MACHINE TOOL FOR MACHINING A WORKPIECE

Description

[0001] The present invention relates to a machine tool for machining a workpiece. Furthermore, the present invention relates to a system comprising one or more machine tools. BACKGROUND OF THE INVENTION

[0002] Transport vehicles for picking up and moving goods within a factory hall are well-known. Forklifts and partially motorized pallet trucks are the most familiar examples. A stated goal for such deliveries using these vehicles is to continuously increase the level of automation and, ideally, to synchronize deliveries with production processes.

[0003] For this purpose, driverless transport systems, or AGVs for short, are preferably used, which, in addition to driverless transport vehicles, also have designated places for picking up or putting down goods by the transport vehicles, and possibly also specifically set up places or stopping points to, for example, prepare the goods for the upcoming manufacturing process.

[0004] For example, WO 2018 / 092222 A1 discloses a transport system with a large number of driverless transport vehicles (AGVs), each of which has a robot arm that can handle workpieces or tools to provide them to a processing station, for example.

[0005] However, AGVs that guide the transport vehicles to their respective stations via a rail system have a disadvantage. 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 to changes in station positions or the production process.

[0006] Such systems are therefore immensely disadvantageous in terms of flexibility.

[0007] Furthermore, the currently known AGVs have the disadvantage that, as a rule, they do not offer the possibility of directly processing a workpiece on the AGV itself, in order to guarantee flexible and therefore effective production / processing of workpieces.

[0008] Further state-of-the-art information can also be found in the online video publication "Introducing I-assist, autonomous collaborative robot for the machine-tool industry" (URL: www.youtube.com / watch?v=-2rMRd5vWL8). ) known, which shows an AGV with a robot arm mounted on it. SUMMARY OF THE INVENTION

[0009] One object of the present invention is therefore to provide a machine tool for machining a workpiece by cutting, with which the above problems are avoided.

[0010] These tasks are solved by a machine tool according to claim 1. The dependent claims relate to advantageous embodiments of the machine tool and the system according to the invention.

[0011] The machine tool according to the invention for machining a workpiece comprises at least one first machine tool assembly freely movable on a base surface, which includes a driverless transport vehicle and an industrial robot, and at least one stationary second machine tool assembly with a work spindle for tools, which can be set up on the base surface. The driverless transport vehicle of the first machine tool assembly is configured to be moved on the base surface independently of a rail system for positioning the first machine tool assembly at the second machine tool assembly.The first machine tool assembly further includes a tool magazine for carrying various tools, with the industrial robot being configured to directly transfer a tool carried by the tool magazine into the work spindle of the second machine tool assembly and / or to transfer a tool carried by the work spindle into the tool magazine when the first machine tool assembly is positioned next to the second machine tool assembly. The tool magazine is designed as either a wheel magazine or a chain magazine.

[0012] The machine tool according to the invention made it possible to implement the concept of a modular machine tool that no longer has to consist of a fixed machine table and a spindle unit that can be moved in several axes relative to the machine table.

[0013] This offers the immense advantage that an existing machine concept can now be expanded or supplemented with further machining capabilities in any way imaginable. Furthermore, the modules, which are movable relative to each other and can be positioned at any point in the workshop, allow for the creation of a machine tool or machining center at virtually any location, thus enabling the adaptation to individual requirements of the manufacturing processes and the production chain.

[0014] This now makes it possible to plan manufacturing steps flexibly and to carry them out regardless of location.

[0015] In particular, the design of the machine tool according to the invention allows for individual and free positioning of the machine tool superstructures relative to each other, without relying on a type of rail system or the like.

[0016] The machine tool according to the invention can be advantageously further developed by the fact that the at least one second machine tool structure has at least one stationary machine tool structure that can be set up on the base.

[0017] Furthermore, the machine tool according to the invention can be advantageously further developed by the fact that the at least one stationary machine tool structure that can be set up on the base and the at least one freely movable first machine tool structure together form the machine tool set up for machining the workpiece, if the at least one freely movable first machine tool structure is positioned on the at least one stationary machine tool structure.

[0018] Depending on the requirements of the manufacturing layout, some modules of the modular machine tool can also be designed as stationary modules, to which the mobile modules can move to carry out the corresponding manufacturing step.

[0019] Furthermore, the machine tool according to the invention can be advantageously further developed by the fact that the at least one second machine tool structure has at least one further machine tool structure that is freely movable on the base surface and has at least one machine tool component.

[0020] A particularly advantageous further development of the machine tool according to the invention consists in the fact that the at least one further freely movable machine tool assembly and the at least one freely movable first machine tool assembly together form the machine tool set up for machining the workpiece, if the at least one freely movable first machine tool assembly is positioned on the at least one further freely movable machine tool assembly and / or the at least one further freely movable machine tool assembly is positioned on the at least one freely movable first machine tool assembly.

[0021] This allows all modules of the modular machine tool to be freely positioned in space and in relation to each other, in order to guarantee maximum flexibility in processing production orders and to enable any conceivable constellation and combination of modules of the modular machine tool.

[0022] The machine tool according to the invention can be advantageously further developed by setting up the machine tool for drilling and / or milling workpiece machining.

[0023] Furthermore, the machine tool according to the invention can be advantageously further developed by the fact that the at least one second machine tool structure has a tool-carrying work spindle, and the at least one first machine tool structure which is freely movable on the base surface has a workpiece clamping device.

[0024] Furthermore, the machine tool according to the invention can be advantageously further developed by the fact that the at least one first machine tool structure which is freely movable on the base surface has a tool-carrying work spindle, and the at least one second machine tool structure has a workpiece clamping device.

[0025] This allows for the implementation of a wide variety of machine concepts for milling or drilling a workpiece, regardless of the machine tool design that includes the work spindle and the workpiece clamping device.

[0026] Furthermore, the machine tool according to the invention can be advantageously further developed by setting up the machine tool for rotary workpiece machining.

[0027] In particular, the machine tool according to the invention can be advantageously further developed by the fact that the at least one second machine tool structure has a workpiece-carrying work spindle, and the at least one first machine tool structure, which is freely movable on the base surface, has a tool clamping device, in particular a tool turret, a tailstock assigned to the workpiece-carrying work spindle of the at least one second machine tool structure, and / or a further workpiece-carrying work spindle as a counter spindle to the workpiece-carrying work spindle of the at least one second machine tool structure.

[0028] In this respect, the machine tool according to the invention can further be advantageously developed in that the at least one first machine tool structure which is freely movable on the base surface has a workpiece-carrying work spindle, and the at least one second machine tool structure has a tool clamping device, in particular a tool turret, a tailstock assigned to the workpiece-carrying work spindle of the at least one freely movable first machine tool structure, and / or a further workpiece-carrying work spindle as a counter spindle to the workpiece-carrying work spindle of the at least one freely movable first machine tool structure.

[0029] This allows for the implementation of a wide variety of machine concepts for the rotary machining of a workpiece, regardless of which machine tool design has the work spindle for carrying the workpiece and which has the tool turret or tool slide.

[0030] A further very advantageous development of the machine tool according to the invention consists in the fact that the machine tool is set up for material-depositing workpiece machining.

[0031] The machine tool according to the invention can also be advantageously further developed by the fact that the at least one second machine tool structure has a material-applying machining unit, and the at least one first machine tool structure which is freely movable on the base surface has a workpiece clamping device.

[0032] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that the at least one first machine tool structure which is freely movable on the base surface has a material-applying machining unit, and the at least one second machine tool structure has a workpiece clamping device.

[0033] This allows not only milling / drilling and turning processes, which are used to remove material from the workpiece, but also the application of material to the workpiece. Using appropriate methods such as laser cladding or other techniques, additional layers or areas of material can be applied directly to the workpiece.

[0034] Furthermore, the machine tool according to the invention can be advantageously further developed by the fact that at least one second machine tool structure has a machine frame on which one or more machine tool components are arranged.

[0035] Furthermore, the machine tool according to the invention can be advantageously further developed by having at least one second machine tool structure comprising one or more machine tool slides that can be moved on the machine frame.

[0036] This allows the machine tool components to be moved along different directions, preferably along the x, y and z directions, in order to enable different feed movements of the machine tool components among themselves and also across the individual machine tool assemblies.

[0037] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that at least one of the one or more machine tool slides carries a work spindle or a spindle head or spindle swivel head carrying a work spindle.

[0038] Furthermore, the machine tool according to the invention can also be advantageously further developed by designing the machine frame in portal construction, in moving column construction or in cantilever construction.

[0039] In addition to various feed movements, this also allows different basic types of machine tools to be realized as modular machine tools, depending on the application or machining required.

[0040] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that at least one of the one or more machine tool slides carries a horizontal machining work spindle and / or a vertical machining work spindle.

[0041] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that the horizontal machining work spindle and / or the vertical machining work spindle of at least one of the one or more machine tool slides is designed to be pivotable relative to the one or more machine tool slides by means of an additional axis of rotation.

[0042] This allows a vertical machining center to be converted into a horizontal machining center in a particularly advantageous way, which also increases the flexibility in the production of components / workpieces.

[0043] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that the at least one freely movable first machine tool structure and / or the at least one second machine tool structure has a milling robot carrying a work spindle.

[0044] This allows for flexible adaptation to any machining operation, as the milling robot can not only use a wide variety of tools but also position its work spindle in various ways to machine a workpiece effectively and precisely.

[0045] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that the at least one freely movable first machine tool structure has a workpiece clamping table, which is designed in particular as a rotary table, rotary table and / or swivel / rotary table.

[0046] This further training also enables a higher degree of flexibility for the manufacturing or processing of workpieces.

[0047] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that the at least one freely movable first machine tool structure has an industrial robot for workpiece and / or tool handling.

[0048] In addition to the pure machining modules such as machine table and / or milling robot or work spindle units, auxiliary modules can also be carried by the machine tool superstructures, thus supporting the manufacturing or machining of the workpiece and enabling more efficient production.

[0049] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that the at least one freely movable first machine tool structure comprises a driverless transport vehicle.

[0050] This can be particularly advantageous in enabling a significant increase in the level of automation of the entire production process, since the coordination and general control of the driverless transport vehicles or transport equipment can be taken over, for example, by a central computer / control unit, so that a worker can primarily perform a monitoring function.

[0051] Furthermore, an advantageous further development of the machine tool according to the invention can be achieved by: a drive for moving the transport vehicle, and a control unit for controlling the transport vehicle.

[0052] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that the at least one freely movable first machine tool structure has an internal energy storage device that supplies the at least one freely movable first machine tool structure with energy, in particular electrical energy, and / or a sensor unit that comprises one or more optical, infrared and / or radar sensors for monitoring the environment of the freely movable first machine tool structure.

[0053] This allows not only a temporary, self-sufficient energy supply for the freely movable machine tool structure, but also the safety of the surroundings, especially people who are present in the workshop and may be walking around, since the freely movable machine tool structures can register them and trigger a safety function accordingly should a collision occur or be imminent.

[0054] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that the at least one freely movable first machine tool structure has one or more drive chains and / or a plurality of wheels for moving or transporting the freely movable first machine tool structure, wherein one, several or all wheels are individually controllable and / or steerable, wherein in particular one, several or all wheels of the transport device are designed as individually controllable Mecanum wheels.

[0055] Since Mecanum wheels are already widely known in robotics, they can also be used to great effect for freely movable machine tool structures in order to ensure an equally high degree of flexibility in the movement and movement possibilities of the freely movable machine tool structures.

[0056] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that the at least one freely movable first machine tool assembly is equipped to communicate with an external control device, in particular with a central control device, which is equipped to be in contact with several freely movable machine tool assemblies simultaneously, in particular by means of a wireless communication link, and to control the several freely movable machine tool assemblies, in particular by means of automatic remote control.

[0057] The central control unit now allows a large number of freely movable machine tool setups as well as stationary machine tool setups to be coordinated with each other in order to ensure a smooth manufacturing process or a smooth manufacturing chain.

[0058] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that the at least one freely movable first machine tool structure is equipped to communicate with a control device of the machine tool via a communication interface, wherein the control device of the machine tool is arranged on the at least one second machine tool structure.

[0059] This allows the freely movable machine tool structure and the machine tool to communicate directly with each other in an advantageous way, without relying on a central control unit.

[0060] Furthermore, the machine tool according to the invention can also be advantageously further developed by having a wireless communication interface and by having at least one freely movable first machine tool structure set up to communicate with the control unit of the machine tool via a wireless communication connection via the wireless communication interface.

[0061] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that the at least one freely movable first machine tool assembly has a docking device and is equipped to dock by means of the docking device to a docking station of the machine tool installed on the base surface or to a docking station of the at least one second machine tool assembly to form the machine tool together with the second machine tool assembly.

[0062] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that the at least one freely movable first machine tool assembly together with the at least one second machine tool assembly form the machine tool set up for machining the workpiece, if the at least one freely movable first machine tool assembly is docked at the docking station of the machine tool or the docking station of the at least one second machine tool assembly.

[0063] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that the at least one freely movable first machine tool structure is further equipped to dock, by means of the docking device, to a docking station of another machine tool installed on the base surface or to a docking station of at least a third machine tool structure to form another machine tool together with the third machine tool structure.

[0064] Various docking stations allow the freely movable machine tool superstructures to communicate with the machine tools and also transfer energy. It is particularly suitable to place the docking station on the base, as the freely movable machine tool superstructures can easily move to it and then connect to the docking stations on the base via their docking devices.

[0065] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that the at least one freely movable first machine tool assembly is further equipped to form, together with the at least one third machine tool assembly, another machine tool equipped for machining the workpiece, when the at least one freely movable first machine tool assembly is docked at the docking station of the further machine tool or the docking station of the at least one third machine tool assembly.

[0066] Furthermore, the machine tool according to the invention can also be advantageously further developed by the fact that the docking device of the transport device is configured to raise and / or lower the transport device for docking at the docking station.

[0067] This allows the transport device to be advantageously placed on the docking station of the base and a connection to be established.

[0068] The system according to the invention comprises one or more of the machine tools according to the invention.

[0069] The system according to the invention can be advantageously further developed by at least a third machine tool structure with at least one further machine tool component, wherein the third machine tool structure can be positioned at a distance from the at least one second machine tool structure, and wherein the at least one freely movable first machine tool structure together with the at least one third machine tool structure forms a further machine tool set up for machining the workpiece when the at least one freely movable first machine tool structure is positioned on the at least one third machine tool structure.

[0070] The system according to the invention can be advantageously further developed by at least one further freely movable machine tool assembly with at least one further machine tool component, wherein the at least one further freely movable machine tool assembly together with the at least one second machine tool assembly forms a further machine tool set up for machining the workpiece when the at least one further freely movable machine tool assembly is positioned on the at least one second machine tool assembly.

[0071] The machine tool according to the invention allows for a significantly more flexible production and machining process for workpieces. Furthermore, the machine tool according to the invention can be integrated into existing manufacturing structures as well as used for entirely new processes in the manufacturing and machining of workpieces.

[0072] Furthermore, examples of a transport device, a machine tool and a method for handling a pallet or a workpiece and their respective advantages will be described below.

[0073] 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 working area of ​​the machine tool along the spatial directions spanning the area.

[0074] 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.

[0075] In addition, this allows the vehicles and their "tracks" to be individually adapted to the conditions, thus enabling a significant increase in flexibility in production and logistics.

[0076] Furthermore, the exemplary transport system has a large number of interfaces to which various handling devices such as pallet changers, robots, containers and boxes, etc., can be attached, which can further increase flexibility in the production process as well as in the logistics sector.

[0077] The exemplary transport device can be advantageously further developed by the fact that the transport device is also a driverless transport vehicle, with a platform that has several 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.

[0078] To increase the level of automation, the exemplary transport system is designed as a driverless transport vehicle with appropriate control and networking, so that several transport vehicles / transport systems can be moved in a coordinated manner.

[0079] The exemplary transport device can be advantageously further developed by providing at least one receiving device on at least one side of the transport device, preferably at least one receiving device on at least two sides of the transport device, and particularly preferably at least one receiving device on each side of the transport device.

[0080] This allows significantly more technical devices and / or containers to be transported to their respective destinations in a single trip than is possible with previously known transport vehicles.

[0081] The exemplary transport device can be advantageously further developed by the fact that the platform also has an internal energy storage device that supplies the receiving devices, the drive and the control unit of the platform with energy, in particular electrical energy.

[0082] This allows the transport equipment to move freely through factory halls and production or manufacturing areas without the need for a complex cable routing system for energy and / or signal transmission.

[0083] The exemplary transport device can be advantageously further developed by the fact that the control unit also includes a sensor unit which comprises optical, infrared and / or radar sensors for monitoring the environment of the transport device.

[0084] To monitor the surroundings and detect any obstacles, it is advantageous to equip such sensors on an automated guided vehicle (AGV). This also increases the safety of factory workers inside the hall.

