DE102022102682A1 - Mobile automation unit for a machine tool and automated method for order-related equipping of a machine tool - Google Patents

Abstract

To automate a conventional machine tool WM, a mobile automation unit MA is proposed for order-related equipping of the machine tool WM by means of a gripping device R. The mobile automation unit (MA) includes a tool store 1 for providing the tools W required for processing a machining order, a workpiece store 2 for receiving Workpieces and blanks X and preferably a clamping device store 4 for providing the clamping devices for the machine tool WM. The mobile automation unit MA is configured to dock with the machine tool system MS and to provide the tools W, workpieces and/or clamping devices of the gripping device R required for the execution of a machining order by the machine tool WM in full in order to automatically process the machining order by the machine tool WM make possible.

Description

The present invention relates to a mobile automation unit for order-related automation of a machine tool using a robot arm. In addition, a method for the automated production of workpieces using a mobile automation unit is proposed.

Known machine tools are automated using complex devices and adapted supply systems such as in the DE 10 2019 201 750 A1 described. For example, an additional workpiece changing device is provided for changing a workpiece on or off the machine table, with the swiveling machine table being set up to move into a changing position for changing the workpiece on or off the machine table by the workpiece changing mechanism swivel, and the workpiece changing device is set up to exchange or change the workpiece on the machine table that has been swiveled into the changing position. However, an order-related automation of all required interchangeable components such as workpieces, tools and clamping devices cannot be proposed.

An object of the present invention is to solve the problems of known systems and to enable an efficient and reliable possibility of automating a machine tool. In addition, it is an object to achieve job-related automation of a machine tool in order to enable automatic processing of a machining job efficiently and reliably. A further object is to provide a method with which an existing machine tool can be efficiently automated in order in particular to increase production efficiency.

To solve the problems, the features of the independent claims are proposed. Advantageous developments can be found in the dependent claims.

A freely movable, mobile automation unit can be provided for order-related loading of a machine tool of a machine tool system. The machine tool can also be connected to a gripping device provided in the area of the machine tool. The machine tool can also be a machine tool that is not yet automated, which is only automated by combining it with a gripping device and the mobile automation unit. In addition, a machine tool without a tool magazine can be provided, in which the automation unit with the gripping device assumes the function of a tool magazine.

The mobile automation unit can include a tool store for providing the tool required for processing a machining job by the machine tool. In addition, a workpiece store for receiving workpieces and blanks can be provided; Even the combination of a tool store with a workpiece store in a single mobile transport unit is advantageous in order to be able to efficiently provide the required tools and workpieces in an order-related manner and to automate the machine tool in an order-related manner. In addition, a clamping means store is preferably provided for providing the clamping means for the machine tool in order to improve the automation. The mobile automation unit can advantageously be set up to dock directly onto the machine tool system. Docking can be made possible, in particular, on a dock or dock section at or on the machine tool or the gripping device. This can advantageously have stopper sections, guide sections and/or docking elements, in particular positively connecting stopper sections, guide sections and/or docking elements which preferably block the movement of the automation unit in a self-centered and/or locked transfer state.

The docked automation unit can advantageously provide all tools, workpieces and/or clamping devices of the gripping device required for the execution of a (predetermined or predeterminable) machining order by the machine tool in order to enable automatic processing of the machining order by the machine tool.

The mobile automation unit can also include an integrated gripper station on an upper side for providing at least one interchangeable gripper for the gripping device. The provided grippers are preferably accommodated in such a way that the gripping device can automatically disconnect, connect or replace a provided gripper (the provided grippers are therefore accommodated, for example, in the middle or at an end opposite the connection side, so that the connection side of the gripper is always exposed remains). In addition, a gripping turning station can be provided in order to bring the workpieces picked up by the gripping device into the desired orientation.

The mobile automation unit can have a protective wall as a rear wall, which can be in the docked state of the mobile automation unit closes off the working space of the gripping device and/or machine tool at least laterally from the environment. A dual function can therefore advantageously be achieved by the mobile automation unit. When docked, the working area of the gripper and the machine tool is shielded by the protective wall of the automation unit. In particular when carrying out an order, the safety for the people in the vicinity is increased while at the same time achieving a desired level of automation of the machine tool. In the undocked state, the machine tool and the gripping device are easily accessible, for example for maintenance work.

The protective wall of the automation unit can protrude vertically and/or horizontally from the tool store, workpiece store and/or clamping device store, so that an area which is larger than the (lateral) projection area of the mobile automation unit is shielded by the protective wall. The protective wall can preferably be designed so that it can be folded out in order to enlarge the protective area when docked.

The workpiece storage may be a drawer system having a plurality of drawers for efficiently storing machined and unmachined workpieces or blanks. The tool store can be set up in such a way that the tools accommodated are released at least on one side in order to allow access by the gripper of the gripping device. The workpiece store preferably includes a large number of storage spaces in the individual drawers, so that the workpieces can be easily stored in the respective storage spaces. Alternatively or additionally, several slots can also be provided in each of the drawers, into which the workpieces can be inserted in order to be held laterally and thereby enable safe transport by the mobile automation unit.

A system for the automated processing of workpieces can have a machine tool, a gripping device and a mobile automation unit. The mobile automation unit can be docked onto the machine tool or the gripping device mechanically and/or in terms of control technology, for the automatic execution of a processing job by the machine tool.

The system can be automated on an order-related basis, so that all the tools, workpieces and clamping devices required for the execution of a processing order are provided with just one mobile automation unit and can be exchanged in the machine tool using a gripping device, preferably automated and controlled by a single controller or the machine controller.

The system can have at least one order-related automation unit per processing order for automatically executing the processing order when the automation unit is docked with the aid of the gripping device.

In a development, the automation unit can include wheels and a chassis which accommodates the entire automation unit and allows the automation unit to move freely, in particular manual displacement.

The system can advantageously include an automated floor conveyor system, on which the automation unit is accommodated and wherein the floor conveyor system and the automation unit are set up to move up to the machine tool system and to dock/undock in an automated manner.

