WO2018054934A1 - Machining device - Google Patents

Abstract

The invention relates to a machining device (12) for workpieces (3), comprising at least one transport means (6) and at least one mobile machining unit (7) which can be detachably connected to the transport means (6) and has a supporting device (15) and a processing device (16), wherein the machining unit (7) is designed in a modular manner and can automatically be put in various configurations.

Description

 processing device

DESCRIPTION

The invention relates to a processing device having the features in the preamble of the main claim. Such a processing device for workpieces of any kind is known from practice. It has a processing unit with a detachable

Means of transport in the form of an AGV to the workpiece

can be transported. The processing unit has a fixed and predetermined configuration. It consists of a frame-like support device with a process device mounted thereon in the form of an industrial robot.

It is an object of the present invention to provide a

show improved processing technology.

The invention solves this problem with the features in the main claim.

The claimed processing technique, i. the

Machining equipment and the processing method and a processing plant, have technical and economic advantages over the prior art. The processing unit has a modular design and can be automatically configured differently. It can be adapted by the configuration to different processing and process requirements. The modular design on the one hand, a large process variability and freedom of configuration and on the other hand given a high efficiency in terms of construction costs, space requirements and efficiency.

Procedurally, the configuration and

Configuration change of the processing unit to be carried out by the means of transport. The claimed processing technique can be used for different types of workpieces and for

use different technical areas. On the one hand there are possible uses and advantages for the

Aerospace area, especially for aircraft or other aircraft. However, the claimed machining technique can also be applied in the entire other technical field

outside the aerospace area, i. in the so-called non-aerospace sector, to be used successfully. This can e.g. other means of transport, in particular land or water vehicles, e.g. Road or rail vehicles or ships. The non-aerospace sector also includes other constructions, in particular machines or devices, but also immovable objects, in particular buildings. The one of the processing units to one or more

Workpieces performed processes can be of any kind. It can be e.g. order processes,

Joining processes, forming processes, assembly processes, testing or measuring processes or the like. act. The processing device may be one or more

Include machining units. The respective

Processing unit has a modular support means with at least two different mobile support modules, which can be detachably connected to each other and automatically changed. In particular, at least two different support modules can be arranged on top of each other. Preferably, a pool of different support modules is ready to form the desired

Configuration of a processing unit, if necessary, connected to each other.

The processing unit has one each on the

Carrying arranged modular processing device with several different process modules, which can be detachably connected to each other and automatically changed. The process modules are each one

Assigned support module. Different types of

Carrying modules can be equipped with different process modules. The number of process modules per module can vary. In this case, it is possible to automatically change a plurality of process modules, each associated with a support module, together with its support module. The

Process modules can have a fixed assignment or connection with their respective support module. The configuration and adaptation of one processing unit to another

Machining process can be done in a simple manner by changing a support module and the associated process module.

The support modules are preferably designed platform-like. The different support modules can be in or several base support modules, in particular

 Base platform (s), and in a plurality of process support modules, in particular process platforms, break down.

The base support module may support means for

Have support on a substrate. It can also be releasably and accurately positioned connected to a transport vehicle via a charging device. The

Charging device can the transport vehicle and / or the support unit, in particular the base support module,

be assigned. The charging device can more

Have functions.

A device for positioning and possibly fixing a base support module on a substrate is

advantageous to the processing unit as well as their

Position process equipment exactly on the workpiece. In addition, the different support modules can be parked at a provision of the processing device in a defined position and recorded. The

Provision may e.g. have several defined shelves with a positioning for support modules.

On or at the base support module one or more process support modules can be detachably and automatically arranged interchangeable. The fully automatic recording and dispensing of the process support modules can by the

Means of transport and the charging device, in particular

Lifting device to be performed in conjunction with a correspondingly designed provision of the support modules. Additional external powered

Loading devices are unnecessary. A base support module may include a process module that is particularly useful for handling and management tasks

is designed. This can e.g. an industrial robot and / or a work platform for a worker. The process module may be fixed or by means of one or more

Additional axes to be movably arranged on the base support module.

The process support modules may include a process module in the form of process-specific process equipment. This can in particular have a process agent supply and / or a process tool. By combining different process support modules with a base support module, the industrial robot or a worker on a work platform can perform different processes. For economic reasons, it is advantageous to have a small number of basic support modules and flexible ones

Process adaptation to provide and provide a larger number of process support modules.