[0085] The exemplary transport device can be advantageously further developed by the fact that the transport device is also designed to set down the handling device after positioning it on the machine tool.

[0086] This option is particularly advantageous because the transport device does not have to remain in place with the handling device, but can transport other handling devices while, for example, the remote handling device performs its function at the respective machine tool.

[0087] The exemplary transport device can be advantageously further developed by the fact that the receiving devices also have connection elements which are designed for the transmission of control signals and / or energy from the transport device to the handling device.

[0088] This allows energy and signals for controlling the handling equipment to be advantageously transferred from the transport equipment to the handling equipment. This is particularly advantageous because the transport equipment can be in contact with a central control computer (via radio signal, WLAN, etc.), thus enabling centralized control of all handling equipment that is being moved by transport equipment at that time.

[0089] The exemplary transport device can be advantageously further developed by having 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 receiving the handling device.

[0090] This eliminates the need for manual intervention by a factory worker and allows the level of automation in production and logistics processes to be further increased.

[0091] The exemplary transport device can be advantageously further developed by having each of the receiving devices have a control device for monitoring the status of the receiving of the respective handling device.

[0092] The exemplary transport device can be advantageously further developed by the control device being configured to monitor the control signals, the energy transmission, and / or a locking state of the handling device received on the respective receiving device.

[0093] 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 equipment as well as the safety of the workers in the immediate vicinity of the handling equipment.

[0094] Furthermore, this allows faulty recordings or defective components (damaged contacts of the connections for energy and / or signal transmission, etc.) to be located more quickly and replaced / repaired accordingly.

[0095] The exemplary transport device can be advantageously further developed by having the drive system have a large number of wheels for moving the platform, whereby the wheels can be individually controlled and / or steered.

[0096] In particular, it is advantageous if the wheels can be controlled or steered separately as individual units, which significantly improves the mobility and maneuverability of the transport device compared to vehicles with only one steerable axle.

[0097] The exemplary transport device can be advantageously further developed by designing the wheels as individually controllable Mecanum wheels.

[0098] The major advantage of Mecanum wheels is that steering is completely unnecessary; the direction of travel, and even the rotation of the transport device, is controlled solely by the direction of rotation of the individual wheels. However, for Mecanum wheels to function correctly, each wheel must maintain sufficient contact with the ground at all times.

[0099] The exemplary transport device can be advantageously further developed by having the drive system comprise a large number of chains for moving the platform.

[0100] In addition to classic wheels and Mecanum wheels, chains can also be used to move the transport device. This can be advantageous if the transport device has to carry heavy loads and these loads need to be distributed as evenly as possible over the floor on which the transport device travels.

[0101] The exemplary transport device can be advantageously further developed by the fact 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 at a setup station of the machine tool.

[0102] It is particularly advantageous if the handling device, which can be transported by the transport device, is a pallet changer. This allows different pallets to be transported to, inserted into, or exchanged at the individual machine tools using only one pallet changer and one transport device.

[0103] The exemplary transport device can be advantageously further developed by providing the pallet changer with a receiving claw or a fork-shaped receptacle for receiving the pallet.

[0104] The exemplary transport device can be advantageously further developed by using an industrial robot for handling and / or processing the workpiece as the handling device.

[0105] However, it can also be extremely advantageous to use the transport system to pick up a robot (industrial robot) alongside or instead of a pallet changer 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, changing tools from a work spindle or tool turret, reworking workpieces such as deburring, etc.). The application areas for a robot in the field of machining are manifold.

[0106] The exemplary transport device can be advantageously further developed by the fact that the receiving devices of the transport device are also equipped to receive material carriers, in particular wire mesh boxes with raw parts and / or finished parts, and to receive an interchangeable gripper.

[0107] The exemplary transport device can be advantageously further developed by ensuring that the receiving devices of the transport device are uniformly designed.

[0108] It is particularly advantageous if the receiving devices, through which handling equipment such as pallet changers, robots, material pallets, wire mesh containers, etc., can be picked up by the transport system, are uniform, i.e., standardized. This allows all conceivable handling devices to be equipped with a single, identical interface, so that, regardless of the handling device being picked up, the establishment of the connection for power and / or signal transmission can be automated.

[0109] An exemplary machine tool for machining a workpiece comprises: a work spindle for holding a tool or the workpiece, a pallet for holding 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 means of an exemplary transport device.

[0110] This offers a number of advantages, as the transport system can bring any handling equipment required or even necessary for the respective machining steps to the machine tool. This allows the machine tool, particularly its loading with workpieces and / or tools, to achieve a higher degree of automation, and extends the periods during which the machine tools operate autonomously.

[0111] The exemplary machine tool can be advantageously further developed by the fact that the machine tool also has positioning devices for positioning the handling device relative to the machine tool, in the event that the handling device is placed on the machine tool by the transport device.

[0112] Precise positioning of the handling equipment can be not only advantageous but also essential. For example, when pallets need to be placed very precisely onto a pallet holder, or when assembly or finishing operations of a workpiece must be carried out with a robot with tight tolerances.

[0113] The exemplary machine tool can be advantageously further developed by having the positioning devices have connection elements that are designed for the transmission of control signals and / or energy from the machine tool to the remote handling device.

[0114] This allows energy and signals for controlling the handling device to be advantageously transferred from the machine tool to the handling device, thus being independent of the transfer of energy or signals from the transport device.

[0115] The exemplary machine tool can be advantageously further developed by ensuring that the connecting elements of the positioning devices of the machine tool automatically establish a connection with the handling device for the transmission of control signals and / or energy when the handling device is set down by the transport device.

[0116] This can advantageously increase the level of automation further and eliminate the need for manual intervention by a factory worker.

[0117] An exemplary method for handling a pallet and / or a workpiece at the exemplary machine tool comprises the following steps: picking up a handling device for handling the pallet and / or the workpiece by means of the exemplary transport device from a storage location, transporting the handling device by the transport device from the storage location to the machine tool, positioning the handling device by the transport device at the machine tool, in particular in front of a working area of ​​the machine tool, and handling the pallet and / or the workpiece by the handling device at the machine tool.

[0118] The exemplary method can be advantageously further developed by establishing a connection between the transport device and the handling device during the step of picking up the handling device, using connection elements of the transport device, through which control signals and / or energy are transmitted from the transport device to the handling device.

[0119] The exemplary procedure can be advantageously further developed by carrying out the following steps before handling the pallet and / or the workpiece: placing the handling device in front of the working area of ​​the machine tool by the transport device, and positioning the handling device by positioning devices of the machine tool.

[0120] The exemplary method can be advantageously further developed by establishing a connection between the machine tool and the handling device by means of connection elements of the machine tool when setting down the handling device, via which control signals and / or energy are transmitted from the machine tool to the handling device.

[0121] The exemplary procedure can be advantageously further developed by carrying out the following steps before handling the pallet and / or the workpiece: disconnecting the connection for transmitting control signals and / or energy from the transport device to the handling device, and continuing to move the transport device from the machine tool to the storage location or another machine tool.

[0122] The exemplary method can be advantageously further developed by carrying out the following steps after the step of handling the pallet and / or the workpiece: Picking up the handling device from the positioning devices of the machine tool by the transport device, whereby during the picking up of the handling device the connection for the transmission of control signals and / or energy from the machine tool to the handling device is disconnected, and continuing to move the transport device with the picked-up handling device from the machine tool to the storage location or another machine tool.

[0123] The exemplary procedure can be advantageously further developed by connecting a central computer unit with the control unit of the transport device to control the individual steps, wherein the central computer unit is configured to communicate with and control several transport devices simultaneously.

[0124] The use of this exemplary transport system has significantly improved flexibility in production processes and enabled a quick response to changes in production.

[0125] According to a preferred embodiment of the machine tool, it comprises at least one first machine tool structure freely movable on a base surface with at least one machine tool component, and at least one second machine tool structure with at least one further machine tool component, wherein the at least one freely movable first machine tool structure together with the at least one second machine tool structure forms the machine tool set up for machining the workpiece when the at least one freely movable first machine tool structure is positioned on the at least one second machine tool structure.

[0126] According to a further preferred embodiment, the at least one second machine tool structure comprises at least one stationary machine tool structure that can be set up on the base.

[0127] According to a further preferred embodiment, the at least one stationary machine tool structure that can be set up on the base and the at least one freely movable first machine tool structure together form the machine tool set up for machining the workpiece, if the at least one freely movable first machine tool structure is positioned on the at least one stationary machine tool structure.

[0128] According to a further preferred embodiment, the at least one second machine tool structure comprises at least one further machine tool structure freely movable on the base surface with at least one machine tool component.

[0129] According to a further preferred embodiment, the at least one further freely movable machine tool assembly and the at least one freely movable first machine tool assembly together form the machine tool set up for machining the workpiece, if the at least one freely movable first machine tool assembly is positioned on the at least one further freely movable machine tool assembly and / or the at least one further freely movable machine tool assembly is positioned on the at least one freely movable first machine tool assembly.

[0130] According to a further preferred embodiment, the at least one second machine tool structure has a tool-carrying work spindle, and / or the at least one first machine tool structure, which is freely movable on the base surface, has a workpiece clamping device, wherein the machine tool is particularly equipped for drilling and / or milling workpiece machining; and / or the at least one first machine tool structure, which is freely movable on the base surface, has a tool-carrying work spindle, and / or the at least one second machine tool structure has a workpiece clamping device, wherein the machine tool is particularly equipped for drilling and / or milling workpiece machining.

[0131] According to a further preferred embodiment, the at least one second machine tool structure has a workpiece-carrying work spindle, and / or the at least one first machine tool structure, which is freely movable on the base, has a tool clamping device, in particular a tool turret, a tailstock assigned to the workpiece-carrying work spindle of the at least one second machine tool structure, and / or a further workpiece-carrying work spindle as a counter spindle to the workpiece-carrying work spindle of the at least one second machine tool structure, wherein the machine tool is in particular set up for rotary workpiece machining;and / or the at least one first machine tool assembly freely movable on the base surface has a workpiece-carrying work spindle, and / or the at least one second machine tool assembly has a tool clamping device, in particular a tool turret, a tailstock assigned to the workpiece-carrying work spindle of the at least one freely movable first machine tool assembly, and / or a further workpiece-carrying work spindle as a counter spindle to the workpiece-carrying work spindle of the at least one freely movable first machine tool assembly, wherein the machine tool is in particular set up for rotary workpiece machining.

[0132] According to a further preferred embodiment, the machine tool is set up for material-depositing workpiece machining, wherein: which has at least one second machine tool assembly with a material-applying machining unit, and which has at least one first machine tool assembly that is freely movable on the base surface with a workpiece clamping device; and / or which has at least one first machine tool assembly that is freely movable on the base surface with a material-applying machining unit, and which has at least one second machine tool assembly with a workpiece clamping device.

[0133] According to a further preferred embodiment, the at least one second machine tool structure has a machine frame on which one or more machine tool components are arranged.

[0134] According to a further preferred embodiment, the at least one second machine tool structure has one or more machine tool slides that can be moved on the machine frame.

[0135] According to a further preferred embodiment, at least one of the one or more machine tool slides carries a work spindle or a spindle head or spindle swivel head carrying a work spindle.

[0136] According to another preferred embodiment, the machine frame is designed in portal construction, in moving column construction or in cantilever construction.

[0137] According to a further preferred embodiment, at least one of the one or more machine tool slides carries a horizontal machining work spindle and / or a vertical machining work spindle.

[0138] According to a further preferred embodiment, one or more work spindles form at least one of the one or more machine tool slides, which are pivotable or rotatable about one or more axes of rotation.

[0139] According to a further preferred embodiment, the at least one freely movable first machine tool assembly and / or the at least one second machine tool assembly includes a milling robot carrying a work spindle.

[0140] According to a further preferred embodiment, the at least one freely movable first machine tool assembly has a workpiece clamping table, which is designed in particular as a rotary table, rotary table and / or swivel / rotary table.

[0141] According to a further preferred embodiment, the at least one freely movable first machine tool assembly includes an industrial robot for workpiece and / or tool handling.

[0142] According to a further preferred embodiment, the at least one freely movable first machine tool assembly comprises a driverless transport vehicle.

[0143] According to a further preferred embodiment, the machine tool comprises a drive for moving the transport vehicle, and a control unit for controlling the transport vehicle.

[0144] According to a further preferred embodiment, the at least one freely movable first machine tool assembly has an internal energy storage device that supplies the at least one freely movable first machine tool assembly with energy, in particular electrical energy, and / or a sensor unit that includes one or more optical, infrared and / or radar sensors for monitoring the environment of the freely movable first machine tool assembly.

[0145] According to a further preferred embodiment, the at least one freely movable first machine tool assembly has one or more drive chains and / or a plurality of wheels for moving or transporting the freely movable first machine tool assembly, wherein one, several or all wheels are individually controllable and / or steerable, wherein in particular one, several or all wheels of the transport device are designed as individually controllable Mecanum wheels.

[0146] According to a further preferred embodiment, the at least one freely movable first machine tool assembly is configured to communicate with an external control device, in particular with a central control device, which is configured to be in contact with several freely movable machine tool assemblies simultaneously, in particular by means of a wireless communication link, and to control the several freely movable machine tool assemblies, in particular by means of automatic remote control.

[0147] According to a further preferred embodiment, the at least one freely movable first machine tool structure is equipped to communicate with a control unit of the machine tool via a communication interface, wherein the control unit of the machine tool is arranged on the at least one second machine tool structure.

[0148] According to a further preferred embodiment, the communication interface has a wireless communication interface and the at least one freely movable first machine tool structure is configured to communicate with the control unit of the machine tool via the wireless communication interface using a wireless communication connection.

[0149] According to a further preferred embodiment, the at least one freely movable first machine tool assembly has a docking device and is configured to dock, by means of the docking device, to a docking station of the machine tool installed on the base or to a docking station of the at least one second machine tool assembly to form the machine tool together with the second machine tool assembly.

[0150] According to a further preferred embodiment, the at least one freely movable first machine tool assembly together with the at least one second machine tool assembly forms the machine tool set up for machining the workpiece, if the at least one freely movable first machine tool assembly is docked at the docking station of the machine tool or the docking station of the at least one second machine tool assembly.

[0151] According to a further preferred embodiment, the at least one freely movable first machine tool assembly is further equipped to dock, by means of the docking device, to a docking station of another machine tool installed on the base surface or to a docking station of at least a third machine tool assembly to form another machine tool together with the third machine tool assembly.

[0152] According to a further preferred embodiment, the at least one freely movable first machine tool assembly is further configured to form, together with the at least one third machine tool assembly, another machine tool configured for machining the workpiece, when the at least one freely movable first machine tool assembly is docked at the docking station of the further machine tool or the docking station of the at least one third machine tool assembly.

[0153] Furthermore, a system is provided that comprises one or more machine tools according to one of the above embodiments.

[0154] According to a preferred embodiment of the system, the system comprises at least a third machine tool assembly with at least one further machine tool component, wherein the third machine tool assembly can be positioned at a distance from the at least one second machine tool assembly, and wherein the at least one freely movable first machine tool assembly together with the at least one third machine tool assembly forms a further machine tool set up for machining the workpiece when the at least one freely movable first machine tool assembly is positioned on the at least one third machine tool assembly.

[0155] According to a preferred embodiment of the system, the system comprises at least one further freely movable machine tool assembly with at least one further machine tool component, wherein the at least one further freely movable machine tool assembly together with the at least one second machine tool assembly forms a further machine tool set up for machining the workpiece when the at least one further freely movable machine tool assembly is positioned on the at least one second machine tool assembly.

