CN112720266A

CN112720266A - Processing mechanism

Info

Publication number: CN112720266A
Application number: CN202011095477.4A
Authority: CN
Inventors: R·里门施佩格
Original assignee: Festo SE and Co KG
Current assignee: Festo SE and Co KG
Priority date: 2019-10-14
Filing date: 2020-10-14
Publication date: 2021-04-30
Also published as: DE102019215745B4; DE102019215745A1

Abstract

The invention relates to a machining device for machining workpieces by the particle jet method, comprising a working housing which delimits a working volume and in which a manipulator is arranged, to which a jet device is associated which is designed for carrying out a compressed-air-supported particle jet method, wherein a first compressed-air drive is arranged between a manipulator base and a first manipulator section, and wherein a control device comprising a processing device and a compressed-air valve is designed for actuating a compressed-air valve which is designed for influencing a compressed-air flow from a compressed-air source to the first compressed-air drive, wherein the control device is arranged outside the working volume and is connected to the first compressed-air drive by a compressed-air line assembly, or wherein the control device is designed explosion-proof and is arranged inside the working volume and is connected to the first compressed-air drive by a compressed-air line assembly The compressed air driver is connected.

Description

Processing mechanism

Technical Field

The present invention relates to a processing mechanism for processing a workpiece by a particle blasting method.

Background

In such particle blasting methods, it is provided that solid particles, such as glass spheres, metal shavings, plastic particles, wood shavings or the like, are accelerated strongly by means of compressed air and the resulting particle stream impinges on the workpiece surface of the workpiece to be machined. The cleaning and/or consolidation and/or stress reduction at the workpiece surface of the workpiece to be machined can be achieved, for example, by the kinetic energy of the impinging particles.

Disclosure of Invention

The object of the present invention is to provide a cost-effective machining device for machining workpieces which have been produced, in particular, by a production method, such as laser sintering.

This object is achieved for a machining device of the type mentioned at the outset by the features of claim 1. It is provided that the machining device comprises a working housing which delimits a working volume, wherein a manipulator is arranged at least in some regions in the working volume, which manipulator has a manipulator base which is assigned to the working housing and which manipulator has a first manipulator section which is mounted movably on the manipulator base and to which a spray device is assigned, which spray device is designed for carrying out a compressed-air-supported particle spray method, wherein a first compressed-air drive is arranged between the manipulator base and the first manipulator section, which first compressed-air drive is designed for introducing a movement onto the first manipulator section, and wherein a control device is provided, which control device comprises a processing device and a compressed-air valve, wherein the processing means is designed to provide an electrical control signal to the compressed air valve and wherein the compressed air valve is designed to influence a flow of compressed air from the compressed air source to the first compressed air drive, wherein the control means is arranged outside the working volume and is connected to the first compressed air drive, in particular exclusively, via the compressed air line arrangement, or wherein the control means is designed to be explosion-proof and is arranged inside the working volume and is connected to the first compressed air drive via the compressed air line arrangement.

The task of the working housing is to limit the dust generation occurring during the execution of the compressed air-supported particle blasting method to the working volume, which dust generation is produced by the impact of the particle flow on the workpiece surface of the workpiece to be machined and in particular by the detachment of dirt from the workpiece surface and by the bursting of solid particles. In this case, there is the problem that depending on the material of the workpiece to be machined and depending on the solid particles used, an ignitable particle-air mixture (ignitable environment) can be produced, which can cause an explosion by a spark or by a hot surface. This applies in particular when cleaning of workpieces produced from plastic materials is to be carried out by means of the particle jet method, since the powder materials used in the production of such workpieces have a very small particle size and usually burn well. The high risk of explosion is therefore present due to the swirling of the plastic particles within the working volume, at least for the case in which the particle injection method is carried out with the aid of compressed air and without the aid of inert gases (such as, for example, carbon dioxide) or noble gases.

