CH711717A2 - Plant and method for carrying out a machining process. - Google Patents

Abstract

A plant for carrying out a processing process, in particular for the production and / or testing of chemical products, comprises at least two processing stations (1-11) and at least one self-propelled transport vehicle (W) for transporting an object to be processed to the processing stations, the processing stations respectively undergo at least one processing step. The system has a main control computer (C) designed for communication with the processing stations and the transport vehicles. The transport vehicles (W) are designed to store an individual identification information provided by the main control computer (C). The main control computer (C) provides process control information (I) which describes which processing steps an object should undergo in which order under which conditions and to which processing stations the object is to be transported by the transport vehicles. The main control computer (C) assigns the identification information of a transportation vehicle (W) to individual process control information (I). The processing stations (1-11) recognize the identification information of a transporting vehicle (W) approaching them and, on the basis of their associated process control information (I), carry out the processing of the object provided on the transporting vehicle (W).

Description

Description: The invention relates to a system for carrying out a machining process according to the preamble of independent claim 1. The invention also relates to a corresponding method.

In many areas of manufacturing technology, for example in the production of electronic components or food or in the automotive industry, it is known to use fully automatic production or production lines. In this case, the production or production takes place stepwise in a number of processing stations, which are passed through a predetermined workflow. The transport to and between the processing stations takes place by means of a suitable transport system. A usually computer-based control controls and coordinates the manufacturing or production steps carried out in the processing stations and the transport.

The previously known production or production lines work strictly sequential and are each designed specifically for the production of a particular product.

Also in chemical research and development there is often a need for facilities with which a chemical product can be produced fully automatically. For smaller product lines, and especially if, as is common in research and development, each manufactured product is manufactured individually, i. At least one step or component is different, however, a specific production facility designed for a single workflow is often too time-consuming to be converted in this cadence, or the automation would be limited in respect of e.g. Time savings are not worthwhile. In addition, sequential production facilities, as they are known to date, are not optimal for each workflow or the system would have to be converted or even rebuilt in extreme cases for each new product. Usually, therefore, such production plants operate in parallel, with the same basic working steps (usually with small differences between individual product containers, eg with respect to registered substance quantities, physical conditions, etc.) being processed simultaneously or staggered over a plurality of product containers, around a large number of products to obtain.

By the present invention, a system and a method for performing a machining process will now be made available that allow a more universal use of the system with a simple adaptation to a variety of work flows. Another object of the invention is the optimization of the system in the sense that individual processing steps can be done not only in the stationary processing stations, but also on the processing stations approaching Transportvehikeln, especially during their movement.

This object of the invention is based is achieved by the inventive, defined in the independent claim system and by the inventive, defined in the independent claim 28 method. Particularly advantageous developments and refinements of the inventive system and the corresponding method will become apparent from the respective dependent claims.

With regard to the system, the essence of the invention consists in the following: A system for carrying out a machining process comprises at least two processing stations and at least one self-propelled transport vehicle for transporting an object to be processed to the processing stations. The processing stations are designed to subject the object provided by the transport vehicle to at least one processing step in each case. The system has a main control computer designed for communication with the processing stations and the transport vehicles. The transport vehicles are designed to store an individual identification information provided by the main control computer. The main control computer provides process control information which describes which processing steps an object should undergo in which order under which conditions and to which processing stations the object is to be transported by the transport vehicles. The main control computer is designed to associate the identification information of a transport vehicle with individual process control information. The processing stations are configured to recognize the identification information of a transporting vehicle approaching them and to carry out the processing of the object provided on the transporting vehicle on the basis of the process control information individually assigned to this identification information. Through this design of the system, the processing steps to which an object is to be subjected, individually programmable and it can thus be the same or different processed on the same system different object. The system is highly flexible in this way.

Advantageously, the processing stations on local control computer, which are adapted to control the treatment steps to be performed in the treatment stations and to communicate with the main control computer. As a result, a modular design of the system is possible.

Advantageously, while the processing stations or their local control computer are adapted to update the information associated with a process control information information by the status and / or the result of each performed processing steps, in which case the updated process control information determines all possibly following processing steps. In this way, the machining process can be automatically adjusted dynamically on an ongoing basis.

Conveniently, the system has a rail system connecting the processing stations and the transport vehicle as a rail-bound, forward and backward moving car is formed.

In this case, the rail system advantageously has at least one leading to different treatment stations switch. This makes it easy to implement branches of the editing process.

Advantageously, the carriages are configured to store a decision code provided by the main control computer regarding the direction to be taken by the carriages at a switch, and further the switch is adapted to recognize the decision code of an approaching carriage and insert the carriage into the vehicle to direct certain direction through the recognized decision code. As a result, the wagons can control the path to be driven themselves and data generated on the road or during the processing of previous processing steps can influence this path.

Advantageously, the rail system includes points, by means of which it is subdivided into two or more adjacent sections extending and these sections can be brought together again. This allows a parallelization of individual machining operations.

According to an advantageous embodiment of the system, the transport vehicle in two-dimensional space freely moving car and are adapted to automatically approach the processing stations in accordance with their assigned, possibly updated process control information. This makes the system particularly flexible.

Conveniently, the system has two or more transport levels with processing stations arranged thereon and at least one lifting device for moving the transport vehicle between the transport planes. As a result, the system can be constructed relatively compact.

According to a further advantageous embodiment of the system, the transport vehicle are free in three-dimensional space moving aircraft and designed to automatically approach the processing stations in accordance with their assigned, possibly updated process control information. This training can be dispensed with transport paths.

Particularly advantageously, at least one of the processing stations for sequential, staggered time or simultaneous execution of one or more identical or different processing steps on her on the transport vehicle supplied objects formed. As a result, several objects can be processed in the approached processing stations.

Advantageously, at least one of the processing stations for batchwise or parallel or staggered implementation of at least one processing step is formed. This measure increases the throughput of the respective processing station. This is particularly important or advantageous when e.g. Most processing steps (e.g., dosages) only take a relatively short time, and one or a few processing steps (e.g., a temperature treatment) require relatively much more time.

According to an advantageous development of the system, the transport vehicle are adapted to independently approach a selected processing station from a group of the same or different processing stations. In this way bottlenecks in the processing sequence can be avoided.

Advantageously, the system is designed so that different transport vehicles in different processing stations at the same time, possibly offset, can be edited. This measure increases the throughput of the system.

Particularly advantageously, the system is designed so that on average comparable processing times per processing station can be achieved. Bottlenecks (bottlenecks) can be parallelized as in road traffic, whereby the throughput of the system can be continuously increased. As described above, with very long cycle times, e.g. Heat-curing is then carried out in parallel by placing the samples in a temperature control unit for a certain period of time and returning them to the shuttle at the programmed time.

According to a particularly advantageous embodiment of the inventive system, the transport vehicle are provided with treatment agents to perform a physical and / or chemical treatment of the objects located on the transport vehicle. In this way, processing steps can be carried out not only in the stationary processing stations but also directly on the transport vehicles, especially during their movement. This makes the system even more universal and flexible.

Advantageously, the provided by the main control computer, the transport vehicles individually associated process control information also include information concerning on the Transportvehikeln, especially during their movement to be performed treatment steps and the treatment means are adapted to perform the treatment steps to be carried out in accordance with the transport vehicles associated process control information make.

Conveniently, the transport vehicle for receiving two or more product containers and / or samples are formed and formed the treatment means for physical and / or chemical treatment of the contents of all located on the Transportvehikeln product container and / or samples. In this way, several products and / or samples can be transported and treated on a transport vehicle. Thus, e.g. Samples are summarized, which in principle have the same / similar workflows - ie approach substantially the same processing stations, but z.T. learn about these different treatments.

Advantageously, the transport vehicle for receiving at least one reactor are formed, in which a chemical or biological reaction can be carried out. As a result, the plant for the production of a chemical product is replaceable.

Advantageously, the plant for the production and / or for applying and / or for testing a chemical product is formed, wherein the processing stations are designed for performing manufacturing steps and / or application steps and / or test steps.

Particularly advantageously, the system comprises a number of mobile reactor or formulation units, which can approach different processing stations and are equipped with their own means for chemical and or physical treatment of the content entrained reaction or formulation container. This further increases the efficiency and flexible usability of the system.

Advantageously, at least one processing station of the system for manually triggering or performing one or more processing steps / s is formed. This possibility of personnel-occupied processing stations increases the flexibility of the system enormously.

