longer production lines, where a workpiece is transported from one workpiece processing device to the next. In such a production line, several motion units and several storage stations can be arranged longitudinally one after the other, with the individual motion units having only a limited travel range and being able to reach only one storage station or only a limited number of the installed storage stations.Especially in fast-paced production lines with large production volumes, such an arrangement and design of the device consisting of at least one workpiece support and at least one storage station is useful.

[0022] According to a preferred embodiment, the storage station comprises at least one staging unit and at least one further staging unit. The at least one staging unit and the at least one further staging unit are spaced apart from each other in the transverse direction.

[0023] The term "storage unit" refers to any storage location in which at least one process automation component can be stored. The storage units are preferably arranged side-by-side in a line running transversely and spaced apart from one another, and are within reach of the receiving unit. In a larger storage station, the storage units are preferably arranged in two or more parallel lines running transversely. The movement unit, together with the receiving unit, which is movable both transversely and vertically, can pick up and / or place process automation components from the storage units.

[0024] Such an arrangement of the supply units is particularly advantageous when changing several process automation units during a single changeover operation, as no additional longitudinal movement of the motion unit is necessary to pick up and / or put down the process automation units. A further advantage is that the storage station with the supply units can thus be arranged in a space-saving manner between two workpiece supports.

[0025] In a further preferred embodiment, the at least one staging unit and at least one further staging unit are designed to be adjustable in height, either jointly or individually, to facilitate the loading and unloading of the process automation assemblies by the receiving unit. With a transverse length of, for example, 6000 mm, up to six staging units for process automation assemblies with different process functionalities can preferably be arranged side by side in the transverse direction to enable a wide range of processing operations on the workpiece.

[0026] According to a preferred embodiment, the process automation unit has a storage device, preferably designed as a suspension device, for storing or, more preferably, suspending the unit in the storage station. The supply unit accordingly has at least one receiving device for the storage device. The term "storage device" refers to any technical device by which the process automation unit can be stored or temporarily placed on the supply unit. The term "receiving device" refers to any technical device for receiving a process automation unit.

[0027] In a first embodiment, the storage device and the receiving device are characteristically designed for each specific type of process automation unit, such that each storage location in the storage station is predefined for a specific type of process automation unit, and the movement unit must pick up and place the respective type of process automation unit at the same storage location. Thus, the operator of the device, who wishes to service a certain process automation unit, knows in advance where to find the relevant process automation unit in the storage station.Furthermore, in this case, the respective storage and receiving equipment can be adapted to the weight and size of the respective process automation unit in order to save costs and materials, because not all storage and receiving equipment needs to be designed for the largest or heaviest process automation unit.

[0028] In a second embodiment, the at least one receiving device and storage devices for different types of process automation units are designed uniformly. Thus, the storage devices for the process automation units and the receiving units of the storage station are standardized, allowing the device to place a process automation unit at any available storage location that can be reached as quickly as possible, thereby reducing the processing time of the workpieces with the device.

[0029] Furthermore, in a particular embodiment, a storage unit has two receiving devices for two process automation units, thus saving material during the manufacture of the storage station and thereby reducing manufacturing costs. The space required in the storage station for storing two process automation units is also reduced.

[0030] The receiving device is particularly preferably designed as a three-point receiver that can hold the unit for process automation in a positionally accurate manner.

[0031] According to a preferred embodiment, the process automation unit comprises a first unit for processing the workpiece, for example, a first unit for machining the workpiece, and a second unit for processing the workpiece, for example, a unit for measuring, marking, or cleaning the workpiece. This saves storage space at the storage station because it eliminates the need for a separate storage space for a first process automation unit with the first unit and a second, separate storage space for a second process automation unit with the second unit. Furthermore, the AND configuration saves time that would otherwise be required to change the process automation units at the storage station, thus accelerating the entire machining process with the device.

[0032] The first processing unit and the second processing unit are selected from the following group: fastening unit, adhesive unit, milling unit, sawing unit, drilling unit, cleaning unit, marking unit, sensor or measuring unit.

[0033] A sensor or measuring unit is understood to be any technical device that comes into contact with the workpiece, either physically or non-physically (e.g., via laser), and performs a measurement or inspection of the workpiece, e.g., whether a nail has been driven in only partially or completely, or whether a nail has been driven in at the predefined location.

[0034] Preferably, the first processing unit and / or the second processing unit are mounted on a mounting bracket of the process automation unit in a height-adjustable and / or interchangeable manner. The height-adjustable and / or interchangeable mounting on the mounting bracket is particularly suitable for accommodating different units with varying vertical dimensions within the mounting bracket.

[0035] According to a preferred embodiment, the process automation unit is rotatably mounted on the receiving unit. In particular, the process automation unit is rotatably mounted about a vertical axis such that a predefined spatial region, in which the workpiece is to be processed by the current position and orientation of the process automation unit, remains unchanged. A predefined spatial region in which the workpiece is to be processed is understood to be a region in which, for example, the tool comes into contact with the workpiece, or in which the fastening element of the mounting unit contacts the workpiece, or in which measurement signals from a sensor unit reach the workpiece.

[0036] With such a receiving unit, the process automation unit, preferably a stapling device, is rotated about a vertical axis parallel to the vertical direction. Staples of the stapling device can thus be driven into the workpiece at different angles between a staple bridge and, for example, the longitudinal direction. The staple bridge is the wire bridge between the two wire ends of the respective staple that are driven into the workpiece.

[0037] Rotation around the vertical axis is particularly advantageous when, in particular, the wire ends of a staple in the stapler need to be driven into the different grain directions of a workpiece, preferably wooden, thus improving the holding power of the fastener. It is also advantageous that a predefined area, corresponding to the position of the stapler's exit nozzle, remains unchanged by the rotation around the vertical axis, eliminating the need for readjustment of the stapler's position by the control unit. For this purpose, the vertical axis of rotation is arranged such that an imaginary extension of the axis overlaps the predefined area.

[0038] Preferably, the assembly for process automation is rotatably mounted about a horizontal axis. Such a design of the holding unit is particularly advantageous for enabling nailing tools to be rotated about a horizontal axis parallel to the transverse direction, so that the nailing tool's fasteners can be driven into the workpiece at different angles. Rotation about the horizontal axis is especially advantageous when plate-shaped components are to be fastened to wooden beams of a wooden substructure, where, in particular, vertical driving of fasteners near the joints of the plate-shaped components is disadvantageous. Vertical driving is especially disadvantageous when the wooden beams of the wooden substructure are narrow, for example, with a width of 38 mm.The panel joints run centrally along the wooden beam, leaving only minimal space next to the joints for vertically driving in a fastener. Therefore, nails are driven in at an angle using a hammer tilted around the horizontal axis for process automation. This ensures that the nail securely connects the panel-shaped component to the wooden beam and is driven completely into the beam. This prevents the nail from missing the wooden beam.

[0039] According to a preferred embodiment, the dispensing unit and / or the receiving unit are adjustable in the vertical direction and / or in the transverse direction and / or in the longitudinal direction and / or around the vertical direction and / or in the transverse direction and / or around the longitudinal direction by means of a manual, semi-automatic, or fully automatic adjustment mechanism. With such an adjustment mechanism, the dispensing unit and / or the receiving unit can also be flexibly aligned spatially relative to each other. Advantageously, the dispensing unit and the receiving unit can be coordinated and aligned with each other by the adjustment mechanism, so that the process automation components can be coupled to the receiving unit without interference.

[0040] In a further preferred embodiment, the device for moving and positioning the motion unit relative to the storage station comprises an omega drive. Such a drive allows, in particular, high positioning and repeatability accuracy, so that the process automation assemblies can be picked up from and placed back into the storage station without problems, even during extended operation of the device.

[0041] The invention further relates to a method for picking up or placing a process automation unit from or into a storage station (40), particularly in the case of a workpiece processing device as described in the preceding sections. The method comprises the following steps: - Performing an initial relative movement in the longitudinal direction between a motion unit and the storage station to reach a predefined transfer position, and / or - Performing a second relative movement in the transverse direction between the movement unit and the storage station to reach the predefined transfer position, and / or - Performing a third relative movement in a vertical direction between the movement unit and the storage station to reach the predefined transfer position, and - Picking up or placing the process automation unit at the motion unit or in the storage station at the transfer position.

[0042] According to a further preferred embodiment of the method, the method comprises the following additional steps: - Performing an initial relative movement in the longitudinal direction between the motion unit and the workpiece to achieve a machining position, and / or - Performing a second relative movement in the transverse direction between the holding unit and the workpiece to reach the machining position, and / or - Performing a third relative movement in the vertical direction between the holding unit and the workpiece to reach the machining position, and - Processing the workpiece at the processing position by the unit for process automation

[0043] According to a further preferred embodiment of the method, the first relative movement in the longitudinal direction between the motion unit and the storage station and the second relative movement in the transverse direction between the receiving unit and the storage station are performed simultaneously. Alternatively, the first relative movement in the longitudinal direction between the motion unit and the storage station, the second relative movement in the transverse direction between the receiving unit and the storage station, and the third relative movement in the vertical direction between the receiving unit and the storage station are performed simultaneously. Performing the relative movements simultaneously for a changeover operation at the storage station results in increased efficiency in workpiece processing due to time savings. Alternatively, the relative movements can also be performed sequentially.

[0044] According to a further preferred embodiment of the method, the first relative movement in the longitudinal direction between the motion unit and the bearing station is performed such that the motion unit can move over the bearing station. This allows the bearing station to be positioned at any position along the travel path of the motion unit, and the motion unit's movement is not restricted.