In order to achieve cost-effective machining of such workpieces, it is provided that the machining of the workpiece is carried out in a particle blasting method using a manipulator which enables the blasting means to be oriented in a suitable manner in the working volume relative to the workpiece and which, even in the case of a plurality of workpieces, achieves reproducible machining quality for the workpiece. For this purpose, the manipulator comprises a manipulator base which is in particular fixed on the inner surface of the working housing and on which a first manipulator section is mounted so as to be movable, said first manipulator section being assigned to the injection means, wherein the relative movement of the first manipulator section and the assigned injection means relative to the manipulator base is effected by means of a first compressed air drive. Alternatively, it can be provided that the manipulator base is fixed outside the working housing either at the outer surface of the working housing or at a carrier device, at which the working housing is also accommodated. The carrier mechanism can in particular relate to a transport system which effects a displacement of the work housing and the manipulator or to a machine base. In an arrangement of the manipulator base outside the working housing, it can be provided, for example, that the first manipulator section passes through a wall section of the working housing. The first actuator section can either be fixed to the wall section or can be arranged in a sealing manner by means of a movable sealing arrangement and with at least one degree of freedom of movement so as to be movable relative to the wall section.

The compressed air drive can, for example, be a pneumatic cylinder, a pneumatic drive without a piston rod, a pneumatic muscle (Muskel) or a compressed air motor. It is decisive that the first compressed air drive is able to execute the desired relative movement of the first manipulator section relative to the manipulator base by providing a predefinable compressed air volume flow and that no danger arises from such a drive with regard to its action as ignition source.

The first compressed air drive is assigned a control device which comprises a processing device and a compressed air valve.

The processing means, which can be embodied, for example, as a microcontroller or microprocessor and which can be embodied, in particular, for processing a presettable computer program, is used to provide the electrical control signal to the compressed air valve.

The compressed air valve is configured to provide a compressed air flow to the first compressed air drive as a function of a control signal of the processing means, said compressed air flow being able to be provided by a compressed air source.

In this case, it can be provided that the compressed air valve is designed for the purpose of converting the electrical control signal of the processing means, for example in the case of a design of the compressed air valve as a solenoid valve or as a piezo valve.

It can optionally be provided that the compressed air valve is designed to supply compressed air directly to the first compressed air drive or that the compressed air valve is operated in the manner of an electrically actuable pilot valve and that the compressed air flow is supplied from the compressed air valve to a working valve, which is itself designed to supply the compressed air flow to the first compressed air drive.

In order to be able to ensure a cost-effective design for the machining means that is compatible with the requirements for explosion protection, two different variants are considered in particular for the design of the machining means.

In a first variant, it is provided that the coupling of electrical energy into the working volume is completely avoided, wherein in this variant the control means is arranged outside the working volume and therefore the electrical control signal for the compressed air valve likewise remains outside the working volume. In this variant, a direct actuation of the compressed air drive by a compressed air valve arranged outside the working volume or a pilot control of the working valve arranged in the working volume by a fluid of the compressed air valve arranged outside the working volume can optionally be provided.

In an alternative second variant, it is provided that the control device is arranged within the working volume, so that in this case additional measures are necessary in order to design the control device explosion-proof.

Advantageous developments of the invention are the subject matter of the dependent claims.

The compressed air valve is expediently designed as an electrically actuable solenoid valve or as an electrically actuable piezoelectric valve. In this case, a direct electrical activation of the compressed air valve by the control signal of the processing means is provided, so that the number of components for the processing means can be kept small, since for example a pilot valve, which is connected in between the processing means and the compressed air valve, is not necessary. The compressed air valve can optionally be designed as a selector valve or as a proportional valve. In an exemplary embodiment, a compressed air valve is provided as an electrically actuable solenoid valve as an embodiment of the selector valve. The control of the shift valve can be carried out, for example, in a pulse modulation method, so that the shift valve can be operated at least approximately in the manner of a proportional valve. In the design of the compressed air valve as an electrically actuable piezo valve, the intention is to provide an operating mode of the proportional valve type, wherein a purely geared (geschaltter) operation can also be provided.