The gripping device can be a multi-axis articulated arm robot that is provided on the machine tool, preferably in such a way that the machine table of the machine tool and the loading of the tool magazine of the machine tool are made possible by the gripping device. The articulated-arm robot can advantageously have 2D/3D recognition and gripper sensor systems. The articulated robot can have a platform that can be rotated about a vertical axis. The platform is advantageously provided directly on the machine tool. A horizontal axis, the base axis, can be arranged on the platform, which carries a first arm section, at whose other end parallel to the first axis of rotation there is again an axis of rotation, the arm axis, which is acted upon by a second arm section. At the free end of this second arm section, a gripper or gripping member is arranged. The gripping element can usually also be moved with respect to the second arm section, in particular rotated about the longitudinal axis of the second arm section, but it can also perform other movements in various cases.

At least a first automation unit can be provided for executing a first processing job and an (independent) second automation unit for executing a second processing job. The processing orders are advantageously different.

The system may be configured to allow both manual docking (and undocking) of an automation unit and automatic docking (undocking) by automated floor conveyors.

The protective wall of the automation unit can form a segment of a protective housing of the machine tool and, in the docked state, close off the protective housing of the machine tool from the environment. Advantageously, the protective wall can also include a viewing window to enable the user to look through the folded-out protective wall.

The system may include a rotatable receiving dock (for docking one or more of the automation units) for receiving at least two automation units, which are preferably arranged opposite each other. In particular, in a first position, a received first automation unit can face the gripping device for changing the received workpieces, tools and/or clamping devices. The accommodated second automation unit can be in a second position in which docking or undocking of the second automation unit is possible. In particular, the second position faces away from the machine tool.

In addition, the system (advantageously the dock) can include a ground scanner (preferably optical ground scanner) that can monitor the working area of the gripping device to further increase security. Two floor scanners are particularly advantageously provided on the dock or the base body of the machine tool, in the area of the gripping device for scanning the working area of the gripping device projected onto the floor.

• Andocken der Automationseinheit an die Werkzeugmaschine oder einen Andockabschnitt des Werkzeugmaschinensystems. Übertragung einer Speicherstatusinformation bezüglich der in den Speichern der Automationseinheit vorliegenden Werkzeuge, Spannmittel, Betriebsmittel und/oder Werkstücke an die Steuereinheit der Werkzeugmaschine und/oder Greifvorrichtung. Alternativ oder zusätzlich, Erfassen der in den einzelnen Speichern der Automationseinheit vorliegenden Werkzeuge, Spannmittel, Betriebsmittel und/oder Werkstücke durch die integrierten Erfassungsmittel bzw. Sensorik-Systeme der Greifvorrichtung.

A method for order-related equipping of a machine tool using a mobile automation unit can include one or more of the following steps:

• Docking the automation unit to the machine tool or a docking section of the machine tool system. Transmission of memory status information regarding the tools, clamping devices, operating resources and/or workpieces present in the memories of the automation unit to the control unit of the machine tool and/or gripping device. Alternatively or additionally, the integrated detection means or sensor systems of the gripping device detect the tools, clamping devices, operating resources and/or workpieces present in the individual memories of the automation unit.

Changing tools, workpieces, operating resources and/or clamping devices (by means of an automated gripping device) from the automation unit, which is docked to the machine tool system, for the automatic processing of a machining order by the machine tool, with all the tools, workpieces and clamping devices required for the execution of a machining order being included be made available to the mobile automation unit and preferably no further tools and clamping devices are required to process the machining order.

Thanks to the gripping device (with automation unit), automatic changing of all tools, raw parts and clamping devices that are required for the automatic processing of a machining order by the machine tool and automatic acceptance of the workpieces machined by the machine tool in the automation unit.

Shielding the working area of the machine tool and/or the gripping device by folding out the rear wall of the docked automation unit in order to at least partially enclose the working area of the machine tool and/or the gripping device.

Automatic or manual unfolding of the protective wall of the docked automation unit to at least partially shield the working area of the gripping device.

Automatic replacement of a gripper of the gripping device with a gripper provided on the automation unit.

Changing the orientation of a workpiece picked up on the gripping device by automatically engaging the gripping device on the gripping-turning station of the automation unit.

rotating the receiving dock to move a received automation unit from a gripper transfer position, which is a first position, to a docking position, which is a second position.

Docking or undocking of an automation unit with the machine tool system in the second position.

Execution of a first machining job, with a first automation unit docked to the machine tool system, and execution of a second machining job, with a second automation unit docked to the machine tool system, and the first machining job preferably differs from the second machining job.

Existing features, components and specific details may be interchanged and/or combined to create further embodiments depending on the Ver purpose. Any modifications that are within the knowledge of a person skilled in the art are implicitly disclosed with the present description.

character list

• 1 1: shows a first overview of the automation unit on a machine tool system;
• 2 : shows a side view of the machine tool system;
• 3 : shows a detailed view of the mobile automation unit;
• 4 : shows a further detailed view of a mobile automation unit with protective panels;
• 5 : shows a docked automation unit with retracted protective cell wall (protective wall);
• 6 : shows a docked automation unit with another automation unit in a waiting position;
• 7 : shows a docked automation unit with the protective cell wall extended;
• 8th : shows a detailed view of a machine tool system with a docked automation unit;
• 9 : shows a further detailed view of the machine tool with dock;
• 10A , 10B 10, 11 show the provisioning process of a mobile 10C: automation unit for the automatic processing of a processing order;
• 11 1: shows a further embodiment of the machine tool system including an automation dock;
• 12A , 12B 12: show a changing process of the mobile automation unit using an automation dock of the machine tool system;
• 13A , 13B : show further representations of order processing using the automation dock;
• 14 : shows another embodiment of the machine tool system with a pallet dock.

Detailed Description of Preferred Embodiments

Exemplary embodiments of the present invention are described in detail below using exemplary figures. The features of the exemplary embodiments can be combined in whole or in part and the present invention is not limited to the exemplary embodiments described.

In contrast to known systems, which require complex automation devices to automate a wide variety of machining jobs and in turn can sometimes only be used for certain machining operations, the proposed solution offers the possibility of efficiently achieving job-related automation of a machine tool system MS. The proposed automation solution offers the possibility of providing workpieces, tools W and/or handling or device components in a collection device which is designed to be mobile and which can be safely supplied to the automation system or the machine tool system MS, in order to thereby centralize pre-production processes and optimize efficiency and achieve good planning. Overlapping set-up processes can thus be simplified and processed simultaneously with production without loss of main time.

