Mobile handling device, transport system, and production system
Patent Information
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- ZIMMER GMBH
- Filing Date
- 2024-08-27
- Publication Date
- 2026-07-08
Smart Images
Figure EP2024073906_06032025_PF_FP_ABST
Abstract
Description
Mobile handling device, transport system and manufacturing system DESCRIPTION Technical area
[0001] The present invention relates to a mobile handling device, a transport system and a manufacturing system. Background of the invention
[0002] In the field of automated mass production, several machine tools are usually used to carry out various processing steps for the production of different workpieces in one or more production halls.
[0003] For example, it is advantageous not to store all the tools required for processing permanently on or in the machine tool, but to deliver them as needed, for example from a tool store or from another machine tool, so that one and the same tool can be made accessible to a large number of machine tools, which in turn reduces the number of tools as well as the required storage space for them.
[0004] In this context, driverless transport vehicles have recently been increasingly used to transport tools, workpieces or machine accessories in one or more production halls to a destination where they are needed, thus enabling a particularly lean layout of the production hall to be achieved.
[0005] This allows not only the sample tools to be transported between machine tools, but also the workpieces themselves to be transported further after completing a machining step on a first machine tool to a second one. By using automated guided vehicles, the direct route between said machine tools can be chosen, thus reducing downtimes and processing breaks.
[0006] In this way, the concept of a smart production hall can be implemented, which largely does not require human intervention. The driverless transport vehicles usually carry a handling device via which tools and / or workpieces can be handled.
[0007] For example, EP 3 746 262 A2 discloses such a mobile handling device with a driverless transport vehicle. Industrial robots are known. Such a structure is also known in the art as an AMR (Autonomous Mobile Robot).
[0008] Problems with such AMRs are that, as described above, they are operated as far as possible without human intervention and therefore cannot react or can only react inadequately to certain environmental conditions that a human operator would immediately recognize. Summary
[0009] An object of the present invention is therefore to provide an improved and, above all, safer possibility compared to the prior art for the flexible provision of components required in the field of automated production, in particular workpieces and / or tools.
[0010] To achieve this object, a mobile handling device according to claim 1, a transport system according to claim 20 and a manufacturing system according to claim 21 are provided.
[0011] The remaining dependent claims relate to preferred embodiments, which can be provided individually or in combination.
[0012] According to a first aspect of the invention, a mobile handling device, in particular for use in a manufacturing system, is provided, comprising an automated guided vehicle and a handling device. The transport vehicle can be moved on a base surface, for example, on the floor of a production hall. The handling device is attached to the transport vehicle and is configured to move or displace an object picked up by the transport vehicle, which object can be, in particular, a tool, a workpiece, or a workpiece pallet, relative to the transport vehicle.Furthermore, the mobile handling device comprises a movable housing device which is fastened to the transport vehicle and which, in a closed state, at least partially delimits an interior region in which the handling device, which is moved in a basic position, is at least largely arranged, and which is designed to move at least a first housing component of the housing device relative to the transport vehicle in order to transition to an open state and thereby to release access to a work area adjacent to the interior region, in particular in front of or next to the transport vehicle, through which access the handling device can move a picked-up object to be handled from the interior region into the work area.
[0013] The interior area is to be understood as an area which is at least partially delimited by an inner contour of the housing device and in which the handling device is at least partially, in particular completely, arranged in a basic position. In other words, the interior area corresponds to a type of protective area in which the handling device is located during travel movements of the transport vehicle, preferably completely, and is thus shielded from the environment of the mobile handling device.
[0014] The working area is defined as an area into which the handling device attached to the transport vehicle can be moved after access has been granted, and in which it can then perform handling tasks, such as picking up or placing down an object. The working area is, of course, relative to the mobile handling device and not fixed in relation to the floor space. In particular, it is located in front of or next to the transport vehicle.
[0015] Access is defined as any type of opening or connection between the interior and the work area through which parts of the handling equipment can be moved into the adjacent work area and back into the interior. When open, an imaginary access area of the released access lies between the interior and the adjacent work area.
[0016] When the housing device is closed, the working area and the interior area are separated from each other in such a way that the handling device cannot enter the working area and contaminants from the working area cannot enter the interior area.
[0017] In this way, a mobile handling device is provided with a type of protective device which can be moved into the open state when the handling device needs to interact with an environment of the mobile handling device, in order to allow the handling device access to said environment.
[0018] This offers a number of advantages when using the mobile handling device, especially as part of a manufacturing system in a production hall.
[0019] Firstly, the handling device and any handling objects carried by it can be protected from environmental contamination, such as dust, dirt particles, moisture, etc., during a movement of the transport vehicle by carrying out the movement with the housing device closed.
[0020] Shielding the interior during the process also prevents contamination of the hall floor in case the object being transported is itself contaminated, e.g., with cooling lubricant, oil, material chips, grinding dust, or the like.
