Manipulation unit, installation having manipulation units, and method for operating an installation having manipulation units

Abstract

The invention relates to a manipulation unit (100) for horizontally and / or vertically moving a workpiece (700), the manipulation unit being in particular in the form of a driverless transport vehicle which is movable for its intended purpose over a floor (500), having wheels (110), a support frame (120), and a workpiece receptacle (130) fastened to the support frame (120), wherein the support frame (120) is open on several sides and has a side opening (122) for entry and / or exit of a separate manipulation unit (200, 300) and a floor opening (124) in the direction of the floor (500). The invention also relates to an installation having a manipulation unit (100) of this type and to a method for operating such an installation.

Description

[0001] Description

[0002] title

[0003] Manipulation unit, system with manipulation units and method for operating a system with manipulation units

[0004] State of the art

[0005] The invention relates to a manipulation unit, a system with manipulation units and a method for operating a system with manipulation units, in particular for the production of vehicles.

[0006] It is well known that during vehicle production, painted bodies must be processed from various levels. Typically, a body is moved from one process station to another on a ceiling suspension in the production hall. The absorption of the weight of the body and ceiling suspension must be taken into account in the static design of the production hall and significantly increases the costs. If processing is necessary on the underside of the body, corresponding pits are provided in the hall floor at the relevant stations to allow access to the underside of the body. Increasing or reducing production or changing the model of the vehicle to be manufactured usually requires costly and time-consuming construction work on the pits, the ceiling suspension and / or the production hall.

[0007] Disclosure of the invention

[0008] The object of the invention is to create a manipulation unit that allows flexible adaptation to changing requirements during workpiece processing. A further object is to create a system with a group of manipulation units that allows flexible adaptation to changing requirements during workpiece processing.

[0009] A further task is the creation of a system with a plurality of manipulation units that allows flexible adaptation to changing requirements in the processing of workpieces.

[0010] A further task is the creation of a manipulation unit for holding parts of a workpiece, which allows flexible adaptation to changing requirements during machining of the workpiece.

[0011] A further task is the creation of a disassembly device for disassembling parts of a workpiece, which allows flexible adaptation to changing requirements during the processing of workpieces.

[0012] A further task is to create a method for operating a system that allows flexible adaptation to changing requirements when machining workpieces.

[0013] The objects are achieved by the features of the independent claims. Advantageous embodiments and advantages of the invention emerge from the further claims, the description, and the figures.

[0014] The features listed in the patent claims can be combined with one another in a technologically meaningful manner and can be supplemented by explanatory facts from the description and by details from the figures, whereby further embodiments of the invention are shown.

[0015] According to one aspect of the invention, a manipulation unit for horizontally and / or vertically moving a workpiece is proposed, which is designed in particular as a driverless transport vehicle that is intended to be movable across a floor, comprising wheels, a support frame, and a workpiece holder attached to the support frame. The support frame is open on several sides and has a side opening for the entry and / or exit of a separate manipulation unit, as well as a floor opening facing the floor. An internal volume is formed within the support frame, in which workpieces can be stored, suspended, and / or manipulated on the workpiece holder.

[0016] The support frame can have at least one, in particular vertically oriented, support column. Preferably, several support columns are provided, which are connected to one another via cross braces. One or more wheels, with which the manipulation unit can be moved, can be provided per support column. Several wheels arranged on a support column can form a wheel group and can be moved synchronously as a group, in particular can be rotatable about the column axis. At least some of the wheels can optionally be provided with contact protection, for example a cap, a grid, and / or a sensor system that monitors the surroundings of the wheels. The sensor system can, for example, comprise LIDAR sensors.

[0017] The workpiece can, in particular, be a car body or even parts of a car body. The transport motor system can be controlled, for example, via radio remote control, or alternatively, a programmable drive can be used.

[0018] The wheels can comprise at least one omnidirectional wheel and / or at least one omnidirectional wheel, or a roller designed to rotate around the vertical axis. A wheel drive for moving the manipulation unit can be, for example, a wheel hub motor. Rotation of the wheel group around the axis of the respective support column can be achieved by means of one or two electric drives per support column. Two drives are advantageous to limit the size of the assembly.

[0019] The drives for rotating the wheel group can be equipped with separate encoders. The rotation drives can advantageously be operated synchronously.

[0020] A common drive can be coupled to the workpiece holder for raising and / or lowering the workpiece holder, as well as to the wheels for driving at least one wheel. Alternatively, separate drives can be provided for driving the wheels and for at least vertical movement of the workpiece. Advantageously, the manipulation unit can be in the form of a driverless transport vehicle, specifically following a predefined path. This path can be adapted, for example, through programming, to current conditions and requirements.

[0021] The workpiece holder attached to the support frame eliminates the need for hoists mounted on the ceiling of the production hall. Changes to the manufacturing process can be implemented flexibly, quickly, and without structural modifications. Furthermore, the structural design of the production hall can be simplified, resulting in cost savings on building costs.

[0022] Advantageously, the manipulation unit can be a receiving manipulation unit into which other manipulation units can at least partially be inserted, particularly for transferring or receiving workpieces or components. The support frame can advantageously have an upper part detachably connected to the support columns. This simplifies the transport and / or storage of the manipulation unit. Advantageously, the workpiece holder can also be detachably connected to the upper part. Suitable detachable connections can be, for example, flange connections.

[0023] According to a favorable embodiment of the manipulation unit, several, in particular all, wheels can each have at least one electric motor, in particular a wheel hub motor. There can be one electric motor per wheel or wheel group, in particular per support column, for driving the wheel or wheel group and for rotating the wheel or wheel group about the vertical axis. The multiple electric motors can be synchronized. The electric motor can optionally be designed as a wheel hub motor. Alternatively, instead of individual electric motors, a central electric motor with power transmission, drive shafts, and the like can be provided. Alternatively, a separate electric motor can be provided for driving a wheel and rotating the wheel or wheel group about the vertical axis. At least one power storage device, in particular a rechargeable battery or a supercapacitor, can be provided per manipulation unit.Optionally, each manipulation unit can be equipped with its own computer, which can be used to evaluate sensor data. Communication with a central computer can be established, and command input and output can be provided to actuating units, such as hoists, electric motors, and the like. Trajectories, acceleration, and deceleration behavior of the manipulation unit can be calculated / recalculated depending on the workpiece to be transported, particularly taking into account its weight or dimensions.

[0024] According to a favorable embodiment of the manipulation unit, the workpiece holder can be designed to move the workpiece arranged therein by at least one degree of freedom, in particular to raise and / or lower and / or tilt and / or rotate it. This allows the workpiece to be made accessible to an operator in certain areas without the need for complex pits over which the workpiece must be placed. This allows flexible adaptation to manufacturing conditions.

[0025] In particular, an adjustment mechanism for moving the workpiece holder can be provided, which has a common shaft for at least two bending elements. In particular, the bending elements can be connected to the workpiece holder via deflection rollers.

[0026] According to a favorable embodiment of the manipulation unit, the workpiece holder can be designed in the form of a suspension device suspended from the top of the support frame into an interior volume of the manipulation unit. The workpiece holder can be guided on at least one support column by a guide device. The guide device of the workpiece holder can slide along one or more support columns.

[0027] In particular, the guide device can have at least two guide rollers that are assigned to a support column and that bear against two different surfaces of the support column of the support frame. In particular, the guide device can have at least two pairs of guide rollers, of which two guide rollers per pair are arranged one above the other in a vertical direction and bear against the same surface of a support column of the support frame, and one of the pairs of guide rollers each bears against two different surfaces of a support column of the support frame. If the guide device has one or more guide rollers, one or more guide rollers can roll on one or more support columns.

[0028] The guide device can effectively reduce, in particular minimize, an oscillating and / or pendulum movement of the workpiece holder when starting, driving, braking and / or cornering the manipulation unit.

[0029] Advantageously, in a design with pairs of guide rollers arranged one above the other in the vertical direction, an inner frame to which these are fastened can be arranged between the guide rollers so that they at least partially project above and below the inner frame.

[0030] Alternatively or in addition to guide rollers, sliding surfaces can be provided. It is advantageous if the contact surface of the sliding surfaces is sufficiently long in the vertical direction.

[0031] Instead of a workpiece holder with such guide rollers or sliding surfaces as a guide device, a workpiece holder with a height-adjustable scissor-type lifting device can be used. This alternative also effectively reduces, and in particular minimizes, swinging and pendulum movements.

[0032] According to a favorable embodiment of the manipulation unit, a control system can be assigned to the manipulation unit, which is configured to coordinate the movement of the manipulation unit with the movements of other manipulation units on the floor. The manipulation units can move sequentially. For example, one manipulation unit can move behind the other at a distance. The manipulation units can follow a straight and / or curved and / or serpentine path on the floor, whereby the control system can move the manipulation units continuously or discretely. Optionally, the manipulation units can also move freely, i.e., without following a path.According to a favorable embodiment of the manipulation unit, at least one sensor can be arranged on the support frame and configured to provide a control system with a position, speed, orientation, and / or distance from at least one other manipulation unit. Sensors can be, for example, ultrasonic sensors, infrared sensors, radar, or LIDAR sensors.

[0033] In particular, the at least one sensor can be designed to monitor an environment when turning, swerving from a straight-line movement or cornering the manipulation unit.

[0034] According to a favorable embodiment, the manipulation unit can have an adjustment mechanism on its upper side for the vertical movement of the workpiece holder with a drive.

[0035] The drive can, for example, raise and / or lower the workpiece holder using chains and / or toothed belts and / or straps and / or cables and / or push chains, so that the workpiece holder can preferably move vertically upwards and / or downwards. Advantageously, the adjustment mechanism can at least raise and / or lower the workpiece holder using flexible elements in the form of chains and / or toothed belts and / or straps and / or cables and / or push chains by means of a common shaft via deflection pulleys.