Advantageously, the control means is arranged outside the working volume and the compressed air line arrangement comprises a compressed air control line for connecting the compressed air valve to a first working valve associated with the first compressed air drive, which is fluidically pre-controlled, and a compressed air supply line for supplying compressed air to the first compressed air drive, wherein the first working valve is arranged in the compressed air supply line. In this embodiment, the influencing of the compressed air flow is effected, which can be supplied to the first compressed air drive via a compressed air supply line by means of a first working valve which is fluidically pilot-controlled. The first working valve can be changed or switched between a first functional position, in particular a closed position, and a second functional position, in particular an open position, as a function of the pressure in the associated compressed air control line, in order to thereby provide a desired flow of compressed air to the compressed air drive. The influencing of the pressure in the compressed air control line takes place by means of a compressed air valve which is actuated by an electrical control signal of the processing means and which is arranged outside the working volume together with the processing means. Accordingly, in the variant described, no coupling of electrical energy into the working volume is provided, so that no special measures for ensuring explosion protection for the machining means need be taken with regard to the control means.

In an alternative embodiment of the invention, it is provided that the control mechanism and the compressed air valve are arranged within the working volume and are provided with an explosion-proof enclosure. In this variant, the explosion protection for the working volume is ensured in that an electrical discharge, which can occur in the control mechanism and/or at the compressed air valve and which can lead to the formation of a spark and thus to the ignition of an explosive mixture in the working volume, is kept separate from the working volume by means of a suitable encapsulation. Such a packaging can be, for example, a completely closed container in which the control mechanism and the compressed air valve are accommodated. The volume of the container not filled by the treatment means and by the compressed air valve is filled with a synthetic resin material or with sand or oil, thereby preventing spark propagation into the working volume.

In a further variant of the invention, it can be provided that the control mechanism and the compressed air valve are arranged within the working volume and that the supply of electricity to the control mechanism and the supply of electricity to the compressed air valve are configured intrinsically safe. In this case, it is ensured by suitable electrical design of the voltage source, the control mechanism and the compressed air valve that not only voltage but also current and high temperatures cannot occur within the working volume, which can lead to the ignition of a possibly ignitable environment present in the working volume, for example a plastic powder glass bead air mixture. For the intrinsically safe design of the control mechanism and the compressed air valve and the associated voltage source, it is necessary for the design of the machining mechanism to obtain knowledge about the ignition of the explosive environment that can occur with what ignition energy, in order to be able to then implement corresponding limits for the voltage and current. Typically, the determination of the ignition energy is carried out according to an ignition boundary curve, which is described in standard EN 60079-11.

In a further embodiment of the invention, it is provided that a second manipulator section is arranged between the first manipulator section and the injection mechanism, which second manipulator section is movably connected to the first manipulator section, wherein a second compressed air drive is arranged between the second manipulator section and the first manipulator section, which second compressed air drive is designed for introducing a movement onto the second manipulator section and is connected to the control mechanism. In this way, an additional degree of freedom of movement is provided for the manipulator, so that the spray mechanism can be oriented in an advantageous manner relative to the workpiece to be machined. It is preferably provided that the first pivot axis (which is defined by the movable connection of the first manipulator section to the manipulator base) and the second pivot axis (which is defined by the movable connection between the second manipulator section and the first manipulator section) are oriented at right angles to one another, in order to be able to exert a particularly advantageous influence on the orientation of the space of the spray mechanism. The second compressed air drive is connected via a compressed air line assembly to a control mechanism which comprises a second compressed air valve in order to enable a separate supply of compressed air to the second compressed air drive.

Preferably, it is provided that the manipulator base and the first manipulator section form a first manipulator hinge and the first manipulator section and the second manipulator section form a second manipulator hinge, wherein the first manipulator hinge and/or the second manipulator hinge are assigned a motion sensor from the following group: intrinsically safe electrical angle sensors, optical angle sensors, fiber bend sensors, and sensor lines are integrated into the compressed air line assembly for connecting the motion sensor to the processing means. The task of the motion sensor is to provide information about the pivot position of the respective manipulator hinge to the processing means. Since the actuator hinge is arranged within the working volume, it must be ensured that the risk of ignition of the explosive atmosphere present in the working volume cannot be obtained from the motion sensor and the associated sensor line. In the case of an electrical angle sensor, this can be achieved in that the electrical supply of the angle sensor is designed to be intrinsically safe. Other motion sensors, such as, for example, optical angle sensors or fiber bending sensors (which are based on the exploitation of optical effects), present substantially no risk on account of their functional aspect, since only the coupling and reflection of light via the respective sensor line to the respective motion sensor is provided, so that there is no risk of ignition for the explosive environment in the working volume.