The processing unit can be an automatic

Have coupling device for connecting the support modules and the process modules. This allows one

fully automatic configuration and process adaptation of a processing unit and the processing device.

In terms of method, the coupling device automatically sets up a mechanical and / or media technology connection of the support modules and the process modules in the configuration of a processing unit, in particular when picking up or loading a process carrier module and its

Process module, fro. The coupling device may have a mechanical coupling and / or a media coupling between support modules. Due to the mechanical coupling can be a positionally accurate and possibly fixable arrangement or

Receiving a process support module can be achieved on a base support module. With the media coupling can be a media technology connection between these

Support modules on the one hand and between their respective process modules on the other hand be created. About the media coupling resources, in particular

 Energy, e.g. electrical power and signal currents are transmitted. The media coupling is preferably active and can be opened and closed automatically with its own actuator. The automatic coupling device may further comprise a mechanical inter-connection, e.g. by means of a

Gripper and / or an automatic change coupling, between process modules on different support modules. An industrial robot on the base support module can z. B. automatically record a process tool on a process support module, handle and change as needed. Required resources can the

Process tool from the industrial robot and / or externally and from its associated process agent supply, e.g.

a tank, a power source or the like. be supplied. This can be flexible

Process agent supply, eg via a flexible and flexible length line and possibly a tripod, done. The flexible process agent supply can follow the movements of the process tool induced by the worker or by the industrial robot. A base support module can be a flexible and mitbewegbare, especially in the driving movements of the

Machining unit mitbewegbare having energy supply. The energy, in particular electrical energy, can be from an equipment-side and preferably at a distance above the ground and the processing device arranged resource supply, in particular

Power supply, be provided. The

Energy supply may e.g. via flexible trailing cables. A base support module may also include a controller and / or an energy distributor.

If necessary, other than energy, others

Resources, e.g. Fluids, in particular compressed air, coolant or the like. , provided and supplied. The energy or other resources can be fed directly to the process module located on the base support module.

Furthermore, the supply line to the one or the other and to the process support module can be conveyed via the media coupling

located process modules done. Via the local process agent supply, e.g. one or more tanks, may also contain one or more resources,

in particular fluids are carried on board on the process support module. A resource supplement,

especially refueling or replacing one

Operating means or its container, can be made stationary to a provision, in particular a shelf, for a process support module. The processing unit can be an automatic

Charging device for connecting the support device, in particular a base support module, with the

Has transport. The charging device can be designed as a lifting device.

The processing device can have one or more automatically configurable processing units

exhibit. These can preferably each individually

different processing zones on the workpiece

be assigned. This allows you to move or move around in different areas during transport and during process execution. This is for separation and collision avoidance, in particular their mitbewegten energy supplies of advantage. For an economical and highly flexible configuration of the processing units, it is advantageous to have a large number and variation of process support modules and associated process modules available. The number of required basic support modules and associated process modules can be significantly lower. The processing device may be provided for one or more workpieces, wherein one or more processing units also between

different workpieces can be transported back and forth. Thanks to the detachable connection and the charging device, the number of means of transport required can be smaller than the number of basic support modules. The means of transport may be for the transport of one or more

Machining units from a provision to one or more workpieces and also for an offset provide between several working positions on the workpiece. They can then be released again and perform another transport job.

The transport means may also perform the automatic configuration of a processing unit by selecting and receiving a base support module and by charging one or more process support modules on or on the received base support module. The

Transport means may also be used for direct picking up and transport of one or more process support modules, e.g. between different ones

Deployments or plant areas, are used.

For the purposes and functions mentioned is a

Training as floor conveyor, especially as

self-propelled, programmable and steerable

 Transport vehicle, e.g. so-called AGV or FTF, an advantage. In a particularly preferred embodiment, the transport vehicle is omnidirectionally movable and can be used e.g. Mecanum wheels have. It can move from a standing position in any direction and can also change the direction of travel at any angle while driving.

The various positioning devices allow precise positioning of the support modules relative to each other and relative to the workpiece as well as to a provision. This reduces the adjustment and calibration effort and increases the accuracy of process quality, speed and efficiency of the machining technique. In the subclaims are further advantageous

Embodiments of the invention indicated.

The claimed processing technique may further include the following embodiments, which may be combined as desired with each other and with the respective independent claims and subclaims.

The processing device may include the mentioned one or more support modules and one or more process modules. In the processing device can

several, each assigned to a support module,

 Process modules are automatically changed together with their support module or are interchangeable.