[0021] Once the transport vehicle has been positioned at a destination, the housing device opens so that the handling device can perform tasks in the work area. The access can be designed so that it only has the dimensions necessary for moving into the work area, while the handling device continues to shield the handling device from the environment in other areas, e.g., on the rear side of the mobile handling device facing away from the work area. This can prevent, for example, malfunctions of the handling device and also reduce the risk of injury, since an operator or worker in the production hall is largely shielded from the moving handling device by the housing device.
[0022] In particular, the movement is carried out via one or more, preferably electric, drive units of the handling device, each of which can comprise a linear axis or a rotary axis, in order to implement translational or rotary movements relative to the transport vehicle. If a translational movement is to be implemented via a rotary axis, a corresponding transmission gear would be required.
[0023] Preferably, the mobile handling device comprises a sensor device, in particular as part of the handling device, which is configured to detect the position of a receiving location suitable for receiving a handling object.
[0024] Based on this, a control device of the mobile handling device, which is designed to control the transport vehicle and the handling device, can preferably control drives of the handling device in such a way that a handling object is picked up by the handling device from the receiving location or is placed in the receiving location.
[0025] Preferably, the mobile handling device further comprises an environmental monitoring device configured for environmental monitoring and, in particular, collision monitoring. Based on detected variables from the environmental monitoring device, the control device is preferably configured to control the transport vehicle and / or the handling device, for example, to prevent a collision.
[0026] The handling device can be configured to transfer handling objects to a stationary receiving device, so that after the handling object has been transported by a movement of the transport vehicle, the transported handling object can be transferred fully automatically to the receiving device (as its destination).
[0027] Accordingly, the handling device can also be configured to pick up handling objects and then transport them to their destination. For example, workpieces or tools can be picked up, transported, and placed back at their destination fully automatically, without the need for human intervention.
[0028] In addition to transfer and transport tasks, the mobile handling device can also be configured to perform processing steps on a workpiece. In this case, the handling device can be configured to operate a mounted tool (as a handling object). After moving the tool into the work area, the handling device can then be configured to perform processing on a workpiece in the work area, whereby the housing device also at least partially shields the workpiece from the surroundings.
[0029] In other words, the handling device in this case functions as a processing device.
[0030] Examples of operable tools include a welding tool or a cutting tool (milling cutter, drill, grinder).
[0031] Preferably, the mobile handling device additionally comprises a workpiece receiving or workpiece clamping device, which is also arranged in the interior, wherein the mobile handling device and the workpiece receiving or workpiece clamping device are adapted and configured to one another in such a way that the mobile handling device, when the housing device is in the closed state, can carry out machining operations on a workpiece received or clamped in the workpiece receiving or workpiece clamping device.
[0032] In a preferred embodiment, the inner region is essentially delimited by an upper side of the transport vehicle and an inner contour of the housing device in the closed state, wherein the handling device in its basic position is located in particular completely in the inner region.
[0033] This provides almost complete shielding from a closed environment where the handling device is located on top of the transport vehicle.
[0034] The housing device itself does not have to end at the level of the top of the transport vehicle, but can also completely or partially overlap with the side surfaces of the transport vehicle when closed.
[0035] The first housing component can be designed as a substantially rigid element or as a resilient, flexible element. In this case, the housing component can, for example, be rolled up around a rotational axis (like a roller shutter). Alternatively, the first housing component designed as a flexible element can also be simultaneously deformed during a translational movement (like a rolling door).
[0036] In a preferred embodiment, a drive device of the housing device, via which the first housing component can be moved relative to the transport vehicle to change between the closed and the open state, comprises a linear axis for the translational movement of the first housing component.
[0037] This allows a comparatively easy controllable opening of the housing device
[0038] In a preferred embodiment, the drive device is designed such that the first housing component can be moved translationally normally or parallel to a top side of the transport vehicle to change between the closed and the open state.
[0039] Alternatively, the drive device can also be designed in such a way that the first housing component can be rotated (or pivoted) relative to the transport vehicle to change between the closed and the open state. A rotation axis can be arbitrarily aligned so that
[0040] Alternatively, the drive device can also be designed such that the first housing component can be moved in a combined translational and rotational manner (or pivoted) relative to the transport vehicle in order to change between the closed and the open state.
[0041] The housing device can in principle comprise one or more housing components, the inner contours of which can act as a boundary for the interior area.
[0042] Preferably, a housing component of the housing device comprises at least one ceiling element or one side element or one floor element or is composed of several identical or different elements from the above group of ceiling, side or floor elements, which in this case are connected to one another.