With regard to the method, the essence of the invention consists in the following; In a method for carrying out a machining process, objects to be processed travel by means of self-propelled transport vehicles between two or more processing stations in which the objects are subjected to processing steps, wherein: the transport vehicles receive or receive individual process control information relating to the processing steps of the transported objects to be operated and already performed by a main control computer , to send back to them; - The transport vehicle automatically approach the next processing station due to their associated process control information, in which the next each necessary for the current processing process processing step is performed; and - the various processing steps in the different processing stations are processed sequentially one after the other and / or in parallel / simultaneously and / or with a time staggered. This approach achieves universal usability and maximum flexibility.

Advantageously, process control information in case of need during a processing cycle depending on originally present and / or incurred during the already completed processing steps data and / or adjusted due to external inputs to change the processing cycle during its execution. This measure also increases the flexibility.

In the following the invention will be described in more detail with reference to embodiments shown in the drawing. Show it:

Fig. 1-8 schematic overviews of various embodiments of the inventive system;

Fig. 9-11 three basic training variants of the transport vehicle of the system;

Fig. 12-20 different equipment variants of the transport vehicle of the system;

Figs. 21-22 are two flowcharts for explaining essential operations of the system; and Fig. 23 is an example of process control information in list form.

For the following description, the following definition applies: If in a figure for the sake of graphic clarity reference numbers are given, but not mentioned in the directly associated part of the description, reference is made to their explanation in the preceding or following description parts. Conversely, less relevant reference numerals are not included in all figures to avoid overcharging graphic for the immediate understanding. For this purpose, reference is made to the other figures.

Under processing process of an object is understood in the context of this invention, the totality of all chemical and / or physical processing steps to which an object is to be subjected. Within the scope of the invention, machining processes are to be understood in particular also as manufacturing processes, application processes and test processes for a chemical product.

In the context of this invention, a production process for a chemical product is understood to be the entirety of all chemical and / or physical production steps which ultimately result in the desired chemical product. In particular, but not exclusively, this also means mixing and formulation processes. Accordingly, a chemical product is understood in the broadest sense to mean any product obtained by chemical reaction and / or addition and / or mixing of components, the mentioned components including substances, reagents, compounds, catalysts, but also auxiliaries for physical processes (eg Glass beads for grinding a product). The manufacturing steps can be both chemical and physical. Chemical manufacturing steps are usually chemical reactions involving changing at least one chemical parameter or producing a new chemical molecule or complex, etc. Physical production steps are typically metered addition of chemical substances, e.g. Edukte chemical reactions, reaction-relevant auxiliary substances such as catalysts, stabilizers, emulsifiers, etc., which are to react later, or other solid, liquid or gaseous ingredients and stirring, heating, cooling, pressurization, etc., this list is not exhaustive. Production steps also include purely mechanical operations such as the provision of empty product containers, the opening and closing of same, exposure to inert or reactive gases, the removal of product containers and the removal of samples, but also the application of samples or test substances (eg by spraying, knife coating , Spin-coating, etc.) on, for example, test substrates or test containers understood, and this list is not exhaustive. Examples of such mainly physically embossed manufacturing or working steps may include, for example, the spraying of sample plates of e.g. Glass, metal or cardboard, the filling of microtiter plates (MTP) with predosed enzymes, the introduction of grinding beads into a mixture of colors and pigments to be homogenized. Applications include sprayed or otherwise coated sample plates, such as glass or metal plates, microtiter plates with pre-dosed enzymes, which have been treated with an active ingredient, battery assemblies incorporating e.g. the cathodic paste formulation was incorporated as a variable part during application, a Petri dish introduced with a fungus to challenge the resistance of the formulation (not exhaustive). Test processes are the chemical or physical analysis of a manufactured product as well as the taking of product samples. The terms manufacturing step, processing step and treatment step used below are to be understood synonymously in the general sense explained above. A processing station is understood to be a plant part in or on which at least one of the abovementioned chemical and / or physical or mechanical processing steps takes place. Analogously, processing means or processing tools are understood to mean a functional arrangement which can carry out at least one of the abovementioned chemical and / or physical processing steps.

Sequential processing means the sequential execution of different processing steps in different processing stations, but may additionally include several steps in a processing station. From the perspective of a product or a sample, the sequence results as a sequence of processing steps, which are processed one after the other. From the point of view of a processing station, an operation is sequential when multiple products or samples or generally objects are processed or processed sequentially in the station.

Parallel or batchwise processing or processing is to be understood in the sense that two or more product containers or their contents or generally objects are subjected to substantially the same processing steps substantially simultaneously. This can be done in a processing station and / or - as explained in more detail below - also on transport vehicles and in particular also during their movement or else by e.g. the simultaneous processing of several objects in parallel, functionally identical processing stations done. This can e.g. the parallel shaking and tempering but also the parallel curing of applied samples e.g. by means of UV or heat-curing devices and much more.

Staggered processing is understood to mean a sequence in which samples / products or generally objects arrive in succession in a processing station in which they are subjected to a certain treatment, usually over a defined period of time, and then after completion of the working step of each individual sample / each individual product or each individual object are led away from the processing station again. A large number of samples / products or objects are thus simultaneously (quasi-parallel) in progress, but the processing is staggered over time. Usually, the different samples / products or objects finish their respective processing step in the same order as it started, but it is also possible that the input and output orders are different (example: samples come in staggered time in a drying oven, and depending on how long an individual sample needs to dry, sooner or later it will be relocated and transported to the next processing station.) By the term "transport vehicle" as used herein is meant any type of transport vehicle which is capable of Object (eg in particular a product container) to transport. In particular, transport vehicles can be designed as rail-bound wagons or wagons moving freely on one or more transport surface (s) or as freely movable aircraft in three-dimensional space.

The illustrated in Fig. 1 embodiment of the inventive system is designed as Lackformulierungs- Applika- tion and test facility on which produced in a first step sequence paints from their starting materials, the paints in a second step sequence by different methods (eg doctoring, Spray, ...) are applied to test substrates and in a third step sequence these applied on the test substrates paints can be tested by various chemical and physical methods. It comprises a number of processing stations, which are interconnected by a transport device, and a controller for the transport device and the processing stations. An analogous structure may e.g. can also be used for the production of cathode materials for batteries or many more F & E workflows.

The designated as a whole with T transport device here comprises a zweikreisiges, substantially the shape of an eight-exhibiting rail system S, on which a number of transport vehicles in the form of rail wagons which W W autonomously move independently. A distributor switch V allows a carriage W traveling on the rail system S to travel in one or the other direction of the rail system as required. The decision in which direction the car W travels is so-called hard-coded and follows an if-logic ("if condition X is fulfilled, drive in one direction, if condition Y satisfies, drive in the other direction). A further variant of a switch, a merge switch Z, allows wagons W, which come from different sections of the system, to travel again to a common rail section.

In general, the processing stations are usually designed so that they have one or more functions and thus can process one or more manufacturing or production steps. These functions may include manufacturing, application (application, jobs, ...), and testing (testing, measuring, analyzing). To this end, they include, as needed, one or more different or identical tools from a wide range of possibilities. For example, dosing tools for liquids, solids or gases, mixing tools (stirrers, SpeedMixers, ...), storage units for samples and products / product containers, tools for labeling samples / sample containers resp. Reading out labeled samples / sample containers, robots for the manipulation of samples / sample containers and tools, measuring and testing tools, as well as countless other tools and functions.

In an advantageous embodiment certain tools (as described above) can fulfill their function (s) also for several processing stations accessible to them. For example, it is possible for a robot to manipulate samples / sample containers in multiple processing stations. (Example: A single multi-axis robot can move empty sample cups from one store to a cart for a first processing station, then a finished test substrate from another for a second processing station Take the cart and transport it to an analyzer, and then take a finished product container from a third cart into a third processing station, move it to a processing station with a printer where the bin is labeled, and then place it in an exit bin.) In the embodiment of Fig. 1, the processing stations along the rail system S are arranged. Specifically, the processing stations here include a storage station 1 for empty product containers P, three metering stations 2-4, a closing station 5, a transfer robot 6, a stirring station 7, an opening station 8, a storage station 10 for finished product containing product containers P, an application station 9 and a further transfer robot 11.

The system has one (or more) main control computer C, on which one or more databases are installed, which contain the entirety of all relevant process control information I The arrows of the main control computer C in Fig. 1,2 and 3 symbolically representative box indicate the functional connection of the main control computer to the processing stations 1-11 and the transport device T with the car W at. The main control computer can also be implemented as a server.

Usually, but not necessarily, the main control computer C is also connected to a network N which, for example, comprises a company-wide network, as is often used to plan the entirety of all experiments, trials and production of a company and evaluate. The data or information available in the network is denoted by Γ.