[0045] In a first particularly preferred embodiment, a workpiece support with a workpiece arranged on the workpiece support and, in particular, finished by the machining device, passes under the storage station. In a second particularly preferred embodiment, the workpiece is transported under the storage station by a transport system arranged on the workpiece support, wherein the workpiece support itself is stationary with respect to the storage station.

[0046] Such a process step allows the storage station to be placed on the travel path of the workpiece support or on the transport path of the workpiece without the storage station being an obstacle to movement of the workpiece support and / or the workpiece.

[0047] According to a further preferred embodiment of the method, several process automation units are picked up or placed down from the storage station simultaneously or sequentially during a changeover operation. This simultaneous or sequential picking up or placing of the process automation units during a changeover operation results in increased efficiency due to time savings, because several processing steps can be performed on the workpiece after the changeover operation before another changeover operation needs to be initiated for further processing steps.

[0048] Further features and advantages of the invention will become apparent from the following detailed description of exemplary embodiments of the invention, with reference to the figures in the drawing, which show essential details of the invention, and from the claims. The features shown therein are not necessarily to scale and are depicted in such a way that the inventive features can be clearly seen. The individual described features can be implemented individually or in any combination in various exemplary embodiments of the invention.

[0049] Preferred embodiments of the invention are shown in the figures of the drawing and are explained in more detail in the following description, wherein identical reference numerals refer to identical or similar or functionally identical device components or process steps.

[0050] They show: Fig. 1: A schematic diagram of an embodiment of a device for processing workpieces Fig. 2: A detailed perspective view of an embodiment of a deployment unit Fig. 3: A detailed perspective view of an embodiment of a process automation unit Fig. 4: A detailed perspective view of an embodiment of a recording unit Fig. 5: A detailed perspective view of an embodiment of an aggregate carrier Fig. 6: A schematic diagram of an embodiment of a motion unit and a storage station Fig. 7: A schematic diagram of another embodiment of a motion unit, a workpiece support and a storage station Fig. 8a - Fig. 8c: Three schematic diagrams showing possible arrangements of the storage station within the device for processing workpieces in relation to a travel profile Fig. 9a - 9b: Two schematic diagrams of an embodiment of a drive unit of the motion unit Fig. 10: Shows a schematic flowchart of a procedure for picking up or putting down a process automation unit from or into a storage station.

[0051] Fig. Figure 1 shows one of two preferred embodiments of a device 10 for processing workpieces 80. The device 10 comprises the following main components: a motion unit 20 in the form of a machining portal, a storage station 40, a support structure 65 for the motion unit 20, preferably a workpiece support 70 for the workpieces 80, and a control unit 90 for controlling the motion unit 20, the storage station 40, and the workpiece support 70. In a second preferred embodiment (not shown) of a further device for processing workpieces, an articulated robot, or two articulated robots, are used as the motion unit instead of the machining portal, each on a rail of the support structure 65.

[0052] The in Fig. The motion unit 20 shown in Figure 1 is arranged to be movable in the x-direction (corresponding to the longitudinal direction) on parallel guide profiles 66 of the supporting structure 65. The motion unit 20 is preferably constructed as a portal-shaped base structure 15, wherein the portal-shaped base structure 15 essentially comprises a guide beam 35 extending in the y-direction (corresponding to the transverse direction) and two supports 36 extending in the z-direction (corresponding to the vertical direction), at the lower end of which motion means 103 are located (see also Figure 1). Fig. 9a / 9b) such as, for example, a wheel or preferably a roller for rolling on the support structure 65. The portal-shaped base structure 15 extends in the vertical direction preferably in the range of 1700 mm - 2000 mm, in the longitudinal direction preferably in the range of 1700 mm - 2000 mm, and in the transverse direction preferably in the range of 4500 mm - 6200 mm. The longitudinal feed of the motion unit 20 is effected by a drive unit 37, which is arranged in relation to the Fig. 9 is described in more detail. One or preferably two aggregate carriers 21 are movably mounted on the guide beam 35 in the transverse direction, wherein at least one receiving unit 30 for receiving an aggregate 50 for process automation is arranged on one of the aggregate carriers 21. The receiving unit 30 is a coupling device for coupling the aggregate 50. The receiving unit 30 for receiving the aggregate 50 is movably mounted on the aggregate carrier 21 in the vertical direction. A guide system is arranged on the cuboid guide beam 35, wherein one of the aggregate carriers 21 is movably mounted in the transverse direction via at least one guide rail and, more preferably, via two parallel guide rails of the guide system arranged one above the other.The two guide rails of the guide system are preferably arranged on a long, vertically oriented surface of the cuboid guide beam 35 and thus lie in the same cylindrical plane. Preferably, the two guide rails of the guide system are spaced 200 mm to 300 mm apart. The portal-shaped base structure 15 is designed such that the motion unit 20 can be moved over the workpiece support 70 with a workpiece 80 located thereon, and such that the upwardly directed horizontal surface of the workpiece 80 can be processed, and preferably also the vertical side surfaces of the workpiece 80 can be processed by the motion unit 20. Processing refers, for example, to a fastening process, a machining process such as a cutting process, a cleaning process, a marking process, or a measuring or inspection process.

[0053] In the illustrated embodiment, the guide beam 35 projects beyond the two supports 36 in the transverse direction, so that the receiving unit 30 with the assembly 50 has a maximum range of motion in the transverse direction within a processing space 88 (see Fig. 7) and thus the entire upwardly directed horizontal surface of the workpiece 80, and preferably also the vertical side surfaces of the workpiece 80, can be processed. In a preferred embodiment, the portal-shaped base structure 15 of the motion unit 20 can be designed such that the guide beam 35 is adjustable manually or by motor along the vertical direction, which is particularly advantageous when the motion unit 20 traverses workpieces 80 of different heights. In this case, the supports 36 could be designed to extend and retract telescopically and thus move the guide beam 35 in the vertical direction. A hand crank with a gear drive or a motor with a gear drive could provide a drive for such a mechanism, with the drive being arranged on a support 36.The telescopic supports 36 are retracted or extended via a rack into which the gear drive of the hand crank or motor engages.

[0054] The in Fig. The storage station 40 shown in Figure 1, with a provisioning unit 42, is arranged in the illustrated embodiment longitudinally alongside the travel profiles 66 and transversely within the travel profiles 66. Further variants for the arrangement of the storage station 40 with respect to the support structure 65 are shown in Figure 1. Fig. Figure 8 shows the storage station 40 in the illustrated embodiment, which is arranged stationary on the ground. The storage station 40 is preferably constructed as a portal-shaped base structure 41, wherein the portal-shaped base structure 41 essentially comprises a crossbeam 46 extending in the transverse direction and two uprights 47 extending in the vertical direction and arranged on the ground. The staging unit 42 is preferably arranged on the crossbeam 46, and also includes two (see Figure 8). Fig. 1) or more provision units 42 can be arranged on the crossbeam 46. Several interfaces for provision units 42 are provided on the crossbeam 46 of the portal-shaped base structure 41, the interfaces being arranged in the transverse direction along the crossbeam 46. The interfaces for provision units 42 are preferably arranged next to each other at a distance of 100 mm. The provision units 42 are preferably detachably arranged on the interfaces of the crossbeam 46 and can be distributed on the crossbeam 46 according to customer-specific requirements. In a preferred embodiment, the portal-shaped base structure 41 of the storage station 40 is designed to be dimensionally rigid in order to ensure positional delivery of the unit 50. The storage station 40 with the unit 50 can have different height profiles in the transverse direction, the storage station 40 preferably having a first or a second height profile.In the first elevation profile, the storage station 40 is designed such that a lower edge of the crossbeam 46 of the portal-shaped base structure 41 is preferably located in the vertical direction in the range of 500 mm - 600 mm above ground level (see . Fig. 6) In the second elevation profile, the storage station 40 is designed such that the lower edge of the crossbeam 46 of the portal-shaped base structure 41 is preferably located in the vertical direction in the range of 1250 mm - 1350 mm above ground level (see Fig. 7) The aforementioned elevation profiles are described in the description of the Fig. 6 and Fig. 7 explained in more detail. Furthermore, the portal-shaped basic structure 41 preferably extends in the longitudinal direction in the range of 500 mm - 1000 mm and in the transverse direction preferably in the range of 2000 mm - 3500 mm.

[0055] The in Fig. The workpiece support 70 shown in Figure 1 essentially consists of a base 71 extending horizontally along the longitudinal and transverse directions and arranged on the floor, and a support surface 72 onto which the workpiece 80 to be machined can be placed. The workpiece support 70 preferably extends vertically in the range of 600 mm to 700 mm, longitudinally preferably in the range of 3000 mm to 10000 mm, and transversely preferably in the range of 3500 mm to 4000 mm. A clamping system 73 for clamping the workpiece 80 is preferably arranged on the support surface 72, wherein the clamping system 73 preferably has several bolts that are movable vertically and adjustable longitudinally and transversely. Due to the adjustability of the bolts in the longitudinal and transverse directions and the adjustability of the bolts in the vertical direction, workpieces 80 of different sizes can be clamped on the workpiece support 70.The bolts clamp the workpiece 80 onto the workpiece support 70, enabling the workpiece 80 to be processed by the device 10 with the unit 50 with a predefined precision. For example, a machining or fastening precision within a range of + / - 1.5 mm is predefined. Furthermore, a transport system 74 is preferably arranged on the support surface 72, allowing the workpiece 80 to be transported longitudinally and preferably also transversely on the workpiece support 70 by means of the transport system 74. Another possibility for transporting the workpiece 80 longitudinally and transversely is that the workpiece support 70 is movably mounted on guide profiles and the workpiece 80 is firmly clamped onto the support surface 72 by the clamping system 73.For this purpose, a drive is arranged on the workpiece support 70, wherein wheels driven by the drive are arranged on the workpiece support 70 to move the workpiece support 70 in the longitudinal direction and / or the transverse direction.