An automatic coupling device of

 Machining device for connecting the support modules and the process modules may have a mechanical coupling and / or a media coupling between support modules. An automatic coupling device of

 Machining device may also be a mechanical inter-connection between process modules

have different support modules.

Several support modules of the processing device can be designed as one or more base support modules.

Other support modules of the processing device can be designed as different process support modules, in particular as process platforms. On a base support module at least one process support module can be detachably and automatically arranged interchangeable. A process module of the processing device embodied as an industrial robot and / or as a work platform can have one or more additional axes. A

Additional axle can be designed as a lifting unit.

A process module can be considered process-specific

Process equipment may be formed and may be arranged on or on a process support module. A

Process-specific process equipment can be a

Process agent supply and / or have a process tool. A process-specific process equipment may also have a tool holder for the defined inclusion of one or more process tools. A process tool can have a flexible

Process agent supply, in particular a line and possibly a tripod, with the process means supply

be connected.

The number of provided process support modules of the processing device may be greater than the number of provided base support modules. Furthermore, the number of processing units may be greater than the number of transport means.

The claimed processing plant can a the

Workpiece and the processing device surrounding

Have protective separation. The invention is illustrated by way of example and schematically in the drawings. In detail show:

a schematic view of a

 Processing plant with a

 Machining device and several modular and automatically differently configurable

 Processing units, a variant of the processing system of Figure 1 with multiple workpieces and processing equipment, a base support module of a modular support a

 Processing unit in different versions and in side view, a configuration process of a

 Machining unit with a base support module and charging a process support module in different steps and in side view and top view,

Figures 9 and 10: a side view and a plan view of a process support module. The invention relates to a processing device (2) and a processing method for workpieces (3). The invention further relates to a processing plant (1) having one or more processing devices (2) and one or more workpieces (3).

The one or more workpieces (3) are in the

Drawings shown schematically. They can each be one-piece or multi-piece.

In one embodiment, an application according to the invention and one or more workpieces (3) from the aerospace sector are provided. These may e.g. be designed as an airplane or as another aircraft. Such a workpiece (3) may e.g. an aircraft part, e.g. be a fuselage or a complete plane. In another embodiment, the invention relates to applications and workpieces (3) in

any technical fields except the

Aerospace area. These areas are referred to as the non-aerospace area. Such a workpiece (3) may, for example, a body or a body part of a car, bus, railway carriage or the like. be. The non-aerospace sector also includes sashes, housings or other parts of turbines, wind turbines or the like. Furthermore, this includes machines, devices, housings or other technical components from the non-aerospace sector. The non-aerospace sector may also include buildings, in particular prefabricated houses, commercial buildings or the like. One possible use is eg at the assembly of building parts, in particular windows, doors or the like ..

The processing device (2) serves to process one or more workpieces (3) with any desired process. This can e.g. an order process for

Media, a joining process, an assembly process

Forming process or the like. Be.

The processing device (2) has at least one transport means (6) and at least one mobile and detachable with the transport means (6) via a

 Charging device (8) connectable processing unit (7). The transport means (6) preferably receives a single processing unit (7) and moves it from a supply (12) to a workpiece (3) and back. It also moves as needed

 Machining unit (7) on a workpiece (3) along to various jobs. At the provision (12), the transport means (6) can deliver a processing unit (7) again, in particular park it. The

Transport means (6) can alternatively several

Record machining units (7).

The processing device (2) can have several

Transport means (6) and a plurality of processing units (7). A means of transport (6) can several

Serve processing units (7) successively, wherein

Transport and process times can be overlapped. The number of processing units (7) is preferably greater than the number of transport means (6). The respective processing unit (7) is modular

educated. It can be configured automatically and differently. The configuration can be carried out by the means of transport (6). This can be done by means of the charging device (8). This is preferably associated with the means of transport (6).

The processing plant (1) in the embodiment of Figure 1 comprises a substrate (5), e.g. a hall floor, an intermediate floor, a pedestal, a portal or the like. on. In a suitable place, especially in the interior

 Plant area, one or more workpieces (3) are arranged in a suitable manner. They can be arranged stationary and with exact position and possibly fixed.

Alternatively, a transient arrangement is possible. The working area on a workpiece (3) can be divided into one or more processing zones (4). The zone number and the subdivision geometry can be chosen arbitrarily. FIG. 1 shows a transverse division in two end processing zones (4).