[0036] According to a further aspect of the invention, a system with a group of manipulation units is proposed, comprising at least one transfer area at which a workpiece or one or more parts of the workpiece are transferred from a first manipulation unit to a second manipulation unit. The first manipulation unit is designed as a receivable manipulation unit. The second manipulation unit is designed as a receiving manipulation unit with an internal volume, which at least partially accommodates the receivable manipulation unit together with the workpiece or a part of a workpiece, in particular one or more attachments, in its internal volume. The transfer area can be a fixed position or a free section between two process stations.The parts of a workpiece can be parts of a body, for example doors and the like, or one or more add-on parts, for example underbody, axles and the like.

[0037] The system is advantageously suitable for the production of vehicles, whereby add-on parts are mounted to a workpiece in the form of a vehicle body.

[0038] Because the first, receivable manipulation unit can be at least partially accommodated in the internal volume of the second, receiving manipulation unit, a transfer of workpieces between the manipulation units can take place there.

[0039] According to a favorable embodiment of the system, a receiving manipulation unit, which at least partially accommodates a receivable manipulation unit in its internal volume, can be designed as a manipulation unit for horizontally and / or vertically moving a workpiece, which is particularly designed as a driverless transport vehicle that is intended to be movable across a floor, with wheels, a support frame, and a workpiece holder attached to the support frame. The support frame can be open on several sides and have a side opening for the entry and / or exit of a separate manipulation unit, as well as a floor opening facing the floor.

[0040] According to a favorable embodiment of the system, at least one of the manipulation units, in particular a pick-up manipulation unit, can be designed as an automated guided vehicle or as a stationary lifting platform. This allows for a flexible and cost-effective arrangement of automated guided vehicles or stationary lifting platforms. Alternatively or in addition to a lifting platform, a conveyor belt and / or a roller conveyor unit or the like can be provided. In particular, the system can have several similar pick-up manipulation units and several similar pick-up manipulation units, each of which is further designed as an automated guided vehicle and can be controlled via a common control unit. This makes it possible to create a fleet of transport vehicles that are interchangeable and interoperable.Further preferably, the transport vehicles interact with multiple lifting platforms and / or conveyor belts and / or roller conveyor units. Such a fleet of transport vehicles can be used to design a production facility for assembling large-volume, complex products such as motor vehicles.

[0041] According to a favorable design of the system, workpieces distributed across at least two manipulation units can be assembled at at least one transfer area. The manipulation units can be positioned relative to one another as needed. In particular, the workpieces can be transferred vertically, while the manipulation units are preferably movable relative to one another horizontally. Advantageously, an operator can handle and, for example, assemble the workpieces under ergonomically favorable conditions.

[0042] According to a favorable design of the system, the internal volume of the receiving manipulation units can be at least as large as the volume of the receiving manipulation units plus the volume of the workpiece present at the time of transfer.

[0043] According to a further advantageous embodiment, at least a clear height and a clear width of the receiving manipulation units can be at least as large as the height and width of the receiving manipulation units plus the height and width of the workpiece present during transfer. The workpiece can protrude longitudinally from the receiving manipulation units on one or both sides.

[0044] The pick-up manipulation unit, together with the workpiece, can be immersed almost completely into the interior volume. This allows for a secure transfer of workpieces between these manipulation units. Furthermore, a pick-up manipulation unit could be fixed within a receiving manipulation unit, with both being movable together by means of the receiving manipulation unit. According to a favorable design of the system, the receiving manipulation unit can have an opening for retracting and / or extending the pick-up manipulation unit, in particular with a workpiece arranged or capable of being arranged thereon.

[0045] Conveniently, the pick-up manipulation unit can move into the receiving manipulation unit, or the receiving manipulation unit can move over the pick-up manipulation unit. This allows for easy combination of movable and stationary manipulation units. In a modified embodiment, the receiving manipulation unit has an opening for retracting and / or extending a pick-up manipulation unit, as well as another opening for retracting and / or extending a pick-up manipulation unit. These openings are preferably arranged on opposite sides of the receiving manipulation unit.

[0046] According to a favorable design of the system, the receiving and receiving manipulation units can be arranged, at least in some areas, on a common travel plane. The receiving and receiving manipulation units can be easily moved toward and / or into each other as needed.

[0047] In a favorable system design, the receiving manipulation unit can have a workpiece holder that extends beyond the receiving manipulation unit and the workpiece, allowing the workpiece to be picked up and held suspended. The vertical position of the workpiece in the receiving manipulation unit can be adjusted as needed. Access to various areas of the workpiece can be provided flexibly and cost-effectively.

[0048] According to a favorable embodiment of the system, the workpiece holder can be designed in the form of a hanger that hangs from the top of the support frame into the interior volume of the manipulation unit. The workpiece holder can be guided on at least one support column by a guide device. The hanger is thereby advantageously protected against vibrations in horizontal spatial directions. The guide device can have at least one sliding surface and / or at least one guide roller that bear against one or more outer surfaces of the at least one support column and / or at least one frame that can completely or partially enclose a support column in its circumference.

[0049] In particular, an adjustment mechanism for moving the workpiece holder can be provided, which has a common shaft for at least two bending elements, in particular wherein the bending elements can be connected to the workpiece holder via deflection pulleys. The bending elements can be designed as belts, chains, cables, or push chains.

[0050] According to a favorable embodiment of the system, the guide device can have at least two guide rollers or sliding surfaces which are assigned to a support column and which bear against two different surfaces of the support column of the support frame.

[0051] Optionally, the guide device can have at least two pairs of guide rollers or sliding surfaces, of which two guide rollers or sliding surfaces per pair are arranged one above the other in a vertical direction and bear against the same surface of a support column of the support frame, and one of the pairs of guide rollers or sliding surfaces bears against two different surfaces of a support column of the support frame.

[0052] This means that the suspension is particularly well stabilized against vibrations in horizontal spatial directions.

[0053] In a design with pairs of guide rollers arranged vertically one above the other, an inner frame to which the guide rollers are attached can advantageously be arranged between the guide rollers, so that the guide rollers at least partially project above and below the inner frame. Alternatively or in addition to guide rollers, sliding surfaces can be provided. It is advantageous if the contact surface of the sliding surfaces is sufficiently long in the vertical direction. Instead of a pair of sliding surfaces, one sliding surface of sufficient length can optionally be provided.

[0054] According to a favorable system design, the receiving manipulation unit can have an opening at the floor, through which the workpiece located in the manipulation unit can be accessed from below. An operator can access the workpiece from below in an ergonomically favorable position. Alternatively or additionally, a mobile manipulation unit can engage the receiving manipulation unit from below, or the receiving manipulation unit can be placed above a stationary or mobile pick-up manipulation unit. In this way, a workpiece can be transferred vertically between the manipulation units.

[0055] According to a favorable design of the system, the receiving manipulation unit can have at least three, in particular four, support columns, which can roll along the floor with one or more wheels and between which the workpiece holder can be arranged. This allows for a particularly stable design of the support frame. In particular, at least some of the wheels can have contact protection. The contact protection can, for example, comprise a cap or a grid that at least partially covers the wheels and / or a sensor system that monitors the area surrounding the wheels. The sensor system can, for example, comprise LIDAR sensors.

[0056] Advantageously, the contact protection can also be designed as a touch-sensitive element which, upon contact with the contact protection, can trigger a signal to stop the manipulation unit.

[0057] According to a favorable design of the system, at least one of the manipulation units can be designed as a mobile base open to the floor. This allows a vertical arrangement of pick-up manipulation units in a receiving manipulation unit, particularly for transferring workpieces or for manipulating workpieces. According to a favorable design of the system, at least one of the receiving manipulation units can be designed with opening access points for a pick-up manipulation unit. Opening access points can be provided in the sides or in the floor of the receiving manipulation unit.

[0058] In a favorable system design, the receiving manipulation unit can have an adjustment mechanism for moving a workpiece relative to a receiving manipulation unit. This allows for flexible and needs-based positioning of the workpiece for different processing steps.

[0059] In a favorable system design, a pick-up manipulation unit can have an adjustment mechanism for moving a workpiece relative to a receiving manipulation unit. This allows for flexible and needs-based positioning of the workpiece for different processing steps.

[0060] According to a favorable embodiment of the system, a, in particular first, transfer area for transferring parts, in particular doors of the workpiece, in particular a body, from a transport track to a receivable manipulation unit, in particular designed as a self-propelled transport vehicle, with a holder for the parts of the workpiece and for transferring the workpiece, in particular a body, from the transport track to a receivable manipulation unit can be provided.

[0061] Alternatively or additionally, a, in particular second, transfer area may be provided for transferring the workpiece, in particular a body, from the receivable manipulation unit to a receiving manipulation unit, in particular for interior fitting and attachment of components, in particular windows.

[0062] Alternatively or additionally, a transfer area, in particular a third transfer area, may be provided for transferring a component to be attached to the workpiece, in particular the underbody, from a pick-up manipulation unit to the receiving manipulation unit with the workpiece, in particular for further assembly of the workpiece and components. Alternatively or additionally, a transfer area, in particular a fourth transfer area, may be provided for transferring the workpiece from the receiving manipulation unit to a pick-up manipulation unit, in particular for producing connections and cladding. Alternatively or additionally, a transfer area, in particular a fifth transfer area, may be provided for transferring the workpiece from the pick-up manipulation unit to a floor platform, in particular for moving it through a test station.

[0063] Alternatively or additionally, a transfer area, in particular a sixth transfer area, may be provided for transferring the workpiece from a floor platform to a pick-up manipulation unit, in particular for carrying out functional tests.

[0064] Alternatively or additionally, a transfer area, in particular a seventh, may be provided for transferring the workpiece from a pick-up manipulation unit to a floor platform and transferring it to a receiving manipulation unit, in particular for separating a series of consecutive pick-up manipulation units into at least two parallel process lines.

[0065] Alternatively or additionally, a transfer area, in particular an eighth one, may be provided for transferring the workpiece from a receiving manipulation unit to a floor platform, in particular for carrying out leak tests.

[0066] Alternatively or additionally, a transfer area, in particular a ninth, may be provided for transferring the finished workpiece from a floor platform to a floor conveyor belt, in particular for providing the finished workpiece for a shipping line.