[0043] A ceiling element is to be understood as an element of the housing device, the contour of which, in the closed state, represents at least part of an upper boundary of the interior area
[0044] A side element is to be understood as an element of the housing device, the contour of which, in the closed state, represents at least part of a lateral, in particular vertical, boundary of the interior area
[0045] A floor element is to be understood as an element of the housing device, the contour of which, in the closed state, represents at least part of an underside boundary of the interior area
[0046] In this way, the housing components can be assembled in almost any geometric configuration depending on the application.
[0047] In a preferred embodiment, the movable first Housing component at least one side element.
[0048] This releases access to one side of the mobile handling device, so that the handling device can move through the access at least into a lateral work area in order to take over tasks there, which is probably the most common application in a production hall with a horizontal floor area and devices installed on it.
[0049] In a preferred embodiment, the first housing component comprises at least one ceiling element and four side elements, which are each connected to one another.
[0050] In this way, a kind of hood shape can be provided which is, for example, vertically movable in order to transfer the housing device between the open and the closed state (cf. Fig. 2a).
[0051] In a preferred embodiment, the housing device comprises a second housing component, wherein the first housing component is movable relative to the transport vehicle and relative to the second housing component in order to change between the closed and the open state.
[0052] In this way, a housing device can be provided with at least two housing components, the inner contours of which, when closed, form the boundaries of the interior. The housing device is not limited to two housing components, but can comprise a plurality of additional housing components.
[0053] The second housing component can be immobile relative to the transport vehicle (i.e. fixed), but in other designs it can also be movable relative to the transport vehicle.
[0054] In order to enclose the interior together with the top of the transport vehicle as well and completely as possible when closed, the first and second Housing component together at least one ceiling element and four side elements, so that the hood shape already mentioned can be provided at least in the closed state.
[0055] In order to provide access to one side of the mobile handling device, the first housing component preferably comprises at least one side element
[0056] In an exemplary embodiment, the movable first housing component can be formed from a side element and the second housing component from three side elements and a ceiling element (see Fig. 2b).
[0057] For example, as an alternative to Fig. 2b, the side element of the first housing component can also be designed as a flexible element that is elastically deformed during the travel movement, for example a roller shutter or the like.
[0058] In another exemplary embodiment, the movable first housing component can be formed from a side element and the second housing component from four side elements and a ceiling element (see Fig. 2c).
[0059] In another exemplary embodiment, the movable first housing component can be formed from two side elements and a ceiling element and the second housing component from two side elements (see Fig. 2d)
[0060] In a preferred embodiment, the housing device is configured to also move the second housing component relative to the transport vehicle in order to change between the closed and the open state, such that in order to change between the closed and the open state, the first housing component and the second housing component are movable relative to one another and each relative to the transport vehicle, wherein directions of movement of the first and the second housing component run in particular parallel to one another.
[0061] In comparison to the process of only one housing component, access of the same size or dimensions can be released via shorter travel paths of a single housing component.
[0062] In order to provide access to one side of the mobile handling device, the movable first and the movable second housing components preferably each comprise at least one side element.
[0063] In an exemplary embodiment with a third housing component, the first and the second housing component are each connected by three Side elements and a ceiling element are formed and the third housing component, which is fixed with respect to the transport vehicle, is formed by a side element (see Fig. 2e).
[0064] In another exemplary embodiment with a third housing component, the first and the second housing component are each formed by a side element and the third housing component, which is fixed with respect to the transport vehicle, is formed by three side elements and a ceiling element (cf. Fig. 2f).
[0065] Preferably, the first housing component, and preferably also the second, comprises at least one base element arranged such that an area defined by the first housing component is separated, at least at the bottom, from the surroundings of the handling device. This prevents access from below into the interior when opened. Furthermore, the base element can act as a seal and catch falling dirt.
[0066] Preferably, this base element is designed to be flexible in order to be able to follow the movement of the first housing component, for example in the form of a sliding plate, a bellows or the like.
[0067] Further preferably, the housing device comprises a flexible protective device, e.g. in the form of a bumper strip, on a contour adjacent to the access to the interior in the open state to prevent crushing of an object or human body part located in the access.
[0068] Preferably, the drive device is designed in such a way that the second Housing component for changing between the closed and the open state is translationally movable normally or parallel to an upper side of the transport vehicle or is rotationally movable (or pivotable) relative to the transport vehicle or a combination of both said movement options.
[0069] In a preferred embodiment, the drive device of the housing device for changing between the closed and the open state comprises a further linear axis for the translational movement of the second housing component.
[0070] Alternatively, the drive device of the housing device for changing between the closed and the open state comprises a transmission gear coupled to the linear axis or to a rotational axis, via which both the first and the second housing component can be moved translationally.
[0071] The transmission gear uses the movement of a single axis to move both housing components and thus represents an easily controlled movement, in some designs similar to the kinematics of an elevator door.
[0072] In a preferred embodiment, the drive device is designed such that the first and second housing components can be moved parallel to the top of the transport vehicle.
