TRANSPORTATION DEVICE FOR RECORDING AND TRANSPORTING MODULAR UNITS

Description

[0001] The present invention relates to a transport device for receiving and transporting one or more modular units. Furthermore, the present invention relates to a system comprising the transport device and a central control device. BACKGROUND OF THE INVENTION

[0002] Transport vehicles for picking up and transporting goods within a factory hall are well-known. Forklifts and partially motorized pallet trucks are the most common examples. A stated goal of such deliveries using appropriate vehicles is to continually increase the degree of automation and, where possible, to synchronize deliveries with production processes.

[0003] For this purpose, driverless transport systems (FTS) are preferably used, which, in addition to driverless transport vehicles (FTFs), also have designated locations for the transport vehicles to pick up or deposit transport goods, and if necessary, also specifically set up locations or stopping points, for example to prepare the transport goods for the upcoming production process.

[0004] For example, JP H01257543 A shows an automated guided vehicle (AGV) with a tool storage unit mounted on it. The AGV can be moved along a guide device to the machine tool to support a machine tool or to provide tools from the tool storage unit. A driverless, non-rail-based transport system with a pallet cage mounted on it is known from STIERLE H: "Automated guided vehicles without guide lines - a new dimension in material flow," ZWF CIM Journal for Economical Manufacturing and Automation, Carl Hanser Verlag Munich, DE, Vol. 86, No. 12, December 1, 1991 (1991-12-01), pages 632-636, XP000258378, ISSN: 0947-0085.

[0005] Furthermore, from JP S58 102 651 A, a driverless and rail-guided transport device is known which is used on a chip conveyor of a machine tool, wherein a chip container filled with chips is transferred to the transport device for further transport.

[0006] However, AGVs, in which the transport vehicles are guided to the respective stations via a rail system, prove to be disadvantageous. Not only is such a rail system very complex in terms of manufacturing, assembly, and alignment of the rails and rail segments, but it is also always designed for a specific application and therefore cannot be quickly adapted or reacted to changes in the positions of the stations or the production process.

[0007] Such systems are therefore extremely disadvantageous in terms of flexibility.

[0008] Furthermore, the currently known AGVs have the disadvantage that the AGVs are usually only equipped with one interface for picking up transported goods or corresponding technical devices, etc., so that these vehicles often have to travel long distances in order to transport a large number of containers to their respective destination or to bring the corresponding technical devices to their place of use. SUMMARY OF THE INVENTION

[0009] An object of the present invention is therefore to provide a transport device for receiving and transporting one or more module units with machine tool accessories, with which the above problems are avoided.

[0010] Furthermore, it is an object of the present invention to provide a system with the transport device and a central control device.

[0011] These objects are achieved by a transport device according to claim 1 and a system according to claim 14. The dependent claims relate to advantageous embodiments of the transport device according to the invention and the system according to the invention.

[0012] The transport device according to the invention comprises one or more modular units and a driverless transport vehicle for receiving the one or more modular units and for transporting the one or more received modular units to a machine tool set up on a base surface; wherein the one or more received modular units each have a machine tool accessory device that can be used with the machine tool, and wherein the driverless transport vehicle is movable on the base surface for positioning the one or more received modular units relative to the machine tool, in particular within an area in front of and / or next to the machine tool and / or in front of and / or next to a work space of the machine tool.The driverless transport vehicle is designed to be moved freely on the base area independently of any type of rail system or the like for guiding the driverless transport vehicle, and the transport device comprises, as a received module unit, a chip collection module unit with a chip collection device or a chip conveyor module unit with a chip conveyor device, wherein the chip collection device is designed to collect chips on the machine tool or in the work space of the machine tool, and the chip conveyor module unit is designed to remove chips from the machine tool or from the work space of the machine tool.

[0013] The transport device according to the invention can now support a wide variety of manufacturing processes in a particularly advantageous manner, so that the individual processing steps can be carried out smoothly and, in particular, efficiently.

[0014] In particular, the design of the transport device according to the invention allows for an individual and free positioning of the transport device in front of the machine tool or in front of the working area of ​​the machine tool, without having to rely on a type of rail system or the like.

[0015] In particular, the use of an automated guided vehicle can advantageously enable the degree of automation of the entire production process to be increased many times over, since the coordination and general control of the automated guided vehicles or transport equipment can be taken over, for example, by a central computer / control device, so that a worker can primarily assume a monitoring function.

[0016] In addition, the transport device according to the invention can be used to perform various auxiliary tasks on an existing machine tool in order to increase the efficiency of production.

[0017] It should be noted in particular that one of the transport devices according to the invention can perform both a single task by means of a machine tool accessory device, but also several tasks simultaneously by accommodating several machine tool accessory devices.

[0018] Furthermore, the various machine tool accessories or modular units can be freely combined with each other, depending on which manufacturing and / or auxiliary work needs to be carried out on the machine tool.

[0019] This allows manufacturing processes to be designed to be immensely flexible and efficient.

[0020] The transport device according to the invention can further be advantageously developed in that the transport device is designed by means of movement on the base surface to position the one or more module units within an area in front of and / or next to the working area of ​​the machine tool along spatial directions spanning the area.

[0021] Furthermore, the transport device according to the invention can be advantageously further developed in that one or more receiving devices for receiving respective module units.

[0022] Furthermore, the transport device according to the invention can be advantageously further developed in that at least one of the one or more receiving devices has a centering device which is designed to align the respectively received module unit with respect to the receiving device.

[0023] This allows any positioning inaccuracy of the module unit (or other equipment such as handling equipment, pallet holders, material boxes, etc.) relative to the machine tool or other equipment (such as setup station, storage location, magazine location, etc.) to be compensated for when setting down / docking the module unit on the machine tool. The centering device allows the transport device to correct the relative position of the picked-up module unit relative to itself, thus achieving a positioning inaccuracy of the module unit relative to the machine tool that is essentially only attributable to the positioning inaccuracy of the transport device.

[0024] Furthermore, the transport device according to the invention can be advantageously further developed in that the at least one of the one or more receiving devices, which has a centering device, further has a drive for linearly displacing the receiving device in the direction of the centering device.

[0025] For the alignment / centering of the picked-up module unit relative to the transport device, it may also be advantageous if an additional drive is present which can move the pick-up device in the direction of the centering device (or in the opposite direction) in order to feed the picked-up module unit to the centering device and thus support the centering / alignment.

[0026] Furthermore, the transport device according to the invention can be advantageously further developed in that at least one receiving device is provided on at least one side of the transport device, wherein preferably at least one receiving device is provided on at least two sides of the transport device, wherein particularly preferably at least one receiving device is provided on each side of the transport device.

[0027] This allows the transport device according to the invention to accommodate a multitude of modular units to support the manufacturing processes on the machine tools. Furthermore, a wide variety of modules can be combined with one another and transported to the respective machine tool or machines.

[0028] Furthermore, the transport device according to the invention can be advantageously further developed in that the module unit is designed to be set down and / or docked by the transport device on a holder of the machine tool designed to receive the module unit.

[0029] The transport device acts as a supply unit for the machine tool, bringing various modules / devices to the machine tool and placing them there (for example, on a dedicated receptacle) or docking them there (also on a dedicated receptacle). The receptacles can be conical, which also have connection options for power and / or signals, for example. The cones can also be provided with connections for fluids (such as cooling lubricants).

[0030] In addition, the transport device according to the invention can be advantageously further developed in that the one or more receiving devices have connecting elements, in particular for establishing an electrical, hydraulic and / or pneumatic connection, in particular for transmitting control signals and / or energy from the transport device to the respective module unit.

[0031] Furthermore, the transport device according to the invention can be advantageously further developed in that the connecting elements automatically establish a connection with the respective module unit for the transmission of electrical, pneumatic and / or hydraulic control signals and / or energy when the module unit is received.

[0032] This means that different module units can now be picked up and set down independently by the transport system with a high degree of automation.

[0033] Furthermore, the transport device according to the invention can be advantageously further developed in that the receiving devices each have a control device for monitoring the state of the receiving of the respective module unit.

[0034] This ensures that the module units are properly picked up by the transport device.

[0035] In addition, the transport device according to the invention can be advantageously further developed in that the control device is designed to monitor the control signals, the energy transmission, and / or a locking state of the module unit received on the respective receiving device.

[0036] Signals and power transmission can also be monitored this way. If a malfunction occurs, for example, the affected transport device can be moved to a maintenance position for inspection, allowing the problem to be localized accordingly.

[0037] Furthermore, an advantageous further development of the transport device according to the invention consists in that several receiving devices of the transport device are designed uniformly.

[0038] This allows a wide variety of modules / modular units to be accommodated on the uniformly designed mounting fixtures. This type of "standardization" of the mounting fixtures is particularly useful for switching between the individual modules for the mounting fixture at will, so that more than one mounting fixture is suitable for a single module.

[0039] The transport device according to the invention can also be advantageously further developed by: a drive for moving the transport vehicle, and a control unit for controlling the transport device.

[0040] In addition, the transport device according to the invention can be advantageously further developed by an internal energy storage device which supplies the transport device with energy, in particular electrical energy.

[0041] In addition, the transport device according to the invention can be advantageously further developed by a sensor unit which comprises one or more optical, infrared and / or radar sensors for monitoring the environment of the transport device.

[0042] In addition to a temporary, self-sufficient energy supply for the transport system, this also ensures the safety of the surrounding area, especially of people who are present in the workshop and may be walking around, as the transport systems can register these people and trigger a safety function accordingly if a collision occurs or is imminent.

[0043] Furthermore, the transport device according to the invention can be advantageously further developed by a plurality of wheels for moving or displacing the transport device, wherein one, several or all wheels of the transport device can be individually controlled and / or steered.

[0044] In particular, the transport device according to the invention can be advantageously further developed in that one, several or all wheels of the transport device are designed as individually controllable Mecanum wheels.

[0045] Since they are already widely known in robotics, Mecanum wheels can also be used excellently for transport equipment in order to ensure equally great flexibility in the movement and movement options of the transport equipment.

[0046] Furthermore, the transport device according to the invention can be further developed by one or more drive chains for moving or displacing the transport device.

[0047] Furthermore, the transport device according to the invention can be advantageously further developed in that the transport device is designed to receive one of the one or more module units at a storage location and to transport it from the storage location to the machine tool.

[0048] In this way, the transport device can serve in a particularly advantageous manner as a feeder vehicle to supply the machine tools with the required auxiliary modules and also to park them there in order to take over other tasks.

[0049] A further advantageous development of the transport device according to the invention consists in that the transport device is designed to establish a connection between one or more connection elements of the transport device and one or more connection elements of the module unit when picking up the respective module units, in particular for transmitting control signals and / or energy from the transport device to the module unit.

[0050] This can further increase the degree of automation, as an independent connection between the transport device and the module / module unit can be established by the transport device.

[0051] Furthermore, the transport device according to the invention can be advantageously further developed in that the transport device is designed to communicate with an external control device, in particular with a central control device which is designed to be connected to a plurality of transport devices simultaneously, in particular by means of a wireless communication connection, and to control the plurality of transport devices, in particular by automatic remote control.

[0052] Furthermore, the transport device according to the invention can also be advantageously further developed in that the transport device is designed to communicate with a control device of the machine tool via a communication interface, in particular in such a way that the one or more accommodated module units can be controlled by the control device of the machine tool by means of a communication connection with the transport device via the communication interface.