[0156] Further aspects and their advantages, as well as advantages and more specific implementation possibilities of the aspects and features described above, are described in the following descriptions and explanations of the attached figures, which are in no way to be understood as restrictive. BRIEF DESCRIPTION OF THE FIGURES

[0157] Fig. 1 schematically shows an embodiment of the transport device according to the invention with receiving devices for receiving handling devices. Fig. 2a schematically shows a detailed view of a receiving device for receiving handling devices. Fig. 2b schematically shows another embodiment of the receiving device of the transport device for receiving a handling device. 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 an embodiment of the transport device according to the invention, by way of example with a pallet changer and a pallet. Fig. 4a schematically shows an embodiment of the transport device according to the invention during a pallet change, wherein the transport device performs a rotation.Figure 4b schematically shows the transport device according to the invention with an embodiment of a fork-shaped pallet changer. Figure 5 schematically shows an embodiment of the transport device according to the invention during a pallet change, wherein the transport device remains in its position and the pallet changer, as in . Fig. 3 Figure 6 schematically shows an embodiment of the transport device according to the invention during a pallet change, wherein the pallet changer is designed as a double H and can rotate as shown. Figure 7 schematically shows an embodiment of the transport device according to the invention during a pallet change, wherein the pallet changer can receive the pallets in a 60° distribution. Figure 8 schematically shows an embodiment of the transport device according to the invention with a sliding pallet changer. Figure 9a schematically shows an embodiment of the transport device according to the invention with a pallet changer which has an adjustable fork width. Figure 9b schematically shows an embodiment of the transport device according to the invention with a pallet changer which has an adjustable fork length.Fig. 10 schematically shows an embodiment of the transport device according to the invention with a pallet changer for a multi-level pallet storage system. Fig. 11 schematically shows another embodiment of the transport device according to the invention with a pallet changer for a multi-level pallet storage system. Fig. 12a schematically shows the transport device according to the invention during the loading of a rotary storage unit of a machine tool with pallets. Fig. 12b schematically shows a transport device according to the invention during the loading of an intermediate storage unit, at which pallets or pallet holders can be provided by docking onto a receptacle of the intermediate storage unit for a feeding device. Fig. 12c schematically shows a transport device according to the invention during the loading of a pallet changer. Fig. 13 schematically shows an exemplary configuration of a linear storage unit for pallet handling with several setup stations and storage stations and several machine tools.Fig. 14a schematically shows a positioning of a pallet changer at a storage location using conical receptacles. Fig. 14b schematically shows a positioning of a pallet changer at a storage location using roller technology. Fig. 15 schematically shows a positioning of the transport device according to the invention on a machine tool using a prism. Fig. 16a schematically shows a positioning of the transport device according to the invention on a machine tool using conical receptacles. Fig. 16b schematically shows a further embodiment of the transport device according to the invention with positioning and energy and / or signal connection using conical receptacles. Fig. 16c schematically shows a transport device according to the invention in which a pallet holder with a pallet docks to a pallet holder receptacle using the transport device.Fig. 16d schematically shows another embodiment of the transport device according to the invention with a pallet holder. Fig. 16e schematically shows another embodiment of the transport device according to the invention with a pallet holder. Fig. 16f schematically shows another embodiment of the transport device according to the invention with a pallet holder, similar to what has already been shown in . Fig. 16e Fig. 16g, as is known, now shows the state of the transport device according to the invention. Fig. 16f , if only the pallet was picked up by the device, Fig. 16h now shows the state of the transport device according to the invention. Fig. 16f , when the pallet holder together with the pallet has been picked up by the fixture. Fig. 16 shows a configuration of a machine tool fixture for holding a pallet holder and / or pallet. Fig. 16j shows the configuration of the machine tool fixture as in Fig. 16i However, from a different perspective for a better overview of the individual components of the device, Fig. 17a schematically shows an embodiment of the transport device according to the invention with height adjustment of the transport device according to the invention by means of lifting cylinders. Fig. 17b schematically shows another embodiment of the transport device according to the invention with height adjustment of the transport device according to the invention by means of lifting cylinders and a chassis. Fig. 18a schematically shows an embodiment of the transport device according to the invention with a pallet holder and a pallet. Fig. 18b schematically shows another embodiment of the transport device according to the invention with a pallet holder and a pallet. Fig. 19 schematically shows an embodiment of the transport device according to the invention with height adjustment of the receiving device for receiving handling devices of the transport device according to the invention.Fig. 20a schematically shows another embodiment of the transport device according to the invention with a pallet changer and a hood for protecting the transported pallet. Fig. 20b schematically shows another embodiment of the transport device according to the invention, which transports a pallet into a work area of ​​a machine tool. Fig. 20c schematically shows another embodiment of the transport device according to the invention, which transports a pallet into a work area of ​​a machine tool. Fig. 21a schematically shows a hall floor / plate with grid-arranged cones for positioning the transport devices or handling devices. Fig. 21b shows another possibility of providing the cones on the underside of the transport device for positioning. Fig. 22a schematically shows another embodiment of the transport device according to the invention with an industrial robot as a handling device.Fig. 22b schematically shows two more specific embodiments of the transport device according to the invention with an integrated robot for tool or workpiece handling. Fig. 23 schematically shows a further embodiment of the transport device according to the invention with an industrial robot and a measuring unit for tool testing. Fig. 24a schematically shows a further embodiment of the transport device according to the invention with an industrial robot and measuring and testing equipment for component testing. Fig. 24b shows a detailed view of the embodiment of the transport device according to the invention. Fig. 24a Fig. 25 schematically shows another embodiment of the transport device according to the invention with an industrial robot and an attachment for post-processing components. Fig. 26 schematically shows another embodiment of the transport device according to the invention with an industrial robot and a unit for sharpening and dressing tools. Fig. 27 schematically shows another embodiment of the transport device according to the invention with an industrial robot and a magazine for carrying various tools. Fig. 28 schematically shows the embodiment of the transport device according to the invention in Fig. 21 In the interaction of the industrial robot with a work spindle of a machine tool, for example to change the tool, Fig. 29a schematically shows another embodiment of the transport device according to the invention for chip disposal on a chip carriage of a machine tool. Fig. 29b schematically shows another embodiment of the transport device according to the invention for chip disposal with a lifting mechanism and additional chip container. Fig. 29c schematically shows another embodiment of the transport device in which the module for collecting the chips is mounted on the top of the transport device. Fig. 30 schematically shows another embodiment of the transport device according to the invention for preparing and refilling a machine tool with coolant / lubricant.Figure 31 schematically shows another embodiment of the transport device according to the invention for providing and introducing workpieces into a machine tool for turning operations. Figure 32a schematically shows another embodiment of the transport device according to the invention as a material storage unit for a machine tool with a gantry loader. Figure 32b schematically shows another embodiment of the transport device according to the invention as a material storage unit for a machine tool with a robot for loading and unloading workpieces into the machine tool. Figure 33a schematically shows another embodiment of the transport device according to the invention as a conveyor belt between two machine tools with gantry loaders. Figure 33b schematically shows a detailed view of the transport device according to the invention. Fig. 33a Fig. 33c schematically shows another embodiment of the transport device according to the invention with a foldable conveyor belt. Fig. 34 schematically shows another embodiment of the transport device according to the invention for the supplementary extraction of the working area of ​​a machine tool. Fig. 35 schematically shows another embodiment of the transport device according to the invention with a robot and an application device for additive manufacturing picked up by the robot. Fig. 36 schematically shows another embodiment of the transport device according to the invention with a tool changer, a changer-storage combination or a tool storage unit. Fig. 37 schematically shows another embodiment of the transport device according to the invention for transporting milling heads to a machine tool. Fig. 38 schematically shows another embodiment of the transport device according to the invention with a workpiece holder for large parts.Fig. 39 schematically shows a further embodiment of the transport device according to the invention as a component of various machine concepts of a machine tool. Fig. 40a schematically shows an embodiment of the transport device according to the invention with a pallet mounted on a console machine. Fig. 40b schematically shows a further embodiment of the transport device according to the invention as a component of further various machine concepts of a machine tool. Fig. 40c schematically shows a further embodiment of the transport device according to the invention as a component of further various machine concepts of a machine tool. Fig. 41 schematically shows a further embodiment of the transport device according to the invention, which holds several pallets or pallets.Fig. 42 schematically shows a further embodiment of the transport device according to the invention as part of a machine concept of a machine tool with portal design and several transport devices. Fig. 43 schematically shows a further embodiment of the transport device according to the invention, in which several transport devices are connected to each other by couplings to form a unit. Fig. 44 schematically shows a further embodiment of the transport device according to the invention with positioning and power and / or signal connection below a machine tool in portal design.Figure 45 schematically shows a (modular) machine tool comprising several transport devices according to the invention with different sub-tasks. Figure 46 schematically shows a further embodiment of the transport device according to the invention with a tailstock attachment for turning workpieces. Figure 47 schematically shows a plurality of transport devices according to the invention with different tasks within a production chain. Figure 48 schematically shows the method according to the invention for handling a pallet and / or a workpiece on a machine tool. DETAILED DESCRIPTION OF THE FIGURES AND PREFERRED EXAMPLES OF THE PRESENT INVENTION

[0158] 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 with the same reference numerals, but sometimes they may be designated with different reference numerals.

[0159] It should be emphasized that the present invention is in no way limited or restricted to the embodiments and their features described below, but also includes modifications of the 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.

[0160] Fig. 1 Figure 1 schematically shows an embodiment of the transport device 100 according to the invention with receiving devices 40 for receiving handling devices.

[0161] The in Fig. 1 The embodiment shown of the transport device 100 according to the invention is, in a particularly preferred embodiment, designed as a driverless transport vehicle (FTV) of a driverless transport system (FTS).

[0162] The transport device 100 comprises a chassis 10 (platform) and a drive 20. The chassis is designed 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 required, for example in the form of pressurized fluids or deformation energy (e.g., of a spring element). Additional energy storage devices for, e.g., hydraulics or pneumatics can also be housed in the chassis 10.

[0163] Furthermore, the transport device 100 according to the invention preferably comprises wheels 20 for moving the transport device 100, e.g., in a factory hall. These wheels 20 can be connected to a central drive motor via a drive train (not shown), or they can each have their own drive motor (e.g., one or more electric motors) which can be individually controlled by an internal control unit 35.

[0164] Furthermore, the wheels 20 can be individually steered, thus enabling extremely flexible driving and positioning (e.g., turning on the spot, sideways movements, etc.) of the transport device 100 according to the invention. The wheels 20 can also, by moving in the opposite direction, set the transport device 100 into a rotating motion in order to position the transport device 100.

[0165] Alternatively, instead of wheels 20, chains or a crawler chassis or a combination of wheels 20 and chains / crawler chassis can be used to further increase the mobility or flexibility of the transport device 100 according to the invention.

[0166] A particularly preferred embodiment of the wheels 20 are so-called Mecanum wheels. They enable, by simply controlling the direction of rotation of each wheel 20, a rotational movement (rotational movement) of the transport device 100 on the spot, 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.

[0167] By using Mecanum wheels, it is advantageous to completely dispense with a steering mechanism for the wheels 20 and to generate a corresponding positioning movement of the transport device 100 solely with the internal control 35.

[0168] Furthermore, the chassis 10 is preferably designed as a platform carrier which has various receiving devices 40 for handling equipment (e.g. automation components or transport components etc.).

[0169] The platform carrier preferably has n+1 receiving devices 40 for the various handling devices, wherein the receiving devices 40 are 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 [reference]). Fig. 1 This allows far more handling equipment to be accommodated and moved accordingly than is possible, for example, with a standard transport vehicle such as a forklift or a motorized pallet truck.

[0170] However, it should be noted that the number and / or distribution of the receiving devices 40 on the transport device 100 does not depend on the one in Fig. 1 The number / distribution shown is limited. For example, only a single receiving device 40 may be provided on the top 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.

[0171] Furthermore, the receiving devices 40 provided on the top of the transport device 100 can differ in size and characteristics from the receiving devices 40 on the sides of the transport device 100. This can be advantageous, for example, if smaller handling devices with a comparatively low weight are to be received on the sides of the transport device 100 and the heavier handling devices are preferably to be positioned above the axes / drive 20 of the transport device 100.

[0172] Furthermore, the smaller receiving devices 40 on the sides of the transport device 100 can also be connected via a smaller number of connections (see the explanations for this). Fig. 2 ) compared to the larger receiving devices 40 on the top of the transport device 100.

[0173] Preferably, the transport device 100 is equipped with a unit for optical monitoring of its surroundings (not shown here) and the coupled handling devices. This unit is preferably coupled with the control software of the internal control unit 35 and enables an action to be carried out based on the detection.

[0174] Furthermore, 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.

[0175] Fig. 2a Figure 1 schematically shows a detailed view of a receiving device 40 for receiving handling equipment (or any other equipment).

[0176] The receiving devices 40 are preferably configured for the mechanical fixing of the handling devices, for signal transmission, and for energy transmission to the respective handling device. Depending on the handling device, only one of the transmission options or any combination thereof can be used.

[0177] Furthermore, the receiving devices 40 are preferably designed to be automated. This allows the transport unit 100 to independently exchange the handling devices and thus makes it flexible for a wide variety of tasks. In automated versions of the transport unit 100, quick-release couplings (e.g., front loader quick-release couplings) are particularly suitable for automatically establishing a connection for power or signal transmission between the transport unit 100 and the handling device.

[0178] As in Fig. 2a As shown, for example, cone-shaped 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, such as those already known from the pallet holders in a machine tool, can advantageously be used here.

[0179] 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. Additionally, operating materials such as cooling lubricant could be supplied from the transport device to the handling device mounted on the receiving device 40. For this purpose, suitable fastening elements and electrically and / or fluid-conducting connections (fasteners and connections 43) can be provided.

[0180] Furthermore, 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, for example, be designed as a transmitter / receiver coil or as an inductive coupler with I / O link for contactless signal transmission.

[0181] The device can be provided at any point 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.

[0182] It should be noted here that, for example, the electrical and / or fluid-conducting connections do not necessarily have to be located on interface 42. They can also be located outside of interface 42, for example to separate the transmission of rotary energy from the transmission of electrical / fluid energy.

[0183] Furthermore, the receiving devices 40 are preferably designed in a uniform or standardized manner, so that any components or handling devices with correspondingly uniformly designed receiving elements can be attached and essentially the same quick couplings can be used for energy or signal transmission.

[0184] Furthermore, the receiving devices 40 preferably have the capability to monitor the condition of the receiving handling device. This preferably includes monitoring the clamping situation of the coupled handling device (for example, at the clamping cones), its status and signals, as well as its energy transmission.

[0185] For monitoring the tension state, a support control or a tension control in the receiving devices 40 can preferably be used, wherein the support control preferably determines the state via electrical signals, or alternatively can use blown air for this purpose.

[0186] For example, the transport unit 100 can accommodate the following handling devices: pallet changers (e.g., as known from machine tools), robots, material pallets, wire mesh containers and other material carriers, storage areas for robot accessories (e.g., interchangeable grippers), deburring stations, washing stations, tools for machine tools, forklift forks, etc. For further details, please refer to the following: Figuren 3 bis 11 and 22 bis 36 referred.

[0187] 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.

[0188] Furthermore, the transport device 100 is advantageously designed in such a way that the handling devices can be combined with each other as desired, in order to enable greater flexibility in specific applications.

[0189] Preferably, the internal control unit 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 extended by individual software modules that are necessary for the respective components or handling devices. This could involve, for example, connecting a robot controller or connecting the control unit of a pallet changer.

[0190] Fig. 2b Figure 1 schematically shows another embodiment of the receiving device 40 of the transport device 100 for receiving a handling device (or any other devices).

[0191] The receiving device 40 has at least one recess 44 (for example, a milled cavity 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 slidably mounted on the bottom of the recess 44. Furthermore, the recess 44 can have, in addition to or as an alternative to the bottom, at least one receiving surface (for supporting the received device) on its upper surface through which the device can be received.

[0192] It should be noted at this point that the recesses 44 are provided on the device, and the bolts 48 are provided for them 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, prism and cone. The possibilities mentioned and described here are not to be considered exhaustive.

[0193] Furthermore, the receiving device 40 can have a device 46 for centering the device (here pallet holder 350) received by the receiving device 40 relative to the transport device 100 or the receiving device 40. This is particularly advantageous in order to compensate for any positioning inaccuracies of the received device on the receiving device 40 caused by the transport device 100.

[0194] The pallet holder 350, for example, is picked up and, if necessary, centered on the picking device 40 or by the centering device 46 as follows: Initially, the transport device 100, with the respective picking device 40 (and a certain degree of positioning inaccuracy), moves under the device to be picked up (here, for example, the pallet holder 350). The pallet holder 350 can then be pressed against a pressure piece 45, which is provided on the side of the picking device 40, as is the centering device 46. This pressure piece 45 ensures a preload of the pallet holder 350 against the picking device 40 in the opposite direction to the centering device 46.

[0195] The transport device 100 then lifts up (for example, by a mechanism as in Fig. 17a and 17b(shown), so that the bolts 48 thread into the recesses 44, the transport device 100 being raised further until the pallet holder 350 rests completely in the recesses 44 or on their top side.

[0196] The transport device 100 then continues to rise until the pallet holder 350 is lifted out of its receptacle (not shown here) and is thus completely supported by the transport device 100.

[0197] Following this, the pallet holder 350 can now be centered (and thereby also fixed) on the receiving device 40. Here, for example, the drive 47 can be activated to move the recesses 44, which are slidably mounted on a sliding or ball guide, in the direction of the centering device 46.

[0198] This causes the pallet holder 350, which was previously floating on the receiving device 40 (or in and / or on the recesses 44), to be moved 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 the pallet holder 350 is aligned with the centering device 46 (for example, by the centering device 46 having one prism / two prisms and corresponding pins / bolts of the pallet holder 350 aligning with this prism / these prisms).

[0199] The drive 47 can have two end positions: Firstly, when the drive 47 has moved / traveled the recesses as far as possible towards 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, a fixture on a machine tool, a setup station, a magazine slot, or similar). In this state, the pallet holder 350 can be transferred to or received from a fixture.

