WO2011060478A1 - Mobile processing machine - Google Patents

Abstract

The invention relates to a mobile processing machine (1) for processing a workpiece (2) on site, comprising a cantilever (6), which in particular can be walked on and on which at least one tool (3) is arranged, wherein the cantilever (6) is arranged on a first heavy-duty turntable (14), and wherein the first heavy-duty turntable (14) is arranged eccentrically on or in a second heavy-duty turntable (29).

Description

 Mobile processing machine

The invention relates to a mobile processing machine for processing of a workpiece on site, with a, in particular walkable, boom, on which at least one tool is arranged, wherein the boom is arranged on a first heavy-duty turntable, a method for mechanical, in particular machining of, in particular metallic, workpieces with a diameter between 2m and 30m with a tool, which is arranged on a mobile processing machine, wherein the mobile processing machine has a walk-on boom, which is arranged on a first heavy-duty turntable, and the use of the mobile processing machine ,

The machining of workpieces with several meters diameter with high precision usually requires the use of special machines. For the positioning of the tool or tool head on the surface of the workpiece, it is known to arrange the tool on a horizontally adjustable carriage. In order to additionally allow a rotational movement of the tool in the horizontal plane, it is further known that this linearly adjustable carriage is arranged on a turntable. It is thus an adjustability, i. Positionability, the tool within certain limits possible, in particular, the delivery of the tool is limited to the surface to be machined by the travel of the carriage. If the dimensions of the workpieces to be machined outside these adjustment limits, it is necessary that either another special machine that covers this range of dimensions is used, or that the carriage element is replaced by another carriage element that covers this range of dimensions.

Object of the present invention is to provide a mobile processing machine that is variable in use. This object of the invention is achieved by the above-mentioned mobile processing machine, wherein the first heavy-duty turntable is arranged eccentrically on or in a second heavy-duty turntable, regardless thereof by the above-mentioned method after the next to or within the workpiece or on the workpiece second heavy-duty turntable is arranged on the off-center of the first heavy duty turntable is arranged and after the tool is positioned on the surface to be machined of the workpiece in the radial direction by the rotational movement of at least one of the heavy duty rotary tables, and independently by the use of the invention.

The arrangement of a second heavy-duty turntable on the mobile processing machine has the advantage that the basic unit of the mobile processing machine remains unchanged, so that no rebuilding work, such as in the extension of a linear adjustment, i. of the above cited carriage, is not required. It is thus created an easy way to retrofit existing mobile processing machines in terms of their adjustability. In addition, the arrangement of a second heavy-duty turntable has the advantage that the boom of the machine also remains unchanged and thus, after the machining is associated with large forces or moments, no additional measures in relation to the distortion of tool holders or Linearverstellelementen are required. Thus, the stability of the processing machine remains unchanged, which is particularly advantageous with regard to precision machining of surfaces of large workpieces with a diameter of several meters, if the deviations of the surface accuracy are to lie in the tenths of a millimeter range.

In addition to the increase in the working radius of the tool so that it is also possible to reduce the projection of the boom, so that the forces acting on the tool forces and moments can be better absorbed by the machine and thus the machining of the workpiece with respect to the precision of the surface accuracy can be improved can.

Advantageously, the second heavy duty turntable has a larger diameter than the first heavy duty turntable, whereby not only the working radius of the tool can be increased but also a higher stability of the mobile processing machine can be achieved in total by having a larger footprint. According to one embodiment variant, provision is made for at least one further heavy-duty turntable to be arranged beneath the second heavy-duty turntable, as a result of which the mobile processing machine achieves greater flexibility with regard to the working radii for the tool, or measures the gradations of the diameters between the individual heavy-duty turntables can be.

To increase the working radius of the tool but can also be provided that on the first heavy duty turntable or between at least one of the heavy duty rotary tables a linear adjustment is arranged, or that the first or at least one of the heavy duty rotary tables is designed as a rotary displacement table.

With regard to the loading of the heavy-duty turntables arranged under a heavy-duty turntable, it is advantageous if the (further) heavy-duty turntable arranged immediately below a heavy-duty turntable has or has a diameter which is effective for the rotary movement and which is at least 100%, in particular at least 150 %, preferably at least 180%, is greater than the corresponding effective for the rotational movement diameter of each directly on this arranged heavy duty turntable. On the other hand, it is of advantage if the (further) heavy-duty turntable arranged immediately below a heavy-duty turntable has a diameter which is at most 500% greater than the corresponding diameter of the heavy-duty turntable arranged directly on the rotary movement. It could namely be observed that with larger diameters of the heavy-duty rotary table each arranged under a heavy-duty turntable, the mechanical load on the machine in the area of the boom during the rotary movement increases disproportionately.