Accordingly, it is proposed to achieve order-related automation of the machine tool WM using, for example, an articulated-arm robot (in particular gripping device R) and a loose cell assembly with scalable performance characteristics. According to the invention, it is possible to achieve automation for the workpiece, tool W and device handling that is appropriate with regard to the application requirement, and the flexibility of the production output is also to be ensured, so that a machine tool WM can be converted steplessly without a significant loss of productivity. In a further expansion stage, in order to achieve any degree of automation in the system integration, there is also the possibility of implementing the mobile automation unit MA with regard to the supply and provision processes using a fully automatic corridor system.

1 shows an example of a machine tool system MS, which has a (preferably integrated) docking station for docking a mobile automation unit MA. In addition, the gripping device R is provided, which is, for example, a robot arm with a gripper G0. The gripping device R makes it possible to exchange tools W, workpieces, clamping devices or operating resources and/or operating fluids such as oils and lubricants. Between the mobile automation unit MA and the machine tool WM.

In the 1 represented person is protected by the protective wall S or protective cell panels mobile automation unit MA separated from the working space of the gripping device R and the working space of the machine tool WM and thus protected. The special feature of the solution presented is that the mobile automation unit MA or mobile collection device enables individual automation of the machine tool WM by providing order-related components, which in particular include order-related workpieces, order-related tools W, order-related grippers, order-related clamping devices and/or order-related equipment .

In the 1 illustrated machine tool WM also has a tool magazine in which the tool W can be made available for the machine tool WM. To process a specific processing order, the tool W required for processing the order can be exchanged from the mobile automation unit MA into the magazine of the machine tool WM via the gripping device R or directly into the spindle of the machine tool WM (in a particularly advantageous further development). In addition, the mobile automation unit MA can provide different grippers, which can be connected to the gripping device R or the robot arm, in order to enable the gripping of a wide variety of objects. The docked mobile automation unit MA is docked in an end area of the machine tool system MS and is in the docked state within the range of the gripping device R in order to allow the gripping device R to access the tool store 1, the workpiece store 2, the clamping device store 4 and/or the gripper station 3 to enable the mobile automation unit MA safely. The gripping device R is preferably located between the docked mobile automation unit MA and the machine tool WM, so that it has a gripping area that reaches both the mobile automation unit MA and its memory and the connection points of the machine tool WM, in particular the machine tool table, the tool magazine and /or the spindle of the machine tool WM, so that the machine tool WM can be efficiently automated using only a single gripping device R, in particular an articulated-arm robot.

The mobile automation unit MA is configured in particular in such a way that the machine tool WM can exchange all the tools W, workpieces and clamping devices required to carry out a machining job using the gripping device R, so that the machine tool WM can efficiently process the machining job automatically. The exchange process using the gripping device R can be carried out parallel to main time, so that tools W can be exchanged into the magazine of the machine tool WM, for example while a workpiece is being machined by the machine tool WM. A processing order can in particular be an order for the production or processing of one or more blanks X, which are processed to form a predetermined workpiece.

The finished workpieces can in turn be stored back into the mobile automation unit MA via the gripping device R. For an exemplary processing job, the mobile automation unit MA provides five different milling cutters, which are preferably held in a tool holder, as well as forty unmachined parts X, which can be machined into a finished workpiece by the machine tool WM, and an interchangeable gripper that can be integrated into the gripping device R can be exchanged as well as an additional clamping device with specially coated clamping jaws. These elements can be made available to the machine tool WM by the machine tool system MS via the mobile automation unit MA for executing the machining order. The raw parts X can be successively accommodated in the clamping device of the machine tool WM, machined by the machine tool spindle, for example using different tools W, and after completion of the machining via the gripping device R in turn fed to the mobile automation unit MA in a corresponding memory.

Parallel to the machining of the unmachined part X by the machine tool WM, the gripping device R can, for example, exchange the tools W in the tool magazine of the machine tool WM, supply further operating resources to the machine tool WM or exchange the gripper G0 at a station provided for this purpose on the mobile automation unit MA. After completing the machining job, the mobile automation unit MA can be released from the dock in order to disconnect from the machine tool system MS.

It is particularly advantageously proposed that the protective wall S is part of the mobile automation unit MA, so that the protective wall S can be removed from the machine tool system MS together with the automation unit MA after the machining job has been processed. In other words, the protective wall S of the mobile automation unit MA supplements the protective housing of the machine tool system MS in such a way that in the docked state with the protective wall S folded out, the mobile automation unit MA completes the protective housing of the MS machine system so that the system can work safely and efficiently. Because the protective housing is at least partially removed when the mobile automation unit MA is undocked and removed, access to the machine tool system MS is made possible. This advantageous embodiment makes it possible, particularly when processing jobs, to provide a complete protective housing on the machine tool system MS and access to the work area only after the machining job has been completely processed. The mobile automation unit MA thus enables automatic shielding by means of a protective housing while at the same time providing all production elements that are required for processing the machining order from the machine tool WM. The use of the mobile automation unit MA thus leads to the synergy of certain safety aspects with efficiency and automation aspects.

By using the mobile automation unit MA, workpieces, tools W and the tool clamping can be provided automatically and order-related and no large tool magazines are required on the machine tool WM, great flexibility is achieved while at the same time requiring little space. The mobile automation unit MA can also be designed as a supply trolley. The automation unit MA can be assembled in relation to the order and be made available in advance before the processing order is processed, so that successive processing is made possible by the machine tool system MS without significant interruption by a required mobile automation unit MA being provided according to the machine tool system MS for each order and docking there . In this way, a fully automated production process for different processing orders can be achieved in a particularly advantageous manner. In addition, a load-carrying robot can advantageously be used as the gripping device R, which can be provided on the machine tool WM without significant adjustments in order to automate it. Existing (non-automated) machine tools WM can thus advantageously also be efficiently automated using the mobile automation unit MA together with a payload robot.

2 shows a further detailed representation of the machine tool system MS. The gripping device R is placed on a front side of the machine tool WM. This is designed with a base body R5 with a pan R3, which is detachably connected to the base body R5 of the machine tool WM. The main body R5 can advantageously border directly on the base of the machine tool WM in order to use the maximum range of the gripping device R and thus ensure that the gripping device R can reach the workspace WM4 of the machine tool WM as comprehensively as possible, so that in particular the machine tool table WM1 with the clamping devices and workpieces provided on it can be reached by the gripping device R in order to exchange corresponding workpieces and/or also to replace or adjust the clamping devices on the machine tool table WM1 accordingly. In addition, the gripping device R is provided (fixed) on the machine tool WM in such a way that it may also be possible to reach the spindle WM2 of the machine tool WM, for example in order to be able to change tools W. The gripping device R can also reach the tool magazine WM3 of the machine tool WM in order to be able to change tools W there or to be able to exchange tools W. Opposite the machine tool WM, on the pan R3, the dock D can be provided for the automation unit. The dock D with the machine tool WM advantageously encloses the gripping device R. The gripping device R is therefore preferably provided between the dock D and the machine tool WM, so that the gripping device R can access both the workspace WM4 of the machine tool WM and the elements of the Memory of the mobile automation unit MA, which can be docked in the dock, is made possible.