[0200] The pallet holder 350 can now be fixed to the receiving device 40 in such a way that, firstly, the centering device 46 itself has a fixing section into which the pallet holder 350 is threaded and locked there.

[0201] Alternatively, 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.

[0202] 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 ).

[0203] It should be noted that all the aforementioned methods for fixing the pallet holder 350 to the receiving device 40 can also be used in combination. Furthermore, it should be noted that the aforementioned fixing methods are not exhaustive; other options may be considered.

[0204] It should also be noted that the drive 47 is not absolutely necessary to fix or center the pallet holder 350. Rather, other options can also be used to center the pallet holder 350 relative to the receiving device 40 of the transport device 100.

[0205] Fig. 2c schematically shows another embodiment of the receiving device 40, this time without the drive 47.

[0206] 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, for example, by the drive 47 as in Fig. 2b (as described was possible).

[0207] Instead, only the pressure piece 45 acts as a pre-tensioning element, pressing the pallet holder 350 against at least one recess 44 and thereby fixing (and to some extent also aligning) the pallet holder 350 relative to the receiving device 40 (see right 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.

[0208] However, if the pallet holder 350 is to be transferred to a receiving device, the pallet holder 350 aligns itself (mechanically) with the receiving device by means of the alignment elements 351 as it approaches the receiving device, thereby compressing the pressure piece 45 (see left image of the Fig. 2c ).

[0209] Fig. 2d Figure 70 schematically shows a connector 70 that can transfer media, energy and signals from the receiving device 40 to the received equipment (for example, handling equipment, pallet holder 350 or any other equipment) and automatically establishes the corresponding connections between the receiving device 40 and the received equipment.

[0210] The special feature of plug 70 is that it is designed to also compensate for any positioning inaccuracies of the transport device 100.

[0211] For this purpose, the connector 70 also has a (spring-loaded) pressure piece 71, which biases the floatingly mounted connector body 75 towards a connector fixing 72, and a mechanical stop 73 may also be present against which the connector body 75 is biased. This mechanical stop 73 can, for example, be designed as a prism that additionally allows for the alignment of the connector body 75.

[0212] If the transport device 100 is now moved under the device and raised to pick up the device, the plug 70, due to its floating bearing and the conical shape of its body 75, can be inserted and aligned in the correspondingly shaped (conical) recess of the pallet holder 350 (or other device), so that the connection interfaces 74 of the plug 70 can connect with the corresponding counterparts on the pallet holder 350. Conversely, the connection of the plug 70 (with its connection interfaces 74) to the pallet holder 350 can, of course, be released again by lowering the receiving device 40 relative to the device it is holding.

[0213] Fig. 3 Figure 1 schematically shows an embodiment of the transport device 100 according to the invention, for example with a pallet changer 200 and a pallet 300.

[0214] In addition to the previously described elements of the chassis 10, the wheels 20 and the receiving devices 40, a pallet changer 200 is included as a handling device in a double-fork design (H-shaped fork; see also Fig. 5 ) and an example of a palette of 300 is shown.

[0215] The handling device (pallet changer 200) was received at the front of the transport device 100 by one of the receiving devices 40 and mechanically fixed accordingly, and connections for energy and signal transmission for controlling and driving the pallet changer 200 were closed.

[0216] Now the transport device 100 according to the invention can, by means of the pallet changer 200 incorporated, move as a handling device to a corresponding machine tool 1000 (not shown here) and insert the carried pallet 300 into the machine tool 1000 or exchange it with the pallet 300 already present in the machine tool 1000.

[0217] A particular advantage of the coupled pallet changer 200, especially when several pallet changers 200 are picked up by the transport device 100, is that, in contrast to transport vehicles with only one fork, the necessary traversing movements when exchanging pallets are avoided or reduced.

[0218] The pallet changer 200 preferably has corresponding mounting elements for the holding devices 40 of the transport device 100, including mechanical fixing, positioning, signal transmission, and power transmission. Furthermore, the pallet changer 200 should be designed to be compatible with the machine tools to be automated.

[0219] Preferably the pallet changer 200 has n+1 receptacles (receptacle claw or fork-shaped receptacle, preferably for different pallet sizes) for pallets 300, wherein the pallet changer 200 is also equipped with a rotary axis which enables the exchange of the pallets 300 by a rotary movement.

[0220] Preferably, the pallet changer 200 has an additional axis to move the pallets 300 from their clamping position in the machine tool 1000. This is usually a lifting axis.

[0221] A fork-shaped holder could also be adjustable in its dimensions to accommodate various types and sizes of 300 pallets. Furthermore, the holding claw could also be adapted to the pallet size.

[0222] Fig. 4a Figure 1 schematically shows an embodiment of the transport device 100 according to the invention during a pallet change using two fork-shaped pallet changers 200, wherein the transport device 100 performs a rotation (in the example shown by 90°, whereby other angles, in particular 180°, are also possible) in order to carry out the change of the pallets 300.

[0223] The transport device 100 moves towards a work area of ​​the machine tool 1000 and positions itself in front of the work area in such a way that the pallet 300 already present in the work area can be picked up by the unloaded fork-shaped pallet changer 200 (e.g., by means of a swiveling movement of the transport device 100, or a telescopic mechanism attached to the transport device 100 for lifting the pallet 300, or simply by moving the transport device 100). The transport device 100 then rotates 90° so that the second pallet changer 200 can place its pallet 300 into the work area of ​​the machine tool 1000.

[0224] Fig. 4b schematically shows the transport device 100 according to the invention with an embodiment of a fork-shaped pallet changer 200.

[0225] In particular, the fork-shaped pallet changer 200 can be designed as a lifting fork, similar to those found on forklifts. A lifting mechanism integrated into the fork-shaped pallet changer 200 can adjust the height of the lifting fork, thus significantly expanding the range of applications for the fork-shaped pallet changer 200. However, the lifting mechanism is not mandatory for the fork-shaped pallet changer 200.

[0226] Fig. 5 Figure 1 schematically shows an embodiment of the transport device 100 according to the invention during a pallet change, wherein the transport device 100 remains in its position and the pallet changer 200, as shown in Figure 200, is moved. Fig. 3 Shown is an H-shaped pallet changer 200, which rotates.

[0227] The transport device travels at 100 km / h, as was already the case with... Fig. 4a described, approaches the workspace of the machine tool 1000 and positions itself in front of the workspace in such a way that the pallet 300 already present in the workspace can be picked up by a free fork of the double-fork-shaped (or H-shaped) pallet changer 200.

[0228] The pallet changer 200 is then rotated on the transport device 100 in such a way that the pallet 300, which is carried on the other fork, can be placed into the working area of ​​the machine tool 1000.

[0229] Fig. 6 Figure 1 schematically shows an embodiment of the transport device 100 according to the invention during a pallet change, wherein the pallet changer 200 is designed as a double H and can rotate as shown. Essentially the same process is carried out as in Figure 2. Fig. 5 described.

[0230] Fig. 7 Figure 1 schematically shows an embodiment of the transport device 100 according to the invention during a pallet change, wherein the pallet changer 200 can now receive pallets 300 in a 60° distribution and rotate as shown. Essentially the same process is carried out as in Figure 2. Fig. 5 described.

[0231] The pallet changers exhibit 200 of the Figuren 6 and 7 This offers the advantage that they can carry significantly more pallets (300 pallets) and thus supply several machine tools (1000) with pallets (300 pallets) without the transport unit (100) having to immediately return to a setup station or similar to retrieve another pallet (300 pallet). This results in enormous time and energy savings.

[0232] Fig. 8 The figure shows a schematic embodiment of the transport device 100 according to the invention (as well as chassis 10 and wheels 20) with a movable pallet changer 200.

[0233] Furthermore, it can be advantageous if, in addition to the possibility of rotating the pallet changer 200, it is possible to move the pallet changer 200 relative to the transport device 100, so that, for example, the axis of rotation of the pallet changer 200 can be individually positioned relative to the transport device 100.

[0234] It can also be advantageous if the shifting of the pallet changer 200 is not only, as in Fig. 8 shown, in one direction, but at least in another direction perpendicular to it, in order to allow the positioning of the pallet changer 200 relative to the transport device 100 and / or the machine tool 1000 to be even more individualized.

[0235] Fig. 9a Figure 1 schematically shows an embodiment of the transport device 100 according to the invention with a pallet changer 200 which has an adjustable fork width.

[0236] This allows the pallet changer 200 to be adapted to the different sizes of the pallet 300, which is to be transported to the machine tool 1000 by the transport device 100. This further increases the flexibility and the range of applications of a single pallet changer 200.

[0237] Furthermore, as in Fig. 9b As shown, the pallet changer 200 can be adjusted in length to accommodate the various sizes of the pallet 300. This further increases the flexibility and range of applications of a single pallet changer 200.

[0238] Furthermore, for example, the variable length of the pallet changer 200 can also be used to place a pallet 300 further into the machine tool 1000. This can be advantageous for certain machine tool designs 1000 or if, for example, the transport device 100 cannot approach the pallet holder of the machine tool 1000 to its immediate vicinity.

[0239] Fig. 10 Figure 1 schematically shows an embodiment of the transport device 100 according to the invention (as well as chassis 10 and wheels 20) with a pallet changer 200 for a multi-tiered pallet storage system.

[0240] The receiving devices 40 also make it possible to mount a multi-level pallet changer 200 on the transport device 100 and thus to operate multi-level pallet storage systems.

[0241] Preferably, a lifting and rotating unit with holders for n+1 pallets 300 is provided for this purpose, wherein the lifting axis of the pallet changer 200 can be used to arrange n+1 pallets 300 stacked on top of each other. This results in a higher packing density of the pallets 300 compared to a purely planar arrangement.

[0242] Fig. 11 Figure 1 schematically shows another embodiment of the transport device 100 according to the invention (as well as chassis 10 and wheels 20) with a pallet changer 200 for a multi-tiered pallet storage system.

[0243] Furthermore, the transport device 100 has its own multi-level pallet storage (shown to the left of the pallet changer 200) to provide additional storage capacity for pallets 300 and thus to transport more pallets 300.

[0244] Furthermore, it can be advantageous to design the pallet changer 200 in such a way that it can be used by means of a lifting and sliding unit for the arrangement of n+1 stacked pallets 300 and thus also optimally operate the multi-tiered pallet storage provided on the transport device 100.

[0245] Fig. 12a schematically shows the transport device 100 according to the invention during the loading of a rotary storage unit 1700 of a machine tool with pallets 300.

[0246] This advantageously demonstrates that a transport device 100 equipped with a pallet changer 200 can not only load a machine tool 1000 directly (for example, directly into the working area of ​​the machine tool 1000), but can also load various storage areas (such as a rotary storage area 1700 of the machine tool 1000) with pallets 300.

[0247] Fig. 12b Figure 1 shows a transport device 100 according to the invention during the loading of an intermediate storage area 1800, to which pallets 300 or pallet holders 350 are attached by docking onto a receptacle 1040 (comprising conical receptacles (for example, conical receptacles 1051) and interface 358; see for example also Fig. 16c ) of the intermediate storage 1800 can be provided for a feed device 1850 (see the image above). Fig. 12b Advantageously, the intermediate storage 1800 can have at least one docking point for this purpose, but it is particularly advantageous to have several docking points.

[0248] The feeding device 1850 can now feed the pallets 300 from the intermediate storage 1800 to a pallet holder (for example, a rotary-tilting table or another pallet holder) of the machine tool 1000, or exchange a pallet 300 already on the pallet holder. This means that the transport device 100 does not have to remain at the intermediate storage 1800, but can be available for other tasks.

[0249] In addition to docking at a receptacle 1040, which is approached by a horizontal movement of the transport device 100 and where the docking itself also takes place by a horizontal movement of the pallet holder 350 relative to the receptacle 1040, the pallet 300 / pallet holder 350 can also be positioned via a receptacle 1040 by the transport device 100 and then placed on this receptacle 1040 (see lower image of the Fig. 12b ), with the recording 1040 in detail in Fig. 16i und 16j is described.

[0250] First, the transport device 100 is pre-positioned at the receptacle 1040, whereby the transport device 100 (for example by a mechanism according to the Fig. 17a or 17b ) is raised.

[0251] This is followed by a delivery movement in which the pallet 300 or the pallet holder 350 (for example by means of the alignment elements 351) is moved against a centering device (for example centering device 1042, see here) Fig. 16i und 16j ) of the machine tool 1000 and the pallet holder 350 can already be aligned here, since it is, for example, floating on the receiving device 40 of the transport device 100.

[0252] Now the transport device 100 lowers, resulting in pre-centering (pallet 300 or pallet holder 350 align themselves with the receptacle 1040), since, for example, the alignment elements 351 of the pallet holder 350 have a V-shape.

[0253] Now the transport device 100 can be lowered further until the pallet 300 or the pallet holder 350 is on the corresponding cones (for example, pallet cones 1044 and / or fixture cones 1041, see Fig. 16i und 16j ) is mounted. The cones (pallet cones 1044 / equipment cones 1041) can now, for example, have a docking unit that can lock and secure the picked-up pallet 300 or equipment (here pallet holder 350), and / or also have media interfaces, similar to what is already done in Fig. 2d is described or in Fig. 16i und 16j is described.

[0254] The transport unit 100 can then be lowered further until the unit / pallet 300 has been picked up by the receiver 1040 and the transport unit 100 is free. Afterwards, the transport unit 100 can either move away from the machine tool 1000 (or another unit, e.g., setup station, magazine station, etc.) with pallet holder 350 (and without pallet 300) or completely without pallet holder 350 and pallet 300, and take on a different / new task.

[0255] Fig. 12c Figure 1 schematically shows a transport device 100 according to the invention during the loading of a pallet changer 200.

[0256] The pallet 300 or the pallet holder 350 can be transferred by the transport device 100 to a pallet changer 200 using the previously described receptacle 1040 (see also [reference to relevant section]). Fig. 16c ) dock so that the pallet changer 200 can load the machine table with a pallet 300 independently of the transport device 100.

[0257] Here too, in addition to docking onto a receptacle 1040 by a horizontal movement of the transport device 100 and the docking itself by a horizontal movement of the pallet holder 350 relative to the receptacle 1040, the pallet 300 / pallet holder 350 can also be positioned via a receptacle 1040 by the transport device 100 and then placed onto this receptacle 1040 (see lower image of the Fig. 12b ), with the recording 1040 in detail in Fig. 16i und 16j is described.

[0258] For this purpose, reference is made to the already in Fig. 12b The described procedure for docking / picking up a pallet / pallet holder 350 at a receptacle 1040 is referred to.

[0259] It should also be noted at this point that such concepts for the (intermediate) storage of pallets 300 are independent of the machine concepts shown ( Fig. 12b : Machine tool 1000 with machine bed 1350 and vertically arranged work spindle 1100 and rotary-tilting table; Fig. 12c : machine tool 1000 with machine bed 1350 and horizontally arranged work spindle 1100 and rotary-tilting table) and can therefore also be used on any other machine tool 1000.

[0260] Fig. 13 Figure 1 schematically shows an exemplary configuration of a linear storage system for pallet handling with multiple setup stations (4000) and storage locations (5000), which can be served by multiple transport devices (100) with corresponding pallet changers (200), and which can load multiple machine tools (1000) with pallets (300). For example, both the setup stations (4000) and the storage locations (5000) can be configured as multi-level setup and storage stations.

[0261] Each transport unit can be loaded with several pallets (300), as is made possible, for example, by a suitable pallet changer (200) with a larger capacity (as, for example, in Figuren 5 bis 7 shown) or by carrying a pallet tray on the transport device 100 (as shown in Fig. 11 (shown). Furthermore, several pallet changers 200 can also be accommodated by the respective transport device 100 in order to transport several pallets 300 simultaneously.

[0262] This makes it advantageous, for example, to transport a large number of pallets 300 to any location within the production facility or within the area to be automated using only one transport device 100. Furthermore, the transport devices 100 can also place and retrieve the pallets 300 in front of, beside, or behind the respective machine tool 1000.

[0263] In particular, the flexible deployment and high degree of automation of the transport systems allow for unlimited variety in the design of the linear storage system. Especially when linking several machine tools of varying sizes, the ability to freely design the layout of the linear storage system can represent an immense advantage.

[0264] Furthermore, the transport equipment 100 and its monitoring of the environment by means of appropriate sensors make it entirely unnecessary to enclose the linear storage unit.

[0265] Figuren 14a and 14b schematically show the positioning of a pallet changer 200 at a storage location 500 using conical mounts 510 ( Fig. 14a ) and with a storage location of 500 with roller technology 520 ( Fig. 14b ).

[0266] The pallet changers 200 (as indicated on their left edge) have various interfaces for coupling the pallet changer 200 to the transport device 100.