With regard to the modularity of the machine tool, it is advantageous if each arranged under a heavy duty rotary table heavy duty turntable each has an effective diameter for the rotational movement, which is by a constant relative value, for example, 200, greater than the corresponding effective for the rotational movement diameter of the in each case arranged above heavy duty turntable. The tool preferably has a linear adjustment range in the horizontal direction, ie the machining diameter, between 2 m and 30 m, in particular between 2 m and 20 m, preferably between 3 m and 16 m, so that thus a wide range of effective working radii of the tool is made available, in particular in a variant with only two superimposed or nested heavy duty turntables with different diameters. Thus, both "smaller" workpieces and "very large" workpieces can be processed with the processing machine according to the invention. For the precision movement of the heavy duty turntables or at least one of the heavy duty turntable, which is located directly below the boom, it is advantageous if a multi-row roller slewing bearing with at least one spur gear for rotating a standing in operative connection turntable has as a rotary bearing. But it is also advantageous if all such Schwerlastdrehti- see such a pivot bearing, since thus the delivery of the tool can be done with higher precision.

In view of the achievable precision of the delivery or a precision movement during processing despite the large working radius, it is advantageous if the spur gear has a duplex toothing.

On the other hand, it is also possible that the spur gear has a straight toothing, wherein the spur gear consists of at least two superimposed partial gears which are rotatable against each other, so as to the backlash between the spur gear and meshing with this gear of a drive for the rotational movement reduce, in particular set to zero, thereby additionally the advantage can be achieved that this backlash is readjusted when the backlash increased as a result of wear and tear on the teeth. With regard to the precision movement of the mobile processing machine, in particular with regard to the large diameter of the heavy duty turntable or the large working radius of the tool, it is advantageous if at least one of the heavy duty turntables has a servo motor as a drive for the rotational movement. In particular, it is advantageous if at least one of the heavy-duty turntables has at least two servomotors as the drive for the rotary movement, for example the first and / or the second heavy-duty turntable, wherein the servomotors have transmissions which are electronically biased against each other in the master-slave mode. As a result, a "steeper" movement of the heavy duty turntable without jerky startup or shutdown phases is achieved, so that in turn the precision of the machining of a surface of the workpiece, in particular of the machining, can be improved.

For the same reason, it is advantageous if a servomotor is used or if servomotors are used which have or have a drive torque of at least 90 Nm.

On the other hand, it is possible for at least one drive element to be arranged per value of an angular range of the rotation range of the turntable selected from a range of 45 ° to 180 ° in order likewise to improve or increase the precision of the rotational movement.

For the support of the tool on the workpiece, in particular during processing, and thus to increase the precision of processing even with such large working radii, it is advantageous if at least one support device is arranged on the boom.

According to one embodiment, it is provided that the at least one support device has at least one (e), with an elastomer or a plastic or the latter existing role or Abstützteller, whereby the support is made possible, for example, even when milling on the tool surface, without that the Surface of the workpiece is damaged, which ultimately in turn allows the high precision of the flatness of the machined surface even with very large working radii of the tool, for example 14 m to 16 m.

This support device can be force and / or position-controlled operable, whereby the advantage is achieved that it is automatically activated only when needed to better counter possible damage to the machined surface and turn the flatness of the surface, ie the Surface accuracy, to improve. There is also the possibility that at least one electromagnet is assigned to the support device (s), so that this support device can not only fulfill the primary function of the support but this support device can also be used for holding on the workpiece, for example if as a tool Drill is used to produce high-precision drill holes.

In the possible with the invention large working radii of the tool, it is also to increase the precision of machining the surface of the workpiece advantageous if at least one 3D coordinate determining measuring device is arranged so that the relative position between the workpiece and tool during processing continuously or at intervals can be determined and based on these data, the relative position of the surface of the workpiece to the tool can be readjusted automatically.

In order to be able to better avoid tilting of the tool, especially with such large working radii, it can also be provided that at least one angle correction device is arranged which measures and optionally corrects the angle of attack of the tool, in particular with drills as a tool.

On the other hand, it is also possible to arrange an angle measuring device in order to be able to determine the respective angle of rotation of the heavy-duty turntable or the heavy-duty turntable.

Furthermore, it may be advantageous, with regard to the precision machining of the surface of workpieces with very large diameters, if at least one of the heavy-duty turntables, in particular that which is rotated during the machining of the workpiece, to measure the absolute value of the adjustment of the rotational movement and at least one internal rotary encoder are arranged in a servomotor.

Finally, it is advantageous if the second heavy-duty turntable or that heavy-duty turntable of the entirety of the arranged heavy duty turntables, which has the largest diameter, has a maximum diameter which is smaller than the smallest inner diameter of the workpiece to be machined, so that the mobile processing machine within the Work piece can be placed, thus reducing the delivery distances. On the other hand, the movement during delivery and during the processing of the workpiece can be simplified.

Due to the size of the workpieces to be machined, it is advantageous if the workpiece itself stands still during processing.

Preferably, the mobile processing machine is used for machining a flange as a workpiece.

For a better understanding of the invention, this will be explained in more detail with reference to the following figures.