In order to enable precise positioning of the mobile automation unit MA in relation to the machine tool WM and the gripping device R, the dock has first and second lateral guides D1 and D4, along which a mobile automation unit MA to be docked can be guided, preferably in order to align parallel to the machine tool WM to allow. In addition, a central guide D2 can advantageously be provided, as well as a stop or a rear wall D3, so that the dock D enables precise placement of the mobile automation unit MA.

The gripping device R is preferably a six-axis articulated arm robot, which both reaches the machine table of the machine tool WM and also enables loading and unloading of the tool magazine. This robot can also be referred to as a central handling device. By way of example, the gripping device R comprises the base body R5, on which a rotatable first support member R1 is provided. The first support member R1 can thus be regarded as a first arm. The first carrier member R1 is rotatably connected to the second carrier member R2 via an intermediate joint R4. At the end of the second support member is a receiving area for a gripper G0. Workpieces, tools W and objects to be exchanged can be manipulated via the gripper G0. The gripping device R is preferably designed to be rotatable in order to enable a 360° orientation in the horizontal direction of the carrier members. The second carrier member R2 is also designed to be rotatable about the longitudinal axis of the carrier member in order to allow the gripper that is held to rotate. The gripping device R can advantageously include at least one measuring element for adjusting the intermediate joint R4 in order to determine a defined position of the robot joint in order to be able to adjust the robot arm on the basis of this position.

As in 2 shown, a protective wall S on the machine tool side can also be provided in the area of the machine tool WM, which can at least partially shield working areas of the machine tool WM from the environment to protect people who are in the vicinity of the machine tool WM. The area that is not closed can be closed off by means of a movable protective wall S of the mobile automation unit MA when the mobile automation unit MA is docked on the machine tool system MS. In the undocked state, as in 2 shown, free access to the gripping device R and/or the working area of the machine tool WM can be possible for a user. By providing the pot pan R3, it is also possible that operating materials such as lubricants or drilling emulsions, which drip towards the ground during the changing process using the gripping device R, for example, are collected in order to prevent contamination. The pot pan R3 is therefore advantageously provided between the machine tool WM and the receiving dock or dock D for catching operating materials which drip down towards the floor in this area during a changing process.

In the 2 The machine tool WM shown is merely an exemplary machine tool WM and the present solution is not limited to the machine tool WM shown. The machine tool WM shown comprises a work space WM4, in which there is a work table WM1, on which, for example, clamping means with the workpiece can be accommodated. The tool spindle WM2 is located vertically above this table WM1, which is designed to be movable in multiple axes for machining the clamped workpiece. The tool magazine WM3 can be provided behind a protective housing of the working area WM4 for receiving tools W, which can be exchanged in the tool spindle WM2. The gripping device R is advantageously placed directly on the machine tool WM and the first and second support member of the gripping device R are designed in such a way that the gripper G0 of the gripping device R can reach both the tool table in its entirety and, advantageously, the tool spindle and the tool magazine of the machine tool WM. so that a changing process of a tool W and/or workpiece can be achieved entirely by the gripping device R.

In 3 the proposed mobile automation unit MA is shown. This complete unit in combination with the robot arm ensures order-related automation of the WM machine tool. Depending on the order, the complete unit includes in particular the required tools W, workpieces and grippers as an all-in-one solution. A combinatorial technical effect can be achieved if the complete unit also has a protective wall S, which completes the protective housing of the machine tool system MS when the complete unit is docked, so that the working space of the machine tool WM and the working area of the robot arm are preferably completely separated from the surroundings, at least laterally become. In this way, order-related automation can be achieved while at the same time increasing safety, which is of the greatest relevance in automated machine systems in particular. In this configuration, for example, the rear wall of the mobile automation unit MA forms part of the protective housing. Advantageously, a separate mobile automation unit MA can be provided for each processing job, so that exchanging the automation unit MA as a complete unit automatically enables the machine tool system MS to be able to execute the respective processing job accordingly. The required tools W, workpieces, grippers G0, G1, G2, operating resources and clamping devices can therefore be made available in relation to the order with the mobile complete unit and exchanged in the machine tool WM using a robot arm. After completion of a processing order, the completed complete unit can be undocked and the next complete unit with a new processing order can then be docked in order to enable automated processing of the next processing order efficiently. The order-related complete unit thus enables set-by-set set-up from an order in an efficient manner. In an advantageous development, the complete unit also provides all the necessary operating materials, in particular lubricants, filters, oils and possibly also gases.

As in 3 shown, the mobile automation unit MA or complete unit comprises a combination of different memory sections, which are joined together and are placed on a chassis in the embodiment shown. Each store comprises one or more storage locations for interchangeable elements, such as tools W, workpieces, grippers G0, G1, G2, clamping devices and/or operating resources. The storage locations are designed in such a way that they can be actuated by a gripper of a robot arm in order to be able to easily remove the corresponding object via the robot arm.

For example, the tool W is stored in a tool store 1 . The tool store 1 is firmly connected to the workpiece store 2 arranged vertically below it. The rectangular wall element 14, which is preferably designed to be stiffened by struts, offers a vertical surface on which one or more receiving strips for the tools W are provided. In 3 a first receiving bar 11 for tools W is shown, which is arranged at the top vertical point of the wall element 14 . The first receiving bar 11 has six or ten receiving places for tools W, for example. For example, the tools W can be hung in the receiving locations of the receiving bar in such a way that the tools W accommodated, which preferably also include a tool holder, can be removed from the receiving space of the receiving bar by means of grippers by enclosing them with the pliers of the gripper and lifting them accordingly by vertical lifting followed by horizontal removal of the tool holder with tool W. It is particularly advantageous for the mounting locations of two adjacent mounting bars, for example the first mounting bar 11 and the second mounting bar 12, to be offset on the wall element 14 in such a way that the longitudinal axes of the mounted tools W of two different adjacent Recording bars have a horizontal spacing to allow easy vertical removal of the tool W from the tool store 1. Analogously, the receiving places of the second receiving bar 12 are offset horizontally with respect to the receiving places of the third receiving bar 13 .