[0267] The conical mounts 510 can also position the pallet changer 200 on all sides, while a depth stop must be provided for the storage station with roller technology 520 so that the pallet changer 200 does not fall off the storage station 500, whereby positioning of the pallet changer 200 in a perpendicular direction to the sheet plane cannot be guaranteed by the roller technology 520.

[0268] Fig. 15 The figure schematically shows a positioning of the transport device 100 according to the invention on a machine tool 1000 by means of a prism 1010.

[0269] The transport device 100 also has a corresponding counterpart 103 (here a cylindrical counterpart) to engage with the prism containing the counterpart 103, 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 positioning in one direction (e.g., in the longitudinal direction of the transport device 100) and in a direction perpendicular to it (e.g., the transverse direction of the transport device 100).

[0270] It should be noted at this point that the aforementioned possible configurations of the transport device 100 according to the invention 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 prism 1010) could also be used.

[0271] Fig. 16a The figure schematically shows a positioning of the transport device 100 according to the invention on a machine tool 1000 by means of conical mounts 1051.

[0272] The transport device 100 features a height adjustment (not shown here, see below). Figuren 17 bis 19 ), which make it possible to place the handling device (here, for example, a pallet changer 200) onto the conical mounts 1051 of the machine tool 1000 and thus achieve a very precise positioning of the handling device in front of the machine tool 1000.

[0273] Furthermore, the conical receptacles 1051 enable the handling device to bear a load, which is particularly advantageous when the handling device has to support large masses during its use, which might 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 that occurs when removing the pallet 300 with the workpiece 1.

[0274] 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.

[0275] This positioning can preferably be achieved via n mechanical indices through horizontally arranged movement(s) (see Fig. 15 ) or vertical movement(s). Alternatively, rotational movement(s) can be used, the movements can be coupled together or performed sequentially.

[0276] In one exemplary embodiment, positioning is ensured by a vertical movement (see the details below). Figuren 17 bis 19 ).

[0277] The indexes can be connected to either the machine tools 1000, the storage locations 500, or the setup stations. Preferably, the indexes are connected to the hall floor to prevent any disturbances such as vibrations or impacts from affecting the machine tools 1000 or the stations while the transport device 100 is being positioned.

[0278] Preferably, the indexes are designed in a conical shape (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 footwell area in front of the machine tool 1000 and thus do not ergonomically obstruct the operator during manual work.

[0279] Preferably, the conical supports 1051 are used to also absorb vertically occurring loads, such as those arising during pallet changes when removing the pallet 300. This allows the transport device 100 to be designed for its maximum transport capacity and prevents it from having to absorb additional loads that occur temporarily due to exchange processes.

[0280] Furthermore, the conical recordings 1051 (see also) Fig. 16b and 16c) 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.

[0281] Furthermore, the aforementioned connection can also be achieved through an additional attachment, which is docked via the cone hub.

[0282] In addition, the conical mounts 1051 can be locked and unlocked to further stabilize the positioning or increase its accuracy.

[0283] 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 perform the vertical movement independently of the others (see [reference]). Fig. 19 Alternatively, vertical movement can be achieved by raising the frame / chassis of the AGV relative to the wheels (see here). Figuren 17 and 18 ).

[0284] The lifting motion can freely move to all necessary positions to find a suitable sequence. In an example configuration, three main positions are provided: Hub up: Position in which the transport unit 100 can move. Hub middle: Position in which the handling equipment is placed on the cones. Hub down: Placement of handling equipment / material carriers / boxes directly on the floor.

[0285] 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.

[0286] Furthermore, the handling device can be temporarily transferred directly to the machine tool 1000 via the transport device 100. The handling device is connected via the interface integrated into the conical mounts 1051 (see also [reference to be added]). Fig. 16b and 16c ) for establishing a connection from the machine tool 1000, and the transport device 100 can perform further tasks and handle other equipment. In this case, the transport device 100 serves as a feeder for temporary handling equipment for various machine tools 1000.

[0287] Fig. 16b schematically shows a further embodiment of the transport device 100 according to the invention in the case of positioning and closing of energy and / or signal connections by means of conical receptacles 1051.

[0288] Conical mounts 1051 of the machine tool are shown, which, in addition to positioning the transport device 100, move by means of their lifting cylinders (see here) Fig. 17 and 18 ) lowers over the conical receptacles 1051, a connection can be established via which, for example, energy and / or signals for the control or monitoring of the transport device 100 can be transferred to the transport device 100 and vice versa from the transport device 100 to the machine tool 1000.

[0289] The conical mounts 1051 allow, for example, the pallet 300 or any handling device to be precisely positioned on the machine tool 1000, as shown here, and, which is particularly advantageous, control of the transport device 100 or the mounted pallet 300 is possible without burdening the internal energy storage (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.

[0290] Furthermore, the transport device 100 can have a type of charging station where it can replenish or renew its energy sources (energy storage 30; not shown here). This can be done, for example, by docking onto the conical receptacles 1051.

[0291] Fig. 16c Figure 1 schematically shows another embodiment of the transport device 100 according to the invention, in which a pallet holder 350 with a pallet 300 docks to a pallet holder receptacle 1040 by means of a transport device 100. The pallet holder receptacle 1040 can, for example, be provided on the machine tool 1000.

[0292] In particular, this embodiment differs from the one described in Fig. 16a shown by the fact 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.

[0293] 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 shaped conical recesses 355 on the pallet holder 350 or on the pallet holder receptacle 1040. The advantages already described, such as the alignment / centering of the pallet holder 350 relative to the pallet holder receptacle 1040, also result here from the conical receptacles 1051 / conical recesses 355.

[0294] 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, detach itself from the transported device (here pallet holder 350) and be used for another transport task.

[0295] Furthermore, the pallet holder 350, like the transport device 100 itself or the handling device, can have an interface 357 for the transmission of mechanical energy and / or electrical, hydraulic and / or pneumatic energy between the pallet holder receptacle 1040 and the pallet holder 350. Correspondingly, the pallet holder receptacle 1040 can have a counterpart (interface 358) to the interface 357 of the pallet holder 350.

[0296] Furthermore, operating resources such as cooling lubricant could also be supplied from the pallet holder receptacle 1040 to the pallet holder 350. For this purpose, suitable fastening devices and electrical and / or fluid-conducting connections (comparable to the fastening devices and connections 43) can be provided.

[0297] Furthermore, the interface 357 can advantageously include 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, for example, be designed as a transmitter / receiver coil or as an inductive coupler with I / O link for contactless transmission of the signals.

[0298] The device can be provided at any point on interface 357 or even outside interface 357, with the device for contactless signal transmission advantageously being provided centrally / in the middle of interface 357.

[0299] It should be noted, however, that the receptacle designated as pallet holder receptacle 1040 on the machine tool 1000 can also accommodate a variety of other devices, handling equipment, 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.

[0300] Furthermore, it should be noted that the docking device described above (with conical recesses 1051, conical depressions 355, and interfaces 357 / 358) can be used in a particularly preferred manner with the receiving device 40 (see Fig. 2 ) is designed in a uniform or standardized manner, so that any components or handling devices with correspondingly uniformly designed receiving elements can be attached and essentially the same quick couplings can be used for energy or signal transmission.

[0301] Fig. 16d Figure 1 schematically shows another embodiment of the transport device 100 according to the invention with a pallet holder 350.

[0302] 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 station, etc.) and always remains on the transport device 100.

[0303] This pallet holder 350 is designed to place a pallet 300 onto a receptacle 1040 of the machine tool 1000 by positioning the pallet 300 (in a raised state) above the receptacle 1040 using the transport device 100 and then lowering the transport device 100 until the pallet 300 is received by the receptacle 1040.

[0304] As soon as the pallet 300 is positioned over the receptacle 1040, it is pre-centered relative to the receptacle 1040 by means of alignment elements 301 located on the pallet 300. These alignment elements 301 are pressed against a centering device 1045 during positioning of the pallet 300 over the receptacle 1040, so that the pallet 300 rests completely against the centering device 1045. If the pallet 300 is then lowered further by the transport device 100, the centering device 1045 engages with the alignment elements 301 (since these have, for example, a V-shaped recess), thus compensating for any lateral displacement of the pallet 300 relative to the receptacle 1040. This pre-centers the pallet 300 relative to the mount 1040, and especially relative to the cones (here pallet cones 1044).

[0305] For example, the pallet 300 itself can be pre-tensioned on the pallet holder 350 (which may, for example, be fork-shaped) by a pressure piece (not shown here) in the direction of the alignment elements 301. This pre-tension can be advantageously used, for example, to secure / fix the pallet 300 to the fork of the pallet holder 350.

[0306] When the pallet 300 or the alignment elements 301 are pressed against the centering device 1045 of the receptacle 1040 (by the positioning movement of the transport device 100), the pressure piece is further compressed and the fixation of the pallet 300 to the fork is released. This allows the pallet 300 to be placed onto the receptacle 1040.

[0307] Fig. 16e Figure 1 schematically shows another embodiment of the transport device 100 according to the invention with a pallet holder 350.

[0308] The process of positioning / pre-centering the pallet 300 relative to the fixture 1040 is essentially the same as in Fig. 16d The described process, however, does not align / pre-center the pallet 300 itself on the mount 1040, but rather the pallet holder 350, which carries the pallet 300.

[0309] Here too, the pallet holder 350 cannot be placed on the machine tool 1000 (or on any other device) and remains on the receiving device 40 of the transport device 100.

[0310] For the alignment / pre-centering of the pallet 300 relative to the receptacle 1040, the pallet holder 350 now has alignment elements 351 which, during the positioning movement of the transport device 100 relative to the receptacle 1040, are pressed against the centering device 1042 and also have, for example, a V-shaped recess into which the centering device 1042 can be inserted. 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.

[0311] At the same time, pressing the pallet holder 350 against the receptacle 1040 can, for example, create a pressure piece (not shown here, but comparable to the one in Fig. 2b and 2c(described) further compressed 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 receiving device 1040.

[0312] If the transport device 100 lowers further after the pallet 300 has been pre-centered, the pallet 300 can be placed on the corresponding cones (for example, pallet cones 1044, see here). Fig. 16i und 16j ) are detached. The transport unit 100 is now free and can turn to a new task, for example picking up a new pallet.

[0313] Fig. 16f Figure 1 schematically shows a further embodiment of the transport device 100 according to the invention with a pallet holder 350, similar to what has already been shown in Figure 1. Fig. 16e is known.

[0314] However, the pallet holder 350 together with the pallet 300 can now be placed on the machine tool 1000 (or another device).

[0315] For this purpose, as already mentioned in Fig. 16e As described, the pallet holder 350 is aligned / pre-centered relative to the receptacle 1040 by the alignment elements 351 and the centering device 1042. Here, too, it can be advantageous if a pressure piece is further compressed, thus enabling both the positioning of the pallet holder 350 relative to the receptacle 1040 and simultaneously allowing the pallet holder 350 to be lifted from the receptacle 40.

[0316] If the transport device 100 lowers further, the pallet 300 can, for example, be picked up directly from the receiving device 1040 (pallet cones 1044), or the pallet holder 350 together with the pallet 300 is first picked up from the receiving device 1040 (setting cones 1041, see Fig. 16i und 16j ) is picked up and then pallet 300 is picked up using pallet cones 1044.

[0317] Fig. 16g now shows the state of the transport device 100 according to the invention. Fig. 16f , if only pallet 300 has been picked up by the holder 1040. The transport device 100 can move away from the machine tool 1000 again with the pallet holder 350 picked up on the holder 40 and take on a new task.

[0318] Fig. 16h now shows the state of the transport device 100 according to the invention. Fig. 16f , when the pallet holder 350 along with the pallet 300 has been picked up by the fixture 1040. The transport unit 100 can now move away from the machine tool 1000 and take on a new task, for example by picking up a new fixture (such as a new pallet holder 350, a handling unit, or another fixture such as in Fig. 22 bis 36 shown).

[0319] However, the embodiments of the transport device 100 shown and described in the previous figures and exemplary embodiments are not limited to these and can expressly be combined with each other as desired.

[0320] Fig. 16i shows a configuration of a mounting 1040 of a machine tool 1000 for mounting a pallet holder 350 and / or pallet 300.

[0321] The receptacle has at least one pallet cone 1044 for receiving a pallet 300 and at least one setup cone 1041, which enables the receptacle 1040 of entire devices (such as a pallet holder 350) to be received, so that the transport device 100 can be used for other tasks after the device has been placed on the machine tool 1000.

[0322] Furthermore, the receptacle 1040 has at least one centering device 1042, against which the device can align itself relative to the receptacle 1040 before it is placed / stored on the at least one setup cone 1041 and / or the pallet 300 on the at least one pallet cone 1044.

[0323] Both the at least one pallet cone 1044 and the at least one setup cone 1041 can have a docking unit that locks / fixes the pallet 300 or the setup and / or media connections, similar to those in Fig. 2d shown, exhibits.

[0324] Furthermore, the recording 1040 can also have one or more separate media interfaces 1043, which are set up for the transmission of signals and / or energy from the machine tool 1000 to the recorded device.

[0325] The 1043 media interface can transmit signals and / or power contactlessly (e.g., inductively or optically), be implemented as a plug-in connection(s), or transmit wirelessly. Any combination of these is possible, as is the addition of a fluid supply (e.g., cooling lubricant) or similar.

[0326] Furthermore, the mount 1040 can also additionally accommodate at least one centering device 1045 (not shown here, see [reference]). Fig. 16d ) to align the pallet 300 with the mount 1040.

[0327] Fig. 16j shows the configuration of the recording 1040 of a machine tool 1000 as in Fig. 16i , however from a different perspective for a better overview of the individual components of recording 1040.

[0328] Fig. 17a Figure 1 schematically shows an embodiment of the transport device 100 according to the invention with a height adjustment of the transport device 100 according to the invention by means of lifting cylinders 50.

[0329] The chassis 10 is raised relative to the wheels by the lifting cylinders 50, so that the handling devices mounted on it are also changed in height relative to the wheels 20 or to the machine tool 1000 (not shown here).

[0330] Fig. 17b schematically shows another embodiment of the transport device 100 according to the invention with a height adjustment of the transport device according to the invention by means of lifting cylinders 50.

[0331] This section presents an alternative in which, in addition to the lifting cylinders 50, a chassis 60 (e.g. based on a lever mechanism) is provided to raise the chassis 10 of the transport device relative to the wheels 20, so that the height of the accompanying handling equipment is also changed.

[0332] Fig. 18a schematically shows an embodiment of the transport device 100 according to the invention with a pallet holder 350 and a pallet 300.

[0333] The aim is to illustrate the movements performed by the transport device 100 during the setting down / picking up operations to set down / pick up a pallet 300 from a receiving 1040 (not shown here).

[0334] The transport device 100 is operated by means of a mechanism as described in Fig. 17a and 17bshown, raised relative to the wheel(s) 20 (chassis lift, vertically shown arrow) in order to position the pallet 300 and / or the pallet holder 350 over a receptacle 1040 and then lower it onto the receptacle 1040 by lowering the transport device 100.

[0335] During positioning, contact can occur between the pallet holder 350 or the pallet 300 to align the pallet holder 350 / pallet 300 relative to the receiving device, resulting in a positioning movement (almost horizontal arrow) of the pallet holder 350 relative to the receiving device 40 of the transport device 100. However, this positioning movement may depend on the extent to which a drive 47 (as in Fig. 2b (described) to support the fixing and / or positioning of the pallet holder 350 relative to the receiving device 40 of the transport device 100.

[0336] Fig. 18b Figure 1 schematically shows another embodiment of the transport device 100 according to the invention with a pallet holder 350 and a pallet 300.

[0337] Here too, the transport device 100 is operated by means of a mechanism, as in Fig. 17a and 17b shown, raised relative to the wheel(s) 20 (chassis lift, vertically shown arrow) in order to position the pallet 300 over a receptacle 1040 and then lower it onto the receptacle 1040 by lowering the transport device 100.

[0338] During positioning, contact can occur between the pallet 300 and the holder to align the pallet 300 with the holder, resulting in a positioning movement (almost horizontal arrow) of the pallet 300 relative to the pallet holder 350. This movement can be against a pressure piece (similar to the pressure piece 45 in [reference missing]). Fig. 2b and 2cas described) act, which is thereby pressed in further and releases the fixation of the pallet 300 to the pallet holder 350 and enables alignment of the pallet 300 to the receptacle 1040 and the receptacle 1040 to pick up the pallet.

[0339] Fig. 19 Figure 1 schematically shows an embodiment of the transport device 100 according to the invention with a height adjustment of the receiving device 40 for receiving handling devices of the transport device 100 according to the invention.

[0340] Here, in turn, the position of the chassis 10 relative to the wheels 20 of the transport device 100 is not changed, but the receiving device 40 changes its relative position relative to the chassis 10 or to the platform carrier.