[0053] This allows, for example, a central control device to communicate via the transport device with the modules picked up by the transport device and, if necessary, to control them.

[0054] Furthermore, the transport device according to the invention can be advantageously further developed in that the communication interface has a wireless communication interface and the transport device is designed to communicate with the control device of the machine tool via the wireless communication interface by means of a wireless communication connection.

[0055] In addition, the transport device according to the invention can be advantageously further developed in that the transport device has a docking device and is designed to dock by means of the docking device to a docking station of the machine tool, a docking station of a setup station of a manufacturing system having the machine tool, and / or a docking station of an automation device of a manufacturing system having the machine tool.

[0056] The transport systems can communicate with the machine tools and also transfer power via a variety of docking stations. It can be advantageous if the docking stations are located on a base area, as the transport systems can easily move there and then connect to the docking stations on the base area via their docking devices.

[0057] In addition, the transport device according to the invention can be advantageously further developed in that the transport device is designed to communicate with the control device of the machine tool via the docking device coupled to the communication interface when docked to the docking station of the machine tool having the communication interface.

[0058] Furthermore, the transport device according to the invention can be advantageously further developed in that the transport device is designed to position itself and / or the one or more received module units relative to the machine tool by docking at the docking station of the machine tool, to position relative to the setup station by docking at the docking station of the setup station, and / or to position relative to the automation device by docking at the docking station of the automation device.

[0059] Furthermore, the transport device according to the invention can be advantageously further developed in that the transport device is designed to move between docking stations of the manufacturing system, in particular including the move between docking stations of different machine tools of the manufacturing system.

[0060] Furthermore, the transport device according to the invention can also be advantageously further developed in that the docking device of the transport device is designed to raise and / or lower the transport device for docking at the docking station.

[0061] This is particularly advantageous if, in addition to docking, simultaneous alignment of the transport device and / or the picked-up module(s) is to take place.

[0062] Furthermore, the transport device according to the invention can be advantageously further developed in that the transport device is designed to move to a module loading station designed to provide module units and / or store module units, in particular to equip the transport device with one or more module units at the module loading station and / or to exchange one or more module units of the transport device at the module loading station.

[0063] The transport device according to the invention can also be advantageously further developed in that each of the one or more module units has a machine tool accessory device that can be used on the machine tool.

[0064] In particular, the transport device according to the invention can be advantageously further developed in that the machine tool accessory device comprises one of the following devices: a handling device which is set up to handle a pallet and / or a workpiece on the machine tool, an industrial robot, in particular for handling tools, workpieces and / or workpiece pallets, a tool changing device for carrying out a tool change on the machine tool, a tool storage device or a tool magazine for providing tools on the machine tool, a tool storage device with a tool changing device for providing tools on the machine tool and for carrying out a tool change on the machine tool, a workpiece changing device for carrying out a workpiece change on the machine tool,a workpiece loading device for loading workpieces on the machine tool, in particular a bar loader for use on a machine tool designed as a lathe, a coolant supply device for supplying coolant to the machine tool, a coolant exchange device for exchanging coolant on the machine tool, a workpiece measuring device for measuring a workpiece on the machine tool, in particular with an optical, electromagnetic and / or tactile measuring device, a workpiece deburring device for deburring a workpiece on the machine tool, a tool setting device for setting tools on the machine tool, a tool dressing device for dressing tools on the machine tool, in particular for dressing grinding tools on the machine tool, a device for sharpening tools on the machine tool,a suction device for suction in the working area of ​​the machine tool, a workpiece holder for receiving a workpiece, a conveyor device for conveying workpieces, in particular comprising one or more conveyor belts or conveyor belt sections, a spare parts exchange device for exchanging accessories or spare parts on the machine tool.

[0065] Furthermore, the transport device according to the invention can be advantageously further developed in that the one or more module units are from the following group of module units: a handling module unit with a handling device which is set up to handle a pallet and / or a workpiece on the machine tool, a robot module unit with an industrial robot, in particular for handling tools, workpieces and / or workpiece pallets, a tool changing module unit with a tool changing device for carrying out a tool change on the machine tool, a tool storage module unit with a tool storage device or a tool magazine for providing tools on the machine tool,a tool storage and tool changing module unit with a tool storage device with a tool changing device for providing tools on the machine tool and for carrying out a tool change on the machine tool, a workpiece changing module unit with a workpiece changing device for carrying out a workpiece change on the machine tool, a workpiece loading module unit with a workpiece loading device for loading workpieces on the machine tool, in particular a bar loader for use on a machine tool designed as a lathe, a coolant supply module unit with a coolant supply device for supplying coolant to the machine tool, a coolant exchange module unit with a coolant exchange device for exchanging coolant on the machine tool, a workpiece measuring module unit with a workpiece measuring device for measuring a workpiece on the machine tool,in particular with an optical, electromagnetic and / or tactile measuring device, a workpiece deburring module unit with a workpiece deburring device for deburring a workpiece on the machine tool, a tool setting module unit with a tool setting device for setting tools on the machine tool, a tool dressing module unit with a tool dressing device for dressing tools on the machine tool, in particular for dressing grinding tools on the machine tool, a tool sharpening module unit with a device for sharpening tools on the machine tool, a suction module unit with a suction device for suction in the working space of the machine tool, a workpiece receiving module unit with a workpiece receiving device for receiving a workpiece, a conveyor module unit with a conveyor device for conveying workpieces,in particular comprising one or more conveyor belts or conveyor belt sections, a spare parts exchange module unit with a spare parts exchange device for exchanging accessories or spare parts on the machine tool.,

[0066] The system according to the invention, with one or more transport devices according to the invention, and a central control device which is designed to be connected to the one or more transport devices, in particular by means of a wireless communication connection, and to control the plurality of transport devices, in particular by automatic remote control.

[0067] The transport device according to the invention makes the production and processing of workpieces significantly more flexible. Furthermore, the transport device according to the invention can be used both in existing production structures and for completely new processes in the production and processing of workpieces.

[0068] In addition, the transport device according to the invention offers the clear advantage of not being limited to any tasks within the production chain / within the production process due to its flexible application possibilities.

[0069] In addition, examples of a transport device without an integrated chip collection or chip conveying module will be described below.

[0070] An exemplary transport device for transporting a handling device for handling a pallet and / or a workpiece to a machine tool for machining the workpiece, wherein the machine tool has a work spindle for receiving a tool or the workpiece and a pallet for receiving the tool or the workpiece, is further configured to position the handling device within an area in front of a work space of the machine tool along the spatial directions spanning the area.

[0071] Thanks to the exemplary transport system, it is now possible to completely dispense with rail systems for guiding the transport vehicles, as the transport vehicles can move freely on a level such as the hall floor.

[0072] In addition, the vehicles and their "tracks" can be individually adapted to the conditions, thus enabling a significant increase in flexibility in production and logistics.

[0073] Furthermore, the exemplary transport device has a large number of interfaces to which a wide variety of handling devices such as pallet changers, robots, containers and boxes, etc. can be attached, which can further increase the flexibility in the production process as well as in the area of ​​logistics.

[0074] The exemplary transport device can be advantageously further developed in that the transport device is further a driverless transport vehicle, with a platform which has a plurality of receiving devices for receiving handling devices, a drive for moving the platform, and a control unit for controlling the receiving devices and the drive of the platform.

[0075] In order to increase the degree of automation, the exemplary transport device is designed as a driverless transport vehicle with appropriate control and networking, so that several transport vehicles / transport devices can be moved in a coordinated manner.

[0076] The exemplary transport device can be advantageously further developed in that at least one receiving device is provided on at least one side of the transport device, preferably at least one receiving device is provided on at least two sides of the transport device, and particularly preferably at least one receiving device is provided on each side of the transport device.

[0077] This means that significantly more technical devices and / or containers can now be transported to their respective destinations in just one trip than is possible with previously known transport vehicles.

[0078] The exemplary transport device can be advantageously further developed in that the platform further comprises an internal energy storage device which supplies the receiving devices, the drive and the control unit of the platform with energy, in particular electrical energy.

[0079] This allows the transport device to move freely through factory halls and production or manufacturing areas without the need for a complex cable routing system for power and / or signal transmission.

[0080] The exemplary transport device can be advantageously further developed in that the control unit further comprises a sensor unit which comprises optical, infrared and / or radar sensors for monitoring the environment of the transport device.

[0081] To monitor the environment and detect potential obstacles, it is advantageous to install such sensors on an automated guided vehicle. This further increases the protection of factory workers in the hall.

[0082] The exemplary transport device can be advantageously further developed in that the transport device is further configured to set down the handling device after positioning on the machine tool.

[0083] This option is particularly advantageous because the transport device does not have to remain in place with the handling device, but can transport additional handling devices while, for example, the remote handling device performs its function on the respective machine tool.

[0084] The exemplary transport device can be advantageously further developed in that the receiving devices further comprise connection elements which are designed for transmitting control signals and / or energy from the transport device to the handling device.

[0085] This advantageously allows energy and signals for controlling the handling device to be transmitted from the transport device to the handling device. This is particularly advantageous because the transport device can be in contact with a central master computer control system (via radio signal, Wi-Fi, etc.), thus enabling central control of all handling devices that are being moved by the transport devices at that time.

[0086] The exemplary transport device can be advantageously further developed in that the connecting elements of the receiving devices of the transport device automatically establish a connection with the handling device for the transmission of control signals and / or energy when the handling device is received.

[0087] This eliminates the need for manual intervention by a worker and allows the level of automation of production and logistics processes to be further increased.

[0088] The exemplary transport device can be advantageously further developed in that the receiving devices each have a control device for monitoring the state of the receiving device of the respective handling device.

[0089] The exemplary transport device can be advantageously further developed in that the control device is designed to monitor the control signals, the energy transmission, and / or a locking state of the handling device received on the respective receiving device.

[0090] This is particularly advantageous in order to avoid any malfunctions of the handling equipment and to ensure the safety of the handling equipment on the transport device as well as the safety of the workers in the immediate vicinity of the handling equipment.

[0091] In addition, faulty recordings or faulty components (damaged contacts of the connections for power and / or signal transmission, etc.) can be located more quickly and replaced / repaired accordingly.

[0092] The exemplary transport device can be advantageously further developed in that the drive has a plurality of wheels for moving the platform, wherein the wheels can be controlled and / or steered individually.

[0093] In particular, it is advantageous if the wheels can be controlled or steered separately from one another as individual units, which can significantly improve the mobility and maneuverability of the transport device compared to vehicles with only one steerable axle.

[0094] The exemplary transport device can be advantageously further developed in that the wheels are designed as individually controllable Mecanum wheels.

[0095] The major advantage of Mecanum wheels is that they do not require any steering, and the direction of travel or the direction of rotation of the transport device can be controlled solely by the rotation of the individual wheels. However, the prerequisite for Mecanum wheels to function is that each wheel always maintains sufficient contact with the ground.

[0096] The exemplary transport device can be advantageously further developed in that the drive has a plurality of chains for moving the platform.

[0097] In addition to traditional wheels and Mecanum wheels, chains can also be used to move the transport device. This can be advantageous when the transport device has to carry heavy loads and these loads need to be distributed as widely as possible across the floor on which the transport device travels.