Elongated workpieces (3) can be a longitudinal division with two-sided formation of several

Have processing zones (4). At a

Processing zone (4) is preferably only a single processing unit (7) in use. Alternatively, few, eg two processing units (7), can be used side by side. Overall, the one or more processes can be executed on any workpiece (3) by any suitable number of processing units (7). To carry out a process, the respective

Processing unit (7) from the means of transport (6) at a work site on the workpiece (3) deposited on said substrate (5). It may be stationary or suspended on the ground (5) and be displaced to increase the working area, if necessary, by the transport means (6). The processing device (2) can have at the intended working area a device (9) indicated in FIG. 1 for positionally accurate positioning and possibly fixing of a processing unit (7) on the substrate (5) and relative to the likewise exactly positioned workpiece (3). The device (9) may e.g. have conical pins and matching receiving openings.

The modular processing unit (7) has a modular carrying device (15) with at least two

different mobile support modules, the

detachably connected to each other and are automatically interchangeable. Here are the at least two

different support modules preferably to each other, alternatively to each other, arranged. The different support modules can be provided separately from each other at the provision (12) and can be arranged on a base (5) or on a suitable shelf (13) with an exact position by means of a positioning device (14).

The different mobile support modules are each platform-like in the embodiments shown. Alternatively, they may have a different education. A part of the different support modules is as a base support module (23), in particular as a base platform educated. Several other support modules are as

different process support modules (24,25), in particular as process platforms trained. The

 Processing unit (7) is formed in each case from a preferably individual base support module (23) and at least one process support module (24, 25) arranged thereon or thereon.

In the embodiments shown is a respective

Process support module (24,25) on a base support module (23) arranged at the rear side. The rear side is the one in the working position away from the workpiece (3)

Module side. The process support module (24, 25) preferably extends across the width of the base support module (23) and projects beyond its side edges on both sides. At this lateral projection, the process support module (24,25) on a shelf (13) of the provision (12) are added. To connect the base support module (23) with one or more process support modules (24,25) is an automatic explained below

Coupling device (26) provided.

The processing unit (7) furthermore has a modular one arranged on the carrying device (15)

Process device (16) with several different process modules, which are detachably connected to each other and automatically exchanged. The process modules are each assigned to one of the support modules. A support module may include one or more process modules. The one or more process modules assigned to a support module can, together with their support module, during the configuration or configuration change of a Machining unit (7) to be changed automatically. The processing unit (7) has the said

Coupling device (26) for connecting the support modules and the process modules. A process module is for handling and

 Management tasks provided and trained. It is arranged on or on a base support module (23). This process module may e.g. be designed as a programmable, multi-axis industrial robot (34) and / or as a working platform (33). Here is also a multiple

 Robot arrangement and / or stage arrangement possible. The industrial robot (34) can according to Figures 3 and 9, a plurality of robot members (50) and a plurality of translational and / or rotary robot axes in any number and

Have configuration. He can e.g. when

 Articulated arm robot with e.g. five, six or more

rotatory axes and a base with a rotatable carousel, one of them pivotable

mounted swingarm with end-side storage of a

Jib and an arrangement of multi-axle

 Robotic hand at the end of the boom. The industrial robot (34) has an output member (51), e.g. a rotatable hand flange, on which a tool by means of a mechanical change connection (52) can be removably received. The arrangement will be described in more detail below

described. The industrial robot (34) has a

Robot controller (40), which is arranged on the base support module (23) and possibly further

Can take over control tasks. Such a process module, in particular a

Industrial robot (34) and / or a working platform (33) may have one or more additional axes (36). An additional axis (36) may e.g. according to Figure 3 as a lifting unit with a vertical or oblique orientation

be educated. In Figure 3, a working platform (33) is indicated schematically and by dashed lines. Additionally or alternatively, an additional axis (36) can be used as the axis of rotation and / or horizontal linear axis, e.g. as a floating plate, rocker or the like. , be formed to e.g. the

 Work area of the process module in the horizontal and lateral to enlarge. The additional axes (36) can be driven independently and controlled or regulated as a robot axis via the robot controller (40) or independently. FIG. 4 shows a variant of the

Process module without additional axes.

On the base support module (23) may further be arranged a power supply (39) with an external and in Figure 3 schematically indicated resource supply (10), in particular power supply, the

 Machining device (2) is connected. The

Energy supply (39) is movement tolerant and can follow the movements of the base support module (23). The

Equipment supply (10) can be above ground and at a distance above the ground (5) and above

Processing unit (10) may be arranged. The

Energy supply (39) is designed for example as a flexible trailing cable and can be connected via a movable connection with the equipment supply (10). By a correspondingly wide-area supply training and the movable connection, the energy supply (39) follow the travel movement of its base support module (23) with a means of transport (6).