[0056] The in Fig. The supporting structure 65 shown in Figure 1, in a preferred embodiment, consists of two parallel, longitudinally aligned, and ground-mounted guide profiles 66, such as two rails. The motion elements 103, which are arranged at the lower end of the supports 36 and roll on the rails, are shaped such that the motion unit 20 is guided on the rails. Each of the two rails preferably comprises an elongated support plate, two elongated square profile bars, and a plurality of mounting plates. The mounting plates are preferably welded to the underside of the elongated support plate, with the mounting plates having bores at their outer ends for ground anchors so that the rails can be attached to a flat surface. The mounting plates are arranged parallel and evenly spaced from one another on the underside of the support plate.On the upper side of the support plate, the two elongated square profiles are arranged parallel to each other. Preferably, the two elongated square profiles are welded together, preferably symmetrically to a longitudinal axis of the elongated support plate, so that the moving elements 103 of the motion unit 20 can roll on the two square profiles. In a particular embodiment, the rails can also be arranged on the ceiling of an industrial building, so that the motion unit 20 could move along the ceiling.

[0057] The control unit 90 enables semi-automatic or, preferably, fully automatic operation of the device 10. Various components of the device 10 are connected to the control unit 90 via control and / or signal lines. The control unit 90, for example, controls actuators of the motion unit 20 and the workpiece support 70. The control unit 90 also preferably enables information exchange between the motion unit 20, the workpiece support 70, and the storage station 40 based on sensor data. Sensors mounted on the actuators of the device 10 supply position data from the actuators to the control unit 90. A measuring system 75 mounted on the support surface 72 of the workpiece support 70 supplies position data of the workpiece 80 to the control unit 90. Another sensor 60 on the unit 50 checks the distance between the workpiece 80 and a unit 52 arranged on the unit 50 (see figure). Fig. 3) for processing the workpiece 80, such as fastening, machining (milling, drilling), cleaning, marking, and measuring. Furthermore, a further sensor 48 preferably checks (see Fig. 2) at the staging unit 42 of the storage station 40, whether a unit 50 can be picked up by the receiving unit 30 or whether the staging unit 42 is already occupied. The control unit 90 compares the actual data of the installed sensors with the target data of a machining program and coordinates the further machining steps on this data basis, whereby the control unit 90 in particular enables a fully automated machining process. Based on a workpiece data set, in particular with information about the dimensions and arrangement of the components of the workpiece 80, a data processing unit 96 creates a machining program, wherein the workpiece data set is preferably a 3D CAD data set, and wherein the workpiece data set is entered manually, in particular by a machine operator via an HMI interface 95 (Human Machine Interface).In addition to manual entry of the workpiece data set, the workpiece data set can preferably also be transferred to the device 10 via a higher-level production control system.

[0058] The workpiece 80 is preferably a building module, which is in particular a wall element, a ceiling element and / or a roof element, and which is preferably produced for industrial prefabricated house construction. The building element preferably extends in the longitudinal direction from 3000 mm to 8000 mm, in the transverse direction preferably from 2500 mm to 3500 mm, and in the vertical direction preferably from 300 mm to 600 mm. The aforementioned building module is preferably a timber frame element and consists of different layers, wherein the timber frame element in particular consists of a wooden substructure, panel materials, and insulation material. The wooden substructure is preferably a frame and in particular has elongated chords and elongated studs, wherein the elongated chords and elongated studs are in particular wooden beams which, when joined together, form, for example, a rectangular timber frame.The workpiece 80 is preferably stored lying down on the support surface 72 of the workpiece support 70. However, it is also possible for the workpiece 80 to be stored standing upright on the support surface 72 of the workpiece support 70 (given a corresponding length of the uprights 36 of the portal-like base structure 55 or, preferably, the use of an articulated robot as the movement unit). The panel material is attached to the frame on both sides, either by screwing, nailing, or stapling, and is preferably wood fiber insulation board, gypsum board, or wood-based panel. The insulation material is either inserted or blown into the cavities of the frame, preferably being mineral wool, polystyrene, or wood fiber insulation. In a particular embodiment, the workpieces 80 are designed as timber panel elements or solid wood elements.

[0059] By means of the in Fig. In the receiving device 43 of the staging unit 42 shown in Figure 2, an assembly 50 is positioned accurately. The receiving device 43 comprises two receiving points, a first receiving point 43a being arranged on a horizontally oriented mounting plate 44, and a second receiving point 43b being arranged on a vertically oriented mounting plate 49. The first receiving point 43a has two upwardly directed spherical elements, the spherical elements being spaced a defined distance apart from each other and preferably being arranged on the top surface of the mounting plate 44. The spherical elements are adjustable in height and connected to the mounting plate 44, preferably each individual spherical element being adjustable in height.Viewed in the vertical direction, the rectangular setting plate 44 has two fork-like protrusions, with one of the spherical elements arranged on each of these protrusions. The space between the spherical elements allows for collision-free handling and placement of the unit 50. The second receiving point 43b is a rectangular, upwardly open groove on an upper edge of the vertical receiving plate 49. The groove in the receiving plate 49 is designed with so-called lead-in chamfers to prevent possible deviations from the target positions of the unit 50 and its support device 54 when the unit 50 is being handled (see figure). Fig. 3) to compensate. The second receiving point 43b is preferably located exactly midway between the spherical elements of the first receiving point 43a in the vertical direction, in order to allow the assembly 50 and its storage device 54 to be inserted vertically. The two elements of the first receiving point 43a and the second receiving point 43b of the supply unit 42 together form a so-called 3-point support for the assembly 50, wherein the assembly 50, which is stored in the storage station 40, preferably has only one degree of freedom in the vertical direction, so that the assembly 50 can be picked up or placed down by the movement unit 20.

[0060] The in Fig. The sensor 48 of the provisioning unit 42, as shown in Figure 2, is preferably adjustable relative to the first receiving point 43a and is mounted on the horizontal mounting plate 44. The sensor 48 is further preferably adjustable such that its distance to the first receiving point 43a can be set. The sensor 48 is located adjacent to the first receiving point 43a and is configured to send information about the occupancy or receiving status of the provisioning unit 42 to the control unit 90. The sensor 48 measures the receiving status, which preferably comprises the following two states: 1. State: Aggregate 50 received in the provisioning unit 42. 2. State: Aggregate 50 not received in the provisioning unit 42.

[0061] The in Fig. The adjustment plate 44 of the supply unit 42, as shown in Figure 2, is preferably adjustably mounted at the upper end of a mounting plate 45. The first receiving point 43a and the sensor 48 are arranged on the adjustment plate 44. The adjustment plate 44 can be spatially adjusted via an adjustment mechanism 42a so that the receiving device 43 for receiving the unit 50 can be precisely aligned in the xy-plane. In particular, a coupling adapter 57 (see Figure 2) can be aligned by means of the receiving device 43. Fig. 3) be aligned with the unit 50 so that the unit 50 can be received by the receiving unit 30.

[0062] The in Fig. The retaining plate 45 of the supply unit 42, as shown in Figure 2, is detachably attached to the crossbeam 46 of the portal-shaped base structure 41 of the storage station 40. The adjusting plate 44 and the receiving plate 49 are arranged on the retaining plate 45. The retaining plate 45 is preferably designed to be rigid in order to support the weight of a unit 50, so that the unit 50 can be picked up and stored in a positionally accurate manner. The rigid design is achieved, for example, by two parallel plates extending vertically, which are rigidly connected to each other at the upper end and laterally by a spacer plate, in particular by welding.

[0063] By means of the in Fig. In the storage device 54 of the unit 50 shown in Figure 3, the unit 50 is temporarily stored in the storage station 40 in a positionally accurate manner. The storage device 54 consists of two coupling points, in particular two suspensions, wherein a first coupling point 54a is arranged on a horizontal first plate 55b, and wherein a second coupling point 54b is arranged on a horizontal second plate 55c. The first coupling point 54a consists of two vertically oriented cylindrical elements, each cylindrical element being designed to engage positively with the respective spherical element of the first receiving point 43a of the receiving device 43 of the supply unit 42, the cylindrical elements preferably being arranged on a lower side of the first plate 55b.Furthermore, the cylindrical elements of the first coupling point 54a have a defined distance from each other, wherein the distance of the cylindrical elements of the first coupling point 54a corresponds to the distance of the spherical elements of the first receiving point 43a of the receiving device 43 of the supply unit 42, so that the assembly 50 can be temporarily stored at the storage station 40. The cylindrical elements are connected to the first plate 55b in a height-adjustable manner, preferably with each individual cylindrical element being height-adjustable.The second coupling point 54b is a cuboid element which is detachably connected to the second plate 55c, wherein the cuboid element is designed in such a way as to engage positively with the rectangular and upwardly open groove of the second receiving point 43b of the receiving device 43 of the supply unit 42, wherein the cuboid element is preferably arranged on a top side of the second plate 55c.