[0073] In a preferred embodiment, the housing device is designed such that in the open state the released access is located in an area between the first and the second housing component.
[0074] In this way, the access itself can be shielded from the environment on both sides by the housing components, so that access to the handling device operating in the work area is made more difficult and thus operational safety is increased.
[0075] In a preferred embodiment, the first and / or the second housing component each comprises at least one side element, in particular one cover element and three side elements, which are each connected to one another.
[0076] In a preferred embodiment, an outer contour of the at least one side element of the first housing component and an outer contour of the at least one side element of the second housing component lie in a common plane in the open state together with an access surface of the released access.
[0077] In this way, a single-plane interface of the mobile handling device can be provided, in which the side elements are flush with a surrounding structure, for example, with the side elements of a machine tool, so that the work area in between can be completely shielded from the surroundings, at least laterally. In this case, a worker is no longer able to access the work area, and the risk of injury would be minimal.
[0078] Preferably, an area of the access surface is at least 20%, preferably at least 50%, of an area of a side element lying in the common plane with the access surface.
[0079] This allows a sufficiently large interface area of the side element to the environment to be provided compared to the access area.
[0080] In a preferred embodiment, a dimension of one or all side elements of the associated housing component lying in the common plane with the access surface is at least 80 cm, in particular in the horizontal width.
[0081] In this way, by using the page element as the final interface to an environment structure, the minimum safety distance regulated by industry standards can be maintained, even if the page elements of the The housing device should not be flush with the surrounding structure, but rather leave a comparatively narrow gap between them.
[0082] In a preferred embodiment, an outer contour of a side element of the first housing component and an outer contour of a side element of the second housing component run substantially parallel to a side surface of the transport vehicle.
[0083] This allows a flush interface to be implemented with an environmental structure consisting of side elements, possibly an access area in between and a side surface of the transport vehicle
[0084] In a preferred embodiment, the handling device is a robot arm comprising an end effector that can be moved over one or more axes of rotation of the robot arm and is designed to receive the object to be handled
[0085] This provides a handling device that is characterized by a comparatively large range of motion
[0086] Preferably, the robot arm comprises at least three, preferably four and particularly preferably six axes of rotation.
[0087] In a preferred embodiment, the mobile handling device further comprises a storage device arranged in the interior with one or more receiving locations for the respective reception of a handling object that can be handled by the handling device.
[0088] This means that objects to be handled can be transported in the protected interior area as the transport vehicle moves, without having to be held by the handling device.
[0089] In a preferred embodiment, the transport vehicle is designed as a freely and autonomously movable transport vehicle, in particular with its own energy source, which is designed to move along virtual guidelines on the base area, which can be determined and / or adapted by a control device of the handling device.
[0090] This allows the transport vehicle to be moved independently of induction loops in the floor or guide rails and can be guided along individually planned guidelines. Navigation in relation to the surroundings can be achieved using optical sensors, radar or LIDAR sensors, or triangulation sensors (e.g., using GPS).
[0091] According to a second aspect of the invention, a transport system is provided which comprises at least one mobile handling device according to the first aspect or a preferred embodiment in this regard and at least one mobile handling device Handling device comprises a receiving device provided separately. The receiving device comprises one or more receiving locations for the respective receiving of a handling object that can be handled by the handling device of the mobile handling device, in particular a workpiece, a tool or a workpiece pallet, wherein the mobile handling device is designed to position itself relative to the receiving device by means of displacement movements of the transport vehicle on the base area such that the latter lies in the working area of the mobile handling device, and is further designed, in the open state of the housing device, to insert a handling object handled by the latter into a receiving location of the receiving device by means of the handling device and / or to pick up a handling object from a receiving location of the receiving device.
[0092] In this way, a transport system using the mobile handling device described above is provided, in which objects to be handled can be transported from or to a separately provided receiving device, for example, a storage device or the like. The advantageous shielding provided by the housing device can be used to increase operational reliability both during transport and during interaction with the receiving device.
[0093] The receiving device can be designed, for example and not exclusively, as part of a storage device or a storage system, a transfer station on a machine tool or a setup station.
[0094] According to a third aspect of the invention, a manufacturing system is provided which comprises at least one mobile handling device according to the first aspect or a preferred embodiment in this regard, as well as a receiving device provided separately therefrom, i.e. basically the transport system according to the second aspect, and furthermore a machine tool set up on the base area, wherein the at least one receiving device of the transport system is designed as part of the machine tool
[0095] In this way, an autonomous manufacturing system is provided in which the mobile handling device can be used in particular for transporting tools and / or workpieces and for transferring them to or picking them up from the machine tool, whereby a high degree of safety can be ensured by the housing device during the interaction between the machine tool and the mobile handling device.