[0341] This has the advantage that the lifting cylinders 55 can be designed to be smaller, since they do not have to bear the weight of the chassis 10 and the other handling equipment and additional weights.

[0342] Fig. 20a Figure 1 schematically shows another embodiment of the transport device 100 according to the invention with a pallet changer 200 and a hood 210 for protecting the transported pallet 300, preferably for protecting all sides of the pallet 300.

[0343] The hood 210 protects the transported pallet 300 from external influences such as dirt, air currents, or even more severe mechanical impacts, etc. Conversely, the hood 210 also protects the surrounding area from any chips or dripping cooling lubricant that may fall from the pallet 300, for example, after a workpiece 1 has been machined on the pallet 300.

[0344] For this purpose, the hood 210 can also have a closing device 215 at its opening, through which the pallet 300 is inserted into the hood 210 by the pallet changer 200, in order to close the opening of the hood 210.

[0345] For this purpose, the locking device 215 can be designed in the form of a roller door, at least a folding door, at least a hinged door, a flap pivoting about a horizontal axis, or a sliding door. However, the above list should not be considered exhaustive and can be supplemented by further design options.

[0346] Fig. 20b shows a further embodiment of the transport device 100 according to the invention, which transports a pallet 300 into a working area of ​​a machine tool 1000.

[0347] The workspace is separated from its surroundings by an enclosure 1060 and has an opening on one side, for example, the front of the machine tool 1000, through which, for example, a machine operator can work in the workspace and through which the pallet 300 is inserted into the workspace of the machine tool 1000. A roller door, a sliding door, a single-leaf or double-leaf revolving door, or a similar device can be used to close this opening.

[0348] Furthermore, the machine tool 1000, in particular the housing 1060, has an access point that extends from the hall floor to the work area and into which the transport device 100 can enter, for example to bring a pallet 300 into the work area of ​​the machine tool 1000.

[0349] To protect access to the transport device 100 from chips and / or cooling lubricants, especially during the machining of the workpiece transported on the pallet 300, the transport device 100 or the pallet holder 350 can also have a collection cover 360 to collect the chips and / or cooling lubricant. Advantageously, the collection cover 360 can then close off the access at the upper end (transition from access to the work area) so that chips and cooling lubricant that are / have spread in the work area, in The spillage will be collected by the collection cover 360 of the transport device 100 or the pallet holder 350.

[0350] In addition, it may be possible that a cover plate, which is located at the end of the transport device 100 or the pallet holder 350 facing away from the access point when the transport device 100 enters the access point, is used to additionally close the access point from the outside after the transport device 100 has entered the access point of the enclosure 1060.

[0351] However, if the pallet 300 is removed from the work area by the transport device 100, chips and coolant / lubricant can still fall / run off, for example, the inner sides of the walls of the enclosure 1060 and collect in the access area. To prevent these chips / coolant / lubricant from contaminating the access for the transport device 100, it can be advantageous to provide a steel cover 1065 at the transition between the access of the enclosure 1060 and the work area of ​​the machine tool 1000. This cover is pushed back by the transport device 100 (or by the handling device carried by the transport device 100, such as the pallet holder 350, etc.) when the transport device 100 enters the access area, in order to position / insert the pallet 300 or the pallet holder 350 into the work area of ​​the machine tool 1000 (see, for example, the lower image of the...). Fig. 20b ).

[0352] The steel cover can advantageously have several segments that slide into one another, so that it is relatively compact when collapsed. When the transport device 100 is extended from the access point, a spring mechanism (not shown here) can, for example, push the segments or the entire steel cover 1065 back out to close the upper end of the access point (see, for example, the upper image of the Fig. 20b ).

[0353] Furthermore, the steel cover 1065 can have a cover section at its end facing the transport device 100 entering the access point, which has cutouts in the form of the receptacle used for docking (featuring the conical receptacles 1051 / conical recesses 355 and the interfaces 357 / 358; see also Fig. 16c ) exhibits.

[0354] The cover section, like the steel cover 1065 itself, is moved when the transport device 100 is inserted, whereby the conical receptacles 1051 and, accordingly, the interface 358 of the machine tool 1000 pass through the cutouts in the cover section, so that the transport device 100 or the handling device carried by the transport device 100 (for example, a pallet holder 350; see also Fig. 16c ) can dock at the mounting of the machine tool 1000.

[0355] Fig. 20c shows a further embodiment of the transport device 100 according to the invention, which transports a pallet 300 into a working area of ​​a machine tool 1000.

[0356] A round door 1070 is provided to close the opening through which, for example, a machine operator could reach into the working area of ​​the machine tool 1000 or through which the pallet 300 is brought into the working area of ​​the machine tool 1000.

[0357] Is the round door 1070 in the open position (as in the image above)? Fig. 20c (as shown), the semicircular opening of the round door 1070, for example, faces the work spindle 1100 (not shown here) of the machine tool 1000 and thus separates the work spindle 1100 from the opening in the housing 1060. This prevents, for example, the machine operator from unintentionally coming into contact with a tool inserted in the work spindle 1100 and possibly injuring himself.

[0358] For docking the handling device transported by the transport device 100 (such as a pallet holder 350 or another device) to the machine tool 1000, as already described in Fig. 16c As described, a receptacle (featuring the conical receptacles 1051 / conical recesses 355 and the interfaces 357 / 358) is used.

[0359] However, other connection options between the machine tool 1000 and the transport device 100 or handling device may also be provided, such as conical mounts 1051, which are provided on the hall floor (see also Fig. 16a and 16c )

[0360] Once the transport device 100 with the pallet 300 has entered the working area of ​​the machine tool 1000 through the opening of the enclosure 1060, the round door 1070 closes the opening of the enclosure 1060 by a rotational movement about an axis of rotation (as shown in the lower image of the Fig. 20c shown), in particular by a rotational movement around the axis of symmetry of the round door 1070, which may, for example, be vertically oriented.

[0361] Advantageously, the collection cover 360, particularly with regard to the use of the round door 1070 for closing the opening of the enclosure 1060, can be designed taking into account the shape of the round door 1070 in order to ensure improved sealing of the working area of ​​the machine tool 1000 against the environment with regard to flying chips and cooling lubricant.

[0362] Furthermore, it would be advantageous if a comparable semicircular recess were provided at the end of the collection cover 360 of the pallet holder 350, where the round door 1070 is positioned in the closed state. This would allow for an optimized seal between the round door 1070 and the collection cover 360, and thus between the work area and the surroundings of the machine tool 1000.

[0363] The mounting used for docking on the machine tool 1000 (featuring the conical mounts 1051 and the interface 358; see also Fig. 16c ), can be done without additional covering (such as that found in, for example, Fig. 20b (as described) can be used. However, a combination of the steel cover 1065, as described in Fig. 20b described, and the round door 1070 is used to provide additional sealing in the enclosure 1060 of the working area of ​​the machine tool 1000.

[0364] Fig. 21a schematically shows a hall floor with grid-shaped cones 1051 for positioning the transport equipment 100 or the handling equipment.

[0365] As already demonstrated by Fig. 16 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.

[0366] Another option is to design the cones 1051 to be retractable, for example, if the cones 1051 interfere with the movements of the transport equipment 100 on the hall floor. For this purpose, the cones 1051 would need their own lifting device (e.g., pneumatic, hydraulic, electric, or mechanical) so that they can be raised from or lowered into the hall floor. Alternatively, a combined lifting movement of the cones 1051 and the transport equipment 100 could be used to achieve positioning.

[0367] Fig. 21b shows another 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.

[0368] This would allow the lifting movement to be carried out by the transport device 100 or the receiving device 40 to perform the positioning. Alternatively, 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.

[0369] In these cases, there is no longer any obstruction on the hall floor, so the transport equipment 100 could travel freely across the hall floor. Furthermore, in the embodiment as shown in Fig. 21b It has been shown that an additional lifting device (for example for the cones on the hall floor) can be dispensed with.

[0370] Fig. 22a Figure 1 schematically shows another embodiment of the transport device 100 according to the invention with an industrial robot 600 as a handling device.

[0371] 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 further adapted depending on the application. Further examples are described in the Figuren 23 bis 28 and 35 described.

[0372] Furthermore, it is advantageous that the transport device 100 has a large number of receiving devices 40, with each receiving device capable of holding 40 different modules / handling devices.

[0373] As in Fig. 22a 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 to perform, for example, loading operations on the machine tool 1000 or finishing work on a workpiece 1 that was manufactured by the machine tool 1000.

[0374] 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 kind 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 approach processing stations or other destinations of the workpieces / tools.

[0375] The ability to accommodate a pallet changer 200 and a robot 600 on a transport device 100 allows workpiece and pallet handling to be combined as desired and to respond individually to conditions in the production chain.

[0376] Fig. 22b Figure 1 now schematically shows two more specific embodiments of the transport device 100 according to the invention with mounted robots 600, 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 mounted on the robot 600 (see, for example, also the detailed view in Figure 1). Fig. 22b ). This person could, for example, also change the tool 102 in the work spindle 1100 of the machine tool 1000.

[0377] Fig. 23 Figure 1 schematically shows another embodiment of the transport device 100 according to the invention with an industrial robot 600 and a measuring unit 610 for tool testing.

[0378] Through the in Fig. 23 In the configuration shown, the transport unit 100 with a robot 600 and a measuring unit 610 for tool inspection as well as a module 700 with buffer spaces for the tools, the transport unit 100 can remove, measure and inspect the tools from a machine tool 1000 (not shown here).

[0379] The inspection can be performed tactilely or without contact. Furthermore, a read / write unit can identify and assign the tool accordingly.

[0380] The information received and the results of the test can now be transmitted via radio signals to a central computer control system 2000 and processed accordingly.

[0381] Fig. 24a Figure 1 schematically shows a detailed view of another embodiment of the transport device 100 according to the invention 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 Figure 1. Fig. 24b is shown.

[0382] The robot 600 can inspect component 1 both tactilely and by scanning. Furthermore, an optical unit can inspect component 1 using an optical method.

[0383] The data and information obtained can now be transmitted again via radio, induction, or through appropriate connections in the conical recesses (not shown here).

[0384] Fig. 25 Figure 1 schematically shows another embodiment of the transport device 100 according to the invention with an industrial robot 600 and an attachment 630 for post-processing components 1 that were manufactured on a machine tool 1000 (here with pallet 300).

[0385] The attachment 630 can be equipped with a tool (e.g., a brush or a deburring tool) that allows for automated post-processing of the component. Optical or sensory monitoring ensures the quality of the finished component 1 and verifies whether further rework is necessary.

[0386] Fig. 26 Figure 1 schematically shows another embodiment of the transport device 100 according to the invention with an industrial robot 600 and a unit 640 for sharpening and dressing tools.

[0387] The transport device 100 includes, in addition to the robot 600 and the unit 640 for sharpening and dressing tools, 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, for example, interact with a work spindle of a machine tool (neither of which are shown here).

[0388] Since the sharpening and dressing process involves machining operations, it is advantageous if the chassis 10 also has an internal coolant / lubricant tank 11 to cool and lubricate the machining process, as is typical for machine tools, and thus reduce tool wear. Furthermore, it can be advantageous to provide a module 700 with buffer positions for tool storage on the transport device 100.

[0389] Fig. 27 Figure 1 schematically shows another embodiment of the transport device 100 according to the invention with an industrial robot 600 and a magazine 101 for carrying various tools 102.

[0390] This allows tools 102 to be directly inserted into a work spindle of the machine tool (not shown here) or into the magazine 101. The magazine 101 can be configured as a wheel, tower, disc, or chain magazine. Other variations of magazine 101 are also applicable.

[0391] In particular, instead of or alongside 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.

[0392] It should be expressly noted that one or more tool pallets can also be picked up by the transport device 100 and delivered to their destinations independently of the presence of an industrial robot 600.

[0393] The robot 600 can be advantageously equipped with a locking plate 601 to ensure safety during a tool change on a work spindle 1100 of the machine tool 1000 (as in Fig. 28 to ensure (as shown).

[0394] Fig. 28 schematically shows the embodiment of the transport device 100 according to the invention. Fig. 27 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.

[0395] This demonstrates once again the advantage that the locking plate 601 offers in ensuring safety on the machine tool 1000 during tool changes.

[0396] Fig. 29a schematically shows another embodiment of the transport device 100 according to the invention for chip disposal on a chip trolley 1400 of a machine tool 1000.

[0397] In this process, a module 800 for collecting the chips is mounted on the transport device 100, the module 800 further having a tilting mechanism 810 to unload the collected chips at a defined location.

[0398] The tilting mechanism can be designed in various ways. Electric, hydraulic, or pneumatic drives can be used. Furthermore, rack and pinion drives, screw drives, or simply suitable pneumatic or hydraulic lifting cylinders can be used to generate the tilting movement of the Module 800. However, other drives / gearboxes can also be used in various combinations.

[0399] Another embodiment of the transport device 100 according to the invention, with the module 800 for collecting the chips, is shown in Fig. 29b As shown, the transport device 100 is further equipped with a lifting mechanism 820, which can lift a chip container 825 filled with chips and empty it into the module 800. Advantageously, the chip container 825 can remain attached to the chip carriage 1400 of the machine tool 1000 until it is sufficiently filled and a signal is sent, for example to the central control computer 2000, which then dispatches the transport device 100 with the module 800 and the lifting mechanism 820 to empty the chip container 825.

[0400] In addition, the transport device 100 can also be equipped to couple an additional container wagon 830 and to use this for collecting and transporting chips.

[0401] Fig. 29c Figure 1 shows another embodiment of the transport device 100, in which the module for collecting the chips 800, as already shown in Figure 1, is used. Fig. 29a und 29b The module 800 is shown mounted on the top of the transport device 100. Advantageously, the module 800 shown can be placed on various chip trolleys / chip collectors 1400 by means of two laterally provided support sections. Once the chip trolley 800 has been filled accordingly, a signal can be sent to the transport device 100 to pick up the module 800 again and to convey the chips for further processing and / or disposal.

[0402] For positioning the module 800 on the chip carriage 1400 by the transport device 100, existing cone-shaped supports 1051 in / on the hall floor can be used again, for example. Furthermore, the cone-shaped supports 1051 can also be used in the Figuren 16a and 16c exhibit the described properties.

[0403] Fig. 30 Figure 1 schematically shows another embodiment of the transport device 100 according to the invention for preparing and refilling a machine tool 1000 with cooling lubricant.

[0404] The transport device 100 includes a module 900 for collecting or extracting the used coolant / lubricant from the machine tool. The module 900 may also include a tank 920 and a filter 930 for processing the used coolant / lubricant. An extraction device 910 can be directly connected to the machine tool 1000 and extract the used coolant / lubricant into the tank 920. Alternatively, the extraction device 910 can also be configured to extract coolant / lubricant that has accumulated in the chip container 825 and feed it back into the processing system.

[0405] Fig. 31 Figure 1 schematically shows another embodiment of the transport device 100 according to the invention for providing and introducing workpieces 1 into a machine tool 1000 for turning operations.

[0406] 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.

[0407] For the proper interaction of bar feeder 470 and machine tool 1000, in particular the work spindle 1100, it is recommended to reposition the transport device 100 by means of the already described conical mounts 1051 (not shown here), which are provided at the appropriate place on the machine tool 1000.

[0408] This ensures that the bar stock (workpieces 1) is correctly inserted into the machine tool 1000 or the work spindle 1100, allowing the automated manufacturing process to proceed smoothly.

[0409] As in the Fig. 31 As shown, the machine tool 1000 can also be equipped with a tool turret 1500, which can supply the tool required for the respective machining step to the rotating bar stock. Furthermore, the conical holders 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 shown here) of the transport device 100 is not further burdened by the material feeding process.

[0410] Fig. 32a Figure 1 schematically shows another embodiment of the transport device 100 according to the invention as a material storage unit 700 for a machine tool 1000 with gantry loader 1600.

[0411] The material storage units 700 can be picked up by various receiving devices 40 of the transport unit 100, as illustrated by the two transport units shown. Furthermore, one of the transport units 100 can provide the raw parts for the machine tool 1000 or the gantry loader 1600, while the other transport unit 100 picks up the machined parts / workpieces.

[0412] This configuration of parts and material handling allows for increased autonomous machine runtimes, as the transport of raw parts and / or finished parts can now be automated.

[0413] The gantry loader 1600 features a gripper 1610, which can be moved along the x and z axes, for example, and feeds the raw parts to the work spindle 1100 until they are clamped in the workpiece holder of the work spindle 1100. Here again, a tool turret 1500 can supply the tool required for the current machining process to the raw part / workpiece.

[0414] However, this embodiment of the transport device 100 is not only suitable for lathes, but can also be used for known milling machines.

[0415] 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.