It is preferably provided that the processing means are designed to process the sensor signals of the at least one motion sensor in order to realize a controlled or regulated movement for the manipulator. In the case of a controlled movement (open loop) of the manipulator, the sensor signal of the at least one motion sensor can be used, for example, to determine the realization of the end position for the respective manipulator articulation. In the case of a controlled movement (closed loop) of the manipulator, the sensor signal of the at least one motion sensor is used continuously in order to obtain the most precise possible spatial orientation of the respective manipulator articulation with the aid of the controller operating in the processing unit.

It is preferably provided that the manipulator is at least partially surrounded by a first, in particular flexible protective hose provided with a first fastening running along the longitudinal axis, and by a second, in particular flexible protective hose provided with a second fastening running along the longitudinal axis. The two protective hoses have the task of at least largely, in particular at least almost completely, preventing contamination of the manipulator hinge by particles contained in the environment in the working volume. A particularly advantageous protection for the manipulator can be promoted by the use of two protective hoses which are arranged one above the other. It can be provided, for example, that the first protective hose is made of a (plastic) textile material which has a high durability and serves substantially to protect the second protective hose against mechanical loads, as can occur during movement of the manipulator. The second protective hose can be produced in particular from a film material and can be replaced at regular intervals and serves in particular to trap as completely as possible particles from the environment in the working volume, which particles should reach as far as possible only in small amounts at the surface of the first protective hose or to the manipulator hinge.

Preferably, the working housing is designed to be hermetically sealed and has an air outlet to which a separating device is assigned for separating solid particles from a solid particle-air mixture. The air-tight design of the working housing prevents the solid particle air mixture present in the working volume from escaping into the surroundings of the processing means, since otherwise, on the one hand, an explosive atmosphere can likewise be created in the surroundings of the processing means and, on the other hand, work protection measures for personnel moving in the surroundings of the processing means must be provided.

More precisely, by means of the separating device, which can comprise, for example, a suction fan and a filter device, the compressed air volume brought into the working volume by the injection device is sucked off again and an at least almost complete separation of the solids from the solid particle-air mixture is obtained in the course of the suction process.

Drawings

In the drawings, there is shown advantageous embodiments of the invention. Here:

figure 1 shows a purely schematic representation of a processing means with a working housing, a control means, a manipulator, a compressed air source and a voltage source,

figure 2 shows a first variant for the arrangement of the control mechanism for actuating the manipulator at the working housing,

fig. 3 shows a second variant for the arrangement of a control mechanism for actuating the manipulator at the working housing, an

Fig. 4 shows a third variant for the arrangement of the control mechanism for actuating the manipulator at the working housing.

Detailed Description

The machining device 1, which is illustrated purely schematically in fig. 1, is designed for machining a workpiece 2, wherein the workpiece 2 can be a production-related plastic product, in which case, after a production method, for example a laser sintering method, has been carried out, powder residues can be removed by applying a particle blasting method, in particular glass bead blasting. In order to implement the cleaning process for the workpieces 2 in a cost-effective manner, the machining device 1 comprises, in addition to the working housing 3, a manipulator 4 and a control device 5, by means of which automated machining of the workpieces 2 is carried out within a working volume 6 completely enclosed by the working housing 3.

A fundamental difficulty in the implementation of the particle blasting method is that an ignitable environment can be generated within the working volume 6 as a function of the raw material of the workpiece 2 to be machined and as a function of the solid particles used for implementing the particle blasting method. Preventive technical measures must therefore be taken in order to prevent the ignition and the resulting explosion of the environment in the working volume 6.

The processing means 1 shown in fig. 1 can be configured in different ways, wherein the configuration relates in particular to the arrangement and design of the control means 5, 55. An alternative embodiment of the control means 5 or 55 can be derived from fig. 2 to 4 and the dependent description.

The machining device 1 shown in fig. 1 comprises a working housing 3 which is of box-shaped design, wherein the walls of the working housing 3 which are not marked in greater detail can be produced in particular from steel plate and/or from glass and are preferably designed as parallel flat plates which are respectively arranged in particular at right angles and hermetically in relation to one another.