[0096] In a preferred embodiment, the receiving device is part of a loading and / or unloading device of the machine tool for workpieces, tools or workpiece pallets.
[0097] In this way, the mobile handling device can approach the loading and / or unloading device during ongoing processing on the machine tool and pick up workpieces or tools that are no longer required or deliver new ones without having to interrupt processing.
[0098] Preferably, the loading and / or unloading device can be shielded from the environment by a movable housing component of the machine tool, so that here too, access is only granted after the transport vehicle has been positioned, which in turn increases safety when the mobile handling device is not located on the machine tool.
[0099] In a preferred embodiment, a housing of the machine tool in the region of the receiving device and the housing device of the mobile handling device are adapted to one another in such a way that the receiving device and the handling device of the mobile handling device are largely shielded from the surroundings of the mobile handling device if the mobile handling device is positioned on the receiving device and the housing device is in the open state, in particular in such a way that at least lateral gaps between the housing device and the housing of the machine tool are dimensioned in such a way that a human arm cannot be guided from the surroundings through the lateral gaps into the work area.
[0100] This eliminates access to the moving components, minimizing the risk of worker injury. Furthermore, the risk of environmental contaminants entering the work area is minimized.
[0101] Further aspects and their advantages as well as more specific embodiments of the aforementioned aspects and embodiments are described below with the aid of the drawings shown in the attached figures.
[0102] Fig. 1a and Fig. 1b show perspective views of an embodiment of the mobile handling device according to the invention in a closed and an open state of the housing device with a detailed view in Fig. 1c.
[0103] Fig. 2a to 2f show exemplary embodiments of the housing device, some of which have several housing components.
[0104] Fig. 3a and 3b show perspective views of an embodiment of the manufacturing system according to the invention.
[0105] Fig. 4a and Fig. 4b show a plan view of the manufacturing system corresponding to Fig. 3a and Fig. 3b, respectively.
[0106] It is emphasized that the present invention is in no way limited to the exemplary embodiments described below and their embodiment features. The invention further comprises modifications of the aforementioned exemplary embodiments, in particular those which result from modifications and / or combinations of individual or multiple features of the described exemplary embodiments within the scope of protection of the independent claims. Detailed character description
[0107] Fig. 1a and Fig. 1b show an embodiment of the mobile handling device 100 according to the invention in a closed (Fig. 1a) and an open state (Fig. 1b) of a housing device 3.
[0108] The mobile handling device 100 is designed here as an AMR (Autonomous Mobile Robot) and comprises a driverless transport vehicle 1, a robot arm 2 fastened thereon as a handling device (see Fig. 1b), a storage device 4 for handling objects fastened to the transport vehicle 1, and a housing device 3 likewise fastened to the transport vehicle 1, which, in a closed state in Fig. 1a, together with the lower-side transport vehicle 1, essentially completely surrounds the robot arm 2 and thus shields it from the environment.
[0109] The transport vehicle 1 is designed as a driverless transport vehicle and is configured to move on a surface. For this purpose, it includes drives (not shown) and a power source for supplying them. Preferably, the transport vehicle 1 is completely autonomous and can move independently of any physical guidance structure, such as a rail system or an induction line in the ground.
[0110] The robot arm 2 is used to handle objects to be handled and for this purpose comprises several arm segments and rotation axes via which an object to be handled held in the end effector 21 of the robot arm 2 can be moved or displaced relative to the transport vehicle 1.
[0111] The housing device 3 is movable relative to the transport vehicle 1 and, in a closed state (Fig. 1a), partially defines an inner region 30 in which the handling device 2, moved in a basic position, is arranged at least largely, in the present case even completely.
[0112] In this case, the interior area is bounded laterally and topwise by the housing device 3 in the closed state. The bottom boundary is formed by an upper side 11 of the transport vehicle 1.
[0113] The housing device 3 comprises three housing components 31, 32 and 33, wherein the first and the second housing component 31, 31 can be moved translationally relative to the transport vehicle 1, in the present case horizontally and parallel to the base surface or to the upper side 11 of the transport vehicle 1. The third housing component 33 is fixedly connected to the transport vehicle 1 and cannot be moved.
[0114] The first and second housing components 31, 32 are essentially mirror-inverted and are each formed from three side elements and a cover element (see also Fig. 2e). Shielding to the rear of the mobile handling device 100 is ensured by the third housing component 33, formed from a side element.
[0115] The two movable housing components 31, 32 are each moved relative to each other and relative to the transport vehicle 1 via a linear axis 34a, 34b.
[0116] Fig. lc shows an enlarged detailed view in the area of the linear axes 34a, 34b, in which the storage 4 carried by the transport vehicle 1 is also shown, which comprises a plurality of receiving locations for the handling objects 300 shown schematically in spherical form.