[0064] A in Fig. Figure 3 shows the aggregate holder 51 of the aggregate 50 being movably mounted in the vertical direction on a base structure 55 of the aggregate 50, wherein the aggregate holder 51 is preferably designed as a horizontal plate. The aggregate holder 51 has a mechanical interface on its underside for the unit 52, wherein the unit 52 is preferably interchangeably attached to the mechanical interface by means of a fastening element, wherein the fastening element is more preferably a screw or a threaded bolt.In a preferred embodiment, the mechanical interface between the unit 52 and the aggregate holder 51 is standardized for all aggregates 50 used in the device 10. The unit 52 preferably has a smooth rectangular surface with a threaded bolt, and the aggregate holder 51 preferably has a similarly smooth rectangular surface with an elongated opening on its underside, allowing the unit 52 to be connected to the aggregate holder 51 in a force-fit and form-fit manner. The aggregate holder 51 preferably includes an adjustment device 58 for the unit 52, the adjustment device 58 enabling the unit 52 to be adjusted relative to a central axis 59 of the aggregate 50. The adjustment device 58 particularly aligns a predefined spatial area 53, in which the workpiece 80 is processed by the unit 52, with respect to the central axis 59.The predefined spatial area 53 is understood to be an area in which the unit 52 acts on the workpiece 80, in particular in which a fastening element of the unit 52 contacts the workpiece 80 or in which measurement signals from a unit 52 reach the workpiece 80. The predefined spatial area 53 is to be adjusted such that it is in line with the central axis 59 during a machining process. Consequently, the position of the predefined spatial area 53 corresponds to the position of the central axis 59. In a preferred embodiment, the adjusting device 58 has a locking plate with at least one fastening element. With the locking plate and the fastening element, the unit 52 can be secured within the adjusting area in such a way that the predefined spatial area 53 does not change, particularly during a machining process, especially due to vibrations.The corners of the aggregate holder 51 preferably have vertically oriented openings for guide rods 55a. In particular, the openings for the guide rods 55a are designed to be clamped via a clamping mechanism, the clamping preferably being generated by a fastening means, so that the aggregate holder 51 is clamped and secured during a machining process.

[0065] In a particularly preferred embodiment, the aggregate holder 51 is movably mounted on the base structure 55 in the vertical direction, wherein the aggregate holder 51 preferably consists of two parallel plates arranged one above the other. The two plates are movably connected via at least one linear actuator, in particular a pneumatic cylinder. As in the previous embodiment, the mechanical interface for the unit 52 is provided on the underside of the lower horizontal plate. The pneumatic cylinder is located between the upper horizontal plate and the lower horizontal plate, wherein the pneumatic cylinder is preferably detachably attached to both the upper and lower horizontal plates. As in the previous embodiment, vertically oriented openings for the guide rods 55a are preferably located in the corners of the upper and lower horizontal plates.In particular, ball bushings are installed in the vertical openings of the lower horizontal plate, allowing the lower horizontal plate to move with low friction. Preferably, the vertical openings for the guide rods 55a in the upper horizontal plate are designed to be clamped via a clamping mechanism, as in the previous embodiment, so that the upper horizontal plate of the aggregate holder 51 can be clamped. During a machining process, the upper horizontal plate is clamped immovably to the guide rods 55a, and the lower horizontal plate can be moved with low friction via the pneumatic cylinder. The unit 52 is arranged at the mechanical interface of the lower horizontal plate, as in the previous embodiment. By activating the pneumatic cylinder, the unit 52 can assume two predefined positions in the vertical direction.The particularly preferred embodiment is advantageous if the unit 52 is a fastening unit for driving in fasteners, wherein the fastening unit can be used to process two different materials with different densities. The two predefined positions in the vertical direction allow the driving depth of the fasteners to be preferably adjusted automatically.

[0066] The workpiece 80 is processed by unit 52, for example, by manipulating and / or measuring it. Unit 52 is connected to the coupling adapter 57 via pneumatic and electrical lines as well as control lines (not shown), enabling it to be powered and to communicate with the control unit 90. Unit 52 can be, for example, a fastening unit, an adhesive unit, a milling unit with its own spindle drive, a sawing unit with its own spindle drive, a drilling unit with its own spindle drive, a cleaning unit, a marking unit, and / or a sensor or measuring unit. Fasteners, preferably staples, nails, and screws, can be driven into the workpiece 80 using the fastening unit, allowing the sheet materials to be fastened to the wooden substructure.The adhesive unit applies an adhesive to the workpiece 80, for example, by extruding the adhesive onto the workpiece 80 using a cartridge gun. More preferably, the adhesive can also be sprayed onto the workpiece 80 in a uniform layer thickness using an airless spray system. Furthermore, the adhesive unit can preferably be configured as a dispensing device with a cutting device for adhesive tape. In this case, the adhesive unit preferably applies the adhesive tape to the sheet materials of the workpiece, for example, to bond and / or seal the joints of the sheet materials on the workpiece. In particular, an adhesive tape, which is typically located on a round backing, can be applied to the workpiece using the dispensing device. Preferably, the cutting device can be used to cut the adhesive tape after it has been applied to the workpiece.The milling unit, sawing unit, and drilling unit machine the workpiece 80 using cutting tools, preferably to integrate openings into the panel materials or to further preferably format the panel materials. The cleaning unit cleans the workpieces 80, preferably using cleaning brushes and / or compressed air, to remove contaminants and, more preferably, chips. The marking unit applies markings to the workpiece, either to provide the operator with guidance for manual process steps or to monitor whether a semi-automatic or fully automatic process step has actually been executed at the predefined location. The sensor unit...The measuring unit can monitor the condition of the workpiece 80 and / or the environment by means of a sensor, wherein the sensor is in particular an optical sensor, a temperature sensor, a humidity sensor or a pressure sensor, wherein the sensor is further preferably a tactile or a non-contact sensor.

[0067] The in Fig. The basic structure 55 of the assembly 50, as shown in Figure 3, comprises the first plate 55b, the second plate 55c, and the guide rods 55a. The first plate 55b, which is preferably horizontally oriented and has a substantially rectangular shape, forms an upper part of the basic structure 55. The second plate 55c, which is also preferably horizontally oriented and has a substantially U-shape, forms a lower part of the basic structure 55. The upper part of the basic structure 55 is connected to the lower part of the basic structure 55 via the guide rods 55a. Preferably, the upper part and the lower part of the basic structure 55 are connected to each other via four round guide rods 55a.In a further preferred embodiment, the basic structure 55 has two guide rods 55a with a smooth and preferably ground surface and two guide rods 55a with an external thread extending through the vertical direction, so that the aggregate holder 51 is guided vertically via the smooth guide rods 55a and is clamped in a predefined vertical position via the guide rods 55a with external threads.

[0068] Preferably, support wheels 56 are arranged on the lower part of the base structure 55, with at least three support wheels 56 rotatably mounted about a vertical axis being arranged on the underside of the second plate 55c of the base structure 55. When the unit 50 is used in the machining device 10, the support wheels 56 serve to hold the workpiece 80 down during processing and to ensure low-friction movement of the unit 50 over the workpiece 80. The type and size of the support wheels 56 must be selected according to the material of the workpiece 80 to be processed in order to avoid any marks or traces on the surface of the workpiece 80. In a preferred embodiment, the support wheels 56 have a diameter of 50 mm to 80 mm with a rubberized running surface, the running surface preferably having a width of 20 mm to 40 mm.In an alternative embodiment, the support wheels 56 are replaced by a sliding plate with a smooth underside, in particular a sliding plate made of plastic, in order to be able to process particularly sensitive materials. Particularly sensitive materials are, in particular, wood fiber insulation boards, the surface of which must not show any traces or marks after processing by the processing device 10.

[0069] The in Fig. The coupling adapter 57 shown in Figure 3 is arranged on the upper part of the base structure 55, specifically on the top surface of the first plate 55b of the base structure 55. Preferably for servicing purposes, the coupling is detachably attached to the top surface of the first plate 55b of the base structure 55. A central axis of the preferably cylindrical coupling adapter 57 defines the position of the central axis 59 of the assembly 50. The coupling adapter 57, together with a coupling head 32 (see Figure 3), forms a coupling adapter 57. Fig. 4), which is arranged on the receiving unit 30 of the motion unit 20, a coupling system which can be connected force-fit and form-fit via a self-locking locking system, so that the unit 50 can be coupled to the receiving unit 30 of the motion unit 20. Energy can be transferred from the motion unit 20 to the unit 50 via the coupling system, whereby pneumatic and electrical energy as well as electrical control pulses can be transferred to the unit 50. In the opposite direction, measurement signals can be transmitted via the coupling system from the unit 50 to the control unit 90. The coupling adapter 57 is in particular a commercially available coupling adapter 57 from the company Schunk, wherein the type and size of the coupling adapter 57 must be designed to withstand the forces acting on the unit 50 during the operation of the unit 50.

[0070] The in Fig. The sensor 60 shown in Figure 3 is arranged on the lower part of the base structure 55, specifically on the upper surface of the second plate 55c of the base structure 55. The sensor 60 is preferably a commercially available distance sensor, for example from SICK, and monitors the contact between the unit 50 and the workpiece 80 during operation. The sensor 60 specifically monitors the area below the predefined space 53 of the unit 52, so that the unit 52 does not perform any machining without confirmation from the sensor 60 that the workpiece 80 is present. The sensor 60 is connected to the coupling adapter 57 by means of electrical and control lines (not shown), enabling the sensor 60 to be powered and to communicate with the control unit 90.

[0071] The in Fig. The coupling head 32 of the receiving unit 30, as shown in Figure 4, forms a vertically oriented drive train together with a drive unit 31 and a rotary device 33. The coupling head 32 is arranged at the lower end of the vertically oriented drive train so that it can be rotated about a vertical axis of rotation 39. The coupling head 32 forms the movable part of the receiving unit 30. Preferably, and for servicing purposes, the coupling head 32 is detachably attached to the lower part of the rotary device 33. The coupling head forms an interface with the coupling adapter 57 of the respective assembly 50, so that, as already described in a previous section, a force-fit and form-fit connection can be established between the coupling head 32 and the coupling adapter 57, and consequently, an assembly 50 stored in the storage station 40 can be picked up or placed down by the receiving unit 30.The coupling head 32 has several energy transmission interfaces, enabling the transmission of electrical and pneumatic energy, as well as control pulses, from the motion unit 20 to the respective coupled unit 50 and vice versa. Measurement signals can also be transmitted from the respective unit 50 to the motion unit 20. The coupling head 32 is, in particular, a commercially available coupling head 32 from the company Schunk, the type and size of which must be designed to withstand the forces acting on the unit 50 during its operation.