[0416] Fig. 32b Figure 1 shows a further embodiment of the transport device 100 according to the invention as a material storage unit 700 for a machine tool 1000 with a robot 600 for inserting and removing workpieces into the machine tool 1000.

[0417] As has already been mentioned in Fig. 16c As described, the transport device 100 is docked to the machine tool 1000 with the handling device or in this case with a module 700 (here storage for raw material) received by the transport device 100 (by means of cone-shaped receptacles 1051 and interface 358).

[0418] Furthermore, the transport unit 100 can, if necessary, initially "detach" the material storage unit 700 at the machine tool 1000 to make it available for other tasks. Only when the raw material held in the material storage unit 700 is exhausted would the transport unit 100 have to return and pick up the module 700 again and transport it away accordingly.

[0419] Advantageously, at least one, and particularly advantageously at least two, docking positions are available for the machine tool 1000. This allows the transport device 100 to dock a new material storage unit 700 filled with raw parts to the machine tool 1000 and subsequently pick up an empty material storage unit 700 from the other docking position and transport it away accordingly.

[0420] The concept of the machine tool 1000 shown here is not limited to the robot 600 being located outside the machine tool 1000; rather, the robot 600 can also be positioned within the work area of ​​the machine tool 1000 and, when required, reach from the machine tool 1000 into the docked material storage unit 700 for a new raw part. However, completely different machine concepts can also be supplied with the transport unit 100 and material storage unit 700 (or another module 700) using this transport unit 700.

[0421] Fig. 33a Figure 1 schematically shows another embodiment of the transport device 100 according to the invention with a conveyor belt 400 between two machine tools 1000 with gantry loaders 1600. Furthermore, the two machine tools 1000 each have, by way of example, a work spindle 1100 and a tool turret 1500.

[0422] The conveyor belt 400, which is received by the transport device 100, can also be equipped with holders for components or workpieces (see, for example, the detailed illustration in Fig. 33b Furthermore, it is particularly advantageous that the transport unit 100 can be used with the conveyor belt 400 as a "stand-alone" unit, for example, to exchange raw parts or already machined workpieces between two machine tools 1000. Additionally, the conveyor belt can provide designated setup areas (setup stations) through which raw parts / machined workpieces can be loaded onto the conveyor belt 400.

[0423] Furthermore, it can be particularly advantageous that the conveyor belt 400 can be positioned (folded) at the transport device 100 by means of a corresponding mechanism (not shown here) (see, for example, Fig. 33c ), for example to bridge larger distances. For this purpose, several transport devices 100 can be equipped with conveyor belts 400, which are arranged in a series to create, for example, a kind of conveyor bridge.

[0424] Furthermore, it should be noted 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.

[0425] Furthermore, it may also be possible that the conveyor belt 400 is rotatably mounted relative to the transport device 100, which received and transported the conveyor belt, so that the alignment of the conveyor belt 400 for the respective purpose can take place separately from the positioning of the transport device 100 (see below). Fig. 33c This resulted in increased flexibility for the use of the conveyor belt 400.

[0426] Fig. 34 schematically shows another embodiment of the transport device 100 according to the invention for the supporting extraction 420 of the working area of ​​a machine tool 1000.

[0427] For this purpose, it is advantageous that the transport device 100 can accommodate a corresponding extraction system 420 and can position itself accordingly at an access point in the housing 1030 of the machine tool 1000 in order to extract dirt and contaminants that arise before, during and after machining a workpiece.

[0428] The 420 extraction unit is primarily designed to supplement the standard 1020 extraction system often already present in a 1000 series machine tool. However, if the standard system is defective or not present at all, the 420 extraction unit can replace it. The extracted and collected dirt can be stored in a container and emptied as needed.

[0429] Fig. 35 Figure 1 now schematically shows another embodiment of the transport device 100 according to the invention with robot 600 and an application device 770 picked up by the robot 600.

[0430] The application device 770 enables, for example, the additive manufacturing of a component / workpiece on a machine tool 1000, as the application device 770 is configured for, for example, weld overlay (or another additive manufacturing process). For this purpose, the transport device 100 can, for example, accommodate a powder or media tank 775, which stores the material to be applied (e.g., metal powder, etc.). A feed or extraction 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 from the manufacturing process is extracted and fed back into the powder or media tank 775.

[0431] The advantage of mobile additive manufacturing is that essentially any machine tool can be upgraded to include additive manufacturing without requiring any modifications to the machine tool itself. Furthermore, the existing machine enclosure and / or extraction system on the machine tool can be advantageously used to protect both the manufacturing process and the operators during additive manufacturing.

[0432] However, it should be noted that a machine tool 1000 is not absolutely necessary for mobile additive manufacturing to be used. For example, the application device 770 can also additively produce the desired component / workpiece on any surface or in any environment. Alternatively, the transport unit 100 can move to the existing workpiece / component and process it on-site using the application device 770.

[0433] As 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 manufacturing.

[0434] Fig. 36 Figure 1 now schematically shows another embodiment of the transport device 100 according to the invention with a tool changer 720.

[0435] For example, the transport device 100 with a tool held in the tool changer 720 can move to the machine tool 1000, in particular to the work spindle 1100, and carry out the tool change there by a rotary movement of the tool changer 720.

[0436] Furthermore, instead of the tool changer 720, a tool changer-storage combination 720 can also be transported to the machine tool 1000 by the transport device 100. The advantage is that this tool 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.

[0437] If the tool changer-storage combination 720 is positioned in front of the machine tool 1000 or the work spindle 1100, the work spindle 1100 can remove the desired tool from the tool changer-storage combination 720 (for example, a chain magazine or wheel magazine with corresponding drives), whereby the tool changer-storage combination 720 can, for example, accelerate or simplify the tool change by rotating the desired tool towards the work spindle 1100.

[0438] However, the transport device 100 can also simply have a tool storage unit 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 take the desired tool.

[0439] Furthermore, the above-mentioned possibilities can also be combined with each other, so that, for example, a transport device 100 with a tool storage unit 720 is positioned in front of the machine tool 1000 together with a transport device 100 with a tool changer 720 and carry out the tool change on the machine tool 1000 in conjunction with each other.

[0440] Furthermore, the above-mentioned possibilities are not limited to tools, as, for example, workpieces or tools and workpieces can also be stored and / or changed simultaneously instead of tools.

[0441] Fig. 37 schematically shows another embodiment of the transport device 100 according to the invention for transporting milling heads 1120 to a machine tool 1000 with column element 1300 and pallet 300 (but can also be designed as a machine table).

[0442] A particular advantage is that the flexibility of the transport units 100 allows the milling heads 1120 to be transported quickly and easily to the respective machine tool 1000. Where previously a complex terminal station was required to provide the milling heads 1120, they can now be "ordered" using the transport units 100 in conjunction with the host computer control 2000 (not shown here) and then transported to their respective locations via transport unit 100. This completely eliminates the need for a terminal station.

[0443] Furthermore, this configuration of the transport equipment allows 100 milling heads (1120), especially special milling heads, to be exchanged between all machine tools (1000) with a head interface. This also eliminates the need to purchase multiple milling heads, resulting in significant cost savings.

[0444] For example, the transport devices 100 can pass under the machine tool 1000 to bring the milling heads 1120 to their desired place of use, but other ways of feeding the milling heads 1120 to the machine tool 1000 can also be chosen.

[0445] Fig. 38 Figure 1 schematically shows another embodiment of the transport device 100 according to the invention with a workpiece holder 450 for large parts.

[0446] Several transport devices 100 can work together to transport the large parts (marked here as workpiece 1). For this purpose, the workpiece holders 450 can be equipped with clamping devices (hydraulic, pneumatic, vacuum, mechanical clamps, etc.) that hold the large parts on the transport devices 100 and feed them to a specially equipped machine tool (machine tool 1000, here with column elements 1300 and a grinding attachment 1150).

[0447] In addition, as already described, conical mounts 1051 (not shown here) can, besides positioning the transport devices 100 under the grinding attachment 1150 of the machine tool 1000, again enable a connection for transmitting energy and / or (control) signals from machine tool 1000 to transport device 100.

[0448] In this way, the transport devices 100, through the use of the workpiece holder 450, combine the concept of a workpiece changing device with a machining table to form a kind of modular machine tool 1000, in order to make the machining of large parts as efficient and flexible as possible.

[0449] Fig. 39 Figure 1 schematically shows another embodiment of the transport device 100 according to the invention as a component of various machine concepts of a (modular) machine tool 1000.

[0450] It is particularly advantageous if the transport device 100 can pick up a pallet 300 and then be used directly as a workpiece or machine table carrier in a machine tool 1000.

[0451] This offers the advantage that, thanks to the cones used for positioning and fixing (conical receptacles, e.g., like the already described conical receptacles 1051), the transport device 100 can be used directly as a workpiece or machine table carrier (see also Fig. 44 A machine tool 1000 can therefore be equipped without its own machine table.

[0452] The transport device 100 can thus act as a workpiece carrier, approaching several machine tools 1000 one after the other and performing the respective machining operations (e.g., milling, grinding, etc.) without reclamping and therefore without any loss of accuracy.

[0453] Measurements on the workpiece can thus be performed directly in the given clamping situation. The transport unit 100, along with the workpiece, can move into the measuring chamber (e.g., a coordinate measuring machine or similar). This eliminates any clamping or distortion caused by opening the workpiece clamping.

[0454] This results in completely new machine concepts, such as a console machine ( Fig. 40a ) and a portal machine ( Fig. 39 ) schematically illustrated.

[0455] Fig. 40a Figure 1 schematically shows an embodiment of the transport device 100 according to the invention with a pallet 300 mounted on a console machine as a (modular) machine tool 1000.

[0456] The pallet 300 picked up by the transport device 100 can be equipped with an additional axis (see console machine; here a rotary axis R1) in order to create a milling-turning machine concept if necessary.

[0457] Furthermore, the connection between transport device 100 and pallet 300 (here with an additional rotation axis R1) can be designed as a milling table, NC rotary table, swivel rotary table, milling rotary table or the like, and thus be used for a wide variety of workpiece machining applications.

[0458] In the example shown, a console-type machine tool 1000 is also used, which, in addition to a column element 1300 and a cross element 1200, has a work spindle 1100, wherein the work spindle 1100 is movable in the x, y, and z directions relative to the column element. Additionally, the transport device 100 can be moved in the x and y directions and can rotate the pallet 300 about the z-axis via the rotation axis R1. Furthermore, the console machine can also be extended by an additional rotation axis R2, as shown in Fig. 40b is described.

[0459] Fig. 40b schematically shows another embodiment of the transport device 100 according to the invention as a component of further different machine concepts of a (modular) machine tool 1000.

[0460] As already discussed in the concepts in Fig. 39 and 40a It is explained that a console machine can be equipped with an additional rotary axis R2 on the work spindle 1100 in order to change the position of the work spindle 1100 relative to the pallet 300 or the transport device 100 by 90° by pivoting the work spindle 1100 by 180° around the rotary axis R2. This is advantageously possible because the rotary axis R2 and the plane / surface of the pallet 300 are essentially at a 45° angle to each other. Furthermore, as described in Fig. 40c As shown, an application of the transport device 100 in a horizontal machining center is conceivable, whereby this could also be equipped with an additional rotation axis R2 (not shown here) as on the console machine in Fig. 40a As can be seen, it can be extended so that the work spindle 1100 of the horizontal machining center can also be swivelled by 90° to the pallet 300 or to the transport device 100 if required.

[0461] In both cases, the transport device 100 is again used with a pallet 300 (in Fig. 40b and 40cEach is equipped with a rotation axis R1) as a "machine table", whereby the machine table can also be used as a rotary table if required, in order to ensure even greater flexibility of the transport device 100 equipped with the pallet 300. This allows the transport device 100 to move to and from one processing station after the other in order to perform the corresponding processing steps on the workpiece 1 (not shown here) at the respective processing station.

[0462] In both representations ( Fig. 40b and 40c ) the work spindles 1100 continue to be delivered via the linear axes in the x, y and z directions to the pallet 300 or to the transport device 100.

[0463] Fig. 41 Figure 1 schematically shows another embodiment of the transport device 100 according to the invention, which carries several pallets 300 or workpieces, in interaction with a stationary industrial robot 3000 for handling / processing the workpieces (left) and another embodiment of the transport device 100 according to the invention with a milling robot 600 (right).

[0464] The stationary industrial robot 3000 shown in the left image can also be replaced by a transport unit 100 equipped with a corresponding robot 600 as an attachment, thus further increasing the flexibility of the production processes. In both cases (stationary industrial robot 3000 or transport unit 100 with robot 600), the robot processes or handles the workpieces on the pallets 300 of the transport unit 100 on the right.

[0465] The milling robot 600 shown in the right-hand image, thanks to its mobility via the transport unit 100, is able to be moved to and made available at a variety of machining stations within a very short time (e.g., to perform additional milling operations as needed during the milling of a workpiece in a machine tool, or to carry out the milling operations entirely on its own). Furthermore, the mobile milling robot 600 can also machine components that are too large or too large to fit in a machine tool, so that, in effect, the component doesn't have to be brought to the machining tool; instead, the machining tool comes to the component. This further increases the flexibility of production processes.

[0466] Fig. 42 Figure 1 schematically shows another embodiment of the transport device 100 according to the invention as part of a machine concept of a (modular) machine tool 1000 with portal construction and several transport devices 100.

[0467] As already mentioned in Fig. 39 As shown, the transport device 100, loaded with a pallet 300, can move into the working area or workspace of a portal-type machine tool 1000, whereby the machine tool 1000 directly machines the workpiece on the pallet 300 that has been moved in by the transport device. The machine tool 1000 again has column elements 1300 and a cross element 1200, on which the work spindle 1100 can be moved in the y and z directions. The cross element 1200 can then, in turn, be moved in the x direction relative to the column elements 1300.

[0468] In particular, it is advantageous if several transport devices 100 together transport the workpiece or pallet 300 (or a machine table) into the machine tool 1000 for handling or carrying heavy workpieces.

[0469] For this purpose, the transport devices can be mechanically coupled to each other via the pallet (see also Fig. 43 ; possibly with a connection for transmitting signals and / or energy), or can be controlled so precisely and synchronously by the host computer control 2000 (not shown here) that a coupling or signal and / or energy transmission is not necessary.

[0470] Fig. 43 schematically shows another embodiment of the transport device 100 according to the invention, in which several transport devices 100 are connected to each other to form a unit by means of couplings 105.

[0471] As already mentioned in Fig. 42 In short, it can be advantageous to provide a coupling 105 between each of two transport devices 100 in order to distribute mechanical forces to both transport devices 100 and to have the possibility of exchanging both signals and energy between the two transport devices 100 via the coupling 105.

[0472] Furthermore, it should be noted at this point that instead of the couplings 105 or in conjunction with the couplings 105, the receptacles 1040 can also be used for docking a device to a machine tool 1000, as is the case, for example, in Fig. 16c The diagrams show that 100 transport devices or movable machine tool assemblies can be used to connect / docking two (or more) transport devices or to connect them. Signals and / or energy can also be transmitted and a locking mechanism can be achieved through the conical receptacles used.

[0473] Fig. 44 schematically shows a further embodiment of the transport device 100 according to the invention in the case of positioning and closing of energy and / or signal connections below a machine tool 1000 in portal construction.

[0474] In addition to the components of the machine tool 1000 already described, such as column elements 1300, cross element 1200 and work spindle 1100, conical mounts 1051 of the machine tool are also shown, whereby these, besides positioning the transport device 100 when it lowers itself over the conical mounts 1051 by means of its lifting cylinders 50, 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.

[0475] The conical mounts 1051 allow the pallet 300 to be positioned precisely under the machine tool 1000 and, this is particularly advantageous, control of the transport device 100 or the mounted pallet 300 is possible without burdening the internal energy storage (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.

[0476] Fig. 45 schematically shows a (modular) machine tool 1000, which comprises several transport devices 100 according to the invention with different sub-tasks.

[0477] The example shows a transport device 100 with a pallet 300 (or machine table, for example also with an additional rotary axis R1) and a workpiece 1 on it. In the immediate vicinity of this is a second transport device 100 with a robot 600 for processing the workpiece 1. For this purpose, the robot 600 can be equipped with a wide variety of tools, for example a milling cutter, a grinding tool or a material-applying device.

[0478] Furthermore, the machine tool 1000 includes a third transport unit 100 with a robot 600, which is configured, for example, to exchange the tool picked up by the other robot 600. This transport unit can also carry additional modules 700 (such as wire mesh boxes, material pallets, additional material carriers, machine pallets, and modules of buffer locations for tools), as described above, from which the robot 600 can, for example, remove tools and transfer them to the other robot 600 for machining the workpiece 1.