[0117] By moving the two housing components 31, 32, the housing device 3 is moved into an open state and thereby provides access to a working area 20 adjacent to the interior area 30 next to the transport vehicle 1. The working area 20 is indicated in Fig. 1b by its projection onto the base area.
[0118] Due to the laterally opened access, the robot arm 2 is now able to move, in particular, its end effector 21 from the inner area 30 into the work area 20 in order to be able to handle an object to be handled there, for example in the form of picking it up or placing it in the work area 20.
[0119] In this way, the mobile handling device 100 has a type of protective device which can be moved into the open state when the robot arm 2 needs to interact with the environment, in order to allow the robot arm 2 access to said environment.
[0120] As a result, the robot arm 2 and any objects to be handled by it can be protected from environmental contamination, such as dust, dirt particles, moisture, etc., during a movement of the transport vehicle 1 by carrying out the movement with the housing device 3 closed (Fig. 1a).
[0121] After positioning the transport vehicle 1 at a destination, the housing device 3 (Fig. 1b) opens so that the robot arm 2 can perform tasks in the work area 20.
[0122] As can be seen from Fig. 1b, the interior area 30 is still largely shielded by the housing device 3 and is essentially only accessible through the authorized access. This reduces the risk of external interference with the robot arm and also reduces the risk of injury to an operator or worker in the production hall, since it is now more difficult for them to reach the moving robot arm 2 compared to a design without a housing device.
[0123] Fig. 2a to 2f show exemplary embodiments of the housing device 3, partly with several housing components 31, 32, 33.
[0124] The embodiments are shown schematically in a state in which they are at least partially displaced relative to a transport vehicle 1. Movements of the housing components 31, 32, which allow access to the interior area 30, are indicated by arrows.
[0125] The first housing component 31, which can at least be moved to release the access, is identified by a hatched representation, the second housing component 32 by a light grey color and the third housing component by a dark grey color.
[0126] Perspectively hidden side elements are not provided with a reference symbol, but can be understood from the perspective representation with the associated description
[0127] Fig. 2a shows an exemplary embodiment in the form of a hood, in which the movable first housing component 31 is formed from four side elements 31a and a ceiling element and can be moved upwards relative to the transport vehicle 1 in order to open access to the interior.
[0128] Fig. 2b shows an exemplary embodiment in which the movable first housing component 31 is formed from a side element 31a and the second housing component 32, which is not movable relative to the transport vehicle 1, is formed from three side elements 32a and a ceiling element 32b
[0129] Fig. 2c shows an exemplary embodiment in which the movable first housing component 31 is formed from a side element 31a and the second housing component 32, which is not movable relative to the transport vehicle 1, is formed from four side elements 32a and a ceiling element 32b, wherein the front side elements of the first and second housing components 31, 32 together have approximately the area of the rear side element of the second housing component 32.
[0130] Fig. 2d shows an exemplary embodiment in which the movable first housing component 31 is formed from two side elements 31a and a cover element 31b and the second housing component 32, which is not movable relative to the transport vehicle 1, is formed from two side elements 32a
[0131] Fig. 2e shows an exemplary embodiment in which the movable first housing component 31 is formed from three side elements 31a and a ceiling element 31b, and the likewise movable second housing component 32 is also formed from three side elements 32a and a ceiling element 32b. In addition, the housing device 3 also has a third housing component 33, which is not movable relative to the transport vehicle 1 and is formed by a side element 33a.
[0132] Fig. 2e essentially corresponds to the design that is also used in the handling device shown in Fig. la and lb
[0133] Fig. 2f shows an exemplary embodiment in which the movable first housing component 31 and the movable second housing component 32 are each formed from a side element 31a, 32b and the third, non-movable housing component 33 is formed from three side elements 33a and a cover element 33b.
[0134] 3a and 3b show perspective views of an embodiment of the manufacturing system 1000 according to the invention with a mobile handling device 100 and a machine tool 200.
[0135] In Fig. 3a, a housing device 3 of the mobile handling device 100 is still closed after positioning on the machine tool 200, whereas in Fig. 3b the first and second housing components 31, 32 have been moved in order to release access for the handling device, here the robot arm 2 (see Fig. 4b), of the mobile handling device 100 to the machine tool 200.
[0136] In this embodiment, the manufacturing system 1000 comprises an embodiment of the mobile handling device 100, which essentially corresponds to the embodiment described in Fig. 1a to 1c, and the machine tool 200, which is configured to machine a workpiece
[0137] Due to the perspective concealment of the areas located behind the housing device 3, Fig. 4a and 4b show a corresponding plan view of the states from Fig. 3a and Fig. 3b, respectively.
[0138] The mobile handling device 100 can be moved freely and autonomously on the floor area, here a hall floor of a production hall, via its driverless transport vehicle 1 and can thus be positioned relative to the machine tool 200 by means of travel movements for interaction with the latter.