[0072] One in Fig. The holder structure 34 of the receiving unit 30, as shown in Figure 4, preferably consists of an upper part and a lower part, wherein the upper part and the lower part of the holder structure 34 are preferably connected to each other by an adjustment mechanism 30a. The holder structure 34 forms the fixed or stationary part of the receiving unit 30. The rotary device 33 and the drive unit 31 are arranged on the upper part of the holder structure 34, wherein the rotary device 33 and the drive unit 31 are preferably detachably attached. The lower part of the holder structure 34 is arranged on the aggregate carrier 21 of the motion unit 20, wherein the lower part of the holder structure 34 is preferably detachably attached to the aggregate carrier 21 of the motion unit 20.The adjustment mechanism 30a allows the upper part of the holder structure 34 to be spatially adjustable in such a way as to precisely align the coupling head 32 in an xy-plane so that the assembly 50 can be received by the receiving unit 30.

[0073] The adjustment mechanism 30a preferably comprises several adjusting screws, wherein the adjusting screws are further preferably so-called tension-compression screws.

[0074] The in Fig. The drive unit 31 shown in Figure 4 comprises an electric motor with a gearbox, in particular a servo motor combined with a planetary gearbox. The axis of rotation of an output shaft of the planetary gearbox is arranged vertically, with the axis of rotation of the output shaft of the planetary gearbox defining the axis of rotation 39 of the vertical drive train. The servo motor with planetary gearbox enables precise positioning and motion control during operation of the unit 50. In particular, the drive unit 31 rotates and positions the coupling head 32 via a shaft coupling and a power transmission shaft. A planetary gearbox offers the advantage of being able to transmit high torques in a compact space.The servomotor with planetary gearbox is in particular a commercially available servomotor with planetary gearbox, for example from the company REXROTH, whereby the servomotor with planetary gearbox is to be designed to withstand the forces acting on the unit 50 during the use of the unit 50.

[0075] The in Fig. The rotary device 33 shown in Figure 4 is arranged on a side surface of the support structure 34. The rotary device 33 comprises a shaft coupling, a power transmission shaft, and a bearing. The bearing rotatably supports the power transmission shaft on the support structure 34 and positions the power transmission shaft in line with the output shaft of the planetary gear, so that rotational energy can be transmitted from the drive unit 31 to the coupling head 32.

[0076] About a in Fig. In the energy chain 38 shown in Figure 4, energy transmission lines are routed from the motion unit 20 to the receiving unit 30. Specifically, electrical lines, pneumatic lines, and control lines are routed via the energy chain 38. To connect the lines to the energy transmission interfaces of the coupling head 32, the lines are preferably routed from the fixed part of the receiving unit 30 (support structure 34) to the moving part (coupling head 32) of the receiving unit 30 via the energy chain 38. This ensures that the lines for transmitting electrical and pneumatic energy are supported in a defined manner and thus prevent damage to the lines during a positioning movement of the coupling head 32.

[0077] One in Fig. The guide unit 22 of the aggregate carrier 21, as shown in Figure 5, is detachably attached to a second slide 29 of the aggregate carrier 21. The guide unit 22 consists of at least one guide element, in particular two guide elements, which are arranged one above the other in the vertical direction on a side surface of the second slide 29. Preferably, four guide elements are attached to the side surface of the second slide 29, the four guide elements being arranged one above the other and next to each other in a rectangular pattern. Preferably, the two upper guide elements lie in the same xy-plane and the two lower guide elements lie in the same xy-plane, such that the upper guide elements interact with an upper guide rail of the guide system of the guide beam 35 of the motion unit 20 and the lower guide elements interact with a lower guide rail of the guide system of the guide beam 35.Consequently, the guide system on the guide beam 35 and the guide unit 22 on the aggregate carrier 21 are mounted in such a way that the aggregate carrier can perform a linear movement in the transverse direction.

[0078] At one in Fig. The receiving unit 30 is arranged on the first slide 23 of the aggregate carrier 21 as shown in Figure 5, wherein the receiving unit 30 is slidably mounted on the first slide 23 in the vertical direction. Preferably, the first slide 23 extends vertically in the range of 1300 mm to 1500 mm and laterally in the range of 200 mm to 300 mm. For vertical displacement of the receiving unit 30, it is preferably slidably mounted on the first slide 23 via a vertical guide rail 28. In particular, the receiving unit 30 can be moved and fastened at different mounting positions on the vertical guide rail 28 using fasteners. The mounting positions extend in the range of 400 mm to 600 mm on the vertical guide rail 28. The movement of the receiving unit 30 can be performed manually or, preferably, by motor.The first slide 23 of the aggregate carrier 21 is slidably arranged on the second slide 29 of the aggregate carrier 21 via a guide system. In particular, a vertically oriented guide rail is preferably arranged on the first slide 23, and preferably two parallel and vertically oriented guide rails are arranged on the first slide 23. Preferably, the two guide rails are located on a side surface of the first slide 23 that is parallel to the vertical direction and lie side by side in the same zy-plane. A guide element, or preferably several guide elements, are arranged on a side surface of the second slide 29 that faces the first slide 23. The guide elements are part of the guide system between the first and second guide slides for moving the first slide 23 vertically. Preferably, the guide elements lie side by side in the same zy-plane.In particular, the second slide 29 extends in the vertical direction in the range of 800 mm - 1000 mm and in the transverse direction in the range of 200 mm - 300 mm.

[0079] One in Fig. The first drive unit 24, shown in Figure 5, consists of a fixed drive part and a movable drive part. The fixed drive part is detachably attached to the second slide 29, and the movable drive part is detachably attached to the first slide 23, so that the first slide 23 can be moved vertically by the first drive unit 24. The maximum displacement of the first slide 23 by the first drive unit 24 is preferably in the range of 600 mm and more preferably in the range of 700 mm. The first drive unit 24 is preferably a pneumatically operated drive unit 24 and more preferably a pneumatic cylinder.The first drive unit 24, comprising a fixed drive part (a cylinder housing) and a movable drive part (a piston with a rod), generates linear motion. The piston and rod are movably mounted within the cylinder housing to convert pneumatic energy into linear mechanical kinetic energy. The piston and rod have a fastening device at its end, allowing the rod to be connected to the first slide 23. The cylinder housing also has a fastening device, enabling it to be connected to the second slide 29. It is understood that a hydraulically operated or an electrically operated drive unit 24 can also be used to move the first slide 23.The first drive unit 24 serves the purpose of moving the unit 50, coupled to the receiving unit 30, in the vertical direction to an upper end position and a lower end position. The lower end position preferably corresponds to the workpiece surface to be machined. To reach the lower end position, the unit 50 is moved by the first drive unit 24 in the direction of the workpiece 80, so that the support wheels 56 of the unit 50 contact the workpiece 80. Consequently, the support wheels 56 hold the workpiece 80 down, ensuring low-friction movement of the unit 50 over the workpiece 80. By connecting the first drive unit 24 to the control unit 90, the pressure with which the support wheels 56 of the unit 50 hold the workpiece 80 down can preferably be automatically regulated.Preferably, an additional device can mechanically clamp the movable part of the pneumatically operated drive unit 24 after the support wheels 56 have been placed on the workpiece 80, so that the assembly 50 can be fixed at a specific height after the support wheels 56 have been placed on the workpiece 80. In a particular embodiment, the first slide 23 with the assembly 50 can be mechanically decoupled from the movable drive part of the pneumatically operated drive unit 24 by a further additional device in order to mount it floatingly in a range of preferably 40 mm, so that the assembly 50 can also be moved over uneven workpieces 80, i.e., those that are not flat on their upper surface.

[0080] In a preferred embodiment, an additional lifting unit 25 is integrated between the movable drive part of the first drive unit 24 and the first slide 23, allowing the first slide 23 to be raised further in the vertical direction. Preferably, the additional lifting unit 25 is pneumatically operated. An advantage of the additional lifting unit 25 is that the unit 50 can be briefly raised from the workpiece 80 and lowered back onto the workpiece 80 during machining. Preferably, the unit 50 can be raised by the additional lifting unit 25 in the range of 100 mm to, more preferably, 200 mm. Thus, obstacles on the surface, in particular openings in the surface of the workpiece 80, can be overcome by briefly raising and lowering the unit.Brief lifting and lowering with the additional lifting unit 25 is advantageous in order to quickly overcome obstacles and thus ensure a rapid continuation of processing.

[0081] One in Fig. The second drive unit 26 of the aggregate carrier 21, as shown in Figure 5, is arranged on the second slide 29, preferably being adjustably mounted on a side surface of the second slide 29. The second drive unit 26 is preferably arranged above the guide unit 22. With the second drive unit 26, the aggregate carrier 21 can execute a linear movement in the transverse direction along the guide beam 35 of the motion unit 20. The second drive unit 26 is preferably an electric motor or, more preferably, an electric servo motor. The use of the electric servo motor enables precise positioning and motion control during operation. It is understood that the second drive unit 26 can also be designed as a pneumatic or hydraulic motor, and motors with gearboxes can also be used.Preferably, a gear 27 lying in the xy-plane is arranged on the second drive unit 26, so that the gear 27 can engage with a rack extending transversely and arranged on the portal-shaped base structure 15, and the aggregate carrier 21 can be moved. To optimally engage the gear 27 with the rack, the second drive unit 26 is preferably arranged on an adjustment device. The adjustment device allows the second drive unit 26 to be adjusted vertically and longitudinally. More preferably, the adjustment device includes a spring mechanism. Preferably, the spring mechanism allows a spring movement of the second drive unit 26 in the longitudinal direction, and more preferably, the spring mechanism also allows a spring movement in the transverse direction.Thus, any potential straightness error of the rack and / or any potential misalignment of the gear 27 can be compensated for by the spring device in order to minimize wear on the contact surfaces of the gear 27 and the rack during operation. The second drive unit 26 is furthermore supplied with energy by the motion unit 20, preferably via electrical lines. The second drive unit 26 is also connected to the control unit 90 via control lines 91 to communicate with the control unit 90.