Each shows in a schematically simplified representation:

FIGS. 1 to 6 show different views of a mobile processing machine;

7 shows a detail of the processing machine in the region of a heavy-duty turntable in an oblique view;

Fig. 8 shows a variant of two stacked heavy duty rotary tables in side view;

FIG. 9 shows a side view of a multi-row roller slewing connection; FIG.

10 shows a detail of a heavy-duty turntable in the region of the toothed rim with two partial toothed wheels arranged one above the other in plan view;

11 is a side view of a supporting device of the processing machine;

Fig. 12 shows a variant of the invention with a arranged between two heavy duty rotary tables linear adjustment. By way of introduction, it should be noted that in the differently described embodiments, identical parts are provided with the same reference numerals or identical component names, wherein the disclosures contained in the entire description can be mutatis mutandis to identical parts with the same reference numerals and component names. Also, the position information selected in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and are to be transferred to a new position analogous to the new situation.

Figures 1 to 6 show a mobile processing machine 1 for processing of a workpiece 2 on site in different representations, wherein Figures 1 to 3, the processing machine 1 in the position with a large machining diameter of a tool 3 and Figures 4 to 6, the machining of the workpiece 2 represent at a smaller machining diameter of the tool 3. For the purposes of the invention, the term "machining on site" means that the workpiece 2 is machined at the location of use of the workpiece 2, wherein the machining can take place on the already installed workpiece 2 or in advance prior to its installation in a larger device Accordingly, the processing machine 1 is spent as needed at that particular processing location.

The machining of the workpiece 2 is carried out in particular by machining, for which purpose the tool 3 can be formed, for example, by a drill, in particular as shown in FIG. 3, or by a milling head. For this purpose, this processing machine 1 may have a tool holder 4, so that the tool 3 is interchangeably arranged on the processing machine 1 and thus it becomes possible to mount a wide variety of tools 3 on the processing machine 1 and thus allow different processing.

Instead of machining workpieces 2, however, the mobile processing machine 1 can also be used for other operations, for example for grinding work, for joining methods, such as welding, soldering, riveting, etc. Ultimately, this is a question of the tool 3 used, that is not the subject of the invention, especially since this is interchangeable attached to the processing machine 1. The workpiece 2 is formed in the illustrated figures as a flange, in particular as a flange for the construction of a tower of a crane. Of course, however, other workpieces 2 can be processed, in particular large components, wherein - as will be explained below - it is also possible with the inventive processing machine 1 to machine components with smaller diameters of 2 m to 3 m.

The mobile processing machine 1 can be used directly on the component to be machined or the workpiece 2 to be machined (the terms "component" and "workpiece" are used synonymously in this description) or, as shown in FIGS. Substructure 5 are placed, of course, must meet the static and dynamic requirements for the loads during machining of the workpiece 2.

The mobile processing machine 1 comprises in the illustrated embodiment, a boom 6. This boom 6 may for example be constructed of two screwed together welding structures. Of course, any other constructions for the boom 6 can be used.

The boom 6 is carrier various units of the processing machine 1, such as an electrical cabinet 7, a hydraulic unit 8, an oil cooler 9 and other required for the machining of the workpiece 2 ancillaries. These units are arranged in the rear part of the boom. In the front region of the jib 6, this comprises at least one, preferably two or more cantilever arms 10, which in particular consist of a metal or metal alloy in order to be able to absorb the forces occurring during the machining of the workpiece 2 without twisting or bending, etc occur. The extension arms 10 form the basis for the adjustability in the X-axis, ie the adjustability of the tool 3 in the horizontal, linear direction. For this purpose, these cantilever arms 10 may be guided with prestressed roller circulation units and be driven via ball screw with at least one servomotor. However, it is also possible to use other drive units, for example the drive motors from large-scale machine construction known from the prior art, in particular a torque motor, a linear motor, or a hydraulic drive. Furthermore, it is possible that the cantilever arms consist of telescopically displaceable Auslegerarmteilen in order to achieve a corresponding extension of the adjustability of the X-axis.

Position monitoring, i. the relative position of the tool 3 in the X direction, based on the workpiece 2, can be achieved for example via a corresponding encoder servomotor.

The adjustability, i. the adjustment in the X direction, ie the linear adjustability in a plane can be in the range between 0-4m, for example, 3.4m.

It is also possible that the tool 3 is also adjustable in height (adjustability in the Z direction). For this purpose, the moving slide part of the X-axis can form the substructure for the Z-axis. This can also be performed with preloaded roller recirculating units and driven by ball screw with a servomotor, which again there is the possibility that the position monitoring is done via a sensor in the servo motor. For the change in the altitude of the tool 3, a height adjustment slide 11 can be arranged on the boom 6. For example, the height adjustment in the range between 0 and Im, for example, up to 65cm, amount.

On height adjustment slide 11 of the Z-axis, a machining spindle 12 is mounted. This can be carried out with roller bearings. The machining spindle 12 can be driven, for example, via a toothed belt and a gearbox of a main spindle motor. This main spindle motor, for example, have a power of 40 kW. The machining spindle 12 may be grease-lubricated and may reach a speed in the range between 0-2000 rpm, depending on the gear shift stage of the transmission.