[0139] The machine tool 200 comprises a loading and unloading device 201 for tools, shown in Fig. 4a and Fig. 4b, via which tools 300a for workpiece machining can be provided to the machine tool 200 or tools 300a that are no longer required can be picked up.
[0140] The loading and unloading device 201, which functions here as a receiving device within the meaning of the invention, has a plurality of receiving locations 201a for each receiving a tool 300a that can be handled by the robot arm 2 of the mobile handling device 100.
[0141] The mobile handling device 100 is configured to position itself by means of travel movements of the transport vehicle 1 on the base surface in such a way relative to the loading and unloading device 201 of the machine tool 200 that the latter lies in the working area 20 thereof, i.e. can be reached by the robot arm 2 when the housing device 3 is open.
[0142] In this case, the handling device 100 is configured, in the open state of the housing device 3 (Fig. 3b, Fig. 4b), to insert a tool 300a handled by the housing device 3 into a receiving location 201a of the receiving device 201 by means of the robot arm 2 and / or to pick up a tool 300a from a receiving location 201a of the receiving device 201.
[0143] Before the handling device 100 moves further, the Housing device 3 is returned to the closed state
[0144] As can be seen in Fig. 3b and Fig. 4b, the Housing device 3 of the mobile handling device 100 in interaction with a housing of the machine tool 200 almost completely isolates the access or the working area 20 from the environment, at least laterally.
[0145] An access surface of the access and the front side elements of the first and second housing components 31, 32 directly opposite the machine tool 200 lie in a common plane (see also Fig. 1b), which is positioned by travel movements of the transport vehicle 1 to the machine tool 200 parallel to a side surface of the housing of the machine tool 200 in the area of the loading and unloading device 201.
[0146] The distance should be selected to be as small as possible so that the gap resulting between the housing device 3 and the machine tool 200 (see Fig. 4a, 4b) is as minimal as possible. In conjunction with a sufficient horizontal width, preferably 80 cm or more, of the first and second housing components 31, 32, this makes it impossible to move limbs into the work area 20.
[0147] This makes access to the moving components difficult or even impossible, significantly increasing operational safety. Furthermore, the risk a malfunction or contamination entering the loading and unloading device 201 through the surrounding structure of the housing of the machine tool 200 and the housing device 3 of the mobile handling device 100 is significantly reduced
[0148] In summary, the invention provides a safer way for the flexible provision of components required in the field of automated production, in particular workpieces and / or tools.
[0149] Embodiments of the present invention and their advantages have been described in detail above with reference to the accompanying figures.
[0150] It is emphasized again that the present invention is in no way limited to the embodiments and their features described above. The invention further encompasses modifications of the above-mentioned embodiments, in particular those resulting from modifications and / or combinations of individual or multiple features of the described embodiments within the scope of protection of the independent claims. List of reference symbols 1 driverless transport vehicle 2 Robot arm (handling device) 3 Housing device 4 storage for handling items 11 Top of transport vehicle 20 work area 21 End effector 30 interior 31 first housing component 31a Side element of the first housing component 31b Ceiling element of the first housing component 32 second housing component 32a Side element of the second housing component 32b Ceiling element of the second housing component 33 third housing component 33a Side element of the third housing component 33b Ceiling element of the third housing component 34a, b Linear axes 100 mobile handling device 200 machine tools 201 Loading and unloading device 201a Loading and unloading device location 300 handling item 300a tool 1000 manufacturing system
Claims
AMENDED CLAIMS received by the International Bureau on 23 January 2025 (23.01.2025) 1. A mobile handling device (100), in particular for use in a manufacturing system, comprising: a driverless transport vehicle (1) that can be moved on a base surface; a handling device (2) that is fastened to the transport vehicle (1) and that is configured to move an object (300, 300a) to be handled by it, which object can be a tool (300a), a workpiece, or a workpiece pallet, relative to the transport vehicle (1); and a movable housing device (3) fastened to the transport vehicle (1), which housing device comprises at least a first housing component (31) and a second housing component (32);wherein the housing device (33), in a closed state, at least partially delimits an inner region (30) in which the handling device (2), which is moved in a basic position, is at least largely arranged, characterized in that the housing device (33) is designed to move the first housing component (31) and the second housing component (32) of the housing device (3) relative to one another and in each case relative to the transport vehicle (1) in order to transition into an open state and thereby to release access to a work area (20) adjacent to the inner region (30), in particular in front of or next to the transport vehicle (1), through which access the handling device (2) can move a received handling object (300, 300a) from the inner region (30) into the work area (20).
2. Mobile handling device (100) according to claim 1, wherein the inner region (30) is essentially delimited by an upper side (11) of the transport vehicle (1) and an inner contour of the housing device (3) in the closed state, wherein the handling device (2) in its basic position lies in particular completely in the inner region (30).