The processing stations themselves are each equipped with their own or with a shared with other processing stations local control computer (in Fig. 1, for example, R2, R3, R4, R5, R6, R8 and RH) on which run the control programs, which control the functions or processes of the corresponding processing station (s). It should be noted here that in this example, for example, the storage station 1, the stirring station 7 and the storage station 10 are operated / manipulated by the transfer robot 6, which is controlled by the local control computer R6 and each does not need and contain its own local control computer. The application station 9 is also controlled by the local control computer R11 of the second robot and therefore does not have its own local control computer.

The system has a so-called workflow management software (not shown in the figures) to program the software of the various local control computer. The workflow management software can also serve to append the individual control software programs to the facility. start, monitor and process the generated data and results. The workflow management software may e.g. be installed on the main control computer C. The control of the attached processing stations takes place in that the workflow management software influences the control software programs running on the processing stations (or starts, monitors, provides parameters (eg dosing parameters, etc.) and results (eg actually dosed quantities) and receives any error messages and system messages and makes them available to the plant operator and / or feeds this information into the process control information I on the main control computer C, where they can continue to be used .. Since all the processing stations and their local control computers and the main control computer are networked with each other and constantly with each other can communicate and exchange data, the workflow management software from any local control computer or the main control computer can be started and used to monitor and control the entirety of the system The main control computer can also be physically implemented in one of the local control computers.

The process control information I can either be stored on the main control computer and assigned to a car or general transport vehicle. Alternatively, the process control information may be e.g. to

Beginning of a machining process also be stored directly on the respective car or general transport vehicles. The process control information I can contain variables and parameters on the basis of which it can be decided during the processing process which actions are to be performed or in which direction (ie to which processing subsections) the transport vehicles have to travel, and to be able to process the next required process steps. Depending on the results of previously processed processing steps, the process workflow of each individual transport vehicle can thus be adapted directly during the workflow on the basis of parameters in such a way that the objects on the transportation vehicles are processed according to the target specifications.

The car W or generally transport vehicle are designed to independently approach the required processing stations due to their individually assigned process control information I and to process the respective processing steps (to let them work off). The self-propelled carriages W or general transport vehicles are thus programmable via the process control information I.

As illustrated for example in FIG. 9, the carriages W or transport vehicles are generally designed as transport platforms which can be moved along the rail system S. Depending on current needs, the cars can either travel forwards or backwards. In the example shown, a product container P is placed on the cart W. In addition, the cars are provided with a holder on which the lid D of the product container can be stored and transported. The carriages W are provided with a motor drive (not shown) and an associated control electronics (also not shown), which cooperates with the local control computer of the respectively approached processing station and the main control computer C. The car W also each have a unique (active or passive) identification information ID, which is the car W or generally Transportvehikeln assigned at the beginning of a processing process from the main control computer C. In this case, the main control computer C also makes an individual assignment of this identification information ID to one of the process control information I stored in it, thereby determining which processing process is to be carried out by means of the carriages or transport vehicles. The identification information ID of the wagon or general transport vehicle is recognized by recognition devices 30 provided in the processing stations and allows the local control computer R of the processing stations to access the process control information I stored on the main control computer C and the process control information associated with the individual wagons. The car logs on their identification information ID so to speak when entering a processing station there and get the information what to do there. Based on this information, the processing station works off the car. Subsequently, after updating (e.g., storing) the results of the processing step, the carriage logs off the processing station and continues.

The carriages W also also carry a decision code GID, by means of which the carriage can be connected to branches of the rail system, e.g. at a switch V of the car in one or the other direction is steerable. The switch V is for this purpose equipped with a sensor, not shown, which recognizes the decision code of a approaching her car and reads and sets the switch accordingly. The decision code is derived from the process control information I associated with the car and results of previous processing steps. Further details are explained below in connection with FIGS. 22 and 23.

On the main control computer C, as already mentioned, for each transport vehicle or the objects transported on it, here e.g. Product container and / or samples, an individual process control information I stored, which determines which processing stations to be approached by the transport vehicle in which order and which processing steps to be performed under which conditions in the approached processing stations. Thus, the process control information I represent to a certain extent a processing recipe for each object located on a carriage or generally transport vehicle, ie in the case of a production process a production recipe. The process control information of all planned, ongoing and also completed experiments are stored in databases installed on the main control computer C. During operation of the system, the currently provided processing recipes or process control information are successively processed in succession, that is to say a "fresh" recipe is assigned to a carriage or generally transport vehicle and this is sent to the processing process, whereupon the processing steps required for this carriage / for this recipe the system are processed. After completion of the processing process, the carriage or generally the transport vehicle reaches the starting point again, the associated process control information on the main control computer C is supplemented with the data generated during the processing process (eg metering results, measurement results, etc.), stored and the car or generally the Transport vehicle is then available for another, new recipe.

In the embodiment of Fig. 1, according to which the plant is a chemical product manufacturing facility, the product tanks P are preferably constructed as reactors, e.g. with a lid which can be unscrewed or revealed on the cart or at a processing station, supply means (dosing systems, pumps, etc.), heating and cooling means, ... in which chemical and / or biological reactions (eg enzymatic reactions or rivatisierungen, parallel incubation of different cell cultures, ...) and / or physical processes and / or formulations can be carried out, the products then further used in designated processing stations (eg spray coating, drug expose an enzyme, UV treatment, and much more. ) can be. Of course, these subsequent processing stations can also process the product containers sequentially, staggered or in parallel (within a cart).

The objects transported on the carriage W or, in general, transport vehicles can also be samples, for example test substrates made of different materials (contrasting cardboard, metal, glass, plastic or wood panels are common in, for example, the color industry) and in various forms (US Pat. rectangular plates, but also round slices, differently shaped bodies, textile pieces, hair samples, ...), but also vessel-like samples (Petri dishes, eg for cell cultures) or whole groups of vessels (eg multi-well micro titre plates) or whole devices (eg batteries to be tested).

In addition to product containers and samples, it is of course also possible to transport certain aids to the car, which are required for certain processing steps, in particular production steps. Examples of this can be draw-down bars (squeegees), lids, dispensing tips, etc., which are only required for processing the products or samples on the wagon. This can be advantageous especially in such cases when such an aid is used in more than one processing station or between individual processing stations. For example, a lid is carried along, which in each case closes the product container during movement of the carriage and thus protects its contents, but is temporarily removed from the product container for the production steps in the processing stations. In another example, a disposable dispensing tool (e.g., disposable syringe) is included to transfer part of the sample to multiple processing stations without the need for a new syringe for the same sample each time.

Within a processing station, the processing of a Transportvehikels / a sample / a product is carried out as follows: When a transport vehicle arrives in a processing station, it is recognized by its identification information ID and, if provided for the associated process control information I, stopped. Thereupon, under the control of the local control computer in the relevant processing station, the work steps recorded in the process control information I (or possibly only a single work step) are carried out. Subsequently, any data generated during the operation (e.g., dosing results, measurement results, etc.) in the corresponding process control information on the main control computer C is supplemented, and the carriage W is advanced to the next processing station.

FIG. 21 shows the basic processes and decisions that take place in a processing station and are controlled by the associated local control computer. On the control computer of the processing station runs a program in which all steps are processed as sub-steps as shown: In a first program step, the processing station waits. As soon as a car enters and stops automatically, a sensor 30 detects its presence and reports it to the control computer, respectively. the program running on it.

In a second program step, this sensor 30 of the station reads out the identification information 20 of the carriage W and reports this to the control computer.

As a third program step, the control computer checks which recipe, resp. which process control information I from the database belongs to this car (or the product / sample on it).

As a fourth step, the program checks in the recipe I, if this processing station must complete a processing step of the car at this time. If not, the car is simply sent in a further program step without editing and it is - again at program step 1 - waiting for a next car.

But if a processing step is necessary (for example, a metered addition of any substances), these processing steps are processed under the control of the local control computer of the processing station in a fifth program step.

After completion of the processing steps, the results of this processing (in the example of substance doses about the actual metered substance amounts) in the recipe (in the process control information I) are added and stored this updated recipe version in the database (the old version is overwritten) ,

If no further processing steps are necessary, the carriage is sent on in a last, sixth program step and the processing cycle of the processing station starts again at program step 1, waiting for a next carriage.