[0082] Both the control lines 91 on the aggregate carrier 21 and the electrical, pneumatic and hydraulic lines for supplying power to all electrical, pneumatic and hydraulic consumers on the aggregate carrier 21 preferably run via one or more energy chains from the motion unit 20 to the aggregate carrier 21. On the aggregate carrier 21 itself, the aforementioned lines also run via one or more energy chains from the first slide 23 to the second slide 29.

[0083] In Fig. 6. For clarity, only the motion unit 20 and the bearing station 40 of the device 10 are shown in a schematic diagram. An upper height profile 86 of the bearing station 40 and a lower height profile 85 of the motion unit 20 are also shown. This configuration of the bearing station corresponds to the first height profile of the bearing station, which was already described in a previous section. It can be seen that the motion unit 20 and the bearing station 40 are designed and arranged such that the upper height profile 86 of the bearing station 40 runs below the lower height profile 85 of the motion unit 20 in the zy-plane.

[0084] The upper height profile 86 of the storage station 40 is a first profile line that reflects the maximum extent of the storage station 40 in the vertical direction. In particular, the first profile line runs in the transverse direction along the upper edge of the crossbeam 46 of the storage station 40 and further encloses a profile of all components projecting above the upper edge of the crossbeam 46, wherein in particular the supply units 42 and the aggregates 50 project above the upper edge of the crossbeam 46 of the storage station 40.

[0085] The lower height profile 85 of the motion unit 20 is a second profile line extending in the transverse direction, wherein the second profile line runs along the lower edge of the guide beam 35 and reflects the lower extent of the guide beam 35 and the receiving unit 30 with a coupled assembly 50 in the height direction. Although the receiving unit 30 with a coupled assembly 50 is in an upper end position, the assembly 50 can project below the lower edge of the guide beam 35 of the motion unit 20. In particular, the second profile line is defined by a profile in the zy-plane of all components projecting below the lower edge of the guide beam 35 in the region of the transverse extent of the bearing station 40.

[0086] Consequently, in Fig. 6. An arrangement can be identified in which the upper height profile 86 of the storage station 40 lies below the lower height profile 85 of the motion unit 20, so that the motion unit 20 can move over the storage station 40 in an operating state. Such an arrangement is particularly advantageous if two workpieces 80 arranged side by side in the longitudinal direction are to be processed by one motion unit 20. In this case, the storage station 40 is arranged between the two workpieces 80, whereby the motion unit 20 with its aggregates 50 can reach both workpieces 80 for processing and can exchange the aggregates 50 at the storage station 40 if necessary.

[0087] In Fig. Figure 7 shows, for clarity, only the motion unit 20, the storage station 40, and the workpiece support 70 of the device 10 in a schematic representation. A lower height profile 87 of the storage station 40 and a processing chamber 88 are also shown. This configuration of the storage station corresponds to the second height profile of the storage station, which was already described in a previous section. It can be seen that the storage station 40 is designed and arranged such that the lower height profile 87 of the storage station 40 runs above the processing chamber 88 in the zy-plane. The lower height profile 87 of the storage station 40 is a third profile line extending in the transverse direction, with the third profile line running along the lower edge of the crossbeam 46 and reflecting the lower extent of the crossbeam 46 in the vertical direction.

[0088] The processing space 88 is a space for a workpiece 80 arranged on the workpiece support 70, wherein the processing space 88 is preferably located above the workpiece support 70 and reflects the largest possible workpiece 80, particularly in its vertical dimension. The base area of ​​the processing space 88 corresponds to the dimensions in the longitudinal and transverse directions of the support surface 72 of the workpiece support 70. The vertical dimension of the processing space 88 corresponds to the predefined maximum height that a workpiece 80 may have.

[0089] Consequently, in Fig. Figure 7 shows an arrangement in which the lower height profile 87 of the storage station 40 lies above the processing area 88, such that the workpiece 80 can be transported under the portal-shaped base structure 41 of the storage station 40 in an operating state. Such an arrangement is particularly advantageous in longer production lines, where a workpiece 80 is transported from one workpiece processing device to the next. In such a production line, several motion units 20 and several storage stations 40 can be arranged longitudinally one behind the other, with the individual motion units 20 having only a limited travel range and preferably being able to reach only one storage station 40 or a limited number of the available storage stations 40. Such an arrangement is particularly useful in fast-paced production lines with large production volumes.

[0090] As the Fig. As shown in Figures 8a to 8c, the storage station 40 can be arranged in different positions within the installation area provided for the device 10. In particular, nine arrangement variants of the storage station 40 are advantageous, so that the position of the storage station 40 can be adapted to different customer-specific requirements.

[0091] A first arrangement variant 97a, in which the storage station 40 is arranged longitudinally alongside the travel profiles 66 and transversely within the travel profiles 66, is particularly well suited for positioning the storage station 40 within the working area of ​​the portal or the articulated robot in a particularly easily accessible manner. The portal with the picking unit 30 can be moved over the storage station 40 to pick up the respective unit 50. The location specification "alongside the travel profiles 66" means that the storage station 40 is located longitudinally at a position where the travel profiles 66 run.

[0092] A second arrangement variant 97b, in which the storage station 40 is located next to an imaginary extension of the travel profiles 66 and transversely within the travel profiles 66, is particularly well suited to keeping the working area of ​​the portal or the articulated robot clear for particularly large workpieces 80. This is especially true when there is little space for a storage station 40 transversely outside the travel profiles 66. An articulated robot could easily reach the storage station 40 positioned in this way due to the large range of motion of its robot arm. The portal's receiving unit 30 would have to be designed to reach the storage station 40 and the assemblies 50 stored therein. In particular, the receiving unit 30 would have to be designed so that it can move longitudinally and reach an assembly 50 by means of a corresponding longitudinal movement function.In addition to the imaginary extension of the driving profiles 66, this means that the storage station 40 is located in the longitudinal direction at a position where no driving profiles 66 run.

[0093] A third arrangement variant 97c, in which the storage station 40 is arranged longitudinally alongside the travel profiles 66 and transversely outside the travel profiles 66, is particularly suitable for keeping the working area of ​​a gantry or an articulated robot clear for particularly large workpieces 80. This is especially true when there is little space for a storage station 40 in the longitudinal direction along an imaginary extension of the travel profiles 66. An articulated robot could easily reach the storage station 40 positioned in this way due to the large range of motion of its robot arm. The portal's receiving unit 30 and / or the portal itself would have to be designed to reach the storage station 40 and the assemblies 50 stored therein. In particular, the guide beam 35 of the portal would have to be designed with a transverse extension to ensure accessibility by the receiving unit 30.

[0094] The further arrangement variants are characterized in that the storage station 40 is arranged longitudinally both next to the driving profiles 66 and next to an imaginary extension of the driving profiles 66 and in the transverse direction within the driving profiles 66, that the storage station 40 is arranged longitudinally either next to the driving profiles 66 or next to an imaginary extension of the driving profiles 66 or both next to the driving profiles 66 and next to an imaginary extension of the driving profiles 66 and in the transverse direction overlaps at least one of the driving profiles, or that the storage station 40 is arranged longitudinally next to the driving profiles 66 or both next to the driving profiles 66 and next to an imaginary extension of the driving profiles 66 and in the transverse direction outside the driving profiles 66.

[0095] In the Fig. 9a and Fig. 9b is already related to Fig. Figure 1 shows in detail the drive unit 37 for longitudinally advancing the motion unit 20. The drive unit 37 is preferably designed as a so-called omega drive and essentially consists of two drive rollers 100, two motors 101, two power transmission elements 102, four motion elements 103, and four deflection rollers 104, wherein the drive rollers 100, the motors 101, the power transmission elements 102, and the motion elements 103 are preferably identical. In the embodiment shown, the two drive rollers 100 and the two motors 101 of the drive unit 37 are arranged in the guide beam 35 of the motion unit 20, wherein the drive rollers 100 are preferably rotatably mounted in the guide beam 35 about an axis parallel to the transverse direction and are mechanically connected to the respective motor 101.The drive rollers 100 are preferably cylindrical and have a toothed structure on their cylindrical surface. The two motors 101 are preferably detachably attached to the guide beam 35 and transmit rotational energy to the drive rollers 100 via preferably separate drive shafts. The motors 101 are preferably electric motors with a gearbox, and further preferably electric servomotors connected to the control unit 90 via control lines 91. In contrast to other motor types, the electric servomotor offers the advantages that the motion unit 20 can be positioned very precisely and accurately in an operating state and can react quickly to control signals from the control unit 90.