[0067] Advantageously, the transfer areas can be arranged in a coordinated sequence for a production process, particularly vehicle production. According to a favorable design of the system, receiving manipulation units and / or pick-up manipulation units can be arranged at least partially on different levels. For example, receiving manipulation units can be moved at least partially on an elevated platform, and pick-up platforms can be moved on a lower level.

[0068] For example, parts of a workpiece can be advantageously transported on a pick-up manipulation unit at a level below the level at which the workpiece is moved in a pick-up manipulation unit. The transport of the parts of the workpiece can take place independently of the transport of the workpiece itself.

[0069] According to a favorable system design, at least some process stations can be surrounded by walls that can be opened at least temporarily for self-propelled manipulation units. These manipulation units can then be moved through these one or more process stations. Sensors or light barriers can be provided to open a wall, or appropriate openings can be provided.

[0070] According to a further aspect of the invention, a system comprising a plurality of manipulation units is proposed. At least one of the manipulation units is designed as a driverless transport vehicle without a lifting function, in particular for receiving and transporting doors and / or separate prefabricated workpieces for a body. Alternatively or additionally, at least one of the manipulation units is designed as a driverless transport vehicle with a lifting function, in particular for receiving and transporting a body and / or separate prefabricated workpieces for a body.Alternatively or additionally, at least one of the manipulation units is designed as a driverless transport vehicle for horizontally and / or vertically moving a workpiece that is intended to be movable above a floor. It includes wheels, a support frame, and a workpiece holder attached to the support frame. The support frame is open on several sides and has at least one side opening for the entry and / or exit of a separate manipulation unit, as well as a floor opening facing the floor. Advantageously, the respective design of the manipulation units can be adapted flexibly and as needed.

[0071] Depending on the plant's favorable design, there can be three types of manipulation units, each with several tasks, which together represent the essential tasks of an overall production, in particular the production of vehicles.

[0072] One type of manipulation unit can advantageously be a manipulation unit for the horizontal and / or vertical movement of a workpiece, which is designed in particular as a driverless transport vehicle that is intended to be movable across a floor, with wheels, a support frame, and a workpiece holder attached to the support frame. The support frame is open on several sides and has a side opening for the entry and / or exit of a separate manipulation unit, as well as a floor opening facing the floor. Another type of manipulation unit can be designed as a driverless transport vehicle without a lifting function. Another type of manipulation unit can be designed as a driverless transport vehicle with a lifting function. Optionally, a stationary lifting platform can also be provided. Further optionally, a conveyor belt and / or a roller conveyor unit can be provided as manipulation units.

[0073] According to a further aspect of the invention, a manipulation unit for receiving parts of a workpiece, in particular for receiving doors of a car body during a manufacturing process, is proposed, comprising a holder that receives parts of the workpiece. Advantageously, the parts of the workpiece can be machined and tested in the manipulation unit. Advantageously, the manipulation unit can receive precisely those parts of the workpiece that are to be returned to the workpiece later in a machined state.

[0074] Optionally, the manipulation unit can be designed as a driverless transport vehicle. According to a favorable design of the manipulation unit, the mount can be configured to enable the intended movement of the workpiece parts. In particular, the mount can enable the pivoting of car body doors. Thus, the mount can enable the doors to be opened and closed.

[0075] According to a favorable design of the manipulation unit, it can be used to store workpiece parts, in particular for storing car body doors. A cost-effective manipulation unit can be created in which the holder is designed without the pivoting function.

[0076] Optionally, the manipulation unit can be designed as an automated guided vehicle. The machined parts, especially doors, can be transported to the workpiece using this manipulation unit for reassembly.

[0077] According to a further aspect of the invention, a disassembly device for disassembling parts of a workpiece is proposed, in particular for disassembling doors of a body during a manufacturing process of a vehicle, with a transfer area for a workpiece, in particular a body, from a transport device to a receivable manipulation unit for receiving the workpiece and a receivable manipulation unit, in particular for receiving parts of the workpiece at different levels.

[0078] In this way, parts of the workpiece that require less complex processing than the workpiece itself can be processed independently of the workpiece itself and transported in a space-saving manner.

[0079] According to a favorable design of the disassembly device, at least one robot can be arranged at the transfer area within reach of the receiving manipulation unit and the manipulation unit to be received. The positioning can be easily adapted to the possible robot reach. According to a favorable design of the disassembly device, the at least one robot can be arranged on vertical rails. Disassembly of the workpiece parts, in particular disassembly of body doors, can be carried out in a space-saving manner, and vertical free space can be utilized.

[0080] According to a favorable embodiment of the disassembly device, the at least one robot can be mounted on a lifting device. Disassembly of the workpiece parts, in particular disassembly of body doors, can be carried out in a space-saving manner and vertical free space can be utilized.

[0081] According to a further aspect of the invention, a method for operating a system is proposed, wherein two manipulation units are moved relative to one another in such a way that one manipulation unit, as a receivable manipulation unit, projects at least partially into the other manipulation unit, as a receiving manipulation unit, wherein in a further method step a workpiece is transferred between the manipulation units.

[0082] According to a favorable embodiment of the method, a self-propelled transport vehicle, a conveyor belt and / or a roller conveyor unit and / or a stationary lifting platform can be used as manipulation units. In a preferred embodiment of the method, several similar self-propelled transport vehicles are used to form a preferably interoperative and / or jointly controllable fleet of self-propelled transport vehicles, which in turn interact with other manipulation units. A workpiece is transferred from one manipulation unit to another manipulation unit and guided through a production or assembly process.Furthermore, different workpieces and / or assemblies are spatially brought together by means of different manipulation units, with the workpieces and / or assemblies subsequently being assembled and / or joined into larger assemblies by means of robots and / or human workers. According to a favorable embodiment of the method, the workpiece can be transferred from a pick-up manipulation unit to a receiving manipulation unit by moving at least one of the two manipulation units in such a way that the pick-up manipulation unit can be arranged at least partially in or below the receiving manipulation unit. In particular, the pick-up manipulation unit can move into or below the receiving manipulation unit.When transferring the workpiece or parts of the workpiece to a conveyor belt as a pick-up manipulation unit, the pick-up manipulation unit can move over the pick-up manipulation unit if it has a support frame, or move under the pick-up manipulation unit if it is designed as a lift truck. This allows for a flexible arrangement and design of process stations.

[0083] According to a favorable embodiment of the method, a manipulation unit can move a workpiece, in particular a vehicle underbody, toward a conveyor belt and / or a roller conveyor unit and / or a lifting platform and transfer the workpiece to the conveyor belt and / or the roller conveyor unit and / or the lifting platform. In this way, self-propelled and stationary manipulation units can interact.

[0084] According to a favorable embodiment of the method, a receiving manipulation unit can be moved over the lifting platform and / or the conveyor belt and / or the roller conveyor unit such that the lifting platform and / or the conveyor belt and / or the roller conveyor unit, together with the workpiece, are at least partially received in an internal volume of the receiving manipulation unit. A safe and precise transfer of the workpiece can be achieved.

[0085] According to a favorable embodiment of the method, the workpiece, in particular the underbody, can be transferred by means of the lifting platform and / or the conveyor belt and / or the roller conveyor unit to the receiving manipulation unit and a workpiece, in particular the body, arranged therein. The workpieces arranged on the two manipulation units can be brought together ergonomically and with precise positioning. According to a favorable embodiment of the method, a workpiece, in particular the body, can be transferred such that the receiving manipulation unit moves over a pick-up manipulation unit. The workpiece can thus be transferred from the pick-up manipulation unit to the receiving manipulation unit. This can be done as needed.

[0086] With a favorable process design, the manipulation units can be moved apart after a workpiece transfer. One or all manipulation units can be designed to be mobile. This can be flexibly adapted to a process station or available space as needed.

[0087] According to a favorable embodiment of the method, a pick-up manipulation unit can move into a receiving manipulation unit at one location and move out again at another location, in particular at a different side and / or at a different time. This can be flexibly adapted to a process station or available free space as needed.

[0088] According to a favorable embodiment of the method, parts of the workpiece, in particular doors of the workpiece, and in particular the body, can be disassembled on a disassembly device. Thus, parts of the workpiece that require less complex processing than the workpiece itself can be processed independently of the workpiece itself and transported or temporarily stored in a space-saving manner.

[0089] According to a favorable embodiment of the method, the workpiece can be placed within reach of at least one robot for disassembly of the parts; wherein the at least one robot can be moved along one or more vertical rails. Alternatively or additionally, the at least one robot can be moved on a lifting device. According to a favorable embodiment of the method, during the disassembly of the parts of the workpiece and their transfer to a manipulation unit and the transfer of the workpiece to another manipulation unit, a change of level can occur between the parts of the workpiece on the manipulation unit and the workpiece on the manipulation unit's manipulation unit. In particular, the manipulation unit with the parts of the workpiece can be moved below the level on which the manipulation unit with the workpiece is located. Vertical free spaces in a production plant can be used advantageously.

[0090] drawing

[0091] Further advantages will become apparent from the following description of the drawings. The figures illustrate exemplary embodiments of the invention. The figures, the description, and the claims contain numerous features in combination. Those skilled in the art will also expediently consider the features individually and combine them into useful further combinations.