The numerical values given above in the description of the figures are merely exemplary in nature and, if required, other characteristic values can also be selected for the processing machine 1, for example a higher or lower power of the main spindle motor, or a higher or lower speed. Instead of the rolling bearing of the machining spindle, there is also the possibility of a plain bearing. Due to the size of the processing machine 1, the boom 6 is made walkable. Since the processing machine 1 can also be constructed on higher workpieces 2, for example towers of cranes, a tour 13, preferably with a railing, can be provided for this purpose.

Furthermore, it is possible that in the outer area, if necessary, an additional cabin (not shown) can be grown, in particular on the underside of the boom 6. In particular, this is arranged such that they the lateral access, or the lateral insight to the tool 3 allows. For workpieces with a height of less than 2.5m, such a cab is usually not required, especially when the workpiece 3 is being worked on the ground. Should such a cabin be present, this can be achieved, for example, via the circuit 13 with the aid of a ladder. It is with the help of the cab so even at a higher location of the processing machine 1 a safe tool change by the operator in the field of machining spindle 12 allows.

The boom 6 is arranged on a first heavy duty turntable 14, in particular directly connected thereto. About this first heavy duty turntable 14 is a rotational movement of the processing machine 1, i. the boom 6 and thus the tool 3, in the horizontal plane allows (C-axis). This first heavy duty turntable 14 is shown in detail in Fig. 7 in more detail.

The term "heavy-duty turntable" is intended to express that this turntable is intended to carry loads of a few thousand kg., For example, including this first heavy-duty turntable 14, the processing machine 1 may have a total weight of 35 t.

For receiving the boom 6, the first heavy-duty turntable 14 has two holding elements 15, 16. Of course, only one holding element 15 or several holding elements 15, 16 can be arranged. These holding elements 15, 16 in the illustrated embodiment are angled in cross-section with a horizontal element 17, 18, on which the boom 6 can be placed directly and connected to it, and at least approximately at right angles thereof downwardly projecting vertical elements 19, 20th In order to achieve a sufficient high rigidity, between these stiffening elements 21, 22 may be arranged. These stiffening elements 21, 22 can be arranged on a retaining element receiving element 23, 24, in particular connected thereto, for example welded, to be. This holding element receiving elements 23, 24 may be separate parts or formed integrally with a turntable 25 of the heavy duty turntable 14. In general, this turntable 25 does not necessarily have a circular cross-section but may have different geometries. The turntable 25 may be rotatably supported via a roller pivot connection with an external toothing 26 in the heavy-duty turntable 14. As a drive for the rotational movement, two servo motors 27, 28 are used in the illustrated embodiment, which either have a meshing with the external teeth gear or a rotary spindle for transmitting the rotational movement to the external teeth 26 and thus the turntable 25.

The two servomotors 27, 28 are placed in the illustrated embodiment in a recess of the horizontal elements 17, 18 of the holding elements 15, 16, as can be seen from FIG. In particular, these two servomotors 27, 28 are arranged opposite one another on the outer toothing 26. Preferably, the servomotors 27, 28 have a transmission in the so-called master-slave operation and are electronically braced against each other so as to achieve a higher synchronicity of the drive and to simplify the structure of the drive.

For the determination of the relative position, these two servomotors 27, 28 can in turn have an encoder, wherein in addition an external encoder or external measuring system for monitoring the current position (rotational position) can also be present.

Instead of servomotors 27, 28 it is also possible, although not preferred, to use other drive units as drive elements, as has already been briefly mentioned above. Furthermore, there is the possibility that only such a servomotor is arranged or that more than two servomotors 27, 28 or drive elements are distributed over the circumference of the external toothing 26, wherein in the latter case it is also preferred again, if this in the master -Slave operation to be operated. In particular, at least one such drive element can be arranged per angular range of the rotation range of the turntable 25, selected from a range of 45 ° to 180 °. Thus, there is the possibility that in particular evenly distributed three, four, six or more such drive elements are arranged, these drive elements are offset by 120 ° or 90 ° or or 60 °, etc. against each other.

According to the invention, it is now provided that a second heavy-duty turntable 29 is arranged below this first heavy-duty turntable 14, as can be seen from FIGS. 1-6. In this case, the first heavy duty turntable 14 is not arranged coaxially to the second heavy duty turntable 29, but eccentrically to this, as can be seen in particular from the illustrations of Figures 1-6. The first heavy duty turntable 14 may be directly connected to a turntable 30 of the second heavy duty turntable 29.

Alternatively, there is also the possibility that the first heavy-duty turntable 14 is not placed on the second heavy-duty turntable 29 but rather is arranged in a recess of the second heavy-duty turntable 29, so as to lower the overall height

To reach processing machine 1. This recess in the second heavy-duty turntable 29 can be designed such that the first heavy-duty turntable 14 only extends over part of its height into the heavy-duty turntable 29 or there is also the possibility that it is arranged so far in the second heavy-duty turntable 29 that at least one more undisturbed rotational movement of the boom 6 is possible.