[0098] The exemplary transport device can be advantageously further developed in that the handling device is a pallet changer for inserting and removing the pallet in the machine tool, and the pallet changer is set up for inserting and removing the pallet in the work area and / or on a setup station of the machine tool.

[0099] It is particularly advantageous if the handling device that can be transported by the transport device is a pallet changer. This allows different pallets to be transported to the individual machine tools, inserted, or exchanged using just one pallet changer and one transport device.

[0100] The exemplary transport device can be advantageously further developed in that the pallet changer has a receiving claw or a fork-shaped holder for receiving the pallet.

[0101] The exemplary transport device can be advantageously further developed in that the handling device is an industrial robot for handling and / or processing the workpiece.

[0102] However, it can also be extremely advantageous to accommodate a robot (industrial robot) alongside or instead of the pallet changer through the transport system and transport it to machine tools or machining stations where a robot is needed. This can be the case, for example, for workpiece handling tasks (e.g., loading the machine table / pallet or the work spindle with workpieces, inserting and removing tools from a work spindle or tool turret, reworking workpieces such as burr removal, etc.). The areas of application for a robot in the field of machining are diverse.

[0103] The exemplary transport device can be advantageously further developed in that the receiving devices of the transport device are further configured to receive material carriers, in particular lattice boxes with raw parts and / or finished parts, and to receive an interchangeable gripper.

[0104] The exemplary transport device can be advantageously further developed in that the receiving devices of the transport device are designed uniformly.

[0105] It is particularly advantageous if the mounting devices used to accommodate handling devices such as pallet changers, robots, material pallets, wire mesh boxes, etc., are uniform, i.e., standardized, on the transport device. This allows all conceivable handling devices to be equipped with a similar interface, so that regardless of the handling device to be accommodated, the connection for power and / or signal transmission can be established automatically.

[0106] An exemplary machine tool for machining a workpiece comprises: a work spindle for receiving a tool or the workpiece, a pallet for receiving the tool or the workpiece, and a handling device for handling the pallet and / or the workpiece, wherein the handling device can be positioned on the machine tool by an exemplary transport device.

[0107] This offers a number of advantages, as the transport system can bring any handling device required or even necessary for the respective processing steps to the machine tool. This allows the machine tool, particularly the loading of workpieces and / or tools, to achieve a higher degree of automation, and extends the time during which the machine tools operate autonomously.

[0108] By using the exemplary transport system, the flexibility in production processes could be significantly improved and changes in production could be responded to quickly.

[0109] Further aspects and their advantages as well as advantages and more specific embodiments of the aspects and features described above are described in the following, but in no way limiting, descriptions and explanations of the attached figures. BRIEF DESCRIPTION OF THE CHARACTERS

[0110] Fig. 1 schematically shows an embodiment of the transport device with receiving devices for receiving handling devices and without a received chip collection or chip conveyor module unit. Fig. 2a schematically shows a detailed view of a receiving device for receiving handling devices and without a received chip collection or chip conveyor module unit. Fig. 2b schematically shows another embodiment of the receiving device of the transport device for receiving a handling device and without a received chip collection or chip conveyor module unit. Fig. 2c schematically shows another embodiment of the receiving device, this time without the drive. Fig. 2d schematically shows a connector that can transmit media, energy, and signals from the receiving device to the received device. Fig.3 schematically shows a positioning of the transport device without a chip collection or chip conveyor module unit on a machine tool by means of a prism. Fig. 4a schematically shows a positioning of the transport device without a chip collection or chip conveyor module unit on a machine tool by means of conical receptacles. Fig. 4b schematically shows a further embodiment of the transport device without a chip collection or chip conveyor module unit during positioning and energy and / or signal connection by means of conical receptacles. Fig. 4c schematically shows a transport device according to the invention without a chip collection or chip conveyor module unit but with an exemplary pallet holder with a pallet that docks onto a pallet holder receptacle by means of the transport device.Fig. 4d schematically shows a further embodiment of the transport device without a chip collection or chip conveyor module unit, but exemplarily with a pallet holder. Fig. 4e schematically shows a further embodiment of the transport device without a chip collection or chip conveyor module unit, but exemplarily with a pallet holder. Fig. 5a schematically shows an embodiment of the transport device without a chip collection or chip conveyor module unit, with a height adjustment of the transport device by means of lifting cylinders. Fig. 5b schematically shows a further embodiment of the transport device with a height adjustment of the transport device without a chip collection or chip conveyor module unit, by means of lifting cylinders and a chassis. Fig.Fig. 6 schematically shows an embodiment of the transport device without a chip collection or chip conveyor module unit, with a height adjustment of the receiving device for receiving handling devices of the transport device. Fig. 7a schematically shows a hall floor / plate with grid-like cones for positioning the transport devices or handling devices. Fig. 7b shows a further possibility of providing the cones on the underside of the transport device for positioning. Fig. 8a schematically shows another embodiment of the transport device without a chip collection or chip conveyor module unit, but exemplarily with an industrial robot as the handling device. Fig. 8b schematically shows two more concrete embodiments of the transport device without a chip collection or chip conveyor module unit, but exemplarily with a robot for tool or workpiece handling. Fig.Fig. 9 schematically shows another embodiment of the transport device without a chip collection or chip conveyor module unit, but exemplarily with an industrial robot and a measuring unit for tool testing. Fig. 10a schematically shows another embodiment of the transport device without a chip collection or chip conveyor module unit, but exemplarily with an industrial robot and measuring and testing equipment for component testing. Fig. 10b shows a detailed view of the embodiment of the transport device according to . Fig. 10a . Fig. 11 schematically shows another embodiment of the transport device without a chip collection or chip conveyor module unit, but exemplarily with an industrial robot and an attachment for post-processing components. Fig. 12 schematically shows another embodiment of the transport device without a chip collection or chip conveyor module unit, but exemplarily with an industrial robot and a unit for sharpening and dressing tools. Fig. 13 schematically shows another embodiment of the transport device without a chip collection or chip conveyor module unit, but exemplarily with an industrial robot and a magazine for carrying various tools. Fig. 14 schematically shows the embodiment of the transport device in Fig. 7 during the interaction of the industrial robot with a work spindle of a machine tool, for example to change the tool. Fig. 15a schematically shows an embodiment of the transport device for chip disposal on a chip carriage of a machine tool. Fig. 15b schematically shows a further embodiment of the transport device for chip disposal with a lifting mechanism and additional chip container. Fig. 15c schematically shows a further embodiment of the transport device in which the module for collecting the chips is accommodated on the upper side of the transport device. Fig. 16 schematically shows a further embodiment of the transport device without a chip collection or chip conveying module unit, but as an example for the preparation and refilling of a machine tool with cooling lubricant.Fig. 17 schematically shows a further embodiment of the transport device without a chip collection or chip conveyor module unit, but as an example for the provision and introduction of workpieces into a machine tool for turning. Fig. 18a schematically shows a further embodiment of the transport device without a chip collection or chip conveyor module unit, but as an example with material storage for a machine tool with a gantry loader. Fig. 18b schematically shows a further embodiment of the transport device without a chip collection or chip conveyor module unit, but as an example with material storage for a machine tool with a robot for loading and unloading workpieces into the machine tool. Fig. 19a schematically shows a further embodiment of the transport device without a chip collection or chip conveyor module unit, but as an example with a conveyor belt between two machine tools with a gantry loader.Fig. 19b shows a schematic detailed view of the transport device according to . Fig. 19a . Fig. 19c schematically shows a further embodiment of the transport device without a chip collection or chip conveyor module unit, but exemplarily with a foldable conveyor belt. Fig. 20 schematically shows a further embodiment of the transport device without a chip collection or chip conveyor module unit, but exemplarily for the supporting extraction of the work space of a machine tool. Fig. 21 schematically shows a further embodiment of the transport device without a chip collection or chip conveyor module unit, but exemplarily with a robot and an application device for additive manufacturing accommodated by the robot. Fig. 22 schematically shows a further embodiment of the transport device without a chip collection or chip conveyor module unit, but exemplarily with a tool changer, a changer-storage combination or a tool storage.23 schematically shows a variety of transport devices with different tasks within a production chain, each without a chip collection or chip conveyor module unit. DETAILED DESCRIPTION OF THE FIGURES AND PREFERRED EMBODIMENTS OF THE PRESENT INVENTION

[0111] Examples and embodiments of the present invention are described in detail below with reference to the accompanying figures. Identical or similar elements in the figures may be designated by the same reference numerals, although sometimes different reference numerals may be used.

[0112] It should be emphasized, however, that the present invention is in no way limited or restricted to the exemplary embodiments and their embodiment features described below, but further comprises modifications of the exemplary embodiments, in particular those which are encompassed by modifying the features of the described examples or by combining one or more of the features of the described examples within the scope of protection of the independent claims.

[0113] Fig. 1 shows schematically an embodiment of the transport device 100 with receiving devices 40 for receiving handling devices.

[0114] The Fig. 1 The embodiment of the transport device 100 shown is designed in a particularly preferred embodiment as a driverless transport vehicle (FTF) of a driverless transport system (FTS).

[0115] The transport device 100 comprises a chassis 10 (platform) and a drive 20. The chassis is configured to accommodate an energy storage device 30, preferably an electrical energy storage device 30 such as a battery. However, the energy storage device 30 is not limited to electrical energy, so that mechanical energy can also be stored if necessary, for example, in the form of pressurized fluids or deformation energy (e.g., a resilient element). Additional energy storage devices, for example, for hydraulics or pneumatics, can also be accommodated in the chassis 10.

[0116] Furthermore, the transport device 100 particularly preferably comprises wheels 20 for moving the transport device 100, for example, in a factory hall. These wheels 20 can be connected to a central drive motor via a drive train (not shown), but they can also each have their own drive motor (e.g., one or more electric motors), which can be individually controlled by an internal controller 35.

[0117] Furthermore, the wheels 20 can be individually articulated, allowing for extremely flexible driving and positioning (e.g., turning on the spot, moving sideways, etc.) of the transport device 100. However, the wheels 20 can also rotate the transport device 100 by moving in opposite directions to effect positioning of the transport device 100.

[0118] Alternatively, instead of the wheels 20, chains or a crawler track or a combination of wheels 20 and chains / crawler track can be used to further increase the mobility or flexibility of the transport device 100.

[0119] A particularly preferred embodiment of the wheels 20 are so-called Mecanum wheels. By simply controlling the direction of rotation of each wheel 20, they enable a rotational movement (rotational movement) of the transport device 100 in place, a translational movement of the transport device 100 both in the longitudinal direction (forward, backward) and in the transverse direction (sideways movement) of the transport device 100, as well as at a 45° angle to the longitudinal or transverse direction.

[0120] By using Mecanum wheels, a steering mechanism for the wheels 20 can advantageously be completely dispensed with and a corresponding positioning movement of the transport device 100 can be generated solely with the internal control 35.

[0121] Furthermore, the chassis 10 is preferably designed as a platform carrier, which has various receiving devices 40 for handling devices (e.g. automation components or transport components, etc.).

[0122] The platform carrier particularly preferably has n+1 receiving devices 40 for the various handling devices, wherein the receiving devices 40 are particularly preferably arranged on the entire platform carrier. In particular, all sides (spatial planes) of the transport device 100 are preferably used for providing a receiving device 40 (see also the various views of the transport device 100 in Fig. 1 ). This means that far more handling equipment can now be accommodated and moved than is possible with a standard transport vehicle such as a forklift or a motorized pallet truck.