In summary, for example, the tool store 1 can be designed as a stiffened wall element which is arranged vertically and which has tool storage locations which are arranged vertically one above the other along the wall element. All recorded tools W of the tool store 1 can be controlled directly by the robot arm and removed from the store 1 or inserted into it, so that all recorded tools W are directly accessible, which enables an efficient tool change from the mobile automation unit MA.

The workpiece storage device 2 is preferably arranged vertically below the tool storage device 1 . The workpiece store 2 can preferably comprise a drawer system, which is provided in a box-like manner on the chassis 5 . The workpiece store 2 therefore comprises a large number of drawers, for example the first drawer 21 and the second drawer 22, as shown in FIG 3 shown. The drawers are preferably designed to be open, such that the gripper of the robot can easily access the individual drawers 21, 22, so that the individual drawers 21, 22 can be pulled out and retracted by the gripper. Each of the individual drawers 21, 22 can have several storage locations for storing raw parts X, workpieces or finished workpieces. When processing a machining job, the gripper can sequentially feed the individual raw parts X to the machine tool WM and clamp them accordingly and, after processing, sort them back into workpiece storage 2, so that the raw parts X or initial workpieces provided can be processed one after the other, and after processing they can be returned to the workpiece storage 2 to be substituted. For example, after processing the entire machining order, the mobile automation unit MA in the workpiece store 2 can include a large number of, for example, completely machined workpieces, which can be easily transported away and, for example, stored because the automation unit MA is designed to be mobile.

In order to additionally increase the flexibility of the mobile automation unit MA, handles 23 can be provided which, together with the chassis 5, also allow manual movement or displacement of the automation unit MA. The running gear 5 includes the wheels 51 and 52 which are provided on a base plate 53 . The base plate 53 has a U-shaped bracket on the side with a large number of elongated holes, via which the tool store 1 can be screwed to the chassis 5 . This side bracket 54 comprises, as in 3 shown, four slots per side of the U-shaped element. Opposite the side mount 54 there is a second side mount, which is preferably designed in accordance with the side mount 54 so that the workpiece store 2 is surrounded by two side mounts in order to be able to securely hold it on the chassis 5 . The wheels 51 and 52 also include brakes which are fixed enable the mobile automation unit MA to be set.

A clamping device storage device 4 can be provided on the side of the workpiece storage device 2 . The clamping device store 4 can have a first storage area 41 and a second storage area 42 . For example, consumables, such as lubricants and filters, can be provided in the second storage area 42 in order to be able to feed them to the machine tool WM through the robotic arm if required. In addition, exchangeable clamping jaws can be provided in the clamping means store 4, which can be exchanged on the machine tool WM if necessary. The clamping device store 4 can also have an open receiving area 43 in which, for example, clamping jaws can be stored. The open configuration ensures easy access to the robot arm. The clamping device store 4 preferably has the same height as the workpiece store 2 . A gripper station can be provided on the upper surface of the clamping means store 4 . The gripper station 3 can include a gripper deposit, a gripper turning station and an alignment station for aligning picked-up workpieces or the gripper of the robot arm. In addition, a box can be provided to accommodate small parts, with the box being designed to be open at the top in order to allow easy access for the gripper G0. The gripping turning station 33, such as in 4 shown, allows workpieces picked up in the gripping device R to be brought into the desired orientation by interaction with the gripping turning station 33 . In particular, when tools W or workpieces are removed by the gripper G0 with the robot arm, it may be necessary to reorient the picked-up object in order to enable it to be exchanged at the machine tool WM. In the 4 The embodiment shown also has the protective wall S, which is provided on a rear side of the mobile automation unit MA. The illustrated embodiment shows the protective wall S in the folded position. For example, the protective wall S can have panels, similar to a shower stall, which can be folded together in order to enable an optimized movement of the automation unit MA. In the docked state, when it is necessary to close off the work area, the protective wall S of the automation unit MA can be unfolded.

In 4 the automation unit MA has a first protective cell wall S1 and a second protective cell wall S2, each of which consists of different panels that are 4 are shown collapsed. A protective cell wall has a wall panel which is bordered by a frame or strut. The first cell protection wall S1 has the upper cell strut So and the lateral cell strut Ss. To further increase the stability and protective effect, the protective wall panel Sw has an upper and a lower panel, which can be separated from one another by the middle cell strut Sm. On the side of the protective wall panel Sw there are two lateral cell struts Ss, which in turn border on the upper cell strut So and the lower cell strut Su. The first protective cell wall S1 comprises a plurality of protective wall panels that are folded in and folded out in order to close the working area of the robot arm and/or the machine tool WM or to close the working space, as for example in 6 or 7 shown. The protective wall panels are advantageously transparent or semi-transparent and/or have a viewing window. The folded cell protection wall according to 4 is added to the chassis 5 and firmly connected, for example, to the back of the tool store 1 and the back of the workpiece store 2. The first protective cell wall S1 can, for example, comprise four folded-in wall panels which are movably connected to one another via hinges or joints via the lateral cell struts.

In the 4 The mobile automation unit MA shown also includes a gripper station 3, in which a large number of grippers G1, G2 and G3 are placed in such a way that they can easily be exchanged at the end of the robot arm. In addition, the receiving container 34 is provided for receiving small parts, which can preferably be made available to the gripper of the robot arm. A gripper turning station 33 is also provided in order to enable a reorientation of picked-up components on the gripper. The raw parts X or workpieces X are located in the workpiece storage 2 and are stored in the workpiece storage 2 directly above the chassis 5 in a weight-optimized manner.

The folded protective wall panels or wall parts are accommodated on the back of the mobile automation unit MA. The wall parts can be foldably connected to one another via a pivoting mechanism, for example via hinges provided on the lateral cell struts. In an advantageous further development, the protective wall panels can also be moved at least slightly vertically, so that when the mobile automation unit MA is docked, the protective cell walls accommodated on the back of the mobile automation unit MA, which are at a vertical distance from the floor surface, can be lowered so that these can come into contact with the bottom surface, so that the Zel protective wall when the mobile automation unit MA is docked on the floor. Only when transporting or moving the mobile automation unit MA together with the recorded cell protection walls can they be raised in the vertical direction in order to achieve a distance from the floor and the lower cell strut Su. Due to the fact that the protective cell walls can advantageously also touch the floor or workshop floor in the docked state, it is possible in a simple manner to position the folded-up wall parts of the protective cell wall in a stable manner.