In the embodiment variants according to FIGS. 1-6, the second heavy-duty turntable 29 has a larger effective diameter 31 for the rotational movement than the first heavy-duty turntable 14. In particular, the second heavy-duty turntable 29 has an effective diameter for the rotary movement which is at least 100% or at least 150% or at least 180% greater than the corresponding effective for the rotational movement diameter of the first heavy duty turntable 14th By the term "effective diameter for the rotational movement" is meant that diameter on the external toothing 26.

Preferably, however, this effective diameter is limited to a value which is at most 500% or at most 250% greater than the corresponding diameter of the first heavy-duty turntable 14 which is effective for the rotary movement.

With the exception of the holding elements 15, 16 for the boom 6, the second heavy-duty turntable 29 is functionally substantially substantially the same as the first heavy-duty carrier 14, so that reference is made to avoid repetition in the preceding and following remarks thereto. In particular, the second heavy-duty turntable 29 has at least one own drive element, preferably one or more servomotors, in order to enable an independent drive of the two heavy-duty turntables 14, 29. But it is also possible that these with the or the servo motor (s) 27, 28 may optionally be operated with a common control and / or control unit to match the movement of the two heavy duty turntables 14, 29 to each other.

The one or more servomotors 27, 28 have in particular a drive torque of at least 90 Nm. The drive elements, in particular the servomotors, for the second heavy duty turntable 29, however, preferably have a drive torque of at least 100 Nm.

To connect the two heavy-duty turntables 14, 29, the first heavy-duty turntable 14 can be bolted to the turntable of the second heavy-duty turntable 29 via corresponding lugs or recesses on a flange, or it is also possible that the two heavy-duty turntables are welded together or else to another Way combined with each other. The arrangement of the second heavy duty turntable 29 on the processing machine 1, an additional degree of freedom to the above-described three degrees of freedom (X, Z and C axis) for adjusting the tool 3 is achieved. It is thus possible an adjustment of the tool 3, in the horizontal direction between 2 m and 30 m, in particular may be between 2 m and 20 m, preferably between 3 m and 16 m. For this purpose, a large machining diameter for the tool 2 is shown in FIGS. 1-3, whereas in FIGS. 4-6 a smaller machining diameter is shown. It is therefore made possible with the invention by the arrangement of the second heavy-duty turntable 29, without a fundamental change of the processing machine 1 in comparison to a design with only one

Heavy duty turntable 14 to provide a larger span or a larger machining diameter available, due to the acentric arrangement of the first heavy duty turntable 14 on the second heavy duty turntable 29 different machining radii for the tool 3 in addition to the linear adjustment in the X direction. In addition, it is achieved at the same time that the boom 6, in particular the cantilever arms 10, can or may remain unchanged, so that there is no impairment of the mechanical stability, in particular with regard to the forces or moments to be absorbed during machining Would be considered, for example, by a more massive execution of the same. In addition, can be achieved by this arrangement that not only circular workpieces 2, in particular flanges, as shown in Figures 1-6, can be edited, but that also oval workpieces 2 with larger diameters by the additional possibility of adjustment in X. Direction of the tool 2, in addition to the adjustment via the Linearverstellelement on the boom 6 on which the tool is arranged, in particular the cantilever arms 10, can be easily edited.

During the machining of the workpiece 2, in particular the mechanical, for example machining, machining of the workpiece 2, this is not rotated in particular but only the corresponding components of the processing machine 1 are moved, in particular the tool 3 on the four degrees of freedom, by the processing machine 1 be made available. In other words, the tool 2 is not itself on a turntable. It is thus a higher precision of the machining of the workpiece 2 allows, as this can be precisely adjusted before editing itself and during processing no interference by drives or the like. Are present. After setting the required or desired machining diameter of the tool 3 can in the embodiment of Figures 1-6 exclusively the roller slewing connection with the external teeth 26 of the second heavy duty turntable 29, ie, the turntable rotate. As already mentioned, however, a combined movement of the two heavy-duty turntables 14, 29 may be advantageous under what circumstances it is possible that the drives, ie the drive elements of the first heavy duty turntable 14, so for example the servomotors 27, 28 communicate with the corresponding drive elements of the second heavy duty turntable 29 or coordinated with each other via a corresponding control.

It is within the scope of the invention, the possibility that not only two such heavy duty turntables 14, 29 are arranged one above the other, but for example, three, four, etc. in order to achieve a larger adjustment of the tool 3, i. a larger machining radius. In this case, it is advantageous if the individual Schwerlastdrerehti- see see 14, 29 to each other in terms of their effective diameter for the rotational movement, i. in the field of external teeth 26, are modularly matched. For example, a heavy duty turntable may each have a rotary effective diameter which is set at a constant relative value, e.g. 200%, greater than the corresponding effective for the rotational movement diameter of each arranged above heavy duty turntable.