3. Mobile handling device (100) according to claim 1 or 2, wherein a drive device of the housing device (3), via which the first Housing component (31) for switching between the closed and the open AMENDED SHEET (ARTICLE 19) State is movable relative to the transport vehicle (1), comprises a linear axis (34a) for the translational movement of the first housing component (31), and wherein the drive device of the housing device (3) for changing between the closed and the open state comprises a further linear axis (34b) for the translational movement of the second housing component (32) or a transmission gear coupled to the linear axis (34a), via which both the first and the second housing component (31, 32) are translationally movable.
4. Mobile handling device (100) according to claim 3, wherein the drive device is designed such that the first housing component (31) can be moved translationally normally or parallel to an upper side (11) of the transport vehicle (1) in order to change between the closed and the open state.
5. Mobile handling device (100) according to at least one of claims 1 to 4, wherein Travel directions of the first and second housing components (31, 32) run parallel to each other.
6. Mobile handling device (100) according to at least one of claims 3 or 4, wherein the drive device is designed such that the first and the second housing component (31, 32) can be moved parallel to the upper side (11) of the transport vehicle (1).
7. Mobile handling device (100) according to at least one of claims 1 to 6, wherein the housing device (3) is designed such that in the open state the released access in an area between the first and the second Housing component (31, 32) is 8. Mobile handling device (100) according to at least one of claims 1 to 7, wherein the first housing component (31) and / or the second housing component (32) each comprise at least one side element (31a; 32a), in particular one cover element (31b; 32b) and three side elements (31a; 32a), which are each connected to one another.
9. Mobile handling device (100) at least according to claim 7 and claim 8, wherein AMENDED SHEET (ARTICLE 19) an outer contour of the at least one side element (31a) of the first housing component (31) and an outer contour of the at least one side element (31b) of the second housing component (32) in the open state lie in a common plane together with an access surface of the released access, wherein preferably a dimension of a side element (31a; 32a) of the associated housing component (31; 32) lying in the common plane with the access surface is at least 80 cm, in particular in the horizontal width.
10. Mobile handling device (100) according to at least one of claims 1 to 9, wherein an outer contour of a side element (31a) of the first housing component (31) and an outer contour of a side element (31a) of the second housing component (32) run substantially parallel to a side surface of the transport vehicle (1).
11. Mobile handling device (100) according to at least one of claims 1 to 10, wherein the handling device (2) is a robot arm comprising an end effector (21) which is movable over one or more axes of rotation of the robot arm and is configured to receive the object to be handled (300, 300a), and / or the transport vehicle (1) is designed as a freely and autonomously movable transport vehicle (1) which is configured to move along virtual guidelines on the base area which can be determined and / or adapted by a control device of the handling device (100).
12. Mobile handling device (100) according to at least one of claims 1 to 11, wherein the handling device (100) further comprises a storage device (4) arranged in the interior (30) with one or more receiving locations for the respective reception of a handling object (300, 300a) that can be handled by the handling device (2).
13. Transport system, comprising: at least one mobile handling device (100) according to at least one of the Claims 1 to 12, and at least one receiving device (201) provided separately from the mobile handling device (100) with one or more receiving locations (201a) for the respective reception of a by the handling device (2) of the AMENDED SHEET (ARTICLE 19) a handling object (300, 300a) that can be handled by a mobile handling device (100); wherein the mobile handling device (100) is configured to position itself relative to the receiving device (201) by means of displacement movements of the transport vehicle (1) on the base surface in such a way that the receiving device lies in the working area (20) of the mobile handling device (100), and is further configured, in the open state of the housing device (3), to insert a handling object (300, 300a) handled by the housing device into a receiving location (201a) of the receiving device (201) and / or to pick up a handling object (300, 300a) from a receiving location (201a) of the receiving device (201) by means of the handling device (2).
14. Manufacturing system (1000), comprising: a transport system according to claim 13, and a machine tool (200) placed on the base surface; wherein the at least one receiving device (201) of the transport system is part of the Machine tool (200), and wherein the receiving device (201) is preferably part of a loading and / or unloading device of the machine tool (200) for workpieces, tools (300a) or workpiece pallets.
15. Manufacturing system according to claim 14, wherein a housing of the machine tool (200) in the region of the receiving device (201) and the housing device (3) of the mobile handling device (100) are adapted to one another in such a way that the receiving device (201) and the handling device (2) of the mobile handling device (100) are largely shielded from the surroundings of the mobile handling device (100) if the mobile handling device (2) is positioned on the receiving device (201) and the housing device (3) is in the open state, in particular in such a way that at least lateral gaps between the housing device (3) and the housing of the machine tool (200) are dimensioned in such a way that a human arm cannot be guided from the surroundings through the lateral gaps into the work area (20). AMENDED SHEET (ARTICLE 19)