[0123] However, it should be noted that the number and / or distribution of the receiving devices 40 on the transport device 100 is not limited to the Fig. 1 shown number / distribution is limited. For example, only a single receiving device 40 may be provided, for example, on the top side of the transport device 100, and / or two or more receiving devices 40 may be provided on one or more sides of the transport device 100.

[0124] Furthermore, the receiving devices 40 provided on the top side of the transport device 100 may differ in size and properties from the receiving devices 40 on the sides of the transport device 100. This may be advantageous, for example, if smaller handling devices with a comparatively low weight are to be accommodated on the sides of the transport device 100, and the heavier handling devices are preferably to be positioned above the axles / drive 20 of the transport device 100.

[0125] Furthermore, for example, the smaller receiving devices 40 on the sides of the transport device 100 can also have a smaller number of connections (see the explanations for Fig. 2 ) compared to the larger receiving devices 40 on the top side of the transport device 100.

[0126] Preferably, the transport device 100 is equipped with a unit for optically monitoring its surroundings (not shown here) and the coupled handling devices. This device is preferably coupled to the control software of the internal controller 35 and enables an action to be performed based on the detection.

[0127] In addition, additional sensors are preferably installed in the transport device 100, which enable suitable monitoring of the environment and components. For example, infrared or radar sensors can be used.

[0128] Fig. 2a shows schematically a detailed view of a receiving device 40 for receiving handling devices (or any other devices).

[0129] The receiving devices 40 are preferably configured for mechanically securing the handling devices and for signal and power transmission to the respective handling device. Depending on the handling device, only one of the transmission options or any combination thereof can be used.

[0130] Furthermore, the receiving devices 40 are particularly preferably designed to be automated. Thus, the transport device 100 can independently exchange the handling devices and is thus flexibly usable for a wide variety of tasks. In automated versions of the transport device 100, quick-release couplings (e.g., front loader quick-release couplings) are particularly suitable for automatically establishing a connection for power transmission or signal transmission between the transport device 100 and the handling device.

[0131] As in Fig. 2a As shown, for example, conical sections 41 of the receiving device 40 can be provided to align and fix the corresponding handling device relative to the receiving device 40. For such alignment and simultaneous fixing of the handling device to the receiving device 40, clamping cones can advantageously be used here, such as those already known from the holder for pallets in a machine tool.

[0132] Furthermore, the receiving device 40 can have an interface 42 for transmitting mechanical energy (for example, the rotation of a motor provided in the transport device 100 to the handling device) and / or electrical, hydraulic, and / or pneumatic energy. Furthermore, operating fluids such as cooling lubricant could also be supplied from the transport device to the handling device correspondingly accommodated on the receiving device 40. For this purpose, appropriate fastening means and electrical and / or fluid-conducting connections (fastening means and connections 43) can be provided, for example.

[0133] In addition, the interface 42 can advantageously include a device for contactless signal transmission between the receiving device 40 of the transport device 100 and the handling device. This device for contactless signal transmission can be designed, for example, as a transmitter / receiver coil or as an inductive coupler with an I / O link for contactless signal transmission.

[0134] The device can be provided at any location on the interface 42 or even outside the interface 42, wherein the device for contactless signal transmission is advantageously provided centrally / in the middle of the interface 42.

[0135] It should be noted at this point that, for example, the electrical and / or fluid-conducting connections do not necessarily have to be provided on the interface 42. They can also be provided outside the interface 42, for example, to separate the transmission of rotational energy from the transmission of electrical / fluid energy.

[0136] In addition, the receiving devices 40 are particularly preferably designed in a uniform or standardized manner, so that any components or handling devices can be attached with correspondingly uniformly designed receiving elements and essentially the same quick couplings can be used for energy or signal transmission.

[0137] Furthermore, the receiving devices 40 preferably have the ability to monitor the status of the received handling device. This preferably includes monitoring the clamping situation of the coupled handling device (e.g., on the clamping cones), its status and signals, as well as its energy transmission.

[0138] When monitoring the tension state, a support control or a tension control in the holding devices 40 can preferably be used for this purpose, wherein the support control preferably determines the state via electrical signals, or alternatively can use blown air for this purpose.

[0139] For example, the transport device 100 can accommodate the following handling devices: pallet changers (e.g. known from machine tools), robots, material pallets, wire mesh boxes and other material carriers, storage areas for robot accessories (e.g. change grippers), deburring stations, washing stations, tools for e.g. machine tools, forklift forks, etc. For further details, please refer to the Fig. 8 bis 22 referred to.

[0140] It should be noted at this point that the possibilities of handling devices that can be accommodated by the receiving devices 40 of the transport device 100 are in no way exhausted by the above list.

[0141] Furthermore, the transport device 100 is advantageously designed such that the handling devices can be combined with one another as desired, in order to enable greater flexibility in specific applications.

[0142] Preferably, the internal controller 35 of the transport device 100 has its own control software, which can control and monitor the travel and transport movements. The control software could, for example, be expanded with individual software modules required for the respective components or handling devices. This could involve, for example, the connection of a robot controller or the connection of the control of a pallet changer.

[0143] Fig. 2b schematically shows a further embodiment of the receiving device 40 of the transport device 100 for receiving a handling device (or any other devices).

[0144] The receiving device 40 has at least one recess 44 (for example, a milled recess or a bore) through which a bolt 48 of a device (for example, a handling device, pallet holder 350, or any other device) can be received. The recess 44 has a larger dimension than, for example, the diameter of the bolt 48, so that the bolt 48 can be displaceably mounted on the base of the recess 44. Furthermore, the recess 44 can have, in addition to or alternatively to the base, at least one receiving surface (for supporting the received device) on its upper side, through which the device can be received.

[0145] It should be noted at this point that the recesses 44 are provided on the device, and the corresponding bolts 48 are provided on the receiving device 40. Furthermore, it should be noted that, in addition to the recess 44 / bolt 48 combination, other shape pairings for receiving the device on the receiving device 40 are also conceivable, for example, prisms and cones. The possibilities mentioned and described here are not to be considered exhaustive.

[0146] Furthermore, the receiving device 40 can have a device 46 for centering the device received by the receiving device 40 (here, pallet holder 350) relative to the transport device 100 or the receiving device 40. This is particularly advantageous for compensating for any positioning inaccuracies of the received device on the receiving device 40 caused by the transport device 100.

[0147] The picking up and, if necessary, centering of the exemplary pallet holder 350 on the picking device 40 or by the centering device 46 takes place as follows: Initially, the transport device 100 moves with the respective picking device 40 (and a certain positioning accuracy) beneath the device to be picked up (here, for example, the pallet holder 350). The pallet holder 350 can be pressed against a pressure piece 45 that is provided on the side of the picking device 40, like the centering device 46. This pressure piece 45 ensures that the pallet holder 350 is preloaded relative to the picking device 40 in the opposite direction to the centering device 46.

[0148] The transport device 100 then lifts up (for example by a mechanism as in Fig. 5a und 5b shown), so that the bolts 48 thread into the recesses 44, wherein the transport device 100 is raised further until the pallet holder 350 rests completely in the recesses 44 or on their upper side.

[0149] Thereafter, the transport device 100 lifts further until the pallet holder 350 is lifted out of its receptacle (not shown here) and is thus completely carried by the transport device 100.

[0150] Subsequently, the pallet holder 350 can now be centered (and also fixed) on the receiving device 40. For example, the drive 47 can be activated to displace the recesses 44, which are slidably mounted, for example, on a sliding or ball guide, toward the centering device 46.

[0151] By means of this, the pallet holder 350, which was previously mounted floating on the receiving device 40 (or in and / or on the recesses 44), is displaced in the direction of the centering device 46 and pressed against the centering device 46 (and possibly also more strongly against the pressure piece 45), so that an alignment of the pallet holder 350 with the centering device 46 takes place (for example, in that the centering device 46 has one prism / two prisms and corresponding pins / bolts of the pallet holder 350 are aligned with this prism / these prisms).

[0152] The drive 47 can have two end positions: Firstly, when the drive 47 has moved / displaced the recesses 44 as far as possible toward the centering device 46, the pallet holder 350 is fixed and aligned. Secondly, when the drive 47 has moved the recesses 44 to the greatest possible distance from the centering device 47, the pallet holder 350 is free and can align itself using other elements (for example, using a holder on a machine tool, a setup station, a magazine location, or the like). In this state, the pallet holder 350 can be transferred to a holder or picked up by the holder.

[0153] The fixing of the pallet holder 350 on the receiving device 40 can now be carried out in such a way that, on the one hand, the centering device 46 itself has a fixing section into which the pallet holder 350 is threaded and locked there.

[0154] Or the recesses 44 are displaced by the drive 47 so far in the direction of the centering device 46 that at least one bolt 48 of the pallet holder 350 is pressed against the side of one of the recesses 44 facing away from the centering device 46 (see the middle image of the Fig. 2b ) and thereby the pallet holder 350 is fixed relative to the receiving device 40.

[0155] Furthermore, the pallet holder 350 can also be fixed to the receiving device 40 by the pressure piece 45 pressing the pallet holder 350 against the side of one of the recesses 44 facing away from the centering device 46 (see the middle image of the Fig. 2b ).

[0156] It should be noted at this point that all of the aforementioned options for securing the pallet holder 350 relative to the receiving device 40 can also be combined with one another. Furthermore, it should be noted that the aforementioned options for securing the pallet holder 350 are not to be considered exhaustive; further options may also be considered.

[0157] It should also be noted that the drive 47 is not absolutely necessary for fixing or centering the pallet holder 350. Rather, other options for centering the pallet holder 350 relative to the receiving device 40 of the transport device 100 can also be used.

[0158] Fig. 2c shows schematically another embodiment of the receiving device 40, this time without the drive 47.

[0159] Here, the receiving device 40 again has at least one recess 44 and a pressure piece 45, wherein the at least one recess 44 cannot be positioned further relative to the transport device 100 (as is the case, for example, by the drive 47 as in Fig. 2b described was possible).

[0160] Instead, only the pressure piece 45 acts as a pre-tensioning element, which presses the pallet holder 350 against the at least one recess 44 and thereby fixes the pallet holder 350 (and also aligns it to a certain extent) with respect to the receiving device 40 (see right-hand image of the Fig. 2c ). This relative position of pallet holder 350 to receiving device 40 exists when the pallet holder 350 is moved by the transport device 100.

[0161] However, if the pallet holder 350 is to be transferred to a receptacle, the pallet holder 350 is aligned (mechanically) by means of the alignment elements 351 on the receiving receptacle due to the approach of the pallet holder 350 to the receptacle and in doing so presses the pressure piece 45 together (see left image of the Fig. 2c ).

[0162] Fig. 2d schematically shows a connector 70 that can transmit media, energy and signals from the receiving device 40 to the received device (for example, handling device, pallet holder 350 or any other device) and thereby automatically establishes the corresponding connections between the receiving device 40 and the received device.

[0163] The special feature of the connector 70 is that it is designed in such a way that it can also compensate for any positioning inaccuracies of the transport device 100.

[0164] For this purpose, the connector 70 also has a (spring-loaded) pressure piece 71, which preloads the floating connector body 75 toward a connector fixation 72. Furthermore, a mechanical stop 73 may be provided against which the connector body 75 is preloaded. This mechanical stop 73 can be designed, for example, as a prism, which additionally enables alignment of the connector body 75.