It is provided by way of example that the manipulator 4 and the control mechanism 5 are arranged on a cover 7 of the working housing 3, wherein the cover 7 can be considered in the representation of fig. 2 to 4 in each case as a system boundary between the working volume 6 and the surroundings, not marked in greater detail, surrounding the processing means 1.

In the bottom region of the working housing 3, a bottom plate 8, which is embodied in the form of a truncated pyramid, is arranged, for example, and comprises a purely exemplarily centrally arranged outlet 9, which is not shown in greater detail, through which spray products formed from solid particles, in particular glass beads, and components removed from the workpiece 2, in particular plastic particles, can be conducted out into a preparation device 10. The task of the preparation device 10 is to separate the material residues of the workpieces 2 from the spray and to feed the spray via the spray line 11 to a storage container 12 for the spray. The storage container 12 is connected to the control device 5 and supplies the spray to the manipulator 4. Above the floor 8, a grid 15, which is shown purely schematically, is arranged, onto which the work piece 2 can be placed and through which the spray can fall at least substantially when the particle spraying method is carried out, in order to collect in a deepened portion of the floor 8, which is configured concavely and faces the working volume 6.

At the side wall 16 of the working housing 3, a filter mechanism 17 is arranged, which has the task of cleaning the compressed air which is supplied into the working volume 6 during the execution of the particle spraying method and drawing it out again, so that no undesirable pressure buildup occurs in the working volume 6. For this purpose, the filter mechanism 17 has a filter plate 18, which is not illustrated in greater detail, and a fan 19, which is arranged externally at the side wall 16, wherein the fan 19 has the task of drawing air from the working volume 6 through the filter plate 18 into the surroundings and thereby ensuring the desired separation of the spray and the (abgetrogen) components removed from the workpiece 2.

Manipulator 4 is configured purely exemplarily as a pneumatically operable multi-axis robot and comprises a manipulator base 25 and, purely exemplarily, a total of four

manipulator segments

26, 27, 28 and 29. The first manipulator section 26 is mounted on the manipulator base 25 in a pivotable manner by a first manipulator hinge 30. The second manipulator section 27 is connected to the first manipulator section 26 in a pivotable manner via a second manipulator hinge 31. The third manipulator section 28 is connected to the second manipulator section 27 in a pivotable manner by a third manipulator hinge 32 and the fourth manipulator section 29 is connected to the third manipulator section 28 in a pivotable manner by a third manipulator hinge 33. The manipulator hinges 30 to 33 can be configured as pivot hinges having a single pivot axis, as universal hinges having two pivot axes, or as ball hinges having multiple pivot axes.

Within the actuator sections 26 to 29, components shown in more detail in fig. 2 to 4, in particular the drive technology (compressed air drive) and the supply lines and possibly the working valves necessary for this, can be arranged. Pneumatic and/or electric components can also be accommodated in the manipulator base 25, depending on the respective design of the control mechanism 5, which is shown in fig. 2 to 4 and the dependent description in different variants.

At the front side of the fourth manipulator section 29, a spray mechanism 34, which is shown purely schematically, is arranged and which is connected via a compressed air line 61 to the compressed air source 20 associated with the control mechanism 5 and via a supply hose 41 and a supply line 40 to the storage tank 12 in order to accelerate the spray contained in the storage tank 12 with the application of compressed air and to impinge it on the surface of the workpiece 2 to be machined, as a result of which the desired cleaning action for the workpiece 2 should be achieved. In order to achieve the most comprehensive possible cleaning of the workpiece 2, the control device 5 is designed to bring the different manipulator hinges 30 to 33 of the manipulator 4 into different positions, so that the spray device 34 is always oriented in an advantageous spatial orientation relative to the workpiece 2.

It is provided by way of example that the manipulator sections 26 to 29 are surrounded by a first inner protective sleeve 35, which can be produced, for example, as a hose made of plastic fabric. It is preferably provided that the inner protective sheath 35 comprises a fastening, not shown in greater detail, running along a hose axis, also not shown, in particular a hook and loop fastener (klettverseschluss) or a zip fastener or a combination thereof, so that the inner protective sheath 35 can be placed on the manipulator 4 or removed from the manipulator 4 in a simple manner.