[0096] The motion elements 103 of the drive unit 37 are arranged in the respective supports 36 of the motion unit 20, wherein the motion elements 103 are preferably rotatably mounted in the respective supports 36 about an axis parallel to the transverse direction, so that the motion elements 103 can bear the load of the motion unit 20 and the motion unit 20 is movably mounted on the travel profiles 66. Each motion element 103 has a running surface, wherein the motion element 103 preferably has two convex running surfaces, so that the contact with the travel profile 66 is reduced to a minimum and consequently the friction between the travel profile 66 and the motion element 103 is minimized.The deflection rollers 104 are also arranged in the respective supports 36, wherein the deflection rollers 104 are preferably rotatably mounted in the respective supports 36 about an axis parallel to the transverse direction, so that the respective power transmission means 102 can be deflected from the drive roller 100 to the travel profile 66. As in . Fig. As shown in Figure 9a, a power transmission means 102, in particular a flat belt with a toothed structure on its surface, is preferably adjustable and attached to both ends of the respective drive profile 66 via attachment points. The power transmission means 102 can be tensioned, in particular via the attachment points, so that a tensile force can be generated and thus a connection is created between the drive unit 37 and the drive profile 66.The flat belt with a toothed structure on its surface runs horizontally from the ends of the respective driving profile 66 along the driving profile 66 to the deflection rollers 104 and is then deflected vertically by the deflection rollers 104 to the drive roller 100, so that the toothed structure of the flat belt can engage with the toothed structure of the drive roller 100 in order to convert the rotational kinetic energy of the motor 101 into linear kinetic energy and thus set the motion unit 20 into linear longitudinal motion.To set the motion unit 20 into a uniform and symmetrical linear longitudinal movement, thereby guaranteeing, on the one hand, precise machining of the workpieces 80 by the machining device 10 and, on the other hand, positioning the motion unit 20 as precisely as possible in a transfer position in which assemblies 50 can be picked up from or placed into the storage station 40, the two power transmission means 102 are preferably tensioned with the same tensile force via the attachment points of the two travel profiles 66, and the motors 101 of the drive unit 37 are preferably controlled identically by the control unit 90. In a preferred embodiment, the drive unit 37 has only one motor 101, wherein the one motor 101 is controlled by the control unit 90 and the rotational kinetic energy of the motor 101 is transmitted via a drive shaft to the two drive rollers 100.

[0097] Fig. Figure 10 shows a schematic representation of a method for picking up or putting down an assembly for process automation, such as the assembly 50, from or into a storage station, such as the storage station 40 of the device 10, which is described in various versions in the preceding paragraphs. Such a changeover process is characterized in that a motion unit, such as the motion unit 20, moves towards the storage station, puts down or picks up at least one assembly after reaching the storage station, and then moves back to a processing position for further processing of the already processed workpiece 80 or a newly processed workpiece 80. A further movement of the motion unit to the storage station is already part of another changeover process.

[0098] In this process, the process automation components are picked up from the receiving unit and placed in storage units, such as storage units 42, during a first changeover operation. During a second or subsequent changeover operation, they are placed back into the storage units. In the process example described below, two receiving units are arranged on the motion unit, with one component coupled to each receiving unit. Furthermore, two components are stored in the storage station, which are to be picked up for machining workpiece 80.

[0099] In a first process step 160, the motion unit moves longitudinally towards the storage station and reaches a first target transfer coordinate specified by the control unit. In a second process step 170, the first receiving unit moves transversely towards the storage station and reaches a second target transfer coordinate specified by a control unit, such as control unit 90. In a third process step 180, the first receiving unit moves vertically towards the storage station from an upper end position to a third target transfer coordinate specified by the control unit. The first receiving unit has thus reached a target transfer position.The target transfer position represents the position in which the respective receiving unit is located so close to the storage station that a process automation component can be picked up, for example, by a coupling operation without further movement of the receiving unit, or a decoupling operation can be performed without further movement of the receiving unit. Depending on the pre-positioning of the receiving unit due to a previously completed processing process, either only one or two of steps 160 to 180 might be sufficient to reach the target transfer position.

[0100] In a further process step 190, the first receiving unit decouples the coupled process automation unit and thus sets the process automation unit down. Step 190 can contain two sub-steps: first, the supply and signal lines between the receiving unit and the process automation unit are interrupted, and then the force-fit and / or positive-locking connection between the receiving unit and the process automation unit is released. Alternatively, the two sub-steps could also be performed in one step.

[0101] Subsequently, in a further, optional step 200, the distance between the storage station and the first receiving unit is increased by a relative movement in the vertical direction. This can be achieved, for example, by moving the first receiving unit back to an upper end position in the vertical direction. Step 200 is performed in cases where direct movement in the transverse and / or longitudinal direction to another supply unit is not possible without collision with the storage station due to its design. However, step 200 can be omitted if the storage station is designed accordingly. In a further process step 210, the control unit checks whether all necessary components for process automation have been picked up or placed in the subsequent processing steps.In this example, the control unit decides that an aggregate for process automation should be picked up by the first receiving unit, and thus the procedure or the ongoing changeover process is continued with process step 170.

[0102] In a further process step 170, the first receiving unit moves laterally relative to the storage station and reaches a second target transfer coordinate specified by the control unit. In a further process step 180, the first receiving unit moves vertically towards the storage station from an upper end position to a third target transfer coordinate specified by the control unit. In a further process step 190, the first receiving unit couples the process automation unit located in the storage station, as specified by the control unit, and thus receives the process automation unit.Step 190 can also contain two sub-steps here: first, a force-fit and / or form-fit connection is established between the receiving unit and the process automation unit; and then, the supply and signal lines from the receiving unit and the process automation unit are connected. Alternatively, these two sub-steps could be performed in a single step. Subsequently, in a further, possibly optional, step 200, the distance between the storage station and the first receiving unit is increased by a relative movement in the vertical direction. This can be achieved, for example, by moving the first receiving unit back to an upper end position in the vertical direction.

[0103] In a further process step 210, the control unit checks again whether all necessary components for process automation have been picked up or placed down for the following processing steps. In this example, the control unit decides that a component for process automation should be placed down by the second picking unit, and thus the process continues again with process step 170. The second picking unit moves laterally relative to the storage station and reaches a second target transfer coordinate specified by the control unit. In a further process step 180, the second picking unit moves vertically towards the storage station from an upper end position to a third target transfer coordinate specified by the control unit.In a further process step 190, analogous to the description above, the second receiving unit decouples the coupled process automation unit and places it down. Subsequently, in a further, optional step 200, the distance between the storage station and the second receiving unit is increased by a relative movement in the vertical direction. This can be achieved, for example, by the second receiving unit moving back to an upper end position in the vertical direction. In a further process step 210, the control unit checks whether all necessary process automation units have been picked up or placed down for the following processing steps. In this example, the control unit decides that a process automation unit should be picked up by the second receiving unit, and thus the process continues again with process step 170.

[0104] In a further process step 170, the second receiving unit moves laterally relative to the storage station and reaches a second target transfer coordinate specified by the control unit. In a further process step 180, the second receiving unit moves vertically towards the storage station from an upper end position to a third target transfer coordinate specified by the control unit. In a further process step 190, the second receiving unit couples and receives the further specified process automation unit located in the storage station, analogous to the description above. Subsequently, in a further, optional step 200, the distance between the storage station and the second receiving unit is increased by a relative movement in the vertical direction.This can be achieved, for example, by having the second pickup unit move back to an upper end position in the vertical direction. In a further process step 210, the control unit checks again whether all necessary components for process automation have been picked up or placed for the following processing steps. In this example, the control unit decides that no further components for process automation should be picked up or placed, and thus the process continues with process step 220.

[0105] In a further process step 220, the workpiece 80 is placed on a workpiece support, such as the workpiece support 70, for processing. Process step 220 can alternatively be skipped if the workpiece 80 is already on the workpiece support, particularly if it is to be processed further after the changeover. In a further process step 230, the motion unit moves longitudinally relative to the workpiece 80 and reaches a first target processing coordinate specified by the control unit. In a further process step 240, the first receiving unit moves transversely relative to the workpiece 80 and reaches a second target processing coordinate specified by the control unit.In a further process step 250, the first receiving unit moves vertically relative to the workpiece 80 from an upper end position to a third target processing coordinate specified by the control unit. Through process steps 230 to 250, the first receiving unit reaches a target processing position. The target processing position represents the position in which the respective receiving unit is adjacent to the workpiece and a process can be carried out with respect to the workpiece 80.

[0106] In process step 260, a sensor, for example sensor 60, is used to check whether workpiece 80 is located in the predefined space 53 as intended. If the check reveals that workpiece 80 is not located in space 53, the process either continues with process step 230 or it terminates, and an operator would have to investigate the cause of the error. If, however, the check reveals that workpiece 80 is located in space 53 as expected, in a further process step 270, workpiece 80 is processed by the first process automation unit according to the specifications of the machining program. In a further process step 280, the control unit checks whether all possible machining steps have been carried out by the process automation units located on a unit carrier, such as unit carrier 21.If this is not the case, the control unit decides that the procedure will continue with all or some of the procedure steps 230 to 270 at the same target processing position or another target processing position.

[0107] In a further process step 280, the control unit checks again whether all possible processing steps have been carried out with the process automation units located on the aggregate carrier. If so, the control unit decides that no further processing steps are necessary on workpiece 80 and thus ends the process, or continues the process with step 160 if a further changeover operation for process automation units is required.

[0108] To reach the target transfer position and the target processing position even faster, process steps 160 and 170 as well as process steps 230 and 240 can be executed simultaneously. Even more preferably, process steps 160, 170 and 180 as well as process steps 230, 240 and 250 can be executed simultaneously.