Another process module can be designed as process-specific process equipment (35) and can be arranged on or on a process support module (24, 25).

FIGS. 5 to 10 show such a design. The

Process support modules (24,25) are designed for different processes and have different

Process equipment (35). The process-specific process equipment (35) can be designed in different ways. It can e.g. a process agent supply (45) and / or a

Have process tool (46). A

 Process agent supply (45) may e.g. of one or more containers for receiving one or more operating or process agents in gaseous, liquid, pasty or granulated form, are formed. On the other hand, a training as a power source, in particular as a welding power source, as a beam source, in particular laser beam source, or otherwise possible.

A process tool (46) may be formed in any suitable manner, e.g. as a job tool,

Joining tool, forming tool or the like .. Ein

Process tool (46) can be present singly or multiply. The process-specific process equipment (35) can, for example, have a tool holder (47) for the defined holding of one or more process tools (46). The process tool or tools (46) are thereby in a predetermined exact position and orientation. As a result, they can be automatically picked up by a process module on the base support module (23), in particular by an industrial robot (34), used for the process and released again. Figure 9 shows such an arrangement.

One or more process tools (46) can be connected via a flexible process agent supply (48) with the

Process agent supply (45) to be connected. The flexible process agent supply (48) may be e.g. from one

 Media line, in particular a hose, a

electrical cable or the like. to be formed. In addition, a e.g. Galgenartiges tripod (49) be present and the process fluid supply (48) additionally supported movable. A tripod (49) is particularly in the

 Arrangement of a lifting unit (36) provided. The flexible process agent supply (48) is flexible and

variable in length. She can understand the movements of the

Follow process tool (46). The connection between the process agent supply (48) and the process tool (46) may be permanent or changeable.

In the concrete application case, a process tool (46), e.g. as a job nozzle for a paint with paint supply from the entrained reservoir of

Be processor supply (45). In another

Execution may be a fluidic process agent or

Betriebsmittel an adhesive, a cooling or

Lubricant, compressed air or the like. Be. In another variant, the process tool (46) a

Welding tool, which over the Process agent supply (48) with electric welding current, a high-energy beam, in particular laser or plasma jet, a protective gas, a

Welding aids or the like. is supplied. The flexible process agent supply (48) causes an external supply of a process tool (46) with one or more resources or process means.

Alternatively or additionally, a resource or process means, e.g. electrical power and / or

Signal streams, the process tool (46) from

Industrial robot (34) are supplied from.

Coming back to the platform-like design of the support modules are in Figure 5 to 9 more

 Design features shown. The base support module (23) has a support (37) with a support device (38). The carrier (37) may e.g. be designed as a flat plate or a flat frame. He may alternatively have a different shape. The support means (38) arranged on the underside of the support consists e.g. from several rigid support feet. Their height is chosen so large that the means of transport (6) can drive under the carrier (37).

The transport means (6) can detachably receive one or more base support modules (23) by means of the aforementioned charging device (8). The charging device (8) can be designed and arranged in any suitable manner for this purpose. In the illustrated and preferred embodiment, it is associated with the means of transport (6). The

Charging device (8) consists for example of a lifting device (20), which is arranged on the transport means (6) and which can engage from below on the base support module (23). By a driving under and a lifting movement that can

Transport (6) the base support module (23) record and lift off the ground (5) and then transport this.

For an exact and reproducible takeover, the loading device (8) has a receptacle (21) with several distributed receiving means on the transport means (6), in particular on the lifting device (20), and on the

 Bottom of the base support module (23). Furthermore, a positioning device (22) may be present, which may be arranged separately or combined with the receptacle (21). For the preferred positive and

positionally accurate recording can e.g. Recording and

Positioning means in the form of conical pins and matching counter-openings may be present. The recording

(21) may further comprise a locking or fixing device with which the connection between

Transport means (6) and base support module (23) can be secured during transport.