[0092] Examples include:

[0093] Fig. 1 shows a front view of a receiving manipulation unit according to an embodiment of the invention in the form of a driverless transport vehicle in contact with a media rail;

[0094] Fig. 2 shows a front view of a receiving manipulation unit according to an embodiment of the invention in the form of a driverless transport vehicle without contact with a media rail;

[0095] Fig. 3 shows a side view of a receiving manipulation unit according to an embodiment of the invention without contact with a media rail with two drive motors for rotating a wheel group of a support column;

[0096] Fig. 4 shows a front view of a receiving manipulation unit according to an embodiment of the invention with wheel groups which are provided with contact protection;

[0097] Fig. 5 shows a perspective top view of the receiving manipulation unit according to Fig. 4 with a pickup in contact with an external media rail; Fig. 6 shows a front view of the pickup according to Fig. 5 in contact with the external media rail;

[0098] Fig. 7 in side view of the pickup according to Figure 5 in contact with the external media rail;

[0099] Fig. 8 shows a perspective top view of a receiving manipulation unit according to an embodiment of the invention without a pickup;

[0100] Fig. 9 shows a perspective top view of a detail of a receiving manipulation unit according to an embodiment of the invention with an adjustment mechanism for a workpiece holder;

[0101] Fig. 10 shows a perspective view of a detail of a wheel group of a receiving manipulation unit according to an embodiment of the invention with two drives for a rotary movement of the wheel group;

[0102] Fig. 11 shows a perspective view of a detail of a wheel group with contact protection of a receiving manipulation unit according to an embodiment of the invention;

[0103] Fig. 12 shows a front view of a detail of a guide device with two guide rollers arranged one above the other of a receiving manipulation unit according to an embodiment of the invention;

[0104] Fig. 13 shows a perspective view of a detail of the guide device according to Fig. 12 with two guide rollers arranged one above the other of a receiving manipulation unit according to an embodiment of the invention;

[0105] Fig. 14 shows a side view of a pick-up manipulation unit according to an embodiment of the invention;

[0106] Fig. 15 shows a front view of a pick-up manipulation unit with lifting function according to an embodiment of the invention;

[0107] Fig. 16 shows a side view of a receiving manipulation unit according to Figure 1 with a workpiece in the form of a body in a manufacturing step;

[0108] Fig. 17 shows a front view of a receiving manipulation unit according to Fig. 1 with a workpiece in the form of a body in a raised position in a further manufacturing step; Fig. 18 shows a front view of a receiving manipulation unit according to Fig. 1 with a workpiece in the form of a body in a raised position in a further manufacturing step, with the receiving manipulation unit at least partially received by the receiving manipulation unit;

[0109] Fig. 19 shows a front view of a receiving manipulation unit according to Figure 1 with a workpiece in the form of a body in a raised position in a further production step with a stationary receiving manipulation unit;

[0110] Fig. 20 shows a perspective top view of a receiving manipulation unit according to Figure 1 with a workpiece in the form of a body in a manufacturing step;

[0111] Fig. 21 shows a front view of a receiving manipulation unit according to an embodiment of the invention with a detachable upper part of the support frame;

[0112] Fig. 22 is a block diagram of process stations in a vehicle production facility;

[0113] Fig. 23 is a flowchart of processes in a vehicle production according to Figure 22.

[0114] Embodiments of the invention

[0115] In the figures, components of the same type or function similarly are designated by the same reference numerals. The figures are merely examples and are not to be construed as limiting.

[0116] Before the invention is described in detail, it should be pointed out that it is not limited to the specific components of the device or the specific method steps, since these components and methods can vary. The terms used herein are intended solely to describe particular embodiments and are not used in a limiting sense. Furthermore, when the singular or indefinite article is used in the description or claims, this also refers to the plural of these elements, unless the overall context clearly indicates otherwise. Directional terminology used below with terms such as "left", "right", "top", "bottom", "before", "behind", "after" and the like is intended solely to improve understanding of the figures and is in no way intended to limit the generality.The components and elements shown, their design and use may vary according to the considerations of a specialist and may be adapted to the respective applications.

[0117] Figure 1 shows a front view of a receiving manipulation unit 100 according to an exemplary embodiment of the invention in the form of a driverless transport vehicle with a support frame 120, from the top of which a pickup 142 extends in the vertical direction 404, which pickup is at least temporarily in contact with an external media rail 180 on the system side. The media rail 180 can advantageously be used to transmit, for example, power and / or data. In this exemplary embodiment, the media rail 180 is oriented vertically, so that the pickup 142 engages the media rail 180 from the side.

[0118] The receiving manipulation unit 100 can move in the longitudinal direction 400, which in this case is perpendicular to the plane of the drawing, by means of a wheel group with rollers or wheels 110. For this purpose, a drive 114, in particular a wheel hub motor, is arranged on the wheel group. The wheel group is mounted on support columns 126 of the support frame 120. If the wheel group is rotated, the manipulation unit 100 can move in the transverse direction 402, so that the manipulation unit 100 can deviate from a rectilinear movement in the longitudinal direction 400 and can also negotiate curves.

[0119] Figure 2 shows a front view of a receiving manipulation unit 100 in the manner of the embodiment in Figure 1, wherein the manipulation unit 100, however, without contact of the pickup 142 with a media rail on its upper side. In this case, a power supply can be provided independently, using on-board means, in particular using at least one energy storage device located on the manipulation unit 100, for example a rechargeable battery and / or a supercapacitor. Data can be transmitted wirelessly, for example. In particular, the manipulation unit 100 can switch from a power supply via the media rail 180 to an independent power supply on board the manipulation unit 100 when the manipulation unit 100 deviates from a linear movement along the media rail 180, performs a reversing movement, and the like, during which the pickup 142 is no longer in contact with the media rail 180.

[0120] Optionally, the receiving manipulation unit 100 can also be designed entirely without a receiver 142 and can be operated exclusively autonomously with a power supply on board the receiving manipulation unit 100.

[0121] In this example, the receiving manipulation unit 100 is designed for the horizontal and vertical movement of a workpiece (not shown), which is intended to be movable over a floor 500. The manipulation unit 100 has a support frame 120 with, for example, four support columns 126 and a workpiece holder 130 attached to the support frame 120.

[0122] The workpiece holder 130 in the form of a hanger hangs from the top of the support frame 120 into the interior volume 102 of the manipulation unit 100 and comprises, for example, two bracket-shaped elements arranged 400 consecutively in the longitudinal direction, each of which has inwardly projecting shelves 132. The bracket-shaped elements are connected to an inner frame 131, wherein the connection to the inner frame 131 can be detachable, for example, as a flange connection.

[0123] The workpiece holder 130 rests against the support columns 126 with a guide device 136. The guide device 136 is designed here in the form of pairs of guide rollers 137 pointing in different horizontal directions, so that a guide roller 137 rests against an outer surface of each support column 126. In this way, the suspension is advantageously protected against vibrations in horizontal spatial directions. The manipulation unit 100 has an adjustment mechanism 134 on its upper side for vertically moving the workpiece holder 130 transversely to a longitudinal direction 400, using a drive. The drive can, for example, raise and / or lower the workpiece holder 130 using chains and / or toothed belts and / or straps and the like, so that the workpiece holder 130 can preferably move vertically upwards and / or downwards. The guide rollers 137 of the guide device 136 roll on the support columns 126.As a result, any oscillating and / or pendulum movement of the workpiece holder 130 during starting, driving, braking, and / or cornering of the manipulation unit 100 can be effectively reduced, in particular minimized. The guide rollers 137 are arranged at the corners of the inner frame 131, to which the workpiece holder 130 is connected. In this exemplary embodiment, two guide rollers 137 are arranged at a corner on each support column 126 and are supported on different surfaces of the respective support column 126.

[0124] The movement of the workpiece holder 130 in the vertical direction 404 is indicated by a double arrow.

[0125] Instead of a workpiece holder 130 with such a guide device 136, a workpiece holder with a height-adjustable scissor lifting hanger can alternatively be used.

[0126] Furthermore, at least one energy storage device (not shown), such as a rechargeable battery or a supercapacitor, can be arranged on the top side of the manipulation unit 100.

[0127] The system-side media rail 180 can be used for data transmission and, if necessary, serve as a power supply during linear operation of the manipulation unit 100 when the pickup 142 is in contact with the media rail 180. In a turning area or for offset travel or travel transverse to the longitudinal direction 400, the at least one energy storage device can be used, since the pickup 142 is then not in contact with the media rail 180.

[0128] The workpiece 700 in the workpiece holder is always arranged below the top of the manipulation unit 100. The tool holder 130 can be hook-shaped, so that shelves 132 are provided on vertical legs for receiving the workpiece, on which the workpiece can be placed and optionally secured.

[0129] The workpiece can in particular be a vehicle body or parts of a vehicle body or attachments to a vehicle body.

[0130] Wheels 110 are arranged on each support column 126, each forming a wheel group per support column 126 in this example. Each wheel group comprises two wheels 110 in the form of rollers. The wheel group as a whole is rotatable about a vertical axis. In particular, rotation can occur in an angular range between 0° and 90° about the vertical axis. With a rotation of 90° instead of 360°, it is advantageously possible to move the manipulation unit 100 in all directions, while simultaneously allowing easy cable routing, e.g., for transmitting power and / or data, from the support column 126 to the wheel group.

[0131] In a modified embodiment, at least one wheel 110 or roller has a friction drive and / or a friction brake, wherein a friction element is arranged adjacent to the wheel 110 or roller and drives and / or brakes it via friction on its outer circumference.

[0132] In an alternative embodiment not shown, at least one wheel 110 may be configured as an omnidirectional wheel and / or an omnidirectional wheel.

[0133] The support frame 120 is open on several sides and has a side opening 122 on all four sides for the entry and / or exit of a separate manipulation unit (not shown) as well as a bottom opening 124 towards the floor 500. A workpiece placed in the tool holder 130 is advantageously accessible from all sides.

[0134] The transport motor can be controlled, for example, by radio remote control, or alternatively with a programmable drive. The manipulation unit 100 has an adjustment mechanism 134 for moving the workpiece in the support frame 120. Separate drives 138, 114 can be arranged on the support frame 120 for raising and / or lowering the workpiece holder 130 and for driving at least one of the wheels 110. Optionally, a common drive can be provided for a vertical and a linear movement or even a tilting movement of the workpiece in the support frame 120.

[0135] Several, in particular all, wheels 110 can each have at least one electric motor, in particular a wheel hub motor, as a drive 114. In particular, there can be one electric motor per wheel or wheel group of each support column 126 for driving the wheel 110 and for rotating the wheel 110 about the vertical axis. Optionally, at least one wheel 110 can be driven and / or braked by means of a friction drive and / or a friction brake, in which a friction element engages the outer periphery and drives and / or brakes the wheel 110 by means of friction.

[0136] The multiple electric motors can be synchronized. Alternatively, instead of individual electric motors, a central electric motor with power transmission via drive shafts can be provided. Alternatively, a separate electric motor can be provided for driving a wheel 110 and for rotating the wheel 110 about the vertical axis. At least one power storage device, in particular a rechargeable battery, and / or one or more supercapacitors can be provided per manipulation unit 100.