The carriages W in the exemplary embodiments of the system according to the invention shown in FIGS. 1-4 are designed to move linearly on the rail system S. Fig. 10 shows a carriage W ', which can move freely without rails in two dimensions, as indicated by the arrow 40. This car W 'can approach the processing stations in any order without relying on any switches of the rail system. It is of course also possible to form transport vehicles for a free three-dimensional movement, as shown in Fig. 11, for example. In this case, the transport vehicle W "is designed as a so-called drone with which the product containers P can be moved in three dimensions (illustrated by the arrows 41) In the present example, these drones are designed as quadrocopters with four impeller rotors a large number of differently designed autonomous aircraft are also possible.The main control computer C must of course be designed to control the free-moving or flying transport vehicle W 'or W ".

The embodiment of the system according to the invention shown in FIG. 1 is suitable for e.g. for the formulation of color samples and their subsequent application to test substrates provided (wherein the test of the substrates in this example is not performed on the system itself - see in comparison to the system explained below in connection with Fig. 3. The system according to FIG. 1 operates as follows: The wagons W are transported autonomously, ie each wagon moves autonomously through the installation and processes the processing steps provided for this wagon on the basis of the process control information I assigned to it Each processing station is operated by its associated local control computer controlled, which receives from the central main control computer C by means of the process control information only the required information (eg tool parameters, etc.), but otherwise controls the processes in the processing station autonomously In the case of a dosing of the main control computer C, for example, only specify from which V orratsbehältern which quantities must be added, the actual dosing leads the dosing under control of the local control computer then independently.

In the storage station 1, empty product containers P are kept in stock. The robot arm of the transfer robot 6 respectively places a product container P on the empty carriage W standing by at a stop position H. Then the carriage W moves to the opening station 8 in which the product containers P are opened. The screwed-off in this process cover D is placed on the holder provided for this purpose on the car and thus carried on the car during the following steps.

Upon reaching a distributor switch V, it is decided in the process control information I in which direction (or in which of the partial machining processes formed in this system) the carriage W travels. This happens after hard-coded if decisions of the type: «If the product container P on the wagon W is still empty, drive to the right in the direction of the formulation process. If the product container P contains a ready-made product, move to the left in the direction of the application process. "In this phase, the carriage W will move to the right towards the dosing station 2.

In this subsequent first dosing station 2, a predetermined amount of a base colorant is introduced into the product container P. In the subsequent second dosing station 3, depending on the process control information I, one or more additional colorants are added. In the subsequent third dosing station 4, a smaller amount is added by a Gamme held there further colorant, again according to the process control information assigned to the car I.

After the dosing steps, the carriage W drives over the merge switch Z, which can merge the car arriving from different directions back to a common rail section, to a closing station 5, where the sample container P closed again with the lid D and then to the holding position H. is driven. The transfer robot 6 removes the product container P there from the carriage W and places it in the stirring station 7, where its contents are intimately mixed in a centrifuge mixer. After mixing, the product container P is placed again on the same or a subsequent carriage W and transported to the opening station 8, where the lid D is removed again.

Thereafter, the carriage W is moved to the stop position H, where the product container P with the finished product - the paint formulation - removed by the robot arm of the transfer robot 6 from the car W and transferred to the storage station 10. The empty car W still standing on the stop position F1 is now ready for a new process cycle and a new empty product container P can be placed on it.

Instead of transferring the product container P with the finished paint formulation in the storage station 10, the product container P can be opened a second time after mixing in station 7 and return to the car W by the transfer robot 6 in the opening station 8 and again the distributor switch V are transported in the direction of the application process cycle with the application station 9, wherein it is again decided here on the basis of the process control information I that the carriage should strike the corresponding direction. There, a subset can be removed from the product container by means of transfer robot 11 and for direct system-internal (not shown here) or later external analysis of the smears on a suitable, stored in the application station 9 substrate F, e.g. a piece of foil, a metal or glass plate, etc., be spread (scrape). Subsequently, the car is sent on and after re-passing the merge point Z of the car W, the product container P in the Verschliessstation 5 closed again and finally, when the car W arrived again on the holding position H, by transfer robot 6 in the storage station 10th outsourced.

In addition, the product containers P containing the finished paint formulation can also be supplied to the analysis station 10 and the paint formulations there subjected to an analysis. The transfer robot 11 ensures the transfer of the product container P in the analysis station 10 and possibly back to the car W.

As is clear from Fig. 1, the described inventive plant realizes a sequence of purely sequentially carried out manufacturing steps. As an extension thereof, the system shown in Fig. 2 can be understood, in which the individual processing stations are approached sequentially, in each processing station but two or more product containers are subjected-depending on the manufacturing step-sequentially or in parallel the same manufacturing steps.

In the exemplary embodiment according to FIG. 2, in contrast to the system in FIG. 1, product containers P are used which can be processed in a constantly open state, which is why the opening and closing stations 5 and 8 can also be dispensed with. In addition, the cars are designed so that a plurality of product containers can be transported simultaneously.

In the machining process shown in Fig. 2, a plurality of containers are now initially stored on the standing on H stop car, and then the car transported via the Verteilweiche V to the first processing station 2. There, a predetermined amount of a base colorant is sequentially filled into the product container P sequentially into one product container P after another. In the subsequent second dosing station 3, depending on the process control information I, one or more further colorants are added to the various product containers P located on the carriage W. In the subsequent third dosing station 4, a smaller amount is added by a Gamme held there further colorant, also again in accordance with the process control information assigned to the car I.

Once again arrived at the stop position H, the sample container P of the carriage W are transported by transfer robot 6 in a shaker 12, where they are shaken all at the same time (parallel processing step) and thus the substances introduced into the product container P are mixed. After this parallel processing step, the product container P are removed again and then either stored in the warehouse 10, or the product containers are again stored on the car W and transported to the application branch of the rail system S, where - analogous to the investment shown in FIG. each taken a sample and applied to test substrates F. Finally, the carriage is again transported to the holding position H, where the transfer robot 6 stores all the sample containers successively in the warehouse 10.

An example of a further system according to the invention which is used to prepare color mixtures and their subsequent application to test substrates and finally measuring these test substrates is shown in FIG. 3. For the sake of simplicity, the representation of the individual control computers is dispensed with in this representation, but their use is to be understood analogously to the examples in FIGS. 1 and 2.

According to this embodiment, as in the system shown in FIG. 2, the product containers P are always open, which are stored in a product container storage 1 at the beginning of the workflow. Another bearing 9 is equipped with empty sample substrates F (e.g., in the form of foils, metal, glass or wood panels, etc.). An empty car W arrived at the stop position H is loaded by a transfer robot 6 with both an empty product container P from stock 1 and a fresh test substrate from stock 9 and sent on the rail system S. At a first diverter switch V1, it is decided (again after hard-coded IF conditions) that the carriage W with the empty product container P should enter to the right into the formulation and application process cycle.

In a first dosing station 2, a predetermined amount of a base colorant agent is filled into the product container P and the carriage W is forwarded. In a subsequent distributor switch V2, it is decided in which of two identical metering stations 3a and 3b the next processing step is to be carried out. In this example, it is assumed that the metering process of the metering stations 3a and 3b takes much longer than other processing steps of the system. If now each individual car W would have to be processed by a single available dosing, this would have a damming not yet finished car before dosing and thus a reduction in the cycle time of the system result. Due to the fact that, in this embodiment, the dosing station is in duplicate, approaching carriages W can each approach the next free dosing station 3a or 3b, while another dipper W is still being processed in the other dosing station 3b or 3a. Thus, arriving cars are guided by means of distributor switch V2 to one of two metering stations 3a and 3b, in the sum of two samples quasi-parallel (staggered) are processed. By means of a merging switch Z1 following the two metering stations 3a and 3b, the first carriage W which has completed the metering operation is then guided to a further common rail section where it is transported to a metering station 4, in which further substances are metered into the product container.

After completion of all metering steps, the product container P is transported in a mixing station 7 by means of a separate transfer robot 18 into a mixing tool (for example SpeedMixer), mixed there and returned to the carriage W, which is subsequently forwarded.

In another distributor divider V3 is now based on the process control information I decided whether the product by means of an application station 13 (eg spray application) or an application station 14 (eg doctor Applicator / DrawDown) on the test substrate F should be applied (hard-coded if-function: "If spray is needed, drive to the right, if squeegee is required, drive left"). In the appropriately selected application station 13 resp. 14 is then by means of belonging to the stations transfer robot 19, respectively. 20 taken a sample from the product container P and applied to the also carried on the carriage W test substrate F.

After the application, the carriage W is re-connected via two further merge points Z2 (leading car from station 13 or 14 coming together) and Z3 (merging carriage from the formulation / application cycle or test cycle) Hold position H out. There is now the finished product container P back into the

Storage station 1, and the test substrate F is placed in the store 9 where the test substrate is stored for a defined time (e.g., to allow the applied paint to dry / cure).