The process support modules (24, 25) can have a mutually uniform and preferably platform-like design. According to FIGS. 7 to 10, a process support module (24, 25) has a platform-like support (42), which can be designed, for example, as a flat plate or as a planar frame or in another manner. The carrier (42) may have in plan view a fork shape with two parallel legs (43) extending along the base support module (23). Between the legs (43) is a free space (44) formed. Here, for example, the control (40) arranged on the rear side of the base support module (23)

be taken and recorded. The legs (43) and the rear transverse part of the carrier (42) can lie flat on the top of the carrier (37) of the base platform (23). The process module (33, 34) is located on the front side of the base support module (23) and may be in front of the process equipment (35) of the charged process support module (24, 25). The aforementioned coupling device (26) for the connection of support modules and process modules can according to Figure 5 to 10, a mechanical coupling (30) and / or a

Media coupling (27) between support modules, in particular between the base support module (23) and the charged process support module (24,25). It can also be a mechanical change connection (52) between a

Industrial robot (34) and a process tool (46) include.

The mechanical coupling (30) is e.g. from one

preferred positive receptacle (31) between the

Support modules (23 and 24,25) formed, which has a plurality of spatially distributed form-fitting receiving means. In addition, positioning means (32) for a precise and

reproducible relative position of the support modules (23,24,25) may be present. Here, the aforementioned

Individual education or combination, especially in the form of conical pins and matching counter openings, be present. In addition, a fixing device can also be present in the mechanical coupling (30), with which the connection of base support module (23) and process Support module (24,25) controllably secured and can be solved.

The media coupling 27 has a coupling part 28 on the base support module 23 and a coupling part 29 on the received process support module 24, 25. The

 Media coupling (27) can be active and can have its own controllable adjusting device which the

Coupling parts (28,29) engages and releases again. The direction of adjustment can transversely to the recording and

Dispensing direction during charging and discharging a process tag module (24,25) be aligned.

The industrial robot (34) can according to Figure 9 a

Pick up, use and return process tool (46) together with the resource supply (48). For this purpose, a suitable mechanical change connection (52) is provided, which can be designed in different ways. It can e.g. be designed in the embodiment shown as a gripper (53) on the output element

(51) is fixed or detachably mounted and engages a suitable receptacle on the process tool (46) positive and rotationally locking and with a defined position. By means of the gripper (53), the industrial robot (34) can guide the process tool (46) in an exact and reproducible manner in its work area for carrying out the process. Alternatively, the mechanical interchangeable connection

(52) e.g. be designed as an automatic tool change coupling.

The work area of the industrial robot (34) can optionally be increased by one or more additional axes (36) wherein the process agent supply (48) and

possibly the tripod (49) are formed accordingly. About the mechanical change connection (52) can

If necessary, the process tool (46) also returned to the tool holder (47) in a defined position and, if necessary, be exchanged for another process tool (46). In this case, a tool magazine with a plurality of process tools (46) may be present.

Alternatively or additionally, more

Process tools on the base support module (23) may be arranged individually or in a magazine and be gripped by the industrial robot (34) as needed.

The transport (6) is shown in the

Embodiments as floor conveyor with its own

Drive trained and has a low height. It has its own entrained power supply, e.g. a battery. The transport means (6) is e.g. when

self-propelled, programmable and steerable

Transport vehicle (17) formed. It can be an AGV or FTF. The driverless

 Transport vehicle (17) can thereby drive automatically and fulfill its transport functions. The

Transport vehicle (17) has a flat chassis (18) and a plurality of wheels (19). In the preferred

Embodiment is the transport vehicle (17)

omnidirectionally movable, the wheels (19) e.g. are designed as Mecanum wheels and are driven individually controlled.

Figures 5 to 8 illustrate a loading and

Configuration process for the processing unit (7), which is carried out, for example, at the provision (12). The means of transport (6) first receives according to Figures 5 and 6 with the charging device (8) in the manner described above separately and eg on the ground (5) directly parked base support module (23) and then moves together with these to a provided

Process support module (24,25). This can be arranged elevated on a shelf (13), so it from the

Means of transport (6) and of the base support module (23)

can be driven under. The transport means (6) is controlled in the defined receiving position and then raises the base support module (23) with its lifting device (20) until the mechanical coupling (30) is closed and the process support module (24, 25) is picked up from the tray (13) is solved. FIGS. 7 and 8 show these

 Situation. In addition, the empty trays (13) after removal of the process support module (24,25) are each shown in the right half of the picture.