[0109] Furthermore, several receiving units can simultaneously execute process steps 170 and 180, and 190 and 200, in order to simultaneously pick up or place two or more process automation assemblies from the storage station. For this purpose, the rotary axes of the receiving units on the assembly carrier and the supply units of the storage station preferably have the same transverse spacing. Additionally, several receiving units can simultaneously execute process steps 240 and 250, and 260 and 270, in order to simultaneously machine a workpiece 80. Reference symbol list 10 Device for processing workpieces 15 Basic structure of movement unit 20 movement units 21 aggregate carriers 22 Command Unit 23 first sled 24 first drive unit 25 additional lifting units 26 second drive unit 27 gear 28 guide rail 29 second sled 30 recording units 30a Adjustment mechanism 31 Drive unit 32 Coupling head 33 Rotary device 34 Holder structure 35 guide bars 36 support 37 Drive unit 38 Energy chain 39 axis of rotation 40 storage stations 41 Basic structure of storage station 42 Deployment unit 42a Adjustment mechanism 43 Reception facility 43a first reception point 43b second reception point 44 Setting plate 45 retaining plate 46 crossbeams 47 stands 48 Sensor 49 Mounting plate 50 units for process automation 51 aggregate holders 52 units 53 predefined room area 54 Storage facility 54a first coupling point 54b second coupling point 55 Basic structure from aggregate to process automation 55a Guide rod 55b first plate 55c second plate 56 Support wheel 57 coupling adapters 58 Adjustment device 59 Center axis 60 Sensor 65 Supporting structure 66 Driving profile 70 workpiece support 71 Base 72 contact area 73 Clamping system 74 Transport system 75 measuring system 80 workpieces 85 lower elevation profile of the movement unit 86 upper elevation profile of the storage station 87 lower elevation profile of the storage station 88 Processing room 90 Control unit 91 Control line 95 HMI interface 96 Data processing unit 97a first arrangement variant 97b second arrangement variant 97c third arrangement variant 100 drive roller 101 Engine 102 Power transmission devices 103 Means of transport 104 Pulley 160 Performing an initial relative movement in the longitudinal direction between the motion unit and the storage station to reach a predefined transfer position 170 Performing a second relative movement in the transverse direction between the receiving unit and the storage station to reach a predefined transfer position 180 Performing a third relative movement in the vertical direction between the receiving unit and the storage station to reach a predefined transfer position 190 Coupling and / or decoupling of the unit for process automation by the receiving unit in the transfer position 200 Increase in the distance between the storage station and the recording unit by a relative movement in the vertical direction 210 Check that the necessary processing equipment for process automation has been included 220 Placing a workpiece on the workpiece support 230 Performing a first relative movement in the longitudinal direction between the motion unit and the workpiece to reach the machining position 240 Performing a second relative movement in the transverse direction between the holding unit and the workpiece to reach the machining position 250 Performing a third relative movement in the vertical direction between the holding unit and the workpiece to reach the machining position 260 Check if the workpiece is located within the predefined space 270 Processing the workpiece at the machining position by the unit for process automation 280 Check that all necessary machining steps have been carried out on the workpiece

Claims

[1] Device (10) for processing workpieces (80), in particular wooden frame elements or the like, comprising a motion unit (20) movable in the longitudinal direction of the device (10) for a unit (50) for process automation, characterized by , that the device (10) further comprises a stationary storage station (40) with a provisioning unit (42) for providing the assembly (50) for process automation, particularly with respect to the longitudinal direction of the device (10) and a transverse direction perpendicular to the longitudinal direction of the device (10), that the movement unit (20) comprises a receiving unit (30), and that the movement unit (20) is configured to assume a predefined transfer position with respect to the storage station (40) and preferably automatically receive the assembly (50) for process automation with the receiving unit (30) from the storage station (40) or preferably automatically place it into the storage station (40). [2] Device (10) according to claim 1, wherein the device (10) comprises a support structure (65) extending along the longitudinal direction of the device (10) and on which the motion unit (20) for traveling along the support structure (65) is movably mounted, wherein the receiving unit (30) is movably mounted on the motion unit (20) in the transverse direction of the device (10) and in a vertical direction perpendicular to the longitudinal and transverse directions with respect to the bearing station (40). [3] Device (10) according to claim 2, wherein the support structure (65) is designed in the form of two parallel longitudinally oriented drive profiles (66), and wherein the storage station (40) is arranged according to at least one of the following variants: - Overlapping in the longitudinal direction with the driving profiles (66) and / or overlapping with an imaginary extension of the driving profiles (66), and - Overlapping in the transverse direction with at least one driving profile (66) or within the driving profiles (66) or outside the driving profiles (66). [4] Device (10) according to one of the preceding claims, wherein the storage station (40) with the assembly (50) for process automation has an upper height profile in the transverse direction and wherein the motion unit (20) with the assembly (50) for process automation has a lower height profile in the transverse direction, which lies at least sectionally above the height profile of the storage station (40). [5] Device (10) according to one of the preceding claims, wherein the device (10) further comprises a workpiece support (70), wherein a processing space (88) for a workpiece (80) to be processed is provided above the workpiece support (70), wherein the processing space (88) has an upper height profile in the transverse direction, and wherein the storage station (40) with the assembly (50) for process automation has a lower height profile in the transverse direction, which is arranged at least sectionally above the upper height profile of the processing space (88). [6] Device (10) according to one of claims 2 to 5, wherein the storage station (40) comprises the provision unit (42) and at least one further provision unit (42), and wherein the provision unit (42) and the at least one further provision unit (42) are spaced apart from each other in the transverse direction, and wherein in particular the provision unit (42) and at least one further provision unit (42) are designed to be adjustable in the height direction, in particular jointly or individually. [7] Device (10) according to claim 6, wherein the device comprises at least two assemblies (50) for process automation, wherein a first of the at least two assemblies (50) for process automation has a first storage device (54), wherein a second of the at least two assemblies (50) for process automation has a second storage device (54), wherein the provision unit (42) of the storage station (40) has at least one receiving device (43) for the first storage device (54) and the second storage device (54), wherein the at least one further provision unit (42) of the storage station (40) has at least one further receiving device (43) for the first storage device (54) and the second storage device (54), wherein in particular the first storage device (54) and the second storage device (54) are configured differently or uniformly,and wherein, in particular, the reception facility (43) and the at least one further reception facility are designed differently or uniformly. [8] Device (10) according to one of the preceding claims, wherein the assembly (50) for process automation comprises a unit (52) for processing and in particular at least two units (52) for processing the workpiece (80), which are in particular attached to an assembly holder (51) of the processing assembly (50) in a height-adjustable and / or interchangeable manner, wherein the unit (52) and in particular the at least two units (52) is / are selected from the following group: fastening unit, adhesive unit, milling unit, sawing unit, drilling unit, cleaning unit, marking unit, sensor or measuring unit. [9] Device (10) according to one of the preceding claims, wherein the assembly (50) for process automation is rotatably mounted on the receiving unit (30), wherein in particular the assembly (50) for process automation is rotatably mounted about an axis parallel to the vertical direction such that a predefined spatial area (53) in which the workpiece (80) is to be processed by the assembly (50) for process automation remains unchanged. [10] Device (10) according to one of the preceding claims, wherein the provision unit (42) and / or the receiving unit (30) is / are adjustable by a manual, semi-automatic or fully automatic adjustment mechanism (30a, 42a) in the vertical direction and / or in the transverse direction and / or in the longitudinal direction and / or about the vertical direction and / or about the transverse direction and / or about the longitudinal direction. [11] Device (10) according to one of the preceding claims, wherein the device (10) for moving and positioning the motion unit (20) relative to the storage station (40) comprises an omega drive (37). [12] Method for picking up or putting down a process automation unit (50) from or into a storage station (40), in particular in a device (10) according to one of claims 1 to 11, characterized by that the procedure includes the following steps: - Performing (160) a first relative movement in a longitudinal direction between a motion unit (20) and the storage station (40) to reach a predefined transfer position and / or - Performing (170) a second relative movement in a transverse direction between a receiving unit (30) and the storage station (40) to reach the predefined transfer position, and / or - Performing (180) a third relative movement in a vertical direction between the receiving unit (30) and the storage station (40) to reach the predefined transfer position, and - Picking up or putting down (190) the unit (50) for process automation at the motion unit (20) or into the storage station (40) in the transfer position. [13] The method of claim 12, further comprising the following steps: - Performing (230) a first relative movement in the longitudinal direction between the motion unit (20) and a workpiece (80) to reach a processing position, and / or - Performing (240) a second relative movement in the transverse direction between the receiving unit (30) and the workpiece (80) to reach the processing position, and / or - Performing (250) a third relative movement in the vertical direction between the receiving unit (30) and the workpiece (80) to reach the processing position and - Processing (270) of the workpiece (80) at the processing position by the unit (50) for process automation. [14] Method according to claim 12 or 13, wherein the first relative movement in the longitudinal direction between the motion unit (20) and the storage station (40) and the second relative movement in the transverse direction between the receiving unit (30) and the storage station (40) are performed simultaneously, or wherein the first relative movement in the longitudinal direction between the motion unit (20) and the storage station (40), the second relative movement in the transverse direction between the receiving unit (30) and the storage station (40) and the third relative movement in the vertical direction between the receiving unit (30) and the storage station (40) are performed simultaneously. [15] Method according to any one of claims 12 to 14, wherein the first relative movement in the longitudinal direction between the motion unit (20) and the storage station (40) is carried out such that the motion unit (20) passes over the storage station (40). [16] Method according to any one of claims 12 to 15, wherein either a workpiece support (70) with a workpiece (80) arranged on a workpiece support (70) and in particular finished by the machining device (10) passes under the storage station (40) or the workpiece (80) is transported under the storage station (40) with a transport system (74) arranged on the workpiece support (70), wherein the workpiece support (70) itself is stationary in relation to the storage station (40). [17] Method according to one of claims 12 to 16, wherein several assemblies (50) for process automation are sequentially or simultaneously picked up or placed from the storage station (40) in a changeover operation of the processing device (10).

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