[0479] Furthermore, the (modular) machine tool 1000 can be equipped with an optional cabin 1035, within which the transport units 100 can perform the machining of the workpiece 1 and the tool change. It can also be advantageous if the optional cabin 1035 has inlets and outlets for the transport units 100 and also an extraction system (such as extraction unit 420 or the standard extraction unit 1020 for stationary machine tools 1000) for removing dirt from the cabin 1035. Additional transport units 100 can also be used here to ensure, for example, further dirt extraction (e.g., by extraction unit 420), the supply of coolant / lubricant (module 900 for collecting or extracting the used coolant / lubricant from the machine tool), and / or chip disposal (module 800 for collecting chips).

[0480] The advantage of such a (modular) machine tool 1000 is that it can be expanded as needed with additional transport units 100 for further sub-tasks. Furthermore, it is also possible to set up the (modular) machine tool 1000 as a supplement to an existing, stationary machine tool 1000 in the immediate vicinity of it, for example to perform finishing work (deburring, grinding, etc.) on workpiece 1.

[0481] A further significant advantage of a modularly designed machine tool 1000 is that large components (such as those already in Fig. 38 (as shown) can be processed directly on the transport devices 100 that carry the component, without the need to re-clamp the component. This allows various (large) components to be moved into the working area of ​​a transport device 100, which, for example, carries a robot 600 with a milling tool, and processed there accordingly.

[0482] Again, for the precise positioning of the transport equipment, 100 cones located on the hall floor (such as cone-shaped receptacles 1051; see also explanations regarding Fig. 16a, 16b , 21a, 21b and 44 ) can be used, whereby, as already described above, these can have clamps, so that not only is the transport devices 100 positioned precisely, but they are also secured by the clamps.

[0483] Furthermore, the transport devices 100 can also be connected to each other by a coupling 105 (for example, also to form a unit) in order to exchange signals as well as energy between the transport devices 100 (see also explanations regarding Fig. 43 ).

[0484] Fig. 46 Figure 1 schematically shows another embodiment of the transport device 100 according to the invention with a tailstock attachment 1180 for turning (for example large / long) workpieces 1 as a further concept of a (modular) machine tool 1000.

[0485] The alignment of the tailstock attachment 1180 relative to the work spindle 1100 (here a stationary work spindle 1100) in the x and z directions can be achieved, for example, by the drive 20 of the transport device 100. Alignment of the tailstock attachment 1180 in the y direction can then be achieved, for example, by the lifting cylinders 50 (as in Fig. 17 and 18 shown) of the transport device 100.

[0486] However, additionally or exclusively, a finer adjustment of the tailstock attachment 1180 relative to the transport device 100 in the x, y, and z directions can be achieved by means of appropriate drives and guides between the tailstock attachment and the receiving device 40 of the transport device 100. This may be necessary, for example, if the positioning accuracy via the drives 20 of the transport device 100 is insufficient, or if the positioning of the transport device 100 is fixed by conical recesses 1051 in the factory floor.

[0487] Furthermore, a steady rest 1181 can be used as a support for very long workpieces 1 to achieve higher accuracy during turning and cylindrical grinding. For the machining process itself, another transport device 100 can, for example, move towards the workpiece 1 and use a mounted tool carrier (e.g., a tool slide, not shown here) for machining the workpiece 1. The drives 20 of the transport device 100 can again be used to feed the tool to the workpiece 1, and / or an additional feed mechanism (for fine feed movements) can be provided between the tool carrier and the transport device 100.

[0488] Fig. 47 schematically shows a large number of transport devices 100 according to the invention with different tasks within a production chain.

[0489] The automated guided vehicle (AGV) system preferably has a higher-level control computer software integrated into the central control system 2000, which controls and monitors the individual tasks. The control computer software is preferably capable of simultaneously controlling and monitoring n+1 transport units 100.

[0490] Communication between the transport equipment 100 and the central computer control 2000 preferably works wirelessly via e.g. WLAN or radio.

[0491] 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 transport device 100's status. A traffic light logic is preferably used for this purpose: Green = status OK, Yellow = fault, Red = problem. Alternatively, this light can also indicate other states through additional visual signals such as flashing.

[0492] If several transport units 100 are in use, they can preferably share the handling equipment (such as pallet changers 200, robots 600, modules 700 (such as material pallets, wire mesh boxes, etc.), module 800 for collecting chips, module 900 for collecting or extracting used coolant / lubricant from the machine tool 1000). This ensures an even more flexible automation solution.

[0493] Preferably, the transport device 100 places a handling device that is no longer needed at a known location. Another transport device 100 can then approach, pick up, and use this handling device.

[0494] Preferably, the transport units 100 have a communication capability with other transport units 100. This allows, for example, notification and response to sources of interference such as occupied travel paths, shared handling equipment and its location, and any other information. Optionally, this task can be performed by the central control computer 2000.

[0495] 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 alternatively be implemented via connectors or near-field communication.

[0496] The tasks shown can also be combined with the previously described concepts of a modular machine tool 1000 (see Fig. 38 bis 46 ) and linear storage (see Fig. 13 ) are supplemented to ensure overall flexible and efficient production and processing of workpieces.

[0497] Fig. 48 The figure schematically shows the inventive method for handling a pallet 300 and / or a workpiece on a machine tool 1000 by means of a pallet changer 200.

[0498] Initially, the transport device 100 must accommodate a pallet changer 200, which preferably already carries a pallet 300 that is to be inserted into the machine tool 1000.

[0499] When picking up the pallet changer 200 (handling device), a connection can be established between the transport device 100 and the pallet changer 200 via connection elements of the transport device 100, through which control signals and / or energy are transmitted from the transport device 100 to the pallet changer 200.

[0500] However, this step will be omitted from the illustration, as the inclusion of a handling device (such as a pallet changer 200) and the establishment of the connection for energy and / or signal transmission have already been described several times in the previous embodiments.

[0501] As shown in step S101, the transport device 100 with the pallet changer 200 and the pallet 300 approaches the machine tool 1000, which itself already has a pallet 300 in its work area.

[0502] In the following step S102, the pallet changer 200 is positioned in front of the machine tool 1000. As already described, this can be done either by the transport device 100 itself performing the positioning by means of travel movements, or by the transport device 100 being positioned opposite the machine tool 1000 by lowering its chassis 10 onto conical supports 1051 (not shown here), or by the transport device 100 placing the pallet changer 200 onto conical supports 1051.

[0503] This allows either energy and / or signals (e.g. for controlling the pallet change) to be transferred from the transport device 100 to the pallet changer 200, or, by placing the pallet changer 200 onto the conical mounts 1051 of the machine tool 1000, the pallet changer 200 to be directly connected to the machine tool 1000, so that signals and / or energy are transferred directly from the machine tool 1000 to the detached pallet changer 200.

[0504] Furthermore, it has been shown that the pallet changer 200 has already received the pallet 300 that was previously inserted in the machine tool 1000.

[0505] In step S103, the pallet 300 located in the machine tool 1000 is lifted out by the pallet changer 200 and a rotation of the pallet changer is initiated, so that the pallet 300 carried by the pallet changer 200 approaches the pallet holder of the machine tool 1000, as is also further shown in step S104.

[0506] In the following step S105, the pallet 300, which has been carried by the pallet changer 200, is positioned above the pallet holder of the machine tool 1000 by rotating the pallet changer 200 and placed onto the pallet holder of the machine tool 1000.

[0507] Following this, the pallet changer 200 is lifted again from the conical mounts 1051 and the transport device 100 with pallet changer 200 and the pallet 300 taken from the machine tool 1000 is removed / moved away, as shown in step S106.

[0508] Furthermore, the process can also proceed in such a way that, after the pallet changer 200 has been placed on the machine tool 1000, the transport device 100 continues without the pallet changer in order to, for example, pick up another handling device (another pallet changer 200 or the like) in the meantime and bring it to a machine tool 1000 or a storage location 500 (not shown here) according to the order.

[0509] Following this, the transport device 100 or another transport device 100 can pick up the pallet changer 200 that was placed in front of the machine tool 1000 after the pallet has been changed and proceed accordingly.

[0510] The aforementioned process steps can also be supplemented by the respective, function-specific steps of the individual modules and devices that are picked up by the transport device 100. These can include, for example: machining the workpiece using a tool and / or a dispensing device by a robot 600; changing the tool and / or workpiece using a tool changer 720 / a changer-storage combination 720 / a tool storage unit 720; extraction and processing of cooling lubricant; collection and disposal of material chips; deburring and / or measuring the contour of the workpiece 1; transporting pallets 300 carrying workpiece 1; transporting a milling head 1120; coupling at least two transport devices 100; etc. (see also the explanations for the Figuren 3 bis 46 ).

[0511] Examples and embodiments of the present invention and their advantages have been described in detail above with reference to the accompanying figures.

[0512] It should be emphasized again that the present invention is in no way limited or restricted to the embodiments and features described above, but also includes modifications of the embodiments, in particular those which are covered by modifications of the features of the examples described or by combining one or more of the features of the examples described within the scope of protection of the independent claims.

[0513] It should be particularly noted at this point that the various configurations and functions that the transport device 100 according to the invention can fulfill can be combined with one another to provide an extremely flexible machine concept, making the machining of workpieces 1 even more flexible and efficient. In particular, the aforementioned concepts of the modular machine tool can be supplemented by the various additional functions of the transport device 100 according to the invention mentioned above, as well as by the provision and exchange of workpieces 1 and / or pallets 300.

[0514] However, existing machine tools can also be easily upgraded with additional functions and / or workpiece and pallet handling. Furthermore, modular machine tools can be combined with stationary machine tools to make the production / machining of workpieces more flexible.

[0515] Furthermore, a transport device 100 according to the invention can, for example, perform both tasks from the field of modular machine tools and additional functions simultaneously. A transport device according to the invention is not limited to just one area but can perform a wide variety of tasks from different areas at the same time.

[0516] The above-mentioned possibilities are therefore not to be considered restrictive and can expressly be combined in any way within the scope of protection defined by the claims. LIST OF REFERENCE MARKS

[0517] 1 Component / workpiece 10 Chassis / Platform 20 Wheel / Wheels / Drive 30 Energy storage 35 internal control 40 Recording device 41 cone-shaped sections of the receiving device 42 interface of the recording device 43 Fasteners and connectors 44 in-depth 45 pressure piece 46 Centering device 47 Motivation for the deepening process 48 bolt 50 Lifting cylinder (for wheel or chassis) 55 Lifting cylinder (for mounting device) 60 chassis 70 Plug 71 The push piece of the plug 72 Plug fixation 73 mechanical stop 74 Connection interface 75 Connector body 100 Transport equipment 101 magazine 102 Tool 103counterpart (to the prism) 105 Coupling (between two transport devices) 200 Pallet changer 210 hood 215 Locking device 300 range 301 Alignment element of the palette 350 Pallet holder 351 Alignment element of the pallet holder 355 conical depressions 357 Pallet holder interface 358 interface of the machine tool 360 Collection cover 400 conveyor belt 420 Extraction 450 Workpiece holder 470 Bar loader 500 Storage space 510 conical recess (at storage location) 520 Storage unit with roller technology 600 Robots / Industrial robots / Milling robots 601 Locking plate 610 Survey unit 620 Measuring and testing equipment 630 Essay on the post-processing of components 640 Unit for sharpening and dressing tools 650protective structure 700 Module (wire mesh boxes, material pallets, other material carriers, machine pallet, module of buffer spaces for tools) 720 Tool changer, changer-storage combination, tool storage 750 Robot accessories (interchangeable gripper, deburring tool, storage box for tools) 770 Application device 775 Powder / media tank 777 Supply / extraction of powder / media 800 Module for collecting the chips 810 Tilting mechanism 820 Lifting mechanism 825 chip container 830 Container truck 900 Module for collecting or extracting used cooling lubricant from the machine tool 910 extraction device 920 tank 930 Filter (for chips in the cooling lubricant) 1000 machine tool 1010 prism 1020 Standard extraction 1030 enclosure 1035 optional cabin 1040 Pallet holder attachment 1041furnishing cone 1042 Centering device for aligning the equipment 1043 Media interface 1044 pallet cone 1045 Centering device for aligning the pallet 1051 conical mount 1060 enclosure 1065 steel cover 1070 Round door 1100 work spindle 1120 milling head 1150 Grinding attachment 1180 tailstock attachment 1181 bezel 1200 Cross element (machine tool) 1300 Stand element (machine tool) 1350 machine bed 1400 Chip collector / chip cart 1500 Tool turret 1600 Gantry loader 1610 Grapple (Gantry Loader) 1700 circular storage 1800 Temporary storage for pallets 1850 Pallet feeding device 2000 Main computer control 3000 stationary robot 4000 Setup area for pallet 5000 Storage space for pallet

Claims

1. Machine tool for machining a workpiece, comprising: - at least one first machine tool structure which is freely movable on a base surface and which comprises a driverless transport vehicle and an industrial robot (600), and - at least one stationary second machine tool structure which can be set up on the base surface and has a work spindle (1100) for tools, wherein the driverless transport vehicle of the first machine tool structure is configured to be moved on the base surface independently of a type of rail system in order to position the first machine tool structure on the second machine tool structure, wherein the industrial robot (600) is configured to change a tool carried by the tool magazine directly into the work spindle (1100) of the second machine tool structure and / or to change a tool carried by the work spindle (1100) into the tool magazine when the first machine tool structure is positioned on the second machine tool structure, characterized in that the tool magazine is designed as a wheel magazine or as a chain magazine.

2. Machine tool according to Claim 1, characterized in that the second machine tool structure has at least one further machine tool structure which is freely movable on the base surface and has at least one machine tool component.

3. Machine tool according to Claim 2, characterized in that the at least one further freely movable machine tool structure and the first machine tool structure together form the machine tool set up for machining the workpiece when the first machine tool structure is positioned on the at least one further freely movable machine tool structure and / or the at least one further freely movable machine tool structure is positioned on the first machine tool structure.

4. Machine tool according to one of the preceding claims, characterized in that the second machine tool structure has a machine frame on which one or more machine tool components are arranged.

5. Machine tool according to Claim 4, characterized in that the second machine tool structure has one or more machine tool slides which are movable on the machine frame.

6. Machine tool according to Claim 5, characterized in that at least one of the one or more machine tool slides carries the work spindle (1100) or a spindle head or spindle pivot head which carries the work spindle (1100).

7. Machine tool according to one of Claims 4 to 6, characterized in that the machine frame is configured in a portal construction, in a traveling column construction or in a bracket construction.

8. Machine tool according to Claim 5 or 6, characterized in that at least one of the one or more machine tool slides carries a horizontal machining work spindle and / or a vertical machining work spindle.

9. Machine tool according to one of the preceding claims, characterized in that the second machine tool structure has a milling robot (600) which carries the work spindle (1100).

10. Machine tool according to one of the preceding claims, characterized by: - a drive for moving the transport vehicle, and - a control unit for controlling the transport vehicle.

11. Machine tool according to one of the preceding claims, characterized in that the first machine tool structure has an internal energy store (30) which supplies the first machine tool structure with energy, in particular electrical energy, and / or a sensor unit which comprises one or more optical, infrared and / or radar sensors for monitoring the surroundings of the first machine tool structure, and / or the first machine tool structure has one or more drive chains and / or a plurality of wheels (20) for moving or moving the first machine tool structure, wherein one, more or all of the wheels can be actuated and / or steered individually, wherein in particular one, more or all of the wheels of the transport device are configured as mecanum wheels which can be actuated individually.

12. Machine tool according to one of the preceding claims, characterized in that the first machine tool structure is set up to communicate with an external control device, in particular with a central control device which is set up to be connected to a plurality of freely movable machine tool structures at the same time, in particular by means of a wireless communication connection, and to control the plurality of freely movable machine tool structures, in particular by automatic remote control.

13. Machine tool according to one of the preceding claims, characterized in that the first machine tool structure is set up to communicate with a control device of the machine tool via a communication interface, wherein the control device of the machine tool is arranged on the second machine tool structure, wherein the communication interface has in particular a wireless communication interface and the first machine tool structure is set up to communicate with the control device of the machine tool via the wireless communication interface by wireless communication connection.

14. Machine tool according to one of the preceding claims, characterized in that the first machine tool structure has a docking device and is set up to dock together with the second machine tool structure by means of the docking device at a docking station of the second machine tool structure in order to form the machine tool, wherein the first machine tool structure together with the second machine tool structure forms the machine tool set up for machining the workpiece when the first machine tool structure is docked at the docking station of the second machine tool structure.

15. Machine tool according to Claim 14, characterized in that the first machine tool structure is furthermore set up to dock together with the third machine tool structure by means of the docking device at a docking station, which is installed on the base surface, of a further machine tool or at a docking station of at least one third machine tool structure in order to form a further machine tool, wherein the first machine tool structure is in particular set up to form, together with the at least one third machine tool structure, a further machine tool set up for machining the workpiece when the first machine tool structure is docked at the docking station of the further machine tool or the docking station of the at least one third machine tool structure.