To increase the precision of the machining of the workpiece 2, after sometimes very high projections to achieve the machining diameter for the tool 3 are present, on the underside of the boom 6 at least one support device 32, in particular a hydraulically operating support unit, be provided preferably located on the left and right of the boom 6 each such a support device 32 is arranged. About this support device (s) 32, it is possible that the processing machine 1 is supported during processing of the workpiece 2 on this. It is advantageous if the surface of the supporting device (s) 32 lying directly on the workpiece is provided with an elastomer or a plastic having comparable properties, so that no damage occurs on the surface of the workpiece 2 due to the support. This support device 32 is shown in simplified form in FIG. 11. In particular, this comprises a hydraulic cylinder 33, the piston of which acts on a support element 34. The support device 32, in particular the support element 34, may be formed as a support plate, including on the bottom plate-shaped addressed

Elastomer or plastic element, which has comparable properties to the elastomer in terms of its hardness, is arranged. On the other hand, in addition to the plate support, there is also the possibility that, instead of this support plate, a support roller (FIG. 11) is not shown. represents) is present, the surface is gummed or provided with the elastomer or the soft plastic, in order to allow a support during the rotational movement of the tool 3 (C-axis). According to a further embodiment variant, as indicated by dashed lines in FIG. 11, the supporting device 32 may have at least one electromagnet 35, with the aid of which it is possible for the processing machine 1 to hold on the component, ie on the workpiece 2, for example during the introduction depressions or recesses in the surface of the workpiece 2, such as the formation of drills.

According to another embodiment, there is the possibility that for holding the processing machine 1 on the workpiece 2, the electromagnets are placed only when needed in the support device 32, for example by replacing the rubberized rollers or the support plate.

This support device 32 may be executed operatively and / or position-controlled operable. As stated above, in the embodiment of the processing machine 1 shown in FIGS. 1-6, the second heavy-duty turntable 29 is provided with a larger diameter than the first heavy-duty turntable 14. As FIG. 8 now shows, it is also possible that the two heavy-duty turntables 14, 29 are equal in terms of their diameter, or consists according to another embodiment that the arranged below the first heavy-duty turntable 14 second heavy duty turntable 29 has a smaller diameter. For these embodiments of the invention, it is advantageous, as shown in phantom in Fig. 8, after the first heavy-duty turntable 14 off-centered on the second heavy-duty turntable 29 and thus protrudes beyond this, when the protruding part with at least one support member 36 in addition to the Connection with the second heavy duty turntable 29 is supported on this.

In addition to the simple roller slewing connection, as described above, in which only one roller ring is present with rollers as bearings, is preferably a pivot bearing used with a multi-row roller slewing connection. For example, in Fig. 9 is a three-row roller slewing connection 37 is shown with 3 rows of rollers 38, 39, 40, wherein the two roller rows 38, 40 is formed with horizontally arranged rolling elements (rollers) and the row of rollers 39 with vertically arranged rolling elements. Through this multi-row roller blind connection, a more precise movement of the turntable 30 with the toothed rim 41, which has the external toothing 26, is achieved.

Instead of rollers as rolling elements can be used as rolling elements in the invention generally also balls.

This sprocket 41, i. the spur gear, can have a so-called duplex toothing auf-. On the other hand, there is the possibility, as indicated in Fig. 10, that the spur gear, i. the ring gear 41, consists of two superimposed partial gears 42, 43, wherein these two partial gears 42, 43 are rotated against each other, as indicated in Fig. 10, so as to set a backlash as possible to zero.

In order to achieve a greater adjustability of the tool 3 in the X direction, there is also the possibility that a linear adjustment device 44 between the first heavy duty turntable 14 and the second heavy duty turntable 29 or generally between two superposed heavy duty turntables as shown in Fig. 12 is arranged, for example, a linearly adjustable carriage, which is mounted on this carriage each upper heavy-duty turntable of two superposed heavy duty rotary tables.

Alternatively, there is the possibility that the first heavy-duty turntable 14 or the respective upper heavy-duty turntable of two superposed heavy-duty turntables is designed as a so-called rotary displacement table. In order to achieve a higher accuracy in the machining of the workpiece 2, there is the possibility that at least one 3D coordinate determining measuring device is arranged on the boom 6. This measuring device can be formed for example by a laser, which cooperates with a reflector. The latter is especially on the back the machining spindle 12 mounted to exactly reproduce the movement of the tool 3. It is thus an online detection of the position of the tool 3 possible. With the help of the values thus included, precise corrections of the machining can be realized at any time via a CNC control of the processing machine 1. In addition, an adjustment of the tool 3 before machining the workpiece 2 is possible via this measuring device. In addition, it is advantageous if at least one angle correction device is arranged on the extension arm 6 of the processing machine 1, via which tilting of the tool 3 with respect to the surface of the workpiece 2 can be detected. With the help of at least one angle measuring device, the respective position of the heavy duty turntable or tables 14, 29 can be determined, ie the respective angle of rotation (C axis).