[0137] Optionally, each manipulation unit 100 can have its own computer unit (not shown) via which sensor data can be evaluated and / or communication with a central computer, command input and output to actuating units such as the workpiece holder 130, hoist, wheel motors, as well as a calculation / recalculation of trajectories along which the manipulation unit 100 is to move. Likewise, a travel speed, acceleration behavior, and / or deceleration behavior of the manipulation unit 100 can be calculated and monitored depending on the workpiece to be transported and / or the energy content of the power storage device, for example, the travel speed, acceleration behavior, and deceleration behavior depend on the weight or dimensions of the workpiece and / or the energy content of the power storage device.The workpiece holder 130 is designed to move the workpiece 700 arranged therein by at least one degree of freedom, in particular to lift and / or lower and / or tilt and / or rotate.

[0138] An operator (not shown) or a tool can stand and work on the floor 500 next to or inside the manipulation unit 100. Optionally, the manipulation unit 100 can also have a work platform above the floor 500. In this case, a workpiece can be processed in a suitable position depending on the set height or tilt of the workpiece holder. Simultaneous accessibility on two different levels is optionally possible.

[0139] One or more sensors are arranged on the support frame 120 and configured to provide a control system with a position, a speed, an orientation and / or a distance of the manipulation unit 100 and / or at least one other manipulation unit 100, 200, 300.

[0140] Advantageously, an LCD screen (not shown) can be arranged on the support frame 120, serving as a human-machine interface. Operators can obtain real-time monitoring of the workpiece 700 in the manipulation unit 100 through the information displayed there.

[0141] Furthermore, lighting elements, in particular LEDs, can be mounted on the support frame 120. These can illuminate processes within and / or in the immediate vicinity of the support frame 120, so that the need for stationary lights outside the support frame 120 is at least reduced.

[0142] Figure 3 shows a side view of a receiving manipulation unit 100 according to an embodiment of the invention, which is equipped on its support columns 126 with drive motors 115 for rotating a wheel group with rollers or wheels 110. In this view, the transverse direction 402 (Figures 1, 2) is directed perpendicular to the plane of the drawing. The manipulation unit 100 is shown without a pickup on the top. In this embodiment, two vertical drives 115 are arranged on each support column 126, each having a gear on its top side, which meshes with a gear 116 of the support column 126 when the wheel group is to be rotated. The rollers or wheels 110 themselves have a drive 114, in particular in the form of a wheel hub motor, for moving the manipulation unit 100.

[0143] The manipulation unit 100 has an adjustment mechanism 134 on its upper side for vertically moving the workpiece holder 130 transversely to a longitudinal direction 400, using a drive 138. The drive 138 can, for example, raise and / or lower the workpiece holder 130 using chains and / or toothed belts and / or straps and the like, so that the workpiece holder 130 can preferably move vertically upwards and / or downwards in the vertical direction 404. The guide rollers 137 of a guide device 136 roll on the support columns 126. This effectively reduces, in particular minimizes, any oscillating and / or pendulum movement of the workpiece holder 130 during starting, driving, braking, and / or cornering of the manipulation unit 100.

[0144] As in the previous exemplary embodiment, the guide rollers 137 are arranged at corners of the inner frame 131 to which the workpiece holder 130 is connected. In this exemplary embodiment, a pair of guide rollers 137 arranged one above the other in the vertical direction is provided approximately at the level of the inner frame 131 such that they bear against the same surface of the support column 126 of the support frame 120. Another pair of guide rollers 137 arranged one above the other in the vertical direction 404 bears against a different surface of the support column 126 of the support frame 120. The two pairs of guide rollers 137 are arranged at an angle, i.e., they bear against adjacent side surfaces of the support column 126.

[0145] Figure 4 shows a front view of a receiving manipulation unit 100 similar to the manipulation unit in Figure 3 according to an embodiment of the invention with wheel groups which are provided with a contact protection 112, for example in the form of a cover.

[0146] Advantageously, the contact protection 112 can also be designed as a touch-sensitive element, which, upon contact with the contact protection 112, can trigger a signal to stop the manipulation unit 100. On the top side of the support frame 120, a pickup 142 can be seen, which is in contact with a media rail 180. The media rail 180 can advantageously be used to transmit, for example, power and / or data. In this exemplary embodiment, the media rail 180 can be arranged horizontally, so that the pickup 142 can rest against the media rail 180 from below.

[0147] Here too, the guide device 136 can have pairs of guide rollers 137 arranged one above the other in the vertical direction 404, which each engage at an angle on different, adjacent surfaces of the support columns 126.

[0148] Figure 5 shows a perspective top view of the receiving manipulation unit 100 according to Figure 4 with a pickup 142 in contact with an external media rail 180. The media rail 180 is only shown in sections. Figure 6 shows a front view of the pickup 142 according to Figure 5 in contact with the external media rail 180. Figure 7 shows a side view of the pickup 142 according to Figure 5 in contact with the external media rail 180.

[0149] The pickup 142 is aligned horizontally and is guided along the media rail 180 by rollers 143. The pickup 142 engages the media rail 180 from below. A bracket 146 extends between the rollers 143, on which flat coils 148 are arranged side by side. These serve for inductive current transmission from the media rail 180 to the manipulation unit 100.

[0150] The holder 146 with the rollers 143 is pressed against the media rail 180 by a scissor device 144. The scissor device 144 can ensure that, in the operating state, the minimum possible distance can be maintained between the media rail 180 and the coils 148. The scissor device 144 can be moved up and down in the vertical direction 404 by an electric drive. If necessary, for example in the event of a power failure, the scissor device 144 can be manually operated, in particular lowered. Figure 8 shows a perspective top view of a receiving manipulation unit 100 according to an embodiment of the invention in the form of a manipulation unit in the manner of Figure 5, without the pickup 142 for the sake of clarity. Figure 9 shows a perspective top view of a detail of the receiving manipulation unit 100 according to Figure 8 with the adjustment mechanism 134 for a workpiece holder 130.

[0151] The adjustment mechanism 134 has a common shaft 139, at each end of which a pair of rollers (not further designated) is arranged for winding or unwinding four parallel flexible elements 140, for example in the form of belts, cables, toothed belts, rigid chains, and the like, by rotation. These flexible elements 140 are guided over deflection rollers and are connected in pairs to the workpiece holder 130. Two drives 138 are arranged at both ends of the common shaft 139. A circumferential cable duct 150 can be seen on the top side of the support frame 120.

[0152] Optionally, an upper part of the support frame 120 can be detachably connected to the support columns 126, which simplifies transport and storage.

[0153] Figure 10 shows a perspective view of a detail of a wheel group of a receiving manipulation unit 100 according to an embodiment of the invention with two vertically arranged drives 155 for rotating the wheel group about the axis of the support column 126. The wheel group has two parallel wheels 110, which can be rotated by a drive 114, in particular a wheel hub motor. The two drives 115, for example electric motors, arranged vertically on either side of the wheels 110, have unspecified gears on their upper end faces, which mesh with a gear 116 when the wheel group is to be rotated. The drives 115 operate, in particular, synchronously with one another.

[0154] Because two drives 115 are present, they can be designed smaller overall than if only one drive 115 were present, so that the entire wheel group with drives 114, 115 can be built relatively small. Figure 11 shows a perspective view of a detail of a wheel group on a support column 126 of a receiving manipulation unit 100 with a contact guard 112 according to an embodiment of the invention. In this embodiment, the contact guard 112 is designed as a solid cover. Alternatively, the cover can be designed as a grid or net. This allows ventilation of the drives of the wheel group. Alternatively, the wheel group can be open and monitored by sensors, in particular LIDAR sensors. This is particularly advantageous for environmental monitoring in order to avoid collisions when the manipulation unit 100 corners or performs a 180° U-turn.

[0155] The touch guard 112 can have at least one sensor 113, such as a microswitch and / or a photocell, to decelerate the manipulation unit 100 if a collision is imminent. Optionally, the touch guard 112 can also be designed as a touch-sensitive element that can trigger a signal to stop the manipulation unit 100 upon contact with the touch guard 112.

[0156] Figure 12 shows a front view of a detail of a guide device 130 with two guide rollers 137 arranged one above the other of a receiving manipulation unit 100 according to an embodiment of the invention in the manner of Figures 3 and 4. Figure 13 shows a perspective bottom view of a detail of the guide device 136 according to Figure 12 with two guide rollers 137 arranged one above the other. Instead of guide rollers 137, sliding elements with sliding surfaces can also be provided.

[0157] The left pair of guide rollers 137 arranged one above the other in the vertical direction 404 in Figures 12 and 13 rests against one side surface of the support column 126, while the right pair of guide rollers 137 arranged one above the other in the vertical direction 404 in Figures 12 and 13 rests against another side surface of the support column 126. In this example, the pairs of guide rollers 137 are offset from each other by 90°.

[0158] The guide rollers 137 are arranged on an inner frame 131 of the support frame 120 and protrude above and below the inner frame 131. This arrangement allows for particularly stable guidance and positioning of the tool holder (not shown), which is connected to the inner frame 131. Figure 14 shows a side view of a pick-up manipulation unit 200 according to an embodiment of the invention. A workpiece (not shown) can be placed on the upper side 210 of the manipulation unit 200. For this purpose, a suitable workpiece holder can also be provided, on which the workpiece is secured. A drive 236 (not shown) is provided for driving at least one of the wheels 212. This can be a separate electric motor, in particular a wheel hub motor, or a central electric motor, as described in Figure 1.One or more sensors are arranged on the manipulation unit 200 and configured to provide a control system with a position, a speed, an orientation and / or a distance of the manipulation unit 200 and / or at least one other manipulation unit 100, 200, 300.