When charging or subsequently, the media coupling (27) can be closed and a media connection between the support and process modules can be formed. The

Process equipment (35) is characterized media technology with the energy supply (39) and with the

Equipment supply or power supply (10) coupled. In the embodiment shown, energy, in particular electrical current, is supplied. In other variants, other resources can be supplied, wherein the energy supply (39) to a

Resource feeder is extended. Furthermore, a tax technical connection with the controller (40) and with a possibly existing

Energy distribution (41) on the base support module (23)

getting closed. If necessary, an industrial robot (34) can also be supplied with energy from the energy distribution (41). If according to Figure 1, a working platform (33) is used, this can also be a

Receive power supply, e.g. can be produced by a separate cable connection to the media coupling (30) or for power distribution (41) as needed and automatically or manually.

The transport (6) then moves the

Processing unit (7) to a workpiece (3) and sets it there at a designated job. In this case, with the aforementioned device (9) an exact

Positioning and, if necessary, fixing of the processing unit (7) take place. The device (9) has e.g.

positive locking and positioning in the

Underground and on the support means (38). When lowering with the charging device (8) is the

 Machining unit (7) automatically positioned.

Figures 6 and 8 illustrate in plan view the layers and mutual associations of the receptacles (21,31) and the tray (13) and the positioning means or positioning means (14,22,32). The rear shots (21,31) are center-centered into each other and in

Longitudinally arranged at the same height, wherein the receptacle (21) between the base support module (23) and

Transport means (6) further out. The Positioning device (14) between tray (13) process support module (24,25) is arranged even further out.

Figures 1 and 2 show various embodiments of a processing plant (1) and a processing device (2). In FIG. 1, the processing system (1) has a single processing device (2). This may be provided by a protective partition (11), e.g. a protective fence, with controllable security accesses to be surrounded. This can prevent unauthorized access to people. The provision (12) for the support modules (23, 24, 25) is preferably arranged on the edge of the processing installation (1) and close to the protective separation (11). The

Process equipment (35), in particular

 Process agent supplies (45), if necessary, from outside the protective separation (11) refilled and possibly also maintained and supplied with energy. The protective separation (11) has this

accordingly suitable and secured

Access options. Figure 2 shows a variant of the processing plant (1), the several plant areas (54) and there

Processing devices (2). The

Plant areas (54) can be enclosed on the outside by the protective partition (11) and can also be separated from one another. For the secured and supervised as well

controlled transfer of an empty or loaded

Transport means (6) may be one or more

Security locks (55) between the plant areas (54) may be present. Such security locks (55) may also be present on the outer areas of the protective partition (11) for secure access to the outside.

In the different plant areas (54) and

Machining equipment (2) can be processed several identical or different workpieces (3). For economic and technical optimization, the processing units (7) in different

Plant areas (54) and processing facilities (2) used and transported across areas with a transport (6). For example, Only part of the plant areas (54) or

 Processing devices (2) have a supply (12) for support modules (23,24,25). Here, the processing units (7) can be configured as needed and then to the various workpieces (3) or

Processing facilities (2) and plant areas (54) are transported.

Figure 2 also shows the possibility with a

Transport means (6) to transport one or more process support modules (24,25). As a result, e.g. a

Redistribution to different deployments (12).

For the one or more processing areas (2), the required number of base support modules (23) can be kept low. It depends on the number of working positions to be operated simultaneously or

Work zones (4) and any use

different support and process modules (23,33,34). The The number of process support modules (24, 25) can be significantly larger and is determined by the required variance of process-specific configurations and simultaneously used processing units (7). The number of required transport means (6) may be smaller than the number of base support modules (23). Due to the detachable connection, the means of transport (6) can be separated again after their transport job from the respective processing unit (7) and can immediately do the next transport job and / or configuration job with another processing unit (7).

Modifications of the shown and described

Embodiments are possible in various ways. In particular, the characteristics of the various

Embodiments and the variants mentioned are arbitrarily combined or exchanged.

The loading device (8) may alternatively or additionally be associated with the processing unit (7), in particular with a base support module (23). In this case, e.g. the lifting device (20) on the support device (38)

be arranged. In addition, it is possible to provide on the base support module (23) or on the tray (13) an additional lifting unit for charging one or more process support module (s) (24, 25). In a further modification, an additional or alternative reception of a process support module (24, 25) on the side of a base support module (23) is possible. The

Charging device (8) can be modified accordingly become. It can also be provided a further charging unit and be associated with the base support module (23), for example.