The carriage W is now again ready for a new process cycle and can now - depending on current needs-again be equipped with an empty product container P and fresh test substrate F, or it is a dried in the meantime test substrate F on the car W filed, which is then forwarded via the previously explained distribution divider V1 in the direction of test cycle.

The storage station 9 is thus an example of a processing station in which products or samples are processed staggered: test substrates are stored one at a time and processed (here: allowed to dry) for a defined time, and staggered successively upon completion of the individual processing time per test substrate fed back into the process cycle.

In the application sub-cycle of the system, the carriage W with the test substrate F transported thereon successively (sequentially) passes several test stations 15, 16 and 17, in each of which one or more physical or chemical measurements (in the example presented here from the Color industry eg color and gloss measurement, coating thickness measurement, measurement of chemical and physical resistance, etc.) are performed on the test substrate. Subsequently, the carriage W moves again via the merge point Z3 to the stop position H, where the transfer robot 6 resumes the test substrate F and stores it in the storage station 9, whereupon the empty carriage W in turn for a further formulation / application cycle or a test cycle is available.

FIG. 4 shows a greatly simplified principle diagram of a further embodiment of the system according to the invention, with only the system parts essential to the understanding of the invention being illustrated.

The plant comprises four processing stations 21-24, which are arranged along the transport rail system S of a transport device T. On the rail system turn wagon W, each carrying a product container P here. As far as is in accordance with the embodiments of FIGS. 1, 2 and 3. In contrast, however, the processing stations 21 and 23 for processing each a single product container P and the processing stations 22 and 24 for batchwise processing of a plurality of product containers P are designed. For which processing steps the individual processing stations 21-24 are concretely formed is not relevant to the understanding and therefore not explained in detail.

This embodiment illustrates in an illustrative manner the inventive principle of free combinability of sequential and batchwise processing operations.

With the system according to the invention, freely combinable sequential and / or batchwise / parallel and / or staggered working processes can thus be combined in an unlimited manner, as the exemplary embodiments of FIGS. 1-4 show.

Fig. 5 shows - greatly simplified - how a plant according to the invention can look spatially. In this example, the plant consists of a plurality of juxtaposed processing stations in the form of internally connected to a rail system modules 101 to 109. The arrows schematically indicate the way that a (not shown here, there driving inside the system) during the car Process cycle departs. Here, too, a processing station (104) is executed several times, which in turn is e.g. indicates a long-lasting and therefore parallelized processing step.

As can be seen from the above embodiments, the system is designed so that it comprises a rail system that connects the individual processing stations with each other and along which the car can move on defined paths. This rail system usually forms a closed path (endless loop), so that the car constantly drive along these rails so to speak in a circle, and thus the same processing stations can start again and again. In a simplest embodiment, the system consists of a circle (annular arrangement of the transport system, simple loop). It is important that the wagons moving in the plant can be freely loaded or unloaded with samples / sample containers as needed, and thus, after a process cycle with a sample / product has been completed, remove it from the wagon and a fresh sample fresh sample container can be loaded and a new process cycle can be started. A cart is thus usually loaded with a sample / sample vessel at the beginning of a product cycle, and during the process cycle transports the corresponding load from work station to work station until the carriage is unloaded again at the end of the process cycle and thus for a new sample / sample container and thus a new process cycle is available.

Advantageously, the rail system may include branches / switches which, depending on the individual needs of each individual carriage (or the sample / sample container transported thereon), allow to enter different loops or processing stations of a process cycle, or conversely those of several different loops bringing together approaching car on a common section of the rail system. The decision whether and in what direction / loop a car drives, takes place here due to the car respectively. from the samples / sample containers transported thereon, or generally from the process control information associated with the car respectively. The decision in which direction the switch is switched is hard-coded, which means that fulfilling certain criteria always automatically switches to a clearly defined one

Direction has to result. For example, a first sample at a soft can be branched into a first loop, if a first condition is met, and a following second sample, for which a second condition is met, is branched into a second loop. After passing through and processing the corresponding loops, the two samples would be returned to a merging switch back to a common path, and the subsequent processing stations all through each other.

To control the switches, the cars may be equipped with a decision code GID provided by the main control computer C (at the beginning of a process) which determines the direction the cars should take at a switch. The switches V are designed to recognize or read out the decision code GID of an approaching car W and to steer the car W in the direction determined by the recognized decision code GID.

FIG. 6 shows a further advantageous embodiment of the system according to the invention. In contrast to the examples shown in FIGS. 1, 2 or 3, the splitting of the rail system into different sections takes place here but not in the horizontal, but in the vertical: Here, the workflow is divided into two spatially divided levels, which are connected by a lift. Here, the processing stations 101, 102, 103 and 104 are arranged on a lower level 115 and connected to each other circularly via a rail system Sa. A second group of processing stations 101, 105, 106 and 107 are arranged on a higher level 116 and in turn are connected to each other in a circular manner by means of a rail system Sb. The processing station 101 connecting both planes 115 and 116 includes the lift Sc, via which cars can be moved from the rail system Sa to the rail system Sb and vice versa. The lift Sc of the station 101 thus represents, so to speak, a vertical splitting switch.

Of course, the system thanks to their modularity can be designed according to need so that the different methods for sharing respectively. Merging of sections of the transport system (switch or lift) can be combined.

Thus, with points as well as with lifts or lifting and lowering units, overtaking lanes are also possible, over which, for example, High-priority cars can pass other less-favored cars without being obstructed by them.

The system according to the invention can have one or more processing stations double or multiple, so that they can serve two or more carriages in parallel. As a result, long processes with parallel functions as well as short and frequent processes can be achieved in a workflow by a multiplication of workstations / functionalities. In principle, all functions listed here (processing steps) can be carried out sequentially, in parallel or staggered. The workflow required by the researcher and most (but not exclusively) the duration of the processing determines whether the workflow is performed sequentially in one part or in parallel in one part or staggered in part of the system.

Particularly advantageously, the system is designed so that on average comparable processing times per processing station can be achieved. Bottlenecks (bottlenecks) can be parallelized as in road traffic, whereby the throughput of the system can be continuously increased. For example, For example, processing steps with relatively long processing times (e.g., heat-curing) may be performed in parallel by two or more processing stations by depositing the samples in the processing stations for a certain period of time and then returning them to a transport vehicle at a programmed time.

The combination options mentioned above and a correspondingly simple programming option for the plant operator (usually a researcher / developer) make it possible to achieve complex workflows with high throughput rates. In combination with decision-making about path branches (switches, conditional branching), almost unlimited flexibility is made possible, which is especially important in research and development.

Even with a system designed as a simple circle such conditional branches are possible, especially since the moving on the circular transport system cars each approach each processing station in succession, but there are only processed if this is required for the car at the time. If not, the car would be sent further, further processed in the following stations and then complete the corresponding processing step when re-running through the corresponding processing station, if the conditions are met. The whole circle is run through until the conditions are fulfilled and all working steps have been completed. It is important to note that one work step can, of course, occur several times in one process cycle, which can also be done easily in a simple cycle. If, for example, a work instruction comprises successively the metering of one powder, then a liquid, then the addition of another powder followed by mixing all three components, this can be done in a three-station cycle (Ix powder dosing, Ix liquid dosing, Ix mixing) because the car can leave the circle twice. In the first run, the powder and liquid are dosed, but not mixed, in the second pass the last powder is dosed, but no further liquid is added, and finally mixed.

Advantageously, turnouts / loops / lifts can also be used if certain work steps take a long time and a jam would occur if all the wagons had to be processed by the same workstation. Several identical workstations could then be present in parallel and by means of points / Lifts to be connected to a common feeding and away transporting system section. An approaching car would then always select a "free" processing station and start, if the other (s) processing station (s) are still busy with other cars (so-called hard-coded criterion). By means of this parallelization of individual subsections of the actually sequential process cycle, particularly time-intensive processing steps can thus be efficiently staggered.

In addition, such a parallelization of subsections of the plant can also be advantageous if a sample / product is split into several sub-samples / subproducts, which are then to be processed in parallel by the following process steps (Example: In a first processing station a first sample is divided into two sub-samples, which then travel on two different paths of the process cycle to two identical or different stations as needed, and are processed simultaneously in the respective stations.) Here, too, of course, the opposite way, that is, a combination of several Samples on a common sample possible.

Fig. 7 shows a further embodiment of the inventive system in which freestanding processing stations 201-205 operated by free-moving car W01-W09. It should be noted that here the processing station 205 is in triplicate. In this example, the representation of the local control computer and the main control computer etc. has been omitted. The solid arrows show the next immediate routes of the car - so to speak a momentary recording of the system at a certain time -, the dashed arrows the routes of a next step to a shortly thereafter.