[0159] Figure 15 shows a side view of a pick-up manipulation unit 300 with a lifting function according to an embodiment of the invention. A workpiece (not shown) can be placed on the top side 310 of the manipulation unit 300. For this purpose, a suitable workpiece holder can also be provided, on which the workpiece is secured. The manipulation unit 300 has a lifting mechanism 328, for example a lifting scissors, with which the workpiece can be moved in a vertical direction if necessary. A drive 336 (not visible) is provided for driving at least one of the wheels 312. This can be a separate electric motor, in particular a wheel hub motor, or a central electric motor, as described in Figure 1. For the vertical movement of the lifting mechanism 328, a separate drive or a drive 336 common to the wheels 312 can be provided.

[0160] One or more sensors (not shown) are arranged on the manipulation unit 300 and configured to provide a control system with a position, a speed, an orientation, and / or a distance of the manipulation unit 300 and / or at least one other manipulation unit 100, 200, 300. Each manipulation unit 100, 200, 300 (Figures 1 to 9) is assigned a control system, which is configured to coordinate a movement of the manipulation unit 100, 200, 300 with movements of other manipulation units 100, 200, 300 on the floor 500.The movement of the manipulation units 100, 200, 300 can be sequential, for example, several receiving manipulation units 100 and / or two or more manipulation units 100, 200, 300 spaced one behind the other, following a rectilinear and / or curved and / or serpentine path on the floor 500, wherein the control system moves the manipulation units 100, 200, 300 continuously or discretely. Optionally, the manipulation units 100, 200, 300 can, in principle, also move freely, i.e., without following a path.

[0161] The pick-up manipulation units 200, 300 are used in particular for transporting workpieces and / or components and not for moving the pick-up manipulation unit 100.

[0162] Figures 16 to 20 show manipulation units 100, 200, 300 in different states in a manufacturing process of workpieces 700, in particular in a manufacturing process of vehicle bodies, alone or in interaction with one another.

[0163] Figure 16 shows a side view of a receiving manipulation unit 100 according to Figure 1 with a workpiece 700 in the form of a vehicle body 710 in a production step in which the workpiece 700 is received in the workpiece holder 130. The workpiece holder 130 is lowered and holds the workpiece 700 in a position close to the ground in the interior 102 of the support frame 120. The workpiece 700 can be conveniently machined from the ground. The figure shows that the workpiece holder 130 can be connected to the inner frame 131 by a detachable connection 129, for example a flange connection. Figure 17 shows a front view of the receiving manipulation unit 100 with the workpiece 700 in a raised position in a further production step in which the workpiece holder 130 is raised and holds the workpiece 700 in a position away from the ground in the interior 102 of the support frame 120. The underside of the workpiece 700 can be easily machined from the floor 500.Optionally, a work platform (not shown) can be arranged on the support frame 120 so that the workpiece 700 can be machined from the floor 500 and from the work platform.

[0164] Figure 18 shows a front view of the receiving manipulation unit 100 with the workpiece 700710 in a raised position in the support frame 120 in a further manufacturing step with a receivable manipulation unit 200 at least partially received by the receiving manipulation unit 100.

[0165] For example, the workpiece 700 can be moved out of the interior volume 102 of the receiving manipulation unit 100 with the pick-up manipulation unit 200. For this purpose, the pick-up manipulation unit 200 can be retracted through a side opening 122 in the support frame 120, or the receiving manipulation unit 100 is placed over the pick-up manipulation unit 200, or both manipulation units 100, 200 can move into each other.

[0166] The workpiece 700 is transferred to the pick-up manipulation unit 200 by lowering the workpiece holder 130 and placing the workpiece 700 on the manipulation unit 200. The manipulation units 100, 200 are then moved apart by moving one or both of them accordingly. The pick-up manipulation unit 200 can be removed through the same side opening 122, or through the opposite side opening 122, or through a side opening 122 perpendicular to it. Instead of the pick-up manipulation unit 200, a pick-up manipulation unit 300 (Figure 15) equipped with a vertical adjustment mechanism 328 can also be used. In this case, the transfer can be effected by moving one of the two manipulation units 100, 300 or both manipulation units 100, 300.Figure 19 shows a front view of a receiving manipulation unit 100 according to Figure 1 with the workpiece 700 in the form of a body 710 in a raised position in the support frame 120 in a further production step with a receiving manipulation unit 350.

[0167] For example, the workpiece 700 or other workpieces can be moved into the interior volume 102 of the receiving manipulation unit 100 or out of the interior volume 102 using the stationary, pick-up manipulation unit 350 in the form of a lifting platform. The pick-up manipulation unit 350 in the form of a lifting platform has a lifting mechanism 358. Alternatively or optionally, a conveyor belt and / or a roller conveyor unit can be provided to the pick-up manipulation unit 350 in the form of a lifting platform.

[0168] The receiving manipulation unit 100 can be placed above the manipulation unit 350 and the workpiece located thereon can be moved under the receiving manipulation unit 100 and lifted in the vertical direction 404 towards the workpiece 700 in the receiving manipulation unit 100.

[0169] Alternatively, the workpiece 700 in the manipulation unit 100 can be placed onto the lifting mechanism 358 of the pick-up manipulation unit 350 in the form of a lifting platform by lowering the workpiece holder 130. Subsequently, the manipulation unit 100 and the pick-up manipulation unit 350 in the form of a lifting platform are moved apart by moving one or both of them accordingly.

[0170] Figure 20 shows a perspective top view of a receiving manipulation unit 100 according to Figure 1 with a workpiece 700 in the form of a body 710 in a lowered position in the support frame 120 during a production step. The receiving manipulation unit 100 has on its upper side an adjustment mechanism 134 for vertically moving the workpiece holder 130 transversely to a longitudinal direction 400 with a drive 138, which can raise and lower the workpiece holder 130, for example, using chains and / or toothed belts and / or straps. A common drive can optionally be provided. Sensors 160 are arranged on the support frame 120 and configured to provide a control system with a position, a speed, an orientation, and / or a distance of the manipulation unit 100 and / or at least one other manipulation unit 100, 200, 300. The sensors 160 can, for example, comprise LIDAR, radar, and the like.

[0171] An antenna (not shown in more detail) is arranged on the rear support column 126 of the support frame 120, which can, for example, receive control signals and transmit current data to a control system. It can also be provided that the various manipulation units 100, 200, 300 communicate with each other.

[0172] The position of a door 720 is indicated on the body 710, which can be disassembled in an earlier production step and reassembled onto the body 710 in a later production step. This can be done manually or mechanically, in particular by means of robots that disassemble the door 720 and transfer the disassembled part of the workpiece 700, for example, to a pick-up manipulation unit.

[0173] The door 720 can conveniently be machined separately from the body 710 between the two manufacturing steps, since the machining is less complex than the machining of the body 710. The doors 720 can, for example, be provided with windows, panels, handles, seals, electrical equipment and the like before the doors 720 are reunited with the body 710 in a later manufacturing step.

[0174] Figure 21 shows a front view of a receiving manipulation unit 100 according to a further embodiment of the invention with a detachable upper part 121 of the support frame 120. A detachable connection 128, for example a flange connection, is arranged between the upper part 121 and the support columns 126. This simplifies the transport of the manipulation unit 100 from a manufacturer to a site of use. Advantageously, the workpiece holder 130 can be designed so that it can be detachable from the upper part 121 of the support frame 120. For this purpose, the workpiece holder 130 can be connected to the inner frame 131 by a detachable connection 129. This can be designed, for example, as a flange connection. Furthermore, the provision of an upper part 121 with drives and the like as a standard design is possible, while the support columns 126 can be designed as required and, for example, can have a length adapted to a workpiece to be machined.

[0175] Figure 22 shows a block diagram of process stations 1000, 1002, 1004, 1010, 1012, 1020, 1030, 1032, 1040, 1050, 1060, 1070 and component warehouses 1001, 1011 in a plant 4000 of a vehicle production.

[0176] Figure 23 shows a flow chart of process steps S1000, S1002, S1004, S1010, S1012, S1020, S1030, S1032, S1040, S1050, S1060, S1070 taking place in a vehicle production according to Figure 22.

[0177] The system 4000 comprises several transfer areas 1, 2, 3, 4, 5, 6, 7, 8, 9, at which a transfer of a workpiece 700 or one or more parts of a workpiece 700 from pick-up manipulation units 200, 300 to pick-up manipulation units 100 or vice versa takes place.

[0178] The parts of a workpiece can be parts of the body 710, for example doors 720 and the like, or one or more add-on parts, for example underbody, axles and the like.

[0179] The transfer areas 1, 2, 3, 4, 5, 6, 7, 8, 9 can be fixed positions in the system 4000 or free sections between process stations 1000, 1002, 1004,

[0180] 1010, 1012, 1020, 1030, 1032, 1040, 1050, 1060, 1070 and component bearings 1001,

[0181] 1011.

[0182] For example, workpieces 700 from a buffer of painted car bodies 710 are delivered from a conveyor belt to the process station 1000. The transfer station 1 serves to transfer parts, in particular doors 720, of the workpiece 700, in particular of the car body 710, at the process station 1000, from the conveyor belt to a pick-up manipulation unit 200. The conveyor belt reaches the process station 1000 at a level raised relative to the floor 500. Doors 720 are removed from the car body 710 and passed to a level, in particular the floor 500, below the raised level and transferred to a pick-up manipulation unit 200 for the doors 720. The car body 710 initially travels on the raised level and then moves to the lower level, in particular the floor 500, where it is transferred to a pick-up manipulation unit 200.

[0183] In step S1000, the doors 720 are expediently disassembled by robots and, for each workpiece 700, transferred within the reach of the robot to a separate manipulation unit 200 with a holder for the parts of the workpiece 700. The body 710 itself is transferred as a workpiece 700 to another pick-up manipulation unit 200 on the lower level.

[0184] To change levels, the robots can be arranged on a hoist or on vertical rails.

[0185] The workpiece 700 is delivered in the manipulation unit 200 to the process station 1002. There, in step S1002, for example, spring supports for the tailgate and hood, vehicle identification numbers, and wiring harnesses, insulation, connectors, air ducts, carpets, airbags, roof lining, sun visors, seat belts, handles, interior lighting, and / or dashboard are mounted. The corresponding components are provided from the component warehouse 1001.