It is additionally provided that the manipulator sections 26 to 29 are surrounded by a second outer protective sleeve 36, which can be produced, for example, as a hose made of plastic film. It is preferably provided that the outer protective sleeve 36 comprises a fastening, not shown in greater detail, running along a hose axis, also not shown, in particular a hook and loop fastener or a zip fastener or a combination thereof, so that the outer protective sleeve 36 can be placed in a simple manner on the manipulator 4 and in this case also around the inner protective sleeve 35 or can be removed from the manipulator 4.

In a first variant of the machining means 1, as shown in fig. 2, it is provided that the electronic, electric and pneumatic components of the control means 5 are arranged completely in the working volume 6, which is illustrated in fig. 2 by a cover 7 symbolically indicated as a dashed line and serving as a system boundary. Outside the working volume 6, a compressed air source 20, a storage tank 12 and a voltage source 21 are arranged, which are connected to the control unit 5 via corresponding interface modules 22.

In this case, it is provided that the storage container 12 is connected to the injection device 34 via a supply line 40 running through the control device 5 and via a supply hose 41 connected thereto.

Furthermore, it is provided that the voltage source 21 is connected to a processing means 42 which is designed as a component of the control means 5.

The compressed air source 20 is connected via a compressed air line 43 to a valve assembly 44 belonging to the control mechanism 5, which valve assembly comprises a plurality of compressed air valves 50, which are shown purely schematically, which are lined up at one another, for example in series. Furthermore, a processing means 42, which is designed to provide a control signal, is likewise connected to the valve assembly 44 via a control line 45. The compressed air valve 50 of the valve assembly 44 is connected via a separately associated outlet line 46 to an associated compressed air drive 47. The compressed air valves 50 of the valve assembly 44, which are not illustrated in greater detail, are designed here, for example, as solenoid valves or piezo valves and are designed to supply compressed air individually to the respective compressed air drive 47 via the associated outlet line 46. The group of output lines 46 forms a compressed air line assembly 51, which can additionally also include a sensor line 53 together.

Each of the compressed air drives 47 is associated, in a manner not shown in greater detail, with one of the illustrated actuator hinges 30 to 33 according to fig. 1, so that an individual deflection of the respective actuator hinge 30 to 33 can be brought about by individual pressure application of the respective compressed air drive 47.

In the exemplary embodiment, a sensor 52, also referred to as a motion sensor, is associated with one of the compressed air drives 47, said sensor being electrically connected to the processing means 42 via a sensor line 53 and being designed to provide an electrical motion signal. The processing means 42 can determine the pivot position of the respective manipulator hinge 30 to 33 from the sensor signals. In a further embodiment of the machining device, which is not shown in more detail, a sensor is assigned to each of the plurality of compressed air drives, in particular the compressed air drives.

In the illustrated variant of the processing device 1 according to fig. 2, it can be provided that the entire control device 5 is accommodated in a sealed housing 48, which can be filled with a filling material, which is not shown in greater detail, such as, for example, oil or sand. This prevents sparks which may occur in the housing 48, in particular as a result of voltage or current, from being able to escape into the working volume 6, thereby preventing the risk of ignition of the possibly ignitable environment in the working volume 6.

In addition or alternatively, the voltage source 21 and the processing means 42 and the valve assembly 44 are designed to be intrinsically safe, so that it is already ensured by the electrical design of the aforementioned components that no ignition spark or no local heating can occur in the working volume 6, which would risk ignition of the possibly ignitable environment in the working volume 6.

In a second variant of the processing device 1, it is provided that the processing device 42 and the valve assembly 44 of the control device 55 are arranged outside the working volume 6 and that only a separate supply of compressed air to the respective outlet line 46 for the compressed air application of the associated compressed air drive 47 is effected via the interface assembly 56.

In a third variant of the machining device 1 according to fig. 4, the same control device 55 is provided as in the second variant according to fig. 3. However, the outlet line 46 is not in direct fluid coupling with the compressed air drive 47, but rather is provided for the fluid actuation of the working valve 60 and is also referred to as a compressed air control line in this case. The working valve 60 is a fluidically pilot-controlled compressed air valve which is designed to release a fluidically communicating connection between a compressed air line 61 and an associated drive line 62 as a function of the supply pressure which is available individually via the respective outlet line 46, so that a local supply of compressed air to the respective compressed air drive 47 is achieved.