In the 5 , 6 and 7 an exemplary sequential order processing using mobile automation units MA is shown. In 5 the mobile automation unit MA shown is currently being docked on the dock D of the machine tool system MS. The first cell protective wall S1 and the second cell protective wall S2, which each comprise a large number of wall parts, are shown folded together. After the docking process, for example if the mobile automation unit MA activates a contact sensor on the stop or the rear wall D3, the first protective cell wall S1 and the second protective cell wall S2 can be unfolded so that the individual wall parts can enclose a work space, as in 7 shown. In 7 the protective cell walls are unfolded in such a way that the working area of the gripping device R as well as the working area of the machine tool WM are closed off from the environment. The first and second protective cell wall S1 and S2 can thus form a protective wall S or protective cell S in order to shield workers in the vicinity of the machine tool system MS from the danger area. As in 7 shown, the gripping direction R has a gripper G0, via which the objects of the mobile automation unit MA can be exchanged in the machine tool WM. Finished workpieces or tools W that are no longer required can in turn be exchanged via the gripping device R from the machine tool system MS into the mobile automation unit MA.

As in 6 shown, while the machine tool system MS is processing a processing job when the automation unit MA1 is docked, the next mobile automation unit MA, for example the second mobile automation unit MA2, can already be positioned on the machine tool WM, so that after the first processing job has been processed using the first mobile automation unit MA1 the second mobile automation unit MA2 is also already available for processing the second processing order and can be docked accordingly when the dock becomes free, so that the machine tool system MS can process different processing orders essentially without delay, without this requiring an actual maintenance process, for example by Tools W are exchanged or finished components must be removed.

By using the mobile automation unit MA, it is therefore possible to optimize the production process on a machine tool WM, since the next mobile automation unit MA2 can already be prepared for the execution of the next machining order, in particular while a machining order is being processed, and can therefore be carried out in parallel with the machining process of the machine that is already taking place first processing order. If the feeding of the mobile automation unit MA is now also automated, for example via AGVs (Automated Guided Vehicles), a fully automatic system can be provided with which a wide variety of processing orders can be processed one after the other, with the docking process and undocking process of the mobile automation unit MA being able to be automated . Thus, an ordinary (non-automated) machine tool WM can also be efficiently automated by providing the gripping device R and the mobile automation unit MA with a corresponding dock D accordingly.

8th shows a further advantageous embodiment, in which the gripping device R is additionally used with a laser scanner LS, which has a 3 m scanning radius, for example. This laser scanner is advantageously provided in the end area of the pot pan R3 or in the bottom area of the machine tool WM, for example directly on the pot pan R3. The robot work area of the loading and unloading system can thus be secured using an optical floor scanner. The robot work area can thus be made safe, so that the loading and unloading process by the gripping device R is efficient and safe. In 8th also shows how the gripping device R uses the gripper to remove a component X from the drawer 21 in order to feed it to the machine tool WM. For example, the workpiece for machining is clamped on the machine tool table WM1 by the gripping device R.

9 shows a representation of the machine tool system MS with the robot arm or gripping device R folded in. The second support member R2 and the first support member R1 are thus in a folded position. In addition to the first LS laser scanner, a second laser scanner is also available as a ground scanner 9 shown. The two Scanners are arranged at a distance from one another in the floor area of the machine tool WM. The ground scanners essentially cover the area in which the gripping device R in the direction of the dock D can operate. This in 9 Dock D shown can be designed, for example, as a base plate, which has chutes along which the mobile automation unit MA can be inserted into the dock in order to align the mobile automation unit MA with a predetermined orientation relative to the machine tool and the gripping device R. These fairways of the dock D are preferably parallel to the longitudinal axis of the pot pan and parallel to a side face of the machine tool WM. In 9 the machine tool magazine WM3 is also shown for holding various tools W. The in 9 Pot pan R3 shown can also be designed to be accessible, so that people can walk over this pan. The pot pan also has a grating for this purpose.

In the 10A until 10C Another way of providing and docking mobile automation units MA to the machine tool system MS is shown. The solution presented enables the docking of a driverless transport system FTS, which accommodates the mobile automation unit MA and can dock accordingly to the machine tool system MS via the dock. After processing the processing order, the driverless transport system can undock the automation unit MA from the dock again in order to release the dock for the next processing order and, for example, a new automation unit MA, which can be provided and docked by another driverless transport system.

In 10A the mobile automation unit MA is provided on the driverless transport system FTS, with the driverless transport system being able to drive directly into the dock in order to introduce the mobile automation unit MA into the dock in a raised state, to lower it there so that the mobile automation unit MA docks with the dock and after the mobile automation unit MA has been correspondingly lowered, the driverless transport system is released so that it can move out of the dock again separately from the mobile automation unit MA. The AGV can in particular be a driverless lift truck, which has two forks, for example, which can be guided under the mobile transport unit in order to lift it. In the raised state, the AGV can thus easily move the mobile automation unit MA freely. By lowering the forks, the mobile automation unit MA can stand independently on the chassis. As in 10C shown, the mobile automation unit MA can be docked in the dock and the machine tool system MS can process the machining order. After completing the job, the mobile automation unit MA, such as in 10B shown, can be removed from the dock again via the AGV. The next driverless transport system, in which, for example, the second mobile automation unit MA2 is included, can already be in the waiting position in order to be able to exchange the next unit at the dock D that has become free. The service life of the machine tool system MS can be reduced as a result.

11 shows a further advantageous embodiment. In particular, the dock has been further expanded to the point where an automated docking system is used. The automation dock AD has, for example, two docking stations AD1 and AD2. Each slot can be used to connect to a mobile automation system. As in 11 shown, for example, the first mobile automation unit MA1 is docked at the position AD1 and the second mobile automation unit MA1 is docked at the second position AD2. The positions AD1 and AD2 are arranged opposite one another on the automation dock AD. The automation dock AD can, for example, be designed as a turntable in such a way that the positions AD1 and AD2 can be rotated by rotating the turntable in relation to the machine tool system MS and the gripping device R, so that, for example, the mobile automation unit MA of the gripping device required for processing the processing order can be used R is positioned closest. An automation dock security wall ADS can be provided between the two receiving docks of the automation dock AD to shield the dock positions from one another and to increase security, so that, for example, as in 11 shown, the second mobile automation unit MA2 can also be removed manually from the dock AD2 by one person and this person is shielded from the work area of the gripping device R by the protective wall S. The rotation of the automation dock AD and the docking positions AD1 and AD2 provided thereon can take place in a horizontal plane, which is designed in particular parallel to the horizontal contact plane of the machine tool WM and/or the gripping device R.