[0186] In the following process station 1004, in step S1004, for example, the windows (front, rear, roof) are glued in, windshield wiper motors, panels are mounted, the engine compartment is prepared with insulation, the trunk is fitted, door seals, roof lining, spoilers, tailgate and / or taillights are attached.

[0187] The workpiece 700 is moved to the process station 1010 by the pick-up manipulation unit 200. At the transfer area 2 in front of the process station 1010, the body 710 is transferred from the pick-up manipulation unit 200 to a receiving manipulation unit 100. At least one further pick-up manipulation unit 200 or 300, in particular with a lifting function and / or longitudinal conveying capability, can be interposed. In step 1010, the heat insulation, brakes, fuel lines, tank (fuel tank, urea tank), electric drive wiring, filler neck, wire pull or cable for the handbrake, brake line, and / or exhaust lines are attached and installed. Components for this are provided from the component warehouse 1011.

[0188] At transfer area 3, a workpiece carrier is delivered to a floor conveyor line, for example, a chain conveyor, which is connected to the body 710 by the receiving manipulation unit 100. In process station 1012, in step S1012, the underbody, drive train, axles, engine cover tunnel, and transmission cover tunnel are combined with the body. Process station 1012 is also known as the marriage station. The components are provided from the component warehouse 1011.

[0189] As an alternative to a floor conveyor line, the workpiece carrier can also be conveyed through the stations of the wedding process station 1012 using a manipulation unit, which is designed, for example, as a driverless transport vehicle.

[0190] In process station 1012, the receiving manipulation unit 100 is positioned as precisely as possible over the workpiece carrier. The body 710 is then joined to the underbody and other add-on parts, such as axles, drivetrain, etc., using a scissor lift table. After joining, the parts are transported to a first screw-fitting station. The manipulation unit 100 and the conveyor system are moved precisely synchronously with the workpiece carrier. Minor deviations can be compensated for by appropriate floating and compensating mechanisms.

[0191] A conveyor belt is also integrated into the screwing station and all subsequent stations to move the workpiece carrier from station to station. The receiving manipulation unit 100 with the body 710 moves independently and always in a synchronized manner from station to station.

[0192] In the additional screwing stations of process station 1012, the aforementioned add-on parts are now automatically or manually screwed to the body 710. The screwing can be performed using screwing tools mounted on linear units, robots, or other handling devices. The screwing tools are positioned automatically or manually in all three spatial directions. Several screws are tightened at different positions with one screwing tool. The screws can be stored in a magazine on the tool head.

[0193] The magazine can also be loaded with screws automatically or manually. The screws are transferred to the magazine via telescopic side feed hoppers. The feed hoppers can be filled manually or by robot and camera system.

[0194] All stations of process station 1012 can be secured against entry by a protective fence and light grid. The receiving manipulation unit 100 of the body 710 and the conveyor system with the workpiece carrier can safely pass through these areas. All stationary systems can be removed from the movement area to move the receiving manipulation unit 100 in or out. The movement area of ​​the receiving manipulation unit 100 can only be crossed when the receiving manipulation unit 100 is at a standstill.

[0195] Depending on the location and accessibility of the screw points in the engine compartment of the workpiece 700, the screwing from above is carried out semi-automatically or fully automatically, for example by means of manual feeding of the tools and automatic screwing.

[0196] A work platform for operating personnel can be provided in process station 1010. The inner area of ​​the work platform can be separated from the outer area by an access staircase and accessible via a movable bridge.

[0197] Following the automatic and manual screwing stations, a rework station follows. Here, missed screw connections can be completed or incomplete screw connections can be redone.

[0198] Once the add-on parts are completely bolted to the body 710, the workpiece carrier can be lowered into a decoupling station of the process station 1012. The complete vehicle is then conveyed from the receiving manipulation unit 100 to the next process station 1020. The empty workpiece carrier is transported via the conveyor system to a receiving manipulation unit 200 or 300 and picked up.

[0199] In process station 1020, in step S1020, the fan, ABS wiring, exhaust, silencer, heat shields, underbody paneling, brake line-wheel house connection, sill cover, wheel house cover, hydraulic and electrical connections in the engine compartment and / or various containers are filled with corresponding fluids and / or fuel is filled.

[0200] The filled and loaded workpiece 700 is transferred from the receiving manipulation unit 100 to a pick-up manipulation unit 200 at the transfer area 4. In process station 1030, in step S1030, the connection of the steering rod to the steering gear, the adjustment of the handbrake lever, the attachment of the inner tunnel and dashboard trim, the installation of the bumper, headlights, various electrical connections, wheel assembly, spare wheel cover, brake pedal testing, and the assembly of the seats take place.

[0201] In the further process station 1032, in step S1032, the doors 720 are mounted on the body 710 in the receiving manipulation unit 100. For this purpose, the doors are delivered using a pick-up manipulation unit 200 or 300, which functions as a door storage unit.

[0202] At transfer area 5, the workpiece 700 is transferred from the pick-up manipulation unit 200 to a floor platform, for example, to adjust the doors 720 to the correct gap size and closing function. At the following transfer area 6, the workpiece 700 is transferred from the floor platform to a pick-up manipulation unit 200 or 300, with which the body 700 is moved to the process station 1040, where, in step S1040, various functional tests are performed on the windshield wipers, windshield washer system, battery, engine compartment, air filter, and electrical checks on the fully assembled vehicle. In transfer area 7, the workpiece 700 is transferred from the pick-up manipulation unit 200 or 300 to a floor platform, with which the fully assembled vehicle is transported as workpiece 700 to the process station 1050.In process station 1050, so-called end-of-line tests are performed, for which the workpiece is picked up by a receiving manipulation unit 100. Several parallel process lines are available in process station 1050, so that several workpieces 700 can be tested there in parallel. For example, in step S1050, the chassis geometry, the headlights, the driver assistance systems, and the braking system are tested and, if necessary, adjusted or calibrated. This can be done manually, semi-automatically, or fully automatically.

[0203] At the following transfer area 8, the workpiece 700 is transferred from the receiving manipulation unit 100 to a floor platform, wherein leak tests are carried out in the process station 1060 in step S1060.

[0204] In transfer area 9, the finished workpiece 700 is transferred from the floor platform to a floor conveyor belt. From there, the vehicles are transported to process station 1070. There, in step S1070, stickers, manuals, and documentation for the vehicle are deposited.

[0205] Depending on the desired number of workpieces 700, especially vehicles, to be completed per unit of time, the number of handling units 100, 200, 300 used in the production process can be easily adjusted without requiring any structural changes to a production hall. The equipment of the vehicles can also be easily adapted along the various process stations 1000, 1002, 1004, 1010, 1012, 1020, 1030, 1032, 1040, 1050, 1060, 1070 and component storage 1001, 1011 in system 4000. If changes to the transport routes are necessary, only the path traveled by the handling units 100, 200, 300 needs to be adjusted. Reference symbols

[0206] 1 transfer area

[0207] 2 Transfer area

[0208] 3 Transfer area

[0209] 4 Transfer area

[0210] 5 Transfer area

[0211] 6 Transfer area

[0212] 7 Transfer area

[0213] 8 Transfer area

[0214] 9 Transfer area

[0215] 100 receiving manipulation unit

[0216] 102 internal volume

[0217] 110 wheel

[0218] 112 Contact protection

[0219] 113 Sensor

[0220] 114 Drive wheel

[0221] 115 Drive rotation

[0222] 116 gear

[0223] 120 supporting frames

[0224] 121 Top

[0225] 122 side opening

[0226] 124 floor opening

[0227] 126 Support column

[0228] 128 connection

[0229] 129 Connection

[0230] 130 Workpiece holder

[0231] 131 frames

[0232] 132 hooks

[0233] 134 Adjustment mechanism

[0234] 136 Guide device

[0235] 137 Leadership role

[0236] 138 drive

[0237] 139 Wave

[0238] 140 bending element

[0239] 141 pulley

[0240] 142 customers

[0241] 143 Rollers 44 Scissors 46 Bracket 48 Reel 50 Cable duct 60 Sensor 80 Media rail 00 Removable manipulation unit 10 Top 12 Wheel 36 Drive 00 Removable manipulation unit 10 Top 12 Wheel 28 Lifting mechanism 36 Drive 50 Lifting platform 58 Lifting mechanism 00 Longitudinal direction 02 Transverse direction 04 Vertical direction

[0242] 500 floor

[0243] 700 workpiece

[0244] 710 body

[0245] 720 vehicle door

[0246] 1000 process stations

[0247] 1001 component warehouses

[0248] 1002 Process station

[0249] 1004 Process station

[0250] 1010 Process station

[0251] 1011 Component warehouse

[0252] 1012 Process station

[0253] 1020 Process station

[0254] 1030 Process station

[0255] 1032 Process station

[0256] 1040 Process station

[0257] 1050 Process station

[0258] 1060 Process station 1070 Process station

[0259] 4000 system

[0260] S1000 step

[0261] S1002 Step

[0262] S1004 Step

[0263] S1010 Step

[0264] S1012 Step

[0265] S1020 Step

[0266] S1030 Step

[0267] S1032 Step

[0268] S1040 Step

[0269] S1050 Step

[0270] S1060 Step

[0271] S1070 Step

Claims

Claims 1. Manipulation unit (100) for horizontal and / or vertical movement of a workpiece (700), which is designed in particular as a driverless transport vehicle which is intended to be moved over a floor (500), with wheels (110), a support frame (120), a workpiece holder (130) attached to the support frame (120), wherein the support frame (120) is open on several sides and has a side opening (122) for entry and / or exit of a separate manipulation unit (200, 300) as well as a floor opening (124) towards the floor (500).

2. Manipulation unit according to claim 1, wherein the workpiece holder (130) is configured to move the workpiece (700) arranged therein by at least one degree of freedom, in particular to lift and / or lower and / or tilt and / or rotate it, in particular wherein an adjustment mechanism (134) for moving the workpiece holder (130) is provided, which has a common shaft (139) for at least two bending elements (140), in particular wherein the bending elements (140) are connected to the workpiece holder (130) via deflection rollers.