[0165] If the transport device 100 is now moved beneath the device and lifted to receive the device, the connector 70 can be inserted and aligned into the correspondingly formed (conical) recess of the pallet holder 350 (or another device) due to the floating mounting and the conical shape of the connector body 75, so that the connection interfaces 74 of the connector 70 can connect to the corresponding counterparts on the pallet holder 350. Conversely, of course, by lowering the receiving device 40 in relation to the received device, the connection of the connector 70 (with the connection interfaces 74) can be released from the pallet holder 350 again.

[0166] Fig. 3 shows schematically a positioning of the transport device 100 on a machine tool 1000 by means of a prism 1010.

[0167] The transport device 100 further comprises a corresponding counterpart 103 (here a cylindrical counterpart) for moving into the prism with the counterpart 103 and thus achieving precise positioning in front of the machine tool 1000. However, several prisms 1010 and correspondingly several counterparts 103 can also be used for such positioning of the transport device 100 in front of the machine tool 1000, both in one direction (e.g., in the longitudinal direction of the transport device 100) and in a direction perpendicular thereto (e.g., transverse direction of the transport device 100).

[0168] It should be noted at this point that the above-mentioned design options for positioning the transport device 100 are not limited to the combination of prism 1010 and cylindrical counterpart 103. Rather, for example, a part with a V-shaped notch (as an alternative to the prism 1010) could also be used.

[0169] Fig. 4a shows schematically a positioning of the transport device 100 on a machine tool 1000 by means of conical holders 1051.

[0170] The transport device 100 has a height adjustment (not shown here, see Fig. 5 bis 6 ), which make it possible to place the handling device (here, for example, a pallet changer 200) on the conical receptacles 1051 of the machine tool 1000 and thus to achieve a very precise positioning of the handling device in front of the machine tool 1000.

[0171] Furthermore, the conical receptacles 1051 enable the handling device to support a load, which is particularly advantageous when the handling device has to support large masses during use, which would possibly exceed the load-bearing capacity of the transport device 100, for example in the case of pallets 300 with particularly large or heavy workpieces 1 and the load occurring when removing the pallet 300 with the workpiece 1.

[0172] Preferably, the transport device 100 has a defined position in front of the machine tool 1000 or the storage locations 500 / setup stations. Positioning can be ensured mechanically, by signaling, or by a combination of both.

[0173] This positioning can preferably be achieved via n mechanical indices via horizontally arranged movement(s) (see Fig. 3 ) or vertical movement(s). Alternatively, rotational movement(s) can be used, the movements can be coupled together, or performed one after the other.

[0174] In an exemplary embodiment, positioning is ensured by a vertical movement (see in detail the Fig. 5 bis 6 ).

[0175] The indexes can be connected to the machine tools 1000, the storage locations 500, and the setup stations. Preferably, the indexes are connected to the hall floor to prevent any disturbances such as vibrations or shocks from being introduced to the machine tool 1000 or the stations while the transport device 100 is being positioned.

[0176] Preferably, the indexes are conical (conical mounts 1051). This ensures positioning in all necessary planes. Preferably, the conical mounts 1051 are positioned so that they are not in the actual step area in front of the machine tool 1000, thus not ergonomically hindering the operator during manual work.

[0177] Preferably, the conical receptacles 1051 are also used to absorb vertically occurring loads, which, for example, arise during pallet changes due to the pallet 300 being removed. This allows the transport device 100 to be designed for maximum transport capacity and does not have to absorb any additional loads that may occur temporarily during exchange processes.

[0178] Furthermore, the conical holders 1051 (see also Fig. 4b and 4c) can be used to establish a connection between machine tool 1000, workstations, and transport device 100. This connection can be used for signal transmission or energy exchange if this cannot be done without contact.

[0179] Furthermore, the above-mentioned connection can also be realized by an additional holder, which is docked by the cone stroke.

[0180] In addition, the conical holders 1051 can be locked and unlocked to further stabilize the positioning or increase its accuracy.

[0181] The vertical movements of the transport device 100 can be driven and controlled by using the media present on the transport device 100. Preferably, each of the receiving devices 40 can carry out the vertical movement independently and independently of each other (see Fig. 6 ). Alternatively, the vertical movement can be achieved by lifting the frame / chassis of the AGV relative to the wheels (see Fig. 5 ).

[0182] The lifting movement can freely move to all necessary positions to find a suitable sequence. In an exemplary embodiment, three main positions are provided: Upper stroke: Position in which the transport device 100 can move.

[0183] Center stroke: Position in which the handling devices are placed on the cones.

[0184] Bottom lift: Placing handling equipment / material carriers / boxes directly on the floor.

[0185] Furthermore, the lifting movement can also be used to dock the transport device 100 on a charging station (not shown here) and to enable the charging process there.

[0186] Furthermore, the handling device can be temporarily transferred directly to the machine tool 1000 by the transport device 100. The handling device is thereby transferred via the interface integrated in the conical holders 1051 (see also Fig. 4b and 4c ) to establish a connection from the machine tool 1000, and the transport device 100 can take over further tasks and other handling devices. In this case, the transport device 100 serves as a feeder of temporary handling devices for various machine tools 1000.

[0187] Fig. 4b schematically shows a further embodiment of the transport device 100 during positioning and energy and / or signal connection by means of conical receptacles 1051.

[0188] In this case, conical receptacles 1051 of the machine tool are shown, which, in addition to positioning the transport device 100, when the latter is moved by means of its lifting cylinders (see Fig. 5 ) over the conical receptacles 1051, can close a connection via which, for example, energy and / or signals for controlling or monitoring the transport device 100 can be transmitted to the transport device 100 and vice versa from the transport device 100 to the machine tool 1000.

[0189] By means of the conical receptacles 1051, for example, as shown here, the pallet 300 or any handling device could be precisely positioned on the machine tool 1000 and, and this is particularly advantageous, the transport device 100 or the received pallet 300 could be controlled without loading the internal energy storage device (not shown here) of the transport device 100, since the energy is provided by the machine tool 1000 and fed into the transport device 100 via the described connection.

[0190] Furthermore, the transport device 100 can have a type of charging station where it can refill or renew its energy sources (energy storage device 30; not shown here). This can be done, for example, by docking onto the conical receptacles 1051.

[0191] Fig. 4c schematically shows a further embodiment of the transport device 100, in which a pallet holder 350 with a pallet 300 docks onto a pallet holder receptacle 1040 by means of a transport device 100. The pallet holder receptacle 1040 can be provided, for example, on the machine tool 1000.

[0192] In particular, this embodiment differs from that in Fig. 4a shown in that the pallet holder 350 (or another device that is / can be transported by the transport device 100) is docked to the pallet holder receptacle 1040 by a movement of the transport device 100 in the horizontal plane.

[0193] Docking can be achieved, for example, by means of conical receptacles 1051 (here, for example, clamping cones) on the pallet holder receptacle 1040 or on the pallet holder 350 and correspondingly designed conical recesses 355 on the pallet holder 350 or on the pallet holder receptacle 1040. The already described advantages, such as the alignment / centering of the pallet holder 350 compared to the pallet holder receptacle 1040, also result here from the conical receptacles 1051 / conical recesses 355.

[0194] After the pallet holder 350 (or another device that is / can be transported by the transport device 100) has been docked, the transport device 100 can, for example, decouple itself again from the transported device (here pallet holder 350) and be used for another transport task.

[0195] Furthermore, the pallet holder 350, as in the transport device 100 itself or in the handling device, can have an interface 357 for transmitting mechanical energy and / or electrical, hydraulic and / or pneumatic energy between the pallet holder receptacle 1040 and the pallet holder 350. Accordingly, the pallet holder receptacle 1040 can have a counterpart (interface 358) to the interface 357 of the pallet holder 350.

[0196] Furthermore, operating fluids such as cooling lubricant could also be supplied from the pallet holder receptacle 1040 to the pallet holder 350. For this purpose, appropriate fastening means and electrical and / or fluid-conducting connections (comparable to the fastening means and connections 43) can be provided.

[0197] In addition, the interface 357 can advantageously comprise a device for the contactless transmission of signals between the pallet holder receptacle 1040 of the machine tool 1000 (or another device) and the pallet holder 350. This device for contactless signal transmission can be designed, for example, as a transmitter / receiver coil, or as an inductive coupler with an I / O link for contactless transmission of the signals.

[0198] The device can be provided at any location on the interface 357 or even outside the interface 357, wherein the device for contactless signal transmission is advantageously provided centrally / in the middle of the interface 357.

[0199] It should be noted at this point, however, that the receptacle on the machine tool 1000 referred to as the pallet holder receptacle 1040 can also accommodate a variety of other devices, handling devices, or the like, or even the transport device 100 itself, by docking. The pallet holder receptacle 1040 is therefore not limited to accommodating pallet holders 350.

[0200] Furthermore, it should be noted that in a particularly preferred manner, the receptacle described for docking (with conical receptacles 1051, conical recesses 355, and interfaces 357 / 358) is connected to the receptacle devices 40 (see Fig. 2 ) is designed in a uniform or standardised manner, so that any components or handling devices can be attached with correspondingly uniformly designed receiving elements and essentially the same quick couplings can be used for energy or signal transmission.

[0201] Fig. 4d schematically shows a further embodiment of the transport device 100 with a pallet holder 350.

[0202] The transport device 100 has a pallet holder 350 which cannot be picked up by a machine tool 1000 (or by a setup station, magazine location, etc.) and always remains on the transport device 100.

[0203] This pallet holder 350 is configured to place a pallet 300 onto a receptacle 1040 of the machine tool 1000 by positioning the pallet 300 (in a raised state) over the receptacle 1040 by the transport device 100 and then lowering the transport device 100 until the pallet 300 is received by the receptacle 1040.

[0204] Already when positioning the pallet 300 over the holder 1040, an alignment (pre-centering) of the pallet 300 relative to the holder 1040 is performed by alignment elements 301 located on the pallet 300. These alignment elements 301 are pressed against a centering device 1045 when positioning the pallet 300 over the holder 1040, so that the pallet 300 rests completely against the centering device 1045. If the pallet 300 is now lowered further by the transport device 100, the centering device 1045 threads into the alignment elements 301 (since these have, for example, a V-shaped recess), so that any lateral offset of the pallet 300 relative to the holder 1040 is also compensated. As a result, the pallet 300 is pre-centered relative to the holder 1040, and in particular relative to the cones (here pallet cones 1044).

[0205] For example, the pallet 300 itself can rest on the pallet holder 350 (which can be fork-shaped, for example) preloaded in the direction of the alignment elements 301 by a pressure piece (not shown here). This preload can be advantageously used, for example, to secure / fix the pallet 300 on the fork of the pallet holder 350.

[0206] If the pallet 300 or the alignment elements 301 are pressed against the centering device 1045 of the holder 1040 (due to the positioning movement of the transport device 100), the pressure piece is further compressed and the fixation of the pallet 300 relative to the fork is released. This allows the pallet 300 to be placed on the holder 1040.

[0207] Fig. 4e schematically shows a further embodiment of the transport device 100 with a pallet holder 350.