Automation units (first dock or first position) accommodated in the automation dock AD can advantageously be accommodated in such a way that the back of the automation unit (second dock or second position) is directed in the direction of the security wall ADS. The workpiece store 2, the tool store 1 and also the grippers station are thus facing away from the (floor-level) security wall ADS. If, for example, the in 11 shown mobile automation unit MA2, which is accommodated in the dock AD2, by rotating the receiving plate of the automation dock AD by 180°, so that the mobile automation unit MA2 faces the gripping device R, the gripping device R can easily take the tools W, workpieces , etc. from the mobile automation unit MA2. In 11 the dock AD1 is in the processing position of the automation dock and the position AD2 is in the changing position, which allows the mobile automation unit MA to be docked or undocked with the dock. The security wall of the ADS automation dock can also be referred to as a rotating wall, since it can rotate with the dock positions AD1 and AD2, for example. In the horizontal plane around a vertical axis, which is present, for example, in the middle between the docking positions AD1 and AD2.

In the 12A , 12B as well as 13A and 13B, a machining process is shown in which a change process is carried out using FTS on the automation dock AD. A particular advantage is that the exchange of the mobile automation units MA, i.e. the carriage exchange at the automation dock A, can be carried out parallel to the main time, ie a mobile automation unit MA can be exchanged parallel to the processing of a machining job by the machine tool system MS.

In 12A a state of the machine tool system MS is shown in which an order is currently being executed. The processing order that is being carried out is carried out with the mobile automation unit MA1 present in position AD2. The gripping device R, as shown, uses the gripper to reach into the drawer of the received mobile automation unit MA1 in order to remove a workpiece. The processing job currently being executed can thus be carried out completely using the means provided by the first mobile automation unit MA1. The machine tool table WM1 of the machine tool WM includes the clamping devices into which the workpiece can be exchanged. The second mobile automation unit MA2 is located on the opposite side of position AD2, at position AD1. As shown, the automation dock AD thus includes a first dock at the first position AD1 and a second dock at the second position AD2, which can each accommodate a mobile automation unit MA. These docks are arranged opposite one another, with the rotating wall or automation dock security wall ADS being provided between these docks, which is aligned parallel to the first and second dock of the automation dock. This means that mobile automation units that have been included, for example MA1 and MA2, are also in 12A , arranged parallel to the rotating wall or safety wall of the automation dock. Optimal shielding of the working space of the gripping device R is achieved. As in 12A shown, a driverless transport system FTS can use forks to lift the second automation unit MA2 and remove it from the dock at position AD1 in order to release this dock for connection to another mobile automation unit MA.

For example in 12B it is shown that the already vacated position AD1 of the automation dock, from which the mobile automation unit MA2 was removed by the driverless transport system FTS, can be connected to another mobile automation unit MA, namely the mobile automation unit MA3. Another driverless transport system can thus bring the third mobile automation unit MA3 into the dock at position AD1 and dock it accordingly, preferably fully automatically. After the docking process of the third mobile automation unit MA3 has taken place, the driverless transport system can move and the third mobile automation unit MA3 remains docked in the dock at position AD1 in the automation dock. During this docking and undocking process at the position AD1, the processing of the machining order by the machine tool WM and the gripping device R on the first mobile automation unit MA1 can take place undisturbed. The dock may also include a camera system as described below.

In the 13A and 13B the rotation of the automatic dock AD is shown such that, for example, after the processing of a processing job has been completed, the automation dock is rotated so that the position AD1 can be swapped with the position AD2. The newly introduced mobile automation unit MA3, as in 12B shown, can thus after the rotation process of the automation dock according to 13A for example in 13B be made available for processing, so that the processing of the specific processing order can be started with the help of the mobile recording dock MA3. The rotation of the automation dock in turn moves the completely processed automation unit MA to the changing position in order to enable the mobile automation unit MA to be transported away by, for example, another driverless transport system. When the automatic dock rotates, the gripping device R is preferably in the rest position and is therefore folded.

14 shows another embodiment of the present invention. In concrete terms, a pallet dock PD is proposed which, by means of a camera system K, which is mounted, for example, vertically above the docking positions, enables the gripping device R to access the pallets present in the docking positions. The proposed dock has the first pallet docking position PD1 and the second pallet docking position PD2. The pallets docked in the positions can be made available to the pallet dock via a driverless transport system and docked accordingly. The objects on the pallets can be recorded in the docked state via the camera system provided vertically above the at least one pallet docking position. By detecting the corresponding objects, such as workpieces, tools W, clamping devices, operating resources, the gripping device R can remove the corresponding objects and exchange them accordingly on the machine tool system MS. The camera system advantageously includes a 3D camera. Two laser scanners, for example, are provided in the floor area for detecting objects and/or people in the area of the machine tool system MS and in particular the gripping device R.

The aforementioned features make it possible to provide the machine tool system MS with workpieces, tools W and clamping devices and also operating resources automatically and in relation to the order. No large tool magazines are required and yet a high degree of flexibility and a small space are achieved. The mobile automation unit MA or the supply trolley is assembled to order, so that, for example, efficient large-scale processing and fully automatic throughput is also possible.

In addition, various options for customizing orders can be provided for preparing the machine set-up. Similar to equipping the machine tool WM with specific tools W, the proposed system together with the gripping device R can also equip and convert the clamping means with adapted jaws or other clamping means. In the case of clamping nests with several small clamping units, a device change is also possible with the gripping device R. By using an AGV system or AGV system, a fully automated solution can be provided as an alternative or supplement to the manual replacement of the mobile automation unit MA at the dock.