Claims

1. Machining device (1) for machining workpieces (2) by means of a particle jet method, having a working housing (3) which delimits a working volume (6), having a manipulator (4) which is arranged at least partially in the working volume (6) and which has a manipulator base (25) which is assigned to the working housing (3) and which has a first manipulator section (26) which is mounted movably on the manipulator base (25) and to which a jet mechanism (34) is assigned, which is designed for carrying out a compressed-air-supported particle jet method, wherein a first compressed-air drive (47) is arranged between the manipulator base (25) and the first manipulator section (26), the first compressed air drive is designed to introduce movement into the first manipulator section (26), and the machining device has a control device (5; 55) which comprises a processing device (42) and a compressed air valve (50), wherein the processing device (42) is designed to provide an electrical control signal to the compressed air valve (50) and wherein the compressed air valve (50) is designed to influence a compressed air flow from a compressed air source (20) to the first compressed air drive (47), wherein the control device (55) is arranged outside the working volume (6) and is connected to the first compressed air drive (47) in particular exclusively via a compressed air line assembly (51) or wherein the control device (5) is designed to be explosion-proof and is arranged within the working volume (6) and is connected to the first compressed air drive (47) via a compressed air line assembly (51) A compressed air drive (47) is connected.

2. Machining mechanism according to claim 1, characterized in that the compressed air valve (50) is configured as an electrically operable solenoid valve or as an electrically operable piezoelectric valve.

3. The processing machine as claimed in claim 2, characterized in that the control mechanism (55) is arranged outside the working volume (6) and the compressed air line arrangement (51) comprises a compressed air control line for connecting the compressed air valve (50) with a first, fluidically pre-controlled working valve (60) assigned to the first compressed air drive (47), and a compressed air supply line (61) for the compressed air supply of the first compressed air drive (47), wherein the first working valve (60) is arranged in the compressed air supply line (61).

4. Machining mechanism according to claim 2, characterized in that the control mechanism (5) and the compressed air valve (50) are arranged inside the working volume (6) and are provided with an explosion-protected enclosure (48).

5. Machining mechanism according to claim 2, characterized in that the control mechanism (5) and the compressed air valve (50) are arranged within the working volume (6) and that the supply of electricity of the control mechanism (5) and the supply of electricity of the compressed air valve (50) are constructed intrinsically safe.

6. The machining mechanism according to any one of the preceding claims, characterized in that a second manipulator section (27) is arranged between the first manipulator section (26) and the injection mechanism (34), which second manipulator section is movably connected with the first manipulator section (26), wherein a second compressed air drive (47) is arranged between the second manipulator section (27) and the first manipulator section (26), which second compressed air drive is configured for introducing a movement onto the second manipulator section (27) and which second compressed air drive is connected with the control mechanism (5; 55).

7. Machining mechanism according to claim 6, characterized in that the manipulator base (25) and the first manipulator section (26) form a first manipulator hinge (30) and the first manipulator section (26) and the second manipulator section (27) form a second manipulator hinge (31), wherein the first manipulator hinge (30) and/or the second manipulator hinge (31) are assigned a motion sensor (52) from the group: an intrinsically safe electrical angle sensor, an optical angle sensor, a fiber bend sensor, and a sensor line (53) is integrated into the compressed air line assembly (51) for connecting the motion sensor (52) to the processing means (5; 55).

8. Machining mechanism according to claim 7, characterized in that the processing mechanism (42) is configured for processing sensor signals of at least one motion sensor (52) in order to achieve a controlled or regulated motion for the manipulator (4).

9. Machining mechanism according to one of the preceding claims, characterized in that the manipulator (4) is at least partially surrounded by a first, flexible protective hose (35), in particular provided with a first fastening running along the longitudinal axis, and by a second, flexible protective hose (36), in particular provided with a second fastening running along the longitudinal axis.

10. The processing device according to one of the preceding claims, characterized in that the working housing (3) is configured to be air-tightly closed and has an air outlet (17) to which a separating device (18) is assigned for separating solid particles from a solid particle-air mixture.