The operation of the machine itself can be done either directly from the boom 6, that is, from the tour 13 of the boom 6, or via a corresponding remote control.

It is further advantageous if the area of the tool 3 is filmed during processing of the workpiece 2 with a camera, which can also be arranged on the boom 6. At the processing machine 1 different tools 3 can be used. In order to facilitate the change of heavy tools, it is possible that in the outer region of the boom 6, a tool change plate is installed. On this, the tool to be removed can be stored by the machining spindle 12. From there, it can then be removed by a crane 45 (FIG. 3) constructed above the boom and transported to the tool supports. The tool 3 to be installed undergoes the opposite route.

For the drilling operations of the workpiece 2, a coolant system, as known from the prior art, is provided, but this can also be placed externally and is connected via corresponding hose lines with the processing machine 1 in the area of the tool 3. All supply lines such as electrical, pneumatic, hydraulic and coolant are laid in the machine base in so-called energy chains, which are known from the prior art. This allows a rotation (C-axis movement) of about 400 degrees. As is apparent from Figures 1-6, it is advantageous if the second heavy-duty turntable has a maximum diameter which is smaller than the smallest inner diameter of the workpiece 2 to be machined, so that the processing machine 1 within the workpiece 2, so for example one Flange, can be arranged. The delivery of the tool 3 to a certain point on the surface of the workpiece 3, ie the radial positioning, by a combined movement of the two heavy duty turntables 14, 29 and the at least one further heavy duty turntable and the adjustment of the X-axis (boom arms 10) , optionally in combination with an adjustment of the altitude (Z-axis) done.

To carry out the method according to the invention, the processing machine as shown in FIGS. 1 to 6 can be arranged within the workpiece 2. If necessary, however, it can also be arranged on the workpiece 2, as far as circumstances permit. Alternatively, it is also possible that the processing machine is arranged next to the workpiece 2. In this case, it is possible that the workpiece 2 is rotated during or for machining. It is also possible in this case that the individual positions on the workpiece 2 to be processed, by a combined movement of the heavy duty turntables 14, 19, optionally in conjunction with a movement of the linear adjustment device 44 and / or the linear adjustment of the boom. 6 , ie the cantilever arms, takes place. It is generally possible within the scope of the invention, even in the case of a processing machine 1 arranged inside or on the workpiece 2, that such a movement sequence is carried out not only for the delivery of the tool 3 but also during the processing. It is thus possible to carry out different combinations of movement runs during the machining, that is to say for example a combination of the rotational movements of at least individual heavy-duty turntables 14, 29, optionally in combination with the linear adjustment device 44 and / or with the linear adjustment of the extension arm 6, ie the extension arms. The embodiments show possible embodiments of the processing machine 1, wherein it should be noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but also various combinations of the individual embodiments are possible with each other and this possibility of variation due to the teaching of technical action representational invention in the skill of those skilled in this technical field.

For the sake of order, it should finally be pointed out that, for a better understanding of the structure of the processing machine 1, these or their components have been shown partly unevenly and / or enlarged and / or reduced in size.