A first processing station 201 is formed in this example as a storage facility (analog parking garage) for free car: It is shown how just a car W01 breaks up to leave the camp, and then later approach a processing station 202 to there a first To complete the processing step. The bearing is advantageous in this case, if e.g. During regular operation, a certain low number of cars will work simultaneously, while other, just unneeded carriages will wait without hindering the operation of the working carriages, but in operation with increased throughput rates, all carriages can be accessed.

At the processing stations 202 and 203 are two cars W02 resp. W03 presented, which will come from somewhere in the appropriate stations to be processed there. In processing station 204, a wagon W04 is currently visible, which is currently being processed by the station at the time of the instantaneous image which images FIG. 6. It will, as the dashed arrow indicates, have completed the processing in the next step and then leave the station.

A carriage W05 is shown as it - immediately after a processing step in processing station 203, this leaves: This car will go in the next phase towards a triple executed in this example processing station 205a, 205b, 205c, and there the station drive, which is just free. Said station 205a or 205b or 205c could in this example be a station whose processing step takes an especially long time, and a parallelization of the station is advantageous in order to increase the overall throughput of the plant. Cart W05 will therefore decide in the next phase due to the then prevailing conditions, which station 205a or 205b or 205c he will start.

The processing station 205a shows in this snapshot of Fig. 6, a carriage W06, which is being processed and (note absence of a dashed arrow) is still in work in the next phase. This station 205a is thus still occupied and could not be approached by car W05 yet. The processing station 205b shows a carriage W07 whose production step is just completed in this phase and which in the next phase will leave this station in the direction of the processing station 206. The processing station 205c just shows exactly one carriage W08 that is about to leave the station to be processed in a processing station 206 in the next phase. Both the processing station 205b and the processing station 205c will therefore be free in the next phase and can be selected as the destination by the car W05.

Finally, a car W09 is shown, as he-e. after completing all tasks / processing steps required by the process control information - enters the storage station 201, where it waits for a new order.

FIG. 8 shows a three-dimensional view of another embodiment of the system according to the invention, which is equipped with flying drones instead of rail-bound or other terrestrial vehicles as a transport vehicle. The plant room is divided into a lower working zone 114, in which the individual processing stations are located and also the workers / researchers who can equip, operate and maintain the system, and in an upper flight zone 113, in which the drones W1 to W3 itself can move freely. The two rooms are separated by a partition ceiling 112, in each of which exactly above the individual processing stations an opening 110 is located, through which the drones W1 to W3 can control or serve the underlying processing stations. W1 represents a drone, which is just about such an opening down to a processing station 101 to pick up there one of the product container P there in stock. A drone W2 is shown as it - fitted with a product container P, which has just been processed in a processing station 102, via which the opening lying above the station 102 ascends into the airspace 113, moves there to the opening via a station 103, sinks there, to the

Product container P in the station 103 to undergo a next manufacturing step. W3 represents a currently inactive drone waiting to receive a new mission.

In many manufacturing processes for chemical products, it may be expedient or even necessary for the contents of the product containers P to be subjected to a certain degree of treatment between the individual processing stations. Such a treatment may e.g. stirring, heating or cooling, addition of solid, liquid or gaseous substances or the production or maintenance of a certain pressure, this list not being exhaustive. The combination of two or more of the mentioned and not explicitly mentioned forms of treatment may also be advantageous.

For such production processes, the transport vehicles of the plant according to an important development of the invention are equipped with treatment means for a physical and / or chemical treatment of the contents of the product containers P or their contents on the transport vehicles or wagons Transport vehicles themselves and especially during the movement of the transport vehicle perform. Figs. 12-20 schematically show carriages W equipped with various such treating means. All versions apply to both rail-bound and free-moving or flying transport vehicle.

In Fig. 12, a carriage W is shown, which receives a single product container P. The cart contains a treating agent in the form of a stirring means 50, e.g. a conventional magnetic stirrer, wherein the actual stirrer is within the product container, P. It can also be provided another type of stirrer. The required electric power is provided by the car W, e.g. through a built-in power source available. Alternatively, the power can also be supplied via electrical contacts on the rail. Communication with the treatment agent (eg for controlling and / or monitoring a value) can also be achieved via electrical contacts (sliding contacts) via the rail system and / or also via wireless methods (radio, Bluetooth, infrared transmitter / receiver, laser, etc.). respectively. Wireless methods are particularly needed in applications that do not work on a rail system (2-dimensional wagons, 3-dimensional flying drones), helpful or even mandatory. The processing means (e.g., agitating means) 50 may operate autonomously, or possibly also under the control of the central main control computer C and / or the local control computers of the individual processing stations. Instead of a stirring means, a shaking device or other means for mixing substances as a treatment agent may be provided.

Figs. 13 and 14 show a similar carriage W as Fig. 12, but with two and six stirring means 50 for two and six product containers, respectively.

Fig. 15 shows a carriage W equipped with treatment means in the form of two heating or cooling cuffs 60 for two product containers P. The car W can also have a temperature control, which can possibly also cooperate with the central main control computer C and / or the local control computer of the individual processing stations. The heating or cooling or tempering function can e.g. be realized by means of heating cartridges, thermocouples, Peltier elements, etc. The car W in turn provides the energy required for this or takes them on the rail system as described above.

FIG. 16 shows a carriage W which, in addition to two stirring means 50 for two product containers P, is also provided with a further treatment agent in the form of a gas tank 70, from which a gas can be introduced into the two product containers P. The gas can also be used for pressure control in the product containers P with a suitable design of the gas tank. The gas tank 70 thus forms a supply means for gas and possibly also a pressurizing agent.

FIG. 17 shows a carriage W which, in addition to two stirring means 50 for two product containers P, is also provided with a further treatment agent in the form of two liquid reservoirs 80 with associated pumps 81. The pumps 81, if necessary under the control of the central main control computer C, convey liquid into the two product containers P. The liquid reservoirs 80 constitute a supply medium for a liquid medium. Analogously, supply means for solid substances can also be provided. The liquid reservoirs (or elsewhere gas reservoirs) can either be constantly stored on the car W or be fueled at specially trained processing stations in the corresponding reservoirs.

Fig. 18 shows a carriage W with two product containers P, wherein on the carriage W treatment means in the form of two stirring means 50, two heating or cooling sleeves 60 and two liquid reservoirs 80 are provided with two associated pumps 81. An installation with trolleys equipped with such a combination of treatment agents is practically suitable for every conceivable application and the corresponding processing means can be used in any combination.

Fig. 19 shows a carriage W which, as an additional treatment means, includes its own robot arm 90 with which, directly during the travel of the carriage W thereon, e.g. can be manipulated by means of a robot 91 mounted on the gripper 91. Also, this robot arm (or a plurality of them) may be suitably combined with one or more other processing means and / or one or a plurality of sample containers, etc.

Finally, FIG. 20 shows a carriage W which is equipped both with a product container P and with an associated test substrate F.

By means of the inventive equipment of the trolleys with treatment agents for the product containers arranged on them or their contents, a system with moving reactors (so to speak a mobile processing station) is to some extent realized, which is very flexible and adaptable to a wide variety of manufacturing workflows.

The processing of the processing steps in the individual processing stations is normally carried out at a standstill of the transport vehicle. However, it is in principle also possible, depending on the type of processing, not to stop the transport vehicle or to carry out the processing during the passage or passage of the Tarnsportvehikels by or at a treatment station.

The process control information associated with the wagons stored in the main control computer also includes information regarding the treatment steps to be performed on the wagon during its movement, which again may include if functions as described above, which enormously and often significantly increases flexibility. The process control information functions as if it were a "recipe", due to which a desired product / a desired sample is prepared with desired parameters, resp. is processed. (Example: The recipe of a target product contains the target quantities of all substances to be dosed during the process workflow of this product).

According to an advantageous embodiment, the inventive system is designed so that the elements described in detail above (transport system, processing stations, ...) are also modular in hardware, with a hardware module can edit one or more functions of the processing cycle. These modules are built in such a way that they can be freely combined with each other, and can also be exchanged if necessary. For this purpose, for example, in rail-based systems, the rail sections of a module / a processing station are arranged so that they connect directly to the rail sections of adjacent modules and thus connect them. A system for the mixing of color samples could thus for example contain a storage module, can be removed from the fresh product container and placed on the trolley of the system, attached to it would be another module in which the lid of the product container can be unscrewed on it followed by a module in which the product container can be filled with different liquids, etc. The construction of a system of such modules is thus very flexible and optimally adapted to customer requirements, and allows easy replacement of individual modules or later extensions with new modules, if desired or required.