The automation dock, as for example in 11 is shown, can also be designed as a rotary pivoting receiving dock AD, through which the provision of a follow-up order can already be carried out during the current processing. After completion of a production task or processing order, automatic feeding of the prepared mobile automation unit MA or collection unit enables a smooth transition to the follow-up order. As a result, the necessary tools W are supplied to the machine magazine for the gripping device R with a correspondingly provided gripper. Workpiece handling can then be carried out, for example by changing the gripper again. Advantageously, the mobile automation unit MA can also include an alignment station or its own robot gripper.

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• DE 102019201750 A1 [0002]

Claims (18)

Mobile automation unit (MA) for order-related equipping of a machine tool (WM) of a machine tool system (MS) by means of a gripping device (R) provided in the area of the machine tool (WM), the mobile automation unit (MA) comprising: - A tool store (1) for providing the tool (W) required for processing a machining order; - A workpiece store (2) for receiving workpieces and blanks; - And preferably a clamping means store (4) for providing the clamping means for the machine tool (WM); wherein the mobile automation unit (MA) is set up to dock onto the machine tool system (MS) and to provide the tools (W), workpieces and/or clamping devices of the gripping device (R) required for the execution of a machining order by the machine tool (WM), in order to to enable automatic processing of the machining order by the machine tool (WM). Mobile automation unit (MA) according to claim 1 , wherein the mobile automation unit (MA) also comprises a gripper station for providing at least one interchangeable gripper (G0, G1, G2) for the gripping device (R) and preferably a gripper-turning station in order to work pieces ( W) in the desired orientation. Mobile automation unit (MA) according to at least one of the preceding claims, wherein the mobile automation unit (MA) has a protective wall (S) as a rear wall, which in the docked state of the mobile automation unit (MA) protects the working space of the gripping device (R) and/or machine tool ( WM) closes off at least laterally from the environment. Mobile automation unit (MA) according to the preceding claim, wherein the protective wall (S) protrudes vertically and/or horizontally from the tool storage (1), workpiece storage (2) and/or clamping device storage (4) and wherein the protective wall (S) is preferably designed to be foldable . Mobile automation unit (MA) according to at least one of the preceding claims, wherein the workpiece store (2) has a large number of drawers (21, 22) for receiving machined and unmachined workpieces or raw parts, and wherein the tool store (1) is preferably set up in such a way that the recorded tools (W) are released at least on one side in order to allow access of the gripper (G0, G1, G2) of the gripping device (R). System for the automated processing of workpieces with a machine tool (WM), a gripping device (R) and a mobile automation unit (MA) according to one of the preceding claims, wherein the mobile automation unit (MA) can be docked to the machine tool system (MS) for automatic execution of a machining job by the machine tool system (MS). System according to the preceding claim, wherein the system is automated on an order-related basis, so that all the tools (W), workpieces and clamping devices required for the execution of a processing order are provided with a mobile automation unit (MA) and loaded into the machine tool (WM ) are interchangeable, preferably automated. System according to at least one of the Claims 6 or 7 , wherein the system has at least one job-related automation unit (MA) per processing job, for automatically executing the processing job when the automation unit (MA) is docked. System according to at least one of the Claims 6 until 8th , wherein the automation unit (MA) comprises wheels which allow the automation unit (MA) to be moved freely, in particular manual displacement. System according to at least one of the Claims 6 until 9 , wherein the system comprises an automated floor conveyor system (FTS) on which the automation unit (MA) can be accommodated and the automation unit (MA) is set up to dock automatically on the machine tool system (MS). System according to at least one of the Claims 6 until 10 , wherein the gripping device (R) is a multi-axis articulated-arm robot that is provided on the machine tool (WM), preferably in such a way that the machine table of the machine tool (WM) and the loading of the tool magazine of the machine tool (WM) by the gripping device (R) are possible becomes. System according to at least one of the Claims 6 until 11 , wherein at least a first automation unit (MA1) for executing a first processing order and a second automation unit (MA2) for executing a second processing order are provided. System according to at least one of the Claims 6 until 12 , where the system is configured both a manual docking an automation unit (MA) as well as automatic docking using automated floor conveyors. System according to at least one of the Claims 6 until 13 , wherein the protective wall (S) of the automation unit (MA) forms a segment of a protective housing of the machine tool (WM) and in the docked state the protective housing of the machine tool (WM) closes off from the environment. System according to at least one of the Claims 6 until 14 , wherein the system comprises a rotatable receiving dock (AD) for receiving at least two automation units (MA), which are preferably arranged opposite one another, wherein in particular in a first position (AD1) a received first automation unit (MA1) faces the gripping device (R). , for changing the recorded workpieces, tools (W) and/or clamping devices, and the recorded second automation unit (MA2) is in a second position (AD2) in which docking or undocking of the second automation unit (MA) is possible. Method for order-related equipping of a machine tool (WM) by means of a mobile automation unit (MA) according to at least one of the preceding claims, the method comprising the step: - Changing tools (W), workpieces and/or clamping devices from the automation unit (MA), which is docked to the machine tool system (MS), for the automatic processing of a machining order by the machine tool (WM), all of which are required for the execution of a machining order Tools (W), workpieces and clamping devices are provided with the mobile automation unit (MA). Method according to the preceding claim, with at least one of the following steps: - by the automation unit (MA), automatic changing of all tools (W), blanks (X) and clamping devices, which are required for the automatic processing of a machining order by the machine tool (WM), and automatic recording of the workpieces machined by the machine tool (WM). ; - Shielding of the working area of the machine tool (WM) and/or the gripping device (R) through the rear wall of the docked automation unit (MA); - Automatic or manual unfolding of the protective wall (S) of the docked automation unit (MA) for at least partially shielding the working area of the gripping device (R); - Automatic replacement of a gripper (G0, G1, G2) of the gripping device (R) with a gripper (G0, G1, G2) provided on the automation unit (MA); - Changing the orientation of a workpiece picked up on the gripping device (R) by automatically engaging the gripping device (R) on the gripping-turning station of the automation unit (MA). procedure after Claim 16 or 17 , wherein the system comprises a rotatable receiving dock (AD) and the method comprises at least one of the following steps: - rotating the receiving dock (AD) so that a received automation unit (MA) from a gripper transfer position, which is a first position (AD1). , is moved to a docking position, which is a second position (AD2); - Docking or undocking of an automation unit (MA) with the machine tool system (MS) in the second position; - Execution of a first machining job, with a first automation unit (MA1) docked to the machine tool system (MS), and execution of a second machining job, wherein a second automation unit (MA2) is docked to the machine tool system (MS), and preferably the first machining job differs from the second processing order.