3. Manipulation unit according to one of the preceding claims, wherein the workpiece holder (130) is designed in the form of a suspension that hangs from the top of the support frame (120) into an inner volume (102) of the manipulation unit (100), wherein the workpiece holder (130) is guided on at least one support column (126) by a guide device (136), in particular wherein the guide device (136) has at least two guide rollers (136, 137) or sliding surfaces which are assigned to a support column (126) and which bear against two different surfaces of the support column (126) of the support frame (120), in particular wherein the guide device (136) has at least two pairs of guide rollers (137) or sliding surfaces,of which two guide rollers (137) or sliding surfaces per pair are arranged one above the other in a vertical direction and bear against the same surface of a support column (126) of the support frame (120), and one of the pairs of guide rollers (137) or sliding surfaces bears against two different surfaces of a support column (126) of the support frame (120).

4. Manipulation unit according to one of the preceding claims, comprising at least one sensor (160) arranged on the support frame (120) and configured to provide a control system with a position, speed, orientation and / or distance of at least one other manipulation unit (200, 300), in particular wherein the at least one sensor (160) is configured to monitor the environment when the manipulation unit (100) turns, deviates from a straight-line movement or drives around curves.

5. System (400) with a group of manipulation units (100, 200, 300), comprising at least one transfer area (1, 2, 3, 4, 5, 6, 7, 8, 9) at which a workpiece (700) or one or more parts (720) of the workpiece (700) is transferred from a first manipulation unit (200, 300) to a second manipulation unit (100), wherein the first manipulation unit (200, 300) is designed as a receiving manipulation unit (200, 300), wherein the second manipulation unit (100) is designed as a receiving manipulation unit (100) with an internal volume (102), wherein the receiving manipulation unit (200, 300) together with the workpiece (700) or a part (720) of a workpiece (700) is at least partially contained within the internal volume (102) is capable of being received by the receiving manipulation unit (100).

6. System according to claim 5, wherein a receiving manipulation unit (100) which receives a receiving manipulation unit (200, 300) at least partially in its internal volume (102) is designed according to one of claims 1 to 3.

7. System according to claim 5 or 6, wherein at least one of the manipulation units (200, 300), in particular a pick-up manipulation unit (200, 300), is designed as a driverless transport vehicle or as a stationary lifting platform (350) and / or as a conveyor belt and / or as a roller conveyor unit.

8. System according to one of claims 5 to 7, wherein at least one transfer area (1, 2, 3, 4, 5, 6, 7, 8, 9) assembly of workpieces (700) takes place which are arranged on at least two manipulation units (100, 200, 300).

9. System according to one of claims 5 to 8, wherein the receiving manipulation unit (100) has an opening (122, 124) for inserting and / or extending the receiving manipulation unit (200, 300), in particular with a workpiece (700) arranged or arrangable thereon.

10. System according to one of claims 5 to 9, wherein the receiving and the receiving manipulation units (100, 200, 300) are arranged at least partially on a common driving plane.

11. System according to one of claims 5 to 10, wherein the receiving manipulation unit (100) has a workpiece holder (130) which projects beyond the receiving manipulation unit (200, 300) and the workpiece (700) in order to be able to take over the workpiece (700) and hold it suspended.

12. System according to claim 11, wherein the workpiece holder (130) is designed in the form of a suspension which hangs from the top of the support frame (120) into an inner volume (102) of the manipulation unit (100), wherein the workpiece holder (130) is guided on at least one support column (126) by a guide device (136), in particular wherein an adjustment mechanism (134) for moving the workpiece holder (130) is provided, which has a common shaft (139) for at least two bending elements (140), in particular wherein the bending elements (140) are connected to the workpiece holder (130) via deflection rollers.

13. System according to claim 12, wherein the guide device (136) has at least two guide rollers (136, 137) or sliding surfaces which are assigned to a support column (126) and which bear against two different surfaces of the support column (126) of the support frame (120), in particular wherein the guide device (136) has at least two pairs of guide rollers (137) or sliding surfaces, of which two guide rollers (137) or sliding surfaces per pair are arranged one above the other in a vertical direction and bear against the same surface of a support column (126) of the support frame (120) and each pair of guide rollers (137) or sliding surfaces bears against two different surfaces of a support column (126) of the support frame (120).

14. System according to one of claims 5 to 13, wherein the receiving manipulation unit (100) has at least one opening (124) towards the bottom (500) and / or is open towards the bottom (500) so that the workpiece (700) located in the manipulation unit (100) is accessible from the bottom (500).

15. System according to one of claims 5 to 14, wherein the receiving manipulation unit (100) has at least three, in particular four, support columns (126) which can be rolled on the floor (500) with one or more wheels (110) and between which a workpiece holder (130) is arranged, in particular wherein at least part of the wheels (110) have a contact guard (112).

16. System according to one of claims 5 to 15, wherein the receiving manipulation unit (100) has an adjustment mechanism (134) for moving a workpiece (700) relative to a receiving manipulation unit (200, 300).

17. System according to one of claims 5 to 16, wherein a receiving manipulation unit (200, 300) has an adjustment mechanism (324) for moving a workpiece (700) relative to a receiving manipulation unit (100).

18. Plant according to one of claims 5 to 17, wherein at least partially process stations (1000, 1002, 1004, 1010, 1020, 1030, 1040, 1050, 1060, 1070) are surrounded by walls which are at least temporarily open for receiving manipulation units (100).

19. System (400) with a plurality of manipulation units (100, 200, 300), wherein at least one of the manipulation units (100, 200) is designed as a driverless, lifting-function-less transport vehicle, in particular for receiving and transporting doors (720) and / or separate prefabricated workpieces for a body (710), and / or wherein at least one of the manipulation units (300) is designed as a driverless transport vehicle with a lifting function, in particular for receiving and transporting a body (710) and / or separate prefabricated workpieces for a body (710), and / or wherein at least one of the manipulation units (100, 200, 300) is designed as a driverless transport vehicle for horizontally and / or vertically moving a workpiece (700) which is intended to be movable over a floor (500), with wheels (110), a support frame (120), and a [missing information] attached to the support frame (120) attached workpiece holder (130),wherein the support frame (120) is open on several sides and has at least one side opening (122) for an entry and / or exit of a separate manipulation unit (200, 300) as well as a bottom opening (124) towards the ground (500).

20. Plant according to claim 19, wherein three types of manipulation units (100, 200, 300) each with several tasks represent the essential tasks of a total production, in particular a production of vehicles.

21. Manipulation unit for receiving parts of a workpiece (700), in particular for receiving doors (720) of a body (710) during a manufacturing process, with a holder that receives parts of the workpiece (700).

22. Manipulation unit according to claim 21, wherein the holder is configured to enable the intended movement of the parts of the workpiece (700), in particular wherein the holder enables the pivoting of doors (720) of a body (710).

23. Manipulation unit according to claim 21 or 22, for storing the parts of the workpiece (700), in particular for storing doors (720) of a body (710).

24. Dismantling device for dismantling parts of a workpiece (700), in particular for dismantling doors (720) of a body (710) during a manufacturing process of a vehicle, with a transfer area (1) for a workpiece (700), in particular body (710), from a transport device to a receiving manipulation unit (200, 300) for receiving the workpiece (700) and a receiving manipulation unit (200), in particular for receiving parts of the workpiece (700) on different levels.

25. Method for operating a plant (400), in particular according to one of claims 5 to 20, wherein two manipulation units (100, 200, 300) are moved relative to each other such that one manipulation unit (200, 300) as a receiving manipulation unit (200, 300) projects at least partially into the other manipulation unit (100) as a receiving manipulation unit (100), wherein in a further method step a workpiece (700) is transferred between the manipulation units (100, 200, 300).

26. Method according to claim 24, wherein at least one self-propelled transport vehicle or lifting platform (350) and / or a conveyor belt and / or a roller conveyor unit is used as manipulation units (200, 300).

27. Method according to claim 25 or 26, wherein the workpiece (700) is transferred from a receiving manipulation unit (200, 300) to a receiving manipulation unit (100) by moving at least one of the two manipulation units (100, 200, 300) such that the receiving manipulation unit (200, 300) is at least partially arranged in or under the receiving manipulation unit (100), in particular wherein the receiving manipulation unit (200, 300) moves into or under the receiving manipulation unit (100).

28. Method according to one of claims 25 to 27, wherein a manipulation unit (200, 300) moves a workpiece, in particular a subfloor, towards a lifting platform (350) and / or a conveyor belt and / or a roller conveyor unit and transfers the workpiece to the lifting platform (350) and / or the conveyor belt and / or the roller conveyor unit, in particular wherein a receiving manipulation unit (100) is moved over the lifting platform (350) such that the lifting platform (350) with the workpiece is at least partially received in an internal volume (102) of the receiving manipulation unit (100).

29. Method according to claim 28, wherein the workpiece, in particular an underbody, is transferred by means of the lifting platform (350) and / or the conveyor belt and / or the roller conveyor unit to the receiving manipulation unit (100) and a workpiece (700), in particular a body (710), arranged therein.

30. Method according to one of claims 28 to 29, wherein a workpiece (700), in particular a car body (710), is transferred in such a way that the receiving manipulation unit (100) moves over a receiving manipulation unit (200, 300), in particular wherein after a workpiece transfer the manipulation units (100, 200, 300) are moved apart.

31. Method according to one of claims 25 to 30, wherein a receptive manipulation unit (200, 300) enters a receiving manipulation unit (100) at one location and exits at another location, in particular at another side and / or at another time.

32. A method according to any one of claims 25 to 31, wherein a disassembly device, in particular according to claim 24, is used to disassemble parts of the workpiece (700), in particular doors (720) of the workpiece (700), in particular a body (710), in particular wherein, during the disassembly of the parts of the workpiece (700) and their transfer to a manipulation unit (100, 200, 300) and the transfer of the workpiece (700) to a further manipulation unit (100, 200, 300), a change of plane takes place between the parts of the workpiece (700) on their manipulation unit (100, 200, 300) and the workpiece (700) on its manipulation unit (100, 200, 300), in particular wherein the manipulation unit (200, 300) with the parts of the workpiece (700) is located below the plane on which the The manipulation unit (100) is located with the workpiece (700) and is moved.

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