Due to the unlimited combinability of sequential and / or batchwise or parallel and / or staggered procedures, one of the main problems of process automation, the so-called scheduling, can be largely counteracted.

The transport vehicles form independent mobile units which can approach different processing stations and preferably also have one or more own functionalities (treatment means) on board.

The transport vehicles, since they form independent mobile units, can be arbitrarily removed from the flow of work or be introduced into this.

With the system according to the invention, each product container can be transported from processing station to processing station by means of a large number of self-propelled carriages and processed in each processing station (the carriage logs on at the station and is operated accordingly). The path of each individual sample or product is automatically selected by the plant's stations relevant to that sample / product, or a processing step is simply omitted if it is not necessary for the corresponding sample or product.

It is possible that more than just a product container is transported on a single of the many cars of the system, which product containers are then processed (based on this product vessel group or this car) in parallel, while the different cars in turn sequentially through the entire processing or production plant are moved and processed.

The car can be applied a workflow with fully automatic branching options, which allow to bring a tremendous flexibility in fully automatic research and development systems.

The system according to the invention enables individual, e.g. much time-consuming processing steps from the actual workflow "outsource" by sample or products or these transporting cars can be diverted to a station, can be processed in the time-consuming process steps, without the subsequent carriage with samples / products that this time-consuming step (still) do not need to be hampered by the outsourced sample by their time-consuming step. In the system, a large number of samples / products can process these time-intensive processes simultaneously or at least staggered in parallel and be placed in a sort of warehouse / processing station, from which they can be integrated back into the actual sequential workflow after completion of the time-consuming process step. Conversely, processing stations can be doubled or multiplied at high "load", so that the system is able to handle both relatively long-lasting and parallel processes as well as relatively short but very often required processes equally efficient and flexible.

With the system according to the invention, it is also possible that the samples / products are split on a cart in a later step on two or more samples / products / cars, which then each have their own, different process path. For example, a first sub-sample is plotted and tested, a second sub-sample sample is paged for a quiescent phase to later be re-introduced into the process cycle and processed like the first sub-sample, but with a time difference. In another example, a first sample is sprayed onto a substrate for later testing and a second sample is doctored onto another substrate for another test.

Conversely, the system also allows two or more products / samples, which come from possibly different sub-workflows, to merge and then continue in a common process path. For example, a first sample from a first process cycle is combined with a second sample from a second process cycle, the two samples are mixed and then further processed as a third sample in a third process cycle.

The inventive system also makes it possible to send transport vehicles with high priority on the way or introduce between different processing stations resp. later to divert / remove from the cycle. In this case, the process control information of the priority cars can influence their path and workflow to be traveled in such a way that the priority cars are not obstructed, or at least restrictedly, by the regular normal priority cars.

In the following, it will be explained with reference to FIGS. 22 and 23, for example, how the process control information (recipes) I are used in the system according to the invention and can also be adapted during the machining process.

In addition, it is explained how a new, adapted recipe / experiment can be generated from a completed (finished) recipe (or a completed experiment). This is based on an example, shown in Fig. 22 as a flowchart processing process (example workflow) in which a plurality of substances are mixed together, the viscosity of the mixture is checked and possibly corrected, the mixture is applied to a substrate and finally tested. The purpose of this exemplary machining process is to check in which mixing ratio substances such as e.g. Color pastes must be mixed together to obtain a desired color by the customer.

FIG. 23 shows a list 300 of recipes, as a part of the database containing the process control information I, so to speak. The header of the list describes the content of the data columns, the lower lines show individual recipes and thus individual processing processes or experiments. These prescriptions contain all the important information needed to perform the experiment, but also contain results that allow the evaluation of the experiment.

Of the six example recipes listed, two (A-123-1 and A-124-1) are already completed, the others are still in progress (A-125-1 and A-126-1) or not even started (A-127-1 and A-124-2). The first column of the list contains a unique identification of the recipe (Recipe ID), the second column the status of a recipe («Completed», «In progress», ...). Further columns show the substances that are to be added during the process, as well as their target weights and actually added amounts. A final column "Measurement results" shows the final result of the measurement and thus of the experiment. Empty fields show that the associated processing step has not yet been completed and therefore no result is available yet.

FIG. 22 shows very schematically and simplified a corresponding system with eight processing stations 301-308, which are interconnected by a transport system 320 symbolized by arrows. Circles 321-324 represent switches of the transport system 320. Due to the nature of the system, the scheme of Fig. 22 may also be understood as a flowchart representing the possible routes of a transport vehicle or wagon through the installation and the associated decisions.

In the following some examples are explained, which are intended to illustrate the interaction between recipe and system: A typical process cycle begins at station 301: an empty cart (not shown) travels and is identified by its identification information and by the control computer the station is assigned a new recipe from the database. The information about the assignment can also be stored in a database, which temporarily stores the allocations of all the wagons currently in the installation and makes them available for all stations (eg "Car 1: Recipe A-125-1", "Car 2: empty », ...). In addition, an empty product container is placed on the car and the car then sent on.

Once the cart arrives at station 302, it is identified by the local control computer of station 302, and it is checked which recipe is assigned to the cart and whether, based on the recipe assigned to the cart, a processing step is necessary (here: metering of substances S1 and / or S2). The required processing steps are carried out and their results (here: actually dosed quantities of substances S1 or S2) are stored in the recipe. Station 302 then transmits the car.

Claims (29)