[0208] The process of positioning / pre-centering the pallet 300 relative to the holder 1040 is essentially the same as in Fig. 4d described process, however, it is not the pallet 300 itself that is aligned / pre-centered on the holder 1040, but the pallet holder 350 that carries the pallet 300.

[0209] Here too, the pallet holder 350 cannot be placed on the machine tool 1000 (or on another device) and remains on the receiving device 40 of the transport device 100.

[0210] For the alignment / pre-centering of the pallet 300 relative to the receptacle 1040, the pallet holder 350 now has alignment elements 351, which are pressed against the centering device 1042 during the positioning movement of the transport device 100 relative to the receptacle 1040 and also have, for example, a V-shaped recess into which the centering device 1042 can be threaded. This results in the pre-centering / alignment of the pallet holder 350 relative to the receptacle 1040, which forms the basis for the alignment of the pallet 300 relative to the receptacle 1040.

[0211] At the same time, by pressing the pallet holder 350 against the receptacle 1040, for example, a pressure piece (not shown here, but comparable to the one in Fig. 2b and 2cdescribed) to release the pallet holder 350 from its fixation relative to the receiving device 40 and to enable positioning of the pallet holder 350 relative to the receptacle 1040.

[0212] If the transport device 100 now lowers further after the pre-centering of the pallet 300, the pallet 300 can be placed on the corresponding cones. The transport device 100 is now free and can turn to a new task, for example, picking up a new pallet.

[0213] Fig. 5a shows schematically an embodiment of the transport device 100 with a height adjustment of the transport device 100 by means of lifting cylinders 50.

[0214] In this case, the chassis 10 is raised relative to the wheels by the lifting cylinders 50, so that the height of the handling devices mounted thereon is also changed relative to the wheels 20 or to the machine tool 1000 (not shown here).

[0215] Fig. 5b shows schematically a further embodiment of the transport device 100 with a height adjustment of the transport device by means of lifting cylinders 50.

[0216] An alternative is to be shown here in which, in addition to the lifting cylinders 50, a chassis 60 (e.g. based on a lever mechanism) is also provided in order to lift the chassis 10 of the transport device relative to the wheels 20, so that the height of the handling devices carried along is also changed.

[0217] Fig. 6 schematically shows an embodiment of the transport device 100 with a height adjustment of the receiving device 40 for receiving handling devices of the transport device 100.

[0218] Here again, it is not the position of the chassis 10 relative to the wheels 20 of the transport device 100 that is changed, but the receiving device 40 changes its relative position relative to the chassis 10 or relative to the platform support.

[0219] This has the advantage that the lifting cylinders 55 can be designed smaller, since they do not have to bear the weight of the chassis 10 and the other handling devices and other additional weights.

[0220] Fig. 7a shows schematically a hall floor with grid-like arranged cones 1051 for positioning the transport devices 100 or the handling devices.

[0221] As already shown in Fig. 4 explained, the transport device 100 is lowered so that either the transport device 100 itself or the handling device received by the transport device 100 is positioned by means of the cones 1051.

[0222] Another possibility is to design the cones 1051 so that they can be retracted, for example, if the cones 1051 interfere with the movement of the transport devices 100 on the hall floor. For this purpose, the cones 1051 would need to have their own lifting device (e.g., pneumatic, hydraulic, electric, or mechanical) so that they can be lifted out of the hall floor or lowered into it. Furthermore, a combined lifting movement of the cones 1051 and the transport device 100 could be used to perform the positioning.

[0223] Fig. 7b shows a further possibility of providing the cones 1051 on the underside of the transport device 100 and only providing corresponding recesses for the cones 1051 in the hall floor.

[0224] This would allow the lifting movement to be performed by the transport device 100 or the receiving device 40 to perform the positioning. Furthermore, it may also be possible for the cones 1051 on the underside of the transport device 100 to be lowered into the recesses in the hall floor to enable positioning of the transport device 100 or the handling device.

[0225] In these cases, there is no longer any interference contour on the hall floor, so that the transport devices 100 can travel freely over the hall floor. In addition, in the embodiment as shown in Fig. 7b As shown, an additional lifting device (e.g. for the cones on the hall floor) can be dispensed with.

[0226] Fig. 8a shows schematically a further embodiment of the transport device 100 with an industrial robot 600 as handling device.

[0227] In addition to or instead of a pallet changer 200 as a handling device, a robot 600 (industrial robot) can also be accommodated by the receiving devices 40 of the transport device 100. This can be used for a wide variety of tasks within the production process and can be further adapted depending on the application. Further examples of this can be found in the Figuren 9 bis 14 and 21 described.

[0228] It is also advantageous that the transport device 100 has a plurality of receiving devices 40, wherein each receiving device 40 can accommodate different modules / handling devices.

[0229] As in Fig. 8a As shown, various material pallets 700, machine pallets 700, or wire mesh boxes 700 can be picked up by the transport device 100. Furthermore, various auxiliary modules 750 (such as deburring tools, tool storage boxes, interchangeable grippers, etc.) can be picked up by the transport device 100, which the robot 600 can use, for example, to perform assembly work on the machine tool 1000 or post-processing on a workpiece 1 that was manufactured by the machine tool 1000.

[0230] It should also be explicitly pointed out at this point that the transport device 100 can also be equipped as a pure material supplier or tool supplier, for example as a type of workpiece / tool ​​trolley that is exclusively equipped with one or more material pallets 700 and / or tool pallets and / or wire mesh boxes 700 and can therefore travel to processing stations or other destinations of the workpieces / tools.

[0231] Due to the possibility of accommodating a pallet changer 200 and a robot 600 on a transport device 100, workpiece and pallet handling can be advantageously combined as desired and conditions in the production chain can be individually addressed.

[0232] Fig. 8b now schematically shows two more specific embodiments of the transport device 100 with robots 600 accommodated, wherein both robots 600 are configured for both tool handling and workpiece handling. In particular, for moving tools 102, for example, a tool changer can be accommodated by the robot 600 (see, for example, the detailed view in Fig. 8b ). This could, for example, also change the tool 102 in the work spindle 1100 of the machine tool 1000.

[0233] Fig. 9 schematically shows a further embodiment of the transport device 100 with an industrial robot 600 and a measuring unit 610 for tool testing.

[0234] Through the Fig. 9 In the configuration shown of the transport device 100 with a robot 600 and a measuring unit 610 for tool testing as well as a module 700 with buffer spaces for the tools, the transport unit 100 can remove, measure and test the tools from a machine tool 1000 (not shown here).

[0235] The inspection can be performed tactilely or contactlessly. A read / write unit can also identify the tool and assign it accordingly.

[0236] The information received and the test results can now be transmitted via radio signals to a master computer control 2000 and processed accordingly.

[0237] Fig. 10a shows schematically a detailed view of a further embodiment of the transport device 100 with an industrial robot 600 and measuring and testing equipment 620 for testing components 1 that were manufactured on a machine tool 1000 (here with pallet 300), as is also shown in detail in Fig. 10b is shown.

[0238] The component 1 can be inspected by the robot 600 both tactilely and by scanning. Furthermore, an optical unit can inspect the component 1 using an optical method.

[0239] The received data and information can now be transmitted again via radio, by induction or through appropriate connections in the conical holders (not shown here).

[0240] Fig. 11 shows schematically a further embodiment of the transport device 100 with an industrial robot 600 and an attachment 630 for the post-processing of components 1 that were manufactured on a machine tool 1000 (here with pallet 300).

[0241] The attachment 630 can be equipped with a tool (e.g., a brush or deburring tool) that can be used to automatically rework the component. Optical or sensory monitoring ensures the appropriate quality of the finished component 1 and checks whether further rework is necessary.

[0242] Fig. 12 shows schematically a further embodiment of the transport device 100 with an industrial robot 600 and a unit 640 for sharpening and dressing tools.

[0243] In addition to the robot 600 and the unit 640 for sharpening and dressing tools, the transport device 100 also includes a protective enclosure 650, which protects the surrounding area from flying chips generated by the sharpening or dressing process. Advantageously, a flap can be provided (as indicated on the left side of the protective enclosure 650) through which the robot can reach and interact, for example, with a work spindle of a machine tool (neither shown here).

[0244] Since the sharpening and dressing processes involve machining steps, it is advantageous if the chassis 10 also has an internal cooling and lubricant tank 11 to cool and lubricate the machining process, as is usual with a machine tool, and thus reduce tool wear. Furthermore, it may be advantageous to provide a module 700 with buffer spaces for storing tools on the transport device 100.

[0245] Fig. 13 schematically shows a further embodiment of the transport device 100 with an industrial robot 600 and a magazine 101 for carrying various tools 102.

[0246] This allows tools 102 to be loaded directly into a work spindle of the machine tool (not shown here) or into the magazine 101. The magazine 101 can be designed as a wheel, tower, plate, or chain magazine. However, other variants of magazines 101 are also applicable.

[0247] In particular, instead of or in addition to a magazine 101 for storing tools 102, tool pallets (not shown here) can be picked up by the transport device 100 and used accordingly for a wide variety of applications.

[0248] It should be expressly pointed out that one or more tool pallets can be picked up by the transport device 100 and fed to their destinations according to their intended locations, regardless of the presence of an industrial robot 600.

[0249] In a particularly advantageous manner, the robot 600 can be provided with a closure plate 601 in order to ensure safety during a tool change on a work spindle 1100 of the machine tool 1000 (as in Fig. 14 shown).

[0250] Fig. 14 shows schematically the embodiment of the transport device 100 in Fig. 13 during the interaction of the industrial robot 600 with the work spindle 1100 of the machine tool 1000, for example to change the tool 102.

[0251] This demonstrates once again the advantage that the locking plate 601 offers in ensuring safety on the machine tool 1000 during tool changes.

[0252] Fig. 15a shows schematically a further embodiment of the transport device 100 for chip disposal on a chip carriage 1400 of a machine tool 1000.

[0253] A module 800 for collecting the chips is mounted on the transport device 100, wherein the module 800 further has a tilting mechanism 810 for unloading the collected chips at a defined location.

[0254] The tilting mechanism can be designed in a variety of ways. Electric, hydraulic, or pneumatic drives can be used. Rack and pinion gears, screw gears, or simply pneumatic or hydraulic lifting cylinders can also be used to generate the tilting movement of the module. However, other drives / gears can also be used in various combinations.

[0255] A further embodiment of the transport device 100 with the module 800 for collecting the chips is shown in Fig. 15b shown, wherein the transport device 100 is further provided with a lifting mechanism 820 that can lift a chip container 825 filled with chips and empty it into the module 800. In this case, the chip container 825 can advantageously remain on the chip carriage 1400 of the machine tool 1000 until it is filled accordingly and information is sent, for example, to the central host computer control 2000, which then sends the transport device 100 with the module 800 and the lifting mechanism 820 to empty the said chip container 825.

[0256] In addition, the transport device 100 can be further configured to couple an additional container trolley 830 and to use this additionally for collecting and transporting chips.

[0257] Fig. 15c shows a further embodiment of the transport device 100, in which the module for collecting the chips 800, as already shown in Fig. 15a und 15b shown, is accommodated on the top side of the transport device 100. Advantageously, the module 800 shown can be placed on a variety of chip carts / chip collectors 1400 by means of two lateral support sections. Once the chip cart 800 has been filled accordingly, the signal can be sent to the transport device 100 to pick up the module 800 again and to supply the chips for further processing and / or disposal.