Reference Designation Processing Machine 41 Sprocket

Workpiece 42 Partial gear

Tool 43 Partial gear

Tool holder 44 Linear adjustment unit Substructure 45 Crane

boom

switch cabinet

hydraulic power unit

oil cooler

boom

Höhenverstellschlitten

machining spindle

tour

Heavy duty turntable

retaining element

retaining element

Horizontal element

Horizontal element

vertical element

vertical element

stiffener

stiffener

Holding member receiving member

Holding member receiving member

turntable

external teeth

servomotor

servomotor

Heavy duty turntable

turntable

diameter

Support device

 hydraulic cylinders

 supporting

 electromagnet

 support element

 Reel connection

 roller row

 roller row

 roller row

Claims

Patent claims 1. Mobile processing machine (1) for machining of a workpiece (2) on site, with a, in particular walkable, boom (6) on which at least one tool (3) is arranged, wherein the boom (6) on a first heavy-duty turntable (14) is arranged, characterized in that the first heavy duty turntable (14) is arranged eccentrically on or in a second heavy duty turntable (29). 2. Processing machine (1) according to claim 1, characterized in that the second heavy-duty turntable (29) has a greater effective diameter for the rotational movement diameter (31) than the first heavy duty turntable (14). 3. Processing machine (1) according to claim 1 or 2, characterized in that below the second heavy duty turntable (14) or surrounding at least partially another heavy duty turntable is arranged. 4. Processing machine (1) according to one of claims 1 to 3, characterized in that on the first heavy duty turntable (14) or between at least one of the heavy duty turntables (14, 29) is arranged a Linearverstelleinrichtung (44) or at least one of Heavy duty turntables (14, 29) is designed as a rotary displacement table. 5. Processing machine (1) according to one of claims 1 to 4, characterized in that each directly beneath a heavy duty turntable (14, 29) arranged (further) heavy duty turntable (29) has an effective for the rotary diameter (31), which is at least 100% larger than the corresponding effective for the rotational movement diameter of each directly on this arranged heavy duty turntable (14). 6. Processing machine (1) according to one of claims 1 to 5, characterized in that each immediately below a heavy duty turntable (14, 29) arranged (further) heavy duty turntable (29) has an effective diameter for the rotational movement, the maximum order 500% larger than the corresponding one for the rotation-wise Supply effective diameter of each directly on this arranged heavy duty turntable (14). 7. Processing machine (1) according to one of claims 1 to 6, characterized in that the heavy duty turntables (14, 29) each have an effective diameter for the rotational movement, which is larger by a constant relative value than the corresponding for the Rotational movement effective diameter of each directly above arranged heavy duty turntable (14). 8. Processing machine (1) according to one of claims 1 to 7, characterized in that the tool (3) has a linear adjustment range in the horizontal direction between 2 m and 30 m. 9. Processing machine (1) according to one of claims 1 to 8, characterized marked characterized in that at least one of the heavy duty turntables (14, 29) as a rotary multi-row roller slewing bearing (37) with at least one spur gear for rotating a turntable operatively connected therewith ( 25). 10. Processing machine (1) according to claim 9, characterized in that the spur gear has a duplex toothing. 11. Processing machine (1) according to claim 9, characterized in that the spur gear has a straight toothing, wherein the spur gear consists of at least two superimposed partial gears (42, 43) which are rotatable relative to each other. 12. Processing machine (1) according to one of claims 1 to 11, characterized in that at least one of the heavy duty turntables (14, 29) has at least one servomotor (27, 28) or a linear motor or a torque motor as a drive for the rotational movement. 13. Processing machine (1) according to one of claims 1 to 11, characterized in that at least one of the heavy duty turntables (14, 29) at least two servo motor Ren (27, 28) as a drive for the rotational movement, wherein the servo motors (17, 28) have a transmission which are electronically biased against each other in the master slave operation. 14. Processing machine (1) according to claim 12 or 13, characterized in that the one or more servomotor (s) (27, 28) has or have a drive torque of at least 90 Nm. 15. Processing machine (1) according to one of claims 1 to 11, characterized in that per value of an angular range of the rotation range of the turntable (25) selected from a range of 45 ° to 180 ⁰ at least one drive element is arranged. 16. Processing machine (1) according to one of claims 1 to 15, characterized in that the boom (6) at least one supporting device (32) for supporting on the workpiece (2) is arranged. 17. Processing machine (1) according to claim 16, characterized in that the at least one supporting device (32) has at least one (e) provided with an elastomer (s) or consisting of this (s) roll or support plate. 18. Processing machine (1) according to claim 16 or 17, characterized in that the or the supporting device (s) (32) is assigned at least one electromagnet. 19. Processing machine (1) according to one of claims 16 to 18, characterized in that the at least one supporting device (32) can be operated in a force and / or position-controlled manner. 20. Processing machine (1) according to one of claims 1 to 19, characterized in that at least one 3D coordinator-determining measuring device is arranged. 21. Processing machine (1) according to one of claims 1 to 20, characterized in that at least one angle measuring device is arranged. 22. Processing machine (1) according to one of claims 12 to 21, characterized in that for measuring the absolute value of the adjustment of the rotational movement of at least one of the heavy duty turntables (14, 29) at least one external and at least one internal rotary encoder in a servomotor (27, 28 ) is arranged. 23. Processing machine (1) according to one of claims 1 to 22, characterized in that the second heavy duty turntable (29) or the largest diameter having further heavy duty turntable has a maximum diameter which is smaller than the smallest inner diameter of the workpiece to be machined (2) , 24. A method for mechanical, in particular machining, machining of, in particular metallic, workpieces (2) with a diameter between 2 m and 30 m with a tool (3) which is arranged on a mobile processing machine (l), wherein the mobile processing machine (1) a, in particular walkable, boom (6) which is arranged on a first heavy-duty turntable (14), characterized in that next to or inside the workpiece (2) or on the workpiece (2) has a second heavy duty turntable (29) is arranged on the eccentrically the first heavy duty turntable (14) is arranged, and that by the rotational movement of at least one heavy duty turntables (14, 29) the tool on the surface to be machined of the workpiece (2) is positioned in the radial direction. 25. The method according to claim 24, characterized in that the relative position of the tool (3) to be machined surface of the workpiece (2) during processing by measuring three-dimensional coordinates is determined continuously or at intervals and optionally based on these data automatically readjusted. 26. The method according to claim 24 or 25, characterized in that the workpiece (2) stands still during processing. 27. Use of a mobile processing machine (1) according to one of the claims 1 to 23 for machining of metallic workpieces (2) with an outer diameter between 2 m and 30 m. 28. Use according to claim 27, characterized in that the workpiece (2) is a flange.