Once arrived at station 303, the car is again identified, processed and forwarded analogously to the operations at station 302. At station 304, the substances added at stations 302 and 303 are mixed together in the product container. In the following station 305, the viscosity of the mixture is measured (viscosity is an important parameter in this context, indicating whether the mixture can be successfully applied to a test substrate). Here, the local control computer of station 5 decided whether the measured viscosity coincides with predefined tolerances or not, and stores this information in the recipe (column status: "viscosity OK", "viscosity poor but correctable", "viscosity poor and uncorrectable »). This information is also stored as a decision code directly on the car (analogous to the car's identification information, for example 1 for «OK», 2 for «correctable», 3 for «not correctable»). Afterwards the car will be sent on. The carriage now travels to a switch 322, at which an unillustrated sensor reads out the decision code stored on the carriage and switches the switch automatically, depending on which information is stored: At code = 1 ("viscosity OK» ) diverter 322 directs the cart to the next processing station 306, in which the mixture is applied for the later test. If code = 2 ("Visible bad but correctable") or Code = 3 ("Viscosity bad and uncorrectable"), the switch moves the cart to another section of the transport system. There, the car arrives at another switch 323, at which, analogously to the previous switch 322, it is decided on the basis of the decision code whether the carriage is to be sent to station 302 (code = 2), where additional substances are added due to the now adapted recipe , and thus the viscosity can be adjusted, or if the carriage is to be sent to station 301 (code = 3), where the unsuccessful, uncorrectable recipe is discarded, the product container is removed and a new fresh recipe can be assigned to the cart. In the event that the viscosity is ok and the carriage has been sent to station 306, it is again processed there (application of the mixture to a test substrate and deposition of the test substrate on the carriage), to a station 307 where the test substrate is dried until it finally comes to the test station 308, in which the product applied to the test substrate and dried product is tested (eg measurement of color). Based on the test result, the local control computer of the station 308 decides whether the blending meets the required criteria or not. This information is also saved in the recipe ("Measurement Result" column). If the product is classified as OK, the cart will simply be resent and unloaded at station 301 and will be available there for a new recipe. However, if the measurement result is poor (measured color does not meet expectations), the software of the local control computer can create a new recipe with slightly changed compositions (industrial standard, requires no further explanation for the specialist) and this in the Feed database in the main control computer C. This new recipe will then be processed as well. In the list 300 shown in FIG. 23, the recipes A-124-1 and A-124-2 show just such an example: Based on Recipe A-124-1, a color mixture of substances S1, S3 and S5 was prepared, applied and tested. It was rated as poor and a new recipe A-124-2 (note new index last) with slightly adjusted amounts of substances S1, S3 and S5 was prepared and fed. This recipe is then later blended, applied, tested and evaluated - and depending on the new result again either either OK now or further adapted and fed as a third recipe. In the exemplary embodiments of the system according to the invention described above, the various processing stations are implicitly assumed to operate independently or automatically. Of course, and even more advantageously, the inventive system can also be equipped with one or more "manual" Bearbeitungssta-tion / s. This can e.g. a processing station in front of which a delivery vehicle waits until a person presses a button, then drives the transport vehicle into the station, and then the person, e.g. performs a manual inspection and e.g. enters a value into the process computer which is assigned to the sample or samples on the transport vehicle or simply enriches existing data. The value can, depending on the program analogous to the comments above, the further course (the further workflow) of the Transportvehikels resp. determine the sample. This possibility of staffed workstations enormously increases the flexibility of the plant because e.g. also workflows can be largely automated, which contain a processing step, which either not or not can be automated economically or such a step, for example. rarely used. claims 1. Plant for carrying out a machining process with at least two processing stations (1-11, 1-12, 1-20, 21-24, 201-206), with at least one self-propelled transport vehicle (W, W ', W ") for transporting a to be processed object (P; F) to the processing stations (1-11; 1-12; 1-20; 21-24; 201-206), wherein the processing stations (1-11; 1-12; 1-20; 21 24, 201-206) are each adapted to subject the object (P; F) provided by the transport vehicle (W; W ') to at least one processing step, characterized in that the system has a device for communicating with the processing stations ( 1-11; 1-12; 1-20; 21-24; 201-206) and the transport vehicle (W; W '; W ") comprises the main control computer (C), that the transport vehicle (W; W'; W" ) for storing an individual identification information (ID) provided by the main control computer (C), that the main control computer (C) process control information (I) to r provides disposal that describe which processing steps an object (P; F) under which conditions in which order to undergo and to which processing stations the object (P; F) is to be transported from the transport vehicles (W; W '; W "), that the main control computer (C) is adapted to the identification information (ID) of a transportation vehicle (W; W '; W ") to assign individual process control information (I), and that the processing stations (1-11; 1-12; 1-20; 21-24; 201-206) are adapted thereto to recognize the identification information (ID) of a transporting vehicle (W; W ') approaching it and, on the basis of the process control information (I) individually assigned to this identification information (ID), to process the transport vehicle (W; W'; W ") provided object (P; F). 2. Installation according to claim 1, characterized in that the processing stations (1-11, 1-12, 1-20, 21-24, 201-206) have local control computers (R2-R12), which are adapted to the in to control the treatment steps to be performed by the treatment stations and to communicate with the main control computer (C). 3. Plant according to claim 2, characterized in that the processing stations (1-11, 1-12, 1-20, 21-24, 201-206) or their local control computer (R2-R12) are adapted to the one To update identification information (ID) associated process control information (I) by the status and / or the result of each performed processing steps, in which case the updated process control information determines all possibly following processing steps. 4. Installation according to one of the preceding claims, characterized in that it comprises the processing stations (1-11; 1-12; 1-20; 21-24) connecting rail system (S) and that the transport vehicle as a rail-bound, forward and reversing carriage (W) are formed. 5. Plant according to claim 4, characterized in that the rail system (S) has at least one leading to different treatment stations switch (V). 6. Installation according to claim 5, characterized in that the carriages (W) are designed to store a decision code (G) provided by the main control computer (C) concerning the direction to be taken by the carriages at a switch and that the switch (V) adapted to recognize the decision code (GID) of an approaching car (W) and steer the car (W) in the direction determined by the recognized decision code (GID). 7. Installation according to one of claims 4 to 6, characterized in that the rail system (S) points (V, Z) comprises, by means of which it can be divided into two or more adjacent sections and these sections can be brought together again. 8. Installation according to one of the addresses 1 to 4, characterized in that the transport vehicle in two-dimensional space freely moving car (W) and are adapted to the processing stations (201-206) automatically according to their assigned, optionally updated process control information (I ) to drive. 9. Installation according to one of the preceding claims, characterized in that it comprises two or more transport planes (115, 116) arranged thereon processing stations (101-107) and at least one FHubeinrich-device (Sc) for moving the transport vehicle (W) between the Transport levels (115, 116). 10. Installation according to one of claims 1 to 4, characterized in that the transport vehicles are freely in three-dimensional space moving aircraft (W ") and adapted to the processing stations (1-11; 1-12; 1-20; 21- 24, 201-206) automatically arrive in accordance with their possibly updated process control information (I). 11. Installation according to one of the preceding claims, characterized in that at least one of the processing stations (1-11, 1-12, 1-20, 21-24, 201-205) for the sequential, staggered or simultaneous execution of one or more identical or different processing steps on their on the transport vehicle (W; W '; W' ') supplied objects is formed. 12. Installation according to one of the preceding claims, characterized in that at least one of the processing stations (12-15) is formed for batchwise or parallel or staggered implementation of at least one processing step. 13. Installation according to one of the preceding claims, characterized in that the transport vehicle (W; W '; W ") are adapted to autonomously from a group of identical or different processing stations (1-11; 1-12; 1-20; 21-24; 201-206) to approach a selected processing station. 14. Installation according to one of the preceding claims, characterized in that it is designed so that different transport vehicle (W; W '; W ") in different processing stations (1-11; 1-12; 1-20; 21-24; 201-206) can be processed simultaneously. 15. Installation according to one of the preceding claims, characterized in that it is designed so that on average comparable processing times per processing station (1-11, 1-12, 1-20, 21-24, 201-206) can be achieved. 16. Plant according to one of the preceding claims, characterized in that the transport vehicles (W; W '; W ") are provided with treatment means (50-91) for carrying out a physical and / or chemical treatment on the transport vehicles ( W) objects (P; F). 17. System according to claim 16, characterized in that the process control information (I) individually assigned to the transport vehicles (W; W ") provided by the main control computer (C) also contains information relating to the transport vehicles (W; W '; W "), in particular during their movement, comprise treatment steps to be carried out, and in that the treatment means (50-91) are adapted to carry out the treatment steps to be carried out in accordance with the process control information (I) associated with the transport vehicles (W; W '; W") , 18. Plant according to one of claims 16 to 17, characterized in that the treatment means comprise stirring means (50). 19. Plant according to one of claims 16 to 18, characterized in that the treatment means comprise heating or cooling means (60). 20. Plant according to one of claims 16 to 19, characterized in that the treatment means supply means (70, 80) for adding solid, liquid or gaseous substances in a product container (P). 21. Plant according to one of claims 16 to 20, characterized in that the treatment means comprise pressurizing means (70) for a product container (P). 22. Plant according to one of claims 16 to 21, characterized in that the treatment means comprise one or more robot arms for manipulating objects on the transport vehicles (W; W '; W "). 23. Plant according to one of claims 16 to 22, characterized in that the transport vehicles (W; W '; W ") are designed to receive two or more product containers (P) and / or samples (F) and that the treatment agents ( 50-91) for the physical and / or chemical treatment of the contents of all product containers (P) and / or samples (F) located on the transport vehicles (W; W '; W "). 24. Plant according to one of the preceding claims, characterized in that the transport vehicles (W; W '; W ") are designed to receive at least one reactor (P) in which a chemical reaction or a formulation or a biological reaction can be carried out , 25. Plant according to one of the preceding claims, characterized in that it is designed for the production and / or for the application and / or for testing of a chemical product, wherein the processing stations (1-11; 1-12; 1-20; 21- 24, 201-206) are designed to carry out production steps and / or application steps and / or test steps. Plant according to claim 25, characterized in that it comprises a number of mobile reactor or formulation units (W; W '; W ", P) containing different processing stations (1-11; 1-12; 1-20; 21 24) and are equipped with their own means (50-91) for the chemical and / or physical treatment of the contents of sympathetic reaction or formulation containers (P). 27. Installation according to one of the preceding claims, characterized in that at least one processing station for manual triggering or execution of one or more processing steps / s is formed. 28. Method for carrying out a machining process, wherein objects (P, F) to be processed by means of self-propelled transport vehicles (W; W ') are arranged between two or more machining stations (1-11; 1-12; 1-20; 21-24 201-206) in which the objects are subjected to processing steps, wherein: the transport vehicles (W; W '; W ") individual process control information (I) regarding processing steps already taken and performed of the transported objects from a main control computer (C) get re-sp. to send back to them; - the transport vehicles (W; W '; W ") independently approach the respective next processing station (1-11; 1-12; 1-20; 21-24; 201-206) on the basis of the process control information (I) assigned to them the next processing step necessary for the current machining process is carried out, and - the different machining steps in the different machining stations (1-11, 1-12, 1-20, 21-24, 201-206) sequentially and / or in parallel / simultaneously and / or staggered over time. 29. The method according to claim 28, characterized in that process control information (I) is adjusted during a processing cycle as a function of originally present and / or incurred during the already completed processing steps data and / or external inputs, if necessary, to the processing cycle during its execution change.