[0258] For positioning the module 800 on the chip carriage 1400 by the transport device 100, for example, conical receptacles 1051 present in / on the hall floor can be used. Furthermore, the conical receptacles 1051 can also be used in the Fig. 4a and 4c described properties.

[0259] Fig. 16 shows schematically a further embodiment of the transport device 100 for preparing and refilling a machine tool 1000 with cooling lubricant.

[0260] The transport device 100 comprises a module 900 for collecting or extracting the used cooling lubricant from the machine tool. The module 900 may further comprise a tank 920 and a filter 930 for processing the used cooling lubricant. A suction device 910 may be connected directly to the machine tool 1000 and extract the used cooling lubricant into the tank 920. Furthermore, the suction device 910 may also be configured to extract cooling lubricant that has accumulated in the chip container 825 from the chip container 825 and feed it for processing.

[0261] Fig. 17 shows schematically a further embodiment of the transport device 100 for providing and introducing workpieces 1 into a machine tool 1000 for turning.

[0262] The workpieces 1 can, for example, be bar stock, which is fed to the turning machine tool 1000 by a bar loader 470 picked up by the transport device 100.

[0263] For the proper interaction of the bar loader 470 and the machine tool 1000, in particular the work spindle 1100, it is recommended that the transport device 100 be positioned again by the already described conical receptacles 1051 (not shown here), which are provided at the corresponding location on the machine tool 1000.

[0264] This ensures that the bar material (workpieces 1) is correctly inserted into the machine tool 1000 or the work spindle 1100, allowing the automated production process to run smoothly.

[0265] As in the Fig. 17 As shown, the machine tool 1000 can further be equipped with a tool turret 1500, which can advance the tool required for the respective machining step to the rotating bar stock. Furthermore, the conical receptacles 1051 can again have the previously described options for establishing a connection for energy and / or signal transmission, so that the energy storage device 30 (not further shown here) of the transport device 100 is no longer subjected to stress by the material feeding process.

[0266] Fig. 18a schematically shows a further embodiment of the transport device 100 as a material storage 700 for a machine tool 1000 with gantry loader 1600.

[0267] The material storage units 700 can be picked up by various receiving devices 40 of the transport device 100, which is illustrated by the two transport devices shown. Furthermore, one of the transport devices 100 can also provide the raw parts for the machine tool 1000 or the gantry loader 1600, while the other transport device 100 picks up the machined parts / workpieces.

[0268] This configuration of parts and material handling allows for increased autonomous machine running times, as the transport of raw parts and / or finished parts can now be carried out automatically.

[0269] The gantry loader 1600 has a gripper 1610, which can be moved, for example, along an x- and a z-direction and which feeds the blanks to the work spindle 1100 until they are clamped in the workpiece holder of the work spindle 1100. Here, too, a tool turret 1500 can advance the tool to the blank / workpiece required for the current machining process.

[0270] However, this embodiment of the transport device 100 is not only suitable for lathes, but can also be used for known milling machines.

[0271] Furthermore, this embodiment of the transport device 100 is particularly advantageous in that a large proportion of the gantry loaders already used on a machine tool 1000 can be adapted to the transport devices 100 for material handling without major effort.

[0272] Fig. 18b shows a further embodiment of the transport device 100 as a material storage 700 for a machine tool 1000 with robot 600 for loading and unloading workpieces into the machine tool 1000.

[0273] As already mentioned in Fig. 4c described, the transport device 100 with the handling device or in this case with a module 700 (here storage for raw material) held by the transport device 100 is docked to the machine tool 1000 (by means of conical holders 1051 and interface 358).

[0274] Furthermore, the transport device 100 can now, if necessary, initially "deposit" the material storage unit 700 at the machine tool 1000 to make it available for other tasks. Only when the raw material stored in the material storage unit 700 has been used up would the transport device 100 have to return and pick up the module 700 again and transport it away accordingly.

[0275] Advantageously, at least one, but particularly advantageously at least two, docking stations are available for this purpose on the machine tool 1000. This allows the transport device 100 to dock a new material storage unit 700 filled with raw parts onto the machine tool 1000 and subsequently pick up an emptied material storage unit 700 from the other docking station and transport it away accordingly.

[0276] However, the concept of the machine tool 1000 shown here is not limited to the robot 600 being arranged outside the machine tool 1000. Rather, the robot 600 can also be provided in the workspace of the machine tool 1000 and, if necessary, reach from the machine tool 1000 into the docked material storage 700 for a new blank. However, completely different machine concepts can also be supplied with the transport device 100 with material storage 700 (or another module 700).

[0277] Fig. 19a schematically shows a further embodiment of the transport device 100 with conveyor belt 400 between two machine tools 1000 with gantry loaders 1600. Furthermore, the two machine tools 1000 each have, for example, a work spindle 1100 and a tool turret 1500.

[0278] In this case, the conveyor belt 400 received by the transport device 100 can also be equipped with holders for components or workpieces (see, for example, the detailed illustration in Fig. 19b ). Furthermore, it is particularly advantageous that the transport device 100 with the conveyor belt 400 can be used as a stand-alone unit, for example, to exchange raw parts or already machined workpieces between two machine tools 1000. Furthermore, it is possible for the conveyor belt to provide specific areas for setup (setup stations), through which the conveyor belt 400 can be loaded with raw parts / machined workpieces.

[0279] In addition, it may be particularly advantageous that the conveyor belt 400 can be positioned (folded) on the transport device 100 by means of a corresponding mechanism (not shown here) (see, for example, Fig. 19c ), for example, to bridge larger distances. For this purpose, several transport devices 100 can be provided with conveyor belts 400, which are arranged in series to create, for example, a type of conveyor bridge.

[0280] Furthermore, it should be noted at this point that the embodiment of the conveyor belt 400 is not limited to the embodiment shown. Rather, a conveyor chain or the like can also be used instead of a conveyor belt.

[0281] Furthermore, it may also be possible for the conveyor belt 400 to be rotatably mounted relative to the transport device 100, which has received and transported the conveyor belt, so that an alignment of the conveyor belt 400 for the respective application purpose can take place separately from the positioning of the transport device 100 (see Fig. 19c This resulted in increased flexibility for the use of the conveyor belt 400.

[0282] Fig. 20 schematically shows a further embodiment of the transport device 100 for the supporting suction 420 of the working space of a machine tool 1000.

[0283] For this purpose, it is advantageous that the transport device 100 can accommodate a corresponding suction device 420 and can be positioned accordingly at an access in the housing 1030 of the machine tool 1000 in order to suction off dirt and contaminants that arise before, during and after machining of a workpiece.

[0284] The 420 extraction system is primarily designed to support the standard 1020 extraction system often already installed in a 1000 machine tool. However, if this system is defective or not even present, the 420 extraction system can replace it. The extracted and collected dirt can be stored in a container and emptied as needed.

[0285] Fig. 21 now schematically shows a further embodiment of the transport device 100 with robot 600 and an application device 770 received by the robot 600.

[0286] Using the application device 770, a component / workpiece can now be additively manufactured, for example, on a machine tool 1000, since the application device 770 is configured, for example, for build-up welding (or another additive manufacturing process). For this purpose, the transport device 100 can, for example, further accommodate a powder or media tank 775 that stores the material to be applied (for example, metal powder, etc.). A supply or suction system 777 between the powder or media tank 775 and the application device 770 ensures that material is conveyed from the powder or media tank 775 to the application device 770, or that excess material can be suctioned off again during the manufacturing process and fed to the powder or media tank 775.

[0287] The advantage of mobile additive manufacturing is that essentially any machine tool 1000 can be expanded to include such additive manufacturing without the need to modify the corresponding machine tool 1000. Furthermore, the machine cabin and / or extraction system already present on the machine tool 1000 can be advantageously used for additive manufacturing as protection for the manufacturing process and for the operators.

[0288] It should be noted, however, that a machine tool 1000 is not necessarily required for mobile additive manufacturing to be used. For example, the application device 770 can also additively produce the desired component / workpiece on any substrate or in any environment. Or the transport device 100 can move to the existing workpiece / component and process it on-site using the application device 770.

[0289] As already described above, for example, cones 1051 (not shown here) could again be used to optimally position the transport device 100 on the machine tool 1000 or on the component / workpiece in order to ensure high-quality production.

[0290] Fig. 22 now schematically shows another embodiment of the transport device 100 with a tool changer 720.

[0291] In this case, for example, the transport device 100 can move with a tool held in the tool changer 720 to the machine tool 1000, in particular to the work spindle 1100, and there carry out the tool change by a rotary movement of the tool changer 720.

[0292] Furthermore, instead of the tool changer 720, a changer-storage combination 720 can also be transported by the transport device 100 to the machine tool 1000. The advantage is that this changer-storage combination 720 has a significantly larger capacity for holding tools than a simple tool changer such as a fork gripper or a hook gripper.

[0293] If the changer-storage combination 720 is now positioned in front of the machine tool 1000 or the work spindle 1100, the work spindle 1100 can remove the desired tool from the changer-storage combination 720 (for example, a chain magazine or wheel magazine with corresponding drives), whereby the changer-storage combination 720 can accelerate or simplify the tool change, for example by rotating the desired tool towards the work spindle 1100.

[0294] However, the transport device 100 can also have only one tool storage 720 (for example as a chain magazine, wheel magazine or shelf magazine, etc.), which is transported to the machine tool 1000 and from which the work spindle 1100 of the machine tool 1000 can independently remove the desired tool.

[0295] Furthermore, the above-mentioned possibilities can also be combined with one another, so that, for example, a transport device 100 with a tool storage 720 is positioned together with a transport device 100 with a tool changer 720 in front of the machine tool 1000 and carry out the tool change on the machine tool 1000 in interaction with one another.

[0296] Furthermore, the above-mentioned options are not limited to tools, since, for example, instead of tools, workpieces or tools and workpieces can also be stored and / or changed simultaneously.

[0297] Fig. 23 shows schematically a variety of transport devices 100 with different tasks within a production chain.

[0298] The automated guided vehicle system (AGV) preferably has a higher-level control computer software integrated into the master computer control system 2000, which controls and monitors the individual orders. The master computer software is preferably capable of controlling and monitoring n+1 transport devices 100 simultaneously.

[0299] The communication between the transport devices 100 and the master computer control 2000 preferably functions wirelessly via, for example, WLAN or radio.

[0300] The transport device 100 preferably has a visual information source, such as a status light (not shown here), which serves as a graphical representation of the status of the transport device 100. Traffic light logic is preferably used here. Green = status OK, yellow = malfunction, red = problem. Alternatively, this light can also indicate other statuses through additional visual signals, such as flashing.

[0301] If multiple transport devices 100 are in use, they can preferably share the handling devices (such as pallet changers 200, robots 600, modules 700 (such as material pallets, wire mesh boxes, etc.), module 800 for collecting chips, and module 900 for collecting or extracting used coolant and lubricant from machine tools 1000). This ensures an even more flexible automation solution.

[0302] Preferably, the transport device 100 places a no longer required handling device at a known location. There, another transport device 100 can approach, pick up, and use this handling device.

[0303] Preferably, the transport devices 100 have a means of communication with other transport devices 100. This allows, for example, sources of interference such as occupied travel paths, shared handling devices and their locations, and any other information to be indicated and responded to. Optionally, the master computer control 2000 performs this task.