REFERENCE SIGN LIST Machining plant

processing device

workpiece

processing zone

Underground, hall floor

Means of transport, floor conveyors

processing unit

loader

Device for positioning and, if necessary, fixing of equipment supply, energy supply

Protective separation, protective fence

provision

filing

positioning

Carrying device, platform unit

process means

Transport vehicle, Omnimove

chassis

Wheel, Mecanum wheel

lifting device

Holder for carrying module

positioning

Support module, base support module, base platform

Carrying module, process carrier module, process platform Carrying module, process carrier module, process platform Coupling device

media coupling

Coupling part, active

coupling part 30 mechanical coupling

 31 Recording for process platform

 32 positioning means

 33 Process module, work platform

34 Process module, industrial robot

 35 Process module, process equipment

 36 additional axle, lifting unit

 37 carrier, plate, frame

 38 Supporting device, support feet

39 energy supply

 40 control

 41 energy distribution

 42 carriers, plate, frame

 43 thighs

44 free space

 45 Process medium supply, tank, power source

46 Process tool, application tool, joining tool

47 tool holder

 48 Process agent supply, line

49 tripod

 50 robot link

 51 output element

 52 mechanical exchange connection

 53 gripper, change coupling

54 plant area

 55 security lock

Claims

Processing device for workpieces (3), wherein the processing device (2) at least one Transport means (6) and at least one mobile and releasably connectable to the transport means (6) Processing unit (7) with a support device and having a process device, characterized in that the processing unit (7) modular and automatically different is configured configurable. Machining device according to claim 1, characterized in that the processing unit (7) has a modular support means (15) at least two different mobile Has support modules that are detachable to each other connected and automatically changeable. Machining device according to claim 2, characterized in that the at least two different support modules are arranged on top of each other. Machining device according to claim 1, 2 or 3, characterized in that the Processing unit (7) on the support means (15) arranged modular process means (16) having a plurality of different process modules, which are detachably connected to each other and automatically interchangeable. 5.) Processing device according to claim 4, characterized in that the process modules are each assigned to a support module. 6.) Processing device according to claim 4 or 5,  characterized in that the  Processing unit (7) an automatic  Coupling device (26) for connecting the support modules and the process modules. 7.) Processing device according to one of claims 2 to 6, characterized in that the different support modules are each formed like a platform. 8.) processing device according to one of  previous claims, characterized  characterized in that one or more  Support modules as a base support module (23), in particular base platform, is / are formed, wherein  preferably a base support module (23) a  Supporting device (38) for supporting on a  Subsurface (5). 9.) processing device according to one of  previous claims, characterized  in that a base support module (23) has a flexible, co-movable energy supply (39) and preferably a controller (40) and a Energy distribution (41). 10.) Processing device according to one of the preceding claims, characterized  in that the processing unit (7) has an automatic charging device (8),  in particular a lifting device for connecting the Carrying device (15), in particular a base support module (23), with the transport means (6). 11.) Processing device according to one of claims 4 to 10, characterized in that a plurality of support modules as different process support modules (24,25), in particular process platforms,  are formed. 12.) Processing device according to one of claims 4 to 11, characterized in that a process module for handling and management tasks, in particular as an industrial robot (34) and / or as a working platform (33), formed and on or on a base support module (23 ) is arranged. 13.) processing device according to one of  previous claims, characterized  marked that the  Processing device (1) means (9) for positioning and optionally fixing a  Processing unit (7), in particular its basic Carrying module (23) on a substrate (5). Machining device according to one of previous claims, characterized marked that the  Processing device (2) a supply (12) for support modules, in particular with several defined shelves (13) with a Positioning device (14) for support modules, having . Machining device according to one of previous claims, characterized marked that the Processing device (2) several Processing units (7), the different processing zones (4) are assigned to the workpiece (3). Machining device according to one of previous claims, characterized in that the means of transport (6) are used as floor conveyor, in particular as self-propelled, program-controlled and steerable, in particular omnidirectionally movable, Transport vehicle (17) is formed. 17.) Processing plant for workpieces (3) with a processing device (2), the at least one transport means (6) and at least one mobile and releasably connectable to the transport means (6)  Processing unit (7) with a support device and having a process device, characterized in that the processing unit (7) modular and automatically different  is configured configurable. 18.) Processing plant according to claim 17, characterized  marked that the  Machining device (2) according to one of claims 2 to 16 is formed. 19.) Processing plant according to claim 17 or 18, characterized in that the processing plant (1) a resource supply (10) for the  Processing device (2). 20.) Processing plant according to one of claims 17 to 19, characterized in that the  Machining area on the workpiece (3) in several Processing zones (4) is divided, in each of which a processing unit (7) is arranged.