[0304] Preferably, the transport device 100 has an interface that allows communication and energy transfer to machine tools 1000 or stations. These interfaces are preferably contactless, but can also be implemented via connectors or near-field communication.

[0305] Examples or embodiments of the present invention and their advantages have been described in detail above with reference to the attached figures.

[0306] It should be emphasized again that the present invention is in no way limited or restricted to the exemplary embodiments and their embodiment features described above, but further comprises modifications of the exemplary embodiments, in particular those which are encompassed by modifications of the features of the described examples or by combination of one or more of the features of the described examples within the scope of protection of the independent claims.

[0307] In particular, it should be noted at this point that the various configurations and functions that the transport device 100 can fulfill can be combined with one another to provide an extremely flexible machine concept for making the processing of workpieces 1 even more flexible and efficient. In particular, the above-mentioned additional functions of the transport device 100, as well as the provision and exchange of workpieces 1 and / or pallets 300, can be supplemented.

[0308] Existing machine tools 1000 can also be easily supplemented with additional functions and / or workpiece and pallet handling. Furthermore, modular machine tools can also be combined with stationary machine tools to make the production / machining of workpieces 1 more flexible.

[0309] Furthermore, a transport device 100, for example, can simultaneously perform tasks from the area of ​​the modular machine tool as well as additional functions. A transport device is not limited to just one area but can simultaneously perform a wide variety of tasks from different areas.

[0310] The above-mentioned possibilities are therefore not to be construed as limiting and can expressly be combined in any way within the scope of protection defined by the claims. LIST OF REFERENCE SYMBOLS

[0311] 1 Component / workpiece 10 Chassis / Platform 20 wheel 30 Energy storage 35 internal control 40 Recording device 41 conical sections of the receiving device 42 Interface of the recording device 43 Fasteners and connections44 Deepening 45 Pressure piece 46 Centering device 47 Drive for moving the recesses 48 bolt 50 Lifting cylinder (for wheel or chassis) 55 Lifting cylinder (for holding device) 60 chassis 70 Plug 71 Pressure piece of the plug 72 Plug fixation 73 mechanical stop 74 Connection interface 75 Plug body 100 Transport device 101 magazine 102 Tool 103 Counterpart (to the prism) 105 Coupling (between two transport devices) 200 pallet changer 300 range 301 Pallet alignment element 350 pallet holder 355 conical depressions 357 Interface of the pallet holder 358 Machine tool interface 400 conveyor belt 420Extraction 470Bar loader 500Storage area 600Robot / industrial robot 601Closing plate 610Measuring unit 620Measuring and testing equipment 630Attachment for post-processing components 640Unit for sharpening and dressing tools 650Protective enclosure 700Module (lattice boxes, module for buffer spaces for tools, etc.) 720Tool changer, changer-storage combination, tool storage 750Robot accessories (change gripper, deburrer, storage box for tools) 770Applicator 775Powder / media tank 777Supply / extraction of powder / media 800Module for collecting chips 810Tilt mechanism 820Lifting mechanism 825Chip container 830Container trolley 900Module for collecting orExtraction of used coolant 910 Extraction device 920 Tank 930 Filter (for chips in the coolant) 1000 Machine tool 1010 Prism 1020 Standard extraction 1030 Housing 1040 Pallet holder holder 1042 Centering device for aligning the device 1045 Centering device for aligning the pallet 1051 Conical holder 1100 Work spindle 1400 Chip collector / chip trolley 1500 Tool turret 1600 Gantry loader 1610 Gripper (gantry loader) 2000 Host computer control.

Claims

1. Transport device (100), comprising: - one or more module units; and - a driverless transport vehicle for receiving the one or more module units and for transporting the one or more received module units to a machine tool (1000) set up on a base surface; wherein the one or more received module units each have a machine tool accessory device which can be used with the machine tool (1000), and wherein the driverless transport vehicle can be moved on the base surface in order to position the one or more received module units relative to the machine tool (1000), in particular within a region in front of and / or next to the machine tool (1000) and / or in front of and / or next to a working space of the machine tool (1000), the driverless transport vehicle is configured to be moved freely on the base surface independently of a type of rail system for guiding the driverless transport vehicle, and the transport device (100) comprises, as received module unit, a chip collection module unit (800) with a chip collection device and with a tilting mechanism (810) and / or a chip conveying module unit with a chip conveying device, wherein the chip collection device is configured to collect chips on the machine tool (1000) or in the working space of the machine tool (1000) and the chip collection module unit (800) is further configured to discharge again chips collected via the tilting mechanism (810), and the chip conveying module unit is configured to discharge chips from the machine tool (1000) or out of the working space of the machine tool (1000).

2. Transport device (100) according to claim 1, characterized in that the transport device (100) is configured by means of movement on the base surface to position the one or more module units within a region in front of and / or next to the working space of the machine tool (1000) along spatial directions spanning the region.

3. Transport device (100) according to claim 1 or 2, characterized by: - a drive for moving the driverless transport vehicle, and - a control unit (35) for controlling the transport device (100).

4. Transport device (100) according to one of the preceding claims, characterized by an internal energy store which supplies the transport device (100) with energy, in particular with electrical energy.

5. Transport device (100) according to one of the preceding claims, characterized in that the transport device (100) is configured to receive one of the one or more module units at a storage location and to transport it from the storage location to the machine tool (1000).

6. Transport device (100) according to one of the preceding claims, characterized in that the transport device (100) is configured to communicate with an external control device, in particular with a central control device which is configured to be connected to a plurality of transport devices at the same time, in particular by means of a wireless communication connection, and to control the plurality of transport devices, in particular by automatic remote control.

7. Transport device (100) according to one of the preceding claims, characterized in that the transport device (100) is configured to communicate with a control device of the machine tool via a communication interface, in particular in such a way that the one or more received module units can be controlled by the control device of the machine tool (1000) by means of a communication connection to the transport device (100) via the communication interface.

8. Transport device (100) according to one of the preceding claims, characterized in that the transport device (100) has a docking device and is configured to dock, by means of the docking device, at a docking station of the machine tool (1000), a docking station of a setup location of a production system having the machine tool (1000), and / or a docking station of an automation device of a production system having the machine tool (1000).

9. Transport device (100) according to claim 7 and claim 8, characterized in that the transport device (100) is configured, in the state docked at the docking station of the machine tool (1000) having the communication interface, to communicate with the control device of the machine tool (1000) via the docking device coupled to the communication interface.

10. Transport device (100) according to claim 8 or 9, characterized in that the transport device (100) is configured to position itself and / or the one or more received module units relative to the machine tool (1000) by docking at the docking station of the machine tool (1000), to position them relative to the setup location by docking at the docking station of the setup location, and / or to position them relative to the automation device by docking at the docking station of the automation device.

11. Transport device (100) according to one of the preceding claims, characterized in that the transport device (100) is configured to move to a module charging station configured for providing module units and / or storing module units, in particular for equipping the transport device (100) with one or more module units at the module charging station and / or for exchanging one or more module units of the transport device (100) at the module charging station.

12. Transport device (100) according to one of the preceding claims, characterized in that further module units of the one or more received module units of the transport device (100) each comprise, as machine tool accessory device: - a handling device (350) which is configured for handling a pallet (300) and / or a workpiece on the machine tool (1000), or - an industrial robot (600), in particular for handling tools, workpieces and / or workpiece pallets, or - a tool changing device (720) for carrying out a tool change on the machine tool (1000), or - a tool storage device or a tool magazine for providing tools on the machine tool (1000), or - a tool storage device with a tool changing device (720) for providing tools on the machine tool (1000) and for carrying out a tool change on the machine tool (1000), or - a workpiece changing device for carrying out a workpiece change on the machine tool (1000), or - a workpiece loading device for loading workpieces on the machine tool (1000), in particular a rod loader (470) for use on a machine tool (1000) designed as a lathe, or - a coolant supply device for supplying coolant to the machine tool (1000), or - a coolant exchange device for exchanging coolant on the machine tool (1000), or - a workpiece measuring device (610) for measuring a workpiece on the machine tool (1000), in particular with an optical, electromagnetic and / or tactile measuring device, or - a workpiece deburring device (750) for deburring a workpiece on the machine tool (1000), or - a tool setting-up device for setting up tools on the machine tool (1000), or - a tool dressing device (640) for dressing tools on the machine tool (1000), in particular for dressing grinding tools on the machine tool (1000), or - a device for sharpening tools on the machine tool (1000), or - a suction device (420) for suction in the working space of the machine tool (1000), or - a workpiece receptacle for receiving a workpiece, or - a conveying device for conveying workpieces, in particular comprising one or more conveyor belts (400) or conveyor belt sections, or - a spare parts exchange device for exchanging accessory parts or spare parts on the machine tool (1000).

13. Transport device (100) according to one of the preceding claims, characterized in that further module units of the one or more received module units comprise - a handling module unit with a handling device which is configured for handling a pallet (300) and / or a workpiece on the machine tool (1000), or - a robot module unit with an industrial robot (600), in particular for handling tools, workpieces and / or workpiece pallets, or - a tool changing module unit with a tool changing device (720) for carrying out a tool change on the machine tool (1000), or - a tool storage module unit with a tool storage device or a tool magazine for providing tools on the machine tool (1000), or - a tool storage and tool changing module unit with a tool storage device with a tool changing device (720) for providing tools on the machine tool (1000) and for carrying out a tool change on the machine tool (1000), or - a workpiece changing module unit with a workpiece changing device for carrying out a workpiece change on the machine tool (1000), or - a workpiece loading module unit with a workpiece loading device for loading workpieces on the machine tool (1000), in particular a rod loader (470) for use on a machine tool (1000) designed as a lathe, or - a coolant supply module unit with a coolant supply device for supplying coolant to the machine tool (1000), or - a coolant exchanging module unit with a coolant exchange device for exchanging coolant on the machine tool (1000), or - a workpiece measuring module unit with a workpiece measuring device (610) for measuring a workpiece on the machine tool (1000), in particular with an optical, electromagnetic and / or tactile measuring device, or - a workpiece deburring module unit with a workpiece deburring device (750) for deburring a workpiece on the machine tool (1000), or - a tool setting-up module unit with a tool setting-up device for setting up tools on the machine tool (1000), or - a tool dressing module unit with a tool dressing device (640) for dressing tools on the machine tool (1000), in particular for dressing grinding tools on the machine tool (1000), or - a tool sharpening module unit (640) with a device for sharpening tools on the machine tool (1000), or - a suction module unit with a suction device (420) for suction in the working space of the machine tool (1000), or - a workpiece receiving module unit with a workpiece receptacle for receiving a workpiece, or - a conveying module unit with a conveying device for conveying workpieces, in particular comprising one or more conveyor belts (400) or conveyor belt sections, or - a spare parts exchange module unit with a spare parts exchange device for exchanging accessory parts or spare parts on the machine tool (1000).

14. System, characterized by one or more transport devices (100) according to one of the preceding claims, and a central control device which is configured to be connected to the one or more transport devices (100), in particular by means of a wireless communication connection, and to control the plurality of transport devices (100), in particular by automatic remote control.

15. System according to claim 14, characterized by a module charging station configured for providing module units and / or storing module units, in particular for equipping the one or more transport devices (100) with one or more module units at the module charging station and / or for exchanging one or more module units of the one or more transport devices (100) at the module charging station.