DE102019214088B4 - HANDLING DEVICE FOR A MACHINE TOOL, HANDLING EQUIPMENT AND HANDLING SYSTEM - Google Patents

Abstract

Handling device (200) for a machine tool (100), comprising: a handling device (220) carried on a support (210) that can be set up adjacent to the machine tool (100) for handling workpieces and/or workpiece pallets (247), for picking up or transferring a workpiece pallet (247) in the working area of the adjacent machine tool (100) and/or for receiving or transferring a workpiece pallet (247) at a pallet location of an attachable pallet store (240) of the handling device (200); and a docking device (250) for docking a driverless transport vehicle (300) of a driverless transport system having a pallet carrier (341, 342; 355) at a transfer position of the docking device (250), wherein the handling device (220) is set up for this at the transfer position of the docking device (250) picking up or transferring a workpiece and/or a workpiece pallet (247), characterized in that the handling device (220) has an extendable telescopic mechanism, the telescopic mechanism has a horizontally aligned telescopic rail (222) that can be rotated about a vertical axis of rotation and a telescopic rail (222) has a telescopic slide (223) that can be moved linearly radially to the vertical axis of rotation, on the side of the telescopic slide (223) facing away from the vertical axis of rotation there is a pallet mount (226) for receiving a workpiece pallet (247), and the pallet mount (226) of the handling device (220) a n a slide (225) that can be moved vertically relative to the telescopic slide (223).

Description

The present invention relates to a handling device for one or more machine tools, in particular for handling workpiece pallets or for changing workpiece pallets on the machine tool(s). In addition, the present invention relates to a handling system with one or more such handling devices, particularly preferably in connection with a driverless transport system, which can include one or more driverless transport vehicles.

background

Handling devices for pallets or pallet changing devices for use on machine tools are known in the prior art. Here it is always desirable to provide a handling device that is as versatile and/or compact as possible, which can preferably automatically change workpieces or workpiece pallets on machine tools as efficiently, quickly and/or safely as possible, and preferably a pallet storage device and/or a simple, efficient, provides fast and / or safe loading options of the handling device.

The German patent application DE 10 2015 110 453 A1 discloses a loading system for loading a device with workpieces by means of a robot. The loading system has a loading station and a transport vehicle. The loading station has a robot attachment section and is designed in such a way that a workpiece holder is held in it in a defined receiving position from which a robot can pick up the workpieces. The transport carriage has a holding device for holding a workpiece holder in a first holding position. Furthermore, the loading station has a coupling section via which the transport carriage can be coupled to the loading station with the aid of a coupling device.

The German patent application DE 10 2017 004 831 A1 describes a workpiece handling system, each with a loading station that can be approached with the aid of transport vehicles. The loading station has a handling device for loading, reloading and/or unloading of workpieces. The loading station has an unloading and a loading point for loading and unloading transport vehicles.

The German patent application DE 40 32 003 A1 discloses a machine tool with a tool magazine that is equipped with a tool changing device. From the DE 196 42 763 A1 a loading and unloading device for a machine tool is known. A mobile loading unit can be coupled to a machine tool by a fixing device. One part of the fixing device is mounted on the machine tool and another cooperating part is attached to the loading unit and can be uncoupled from the machine tool again after loading or unloading.

The utility model DE 20 2007 016 725 U1 describes a loading station with a loading area which is accessible from a loading side and a machine side. Another handling device for transferring parts into or out of a handling area of a machine is disclosed in the utility model DE 297 15 000 U1 described.

the EP 0 673 711 describes a handling system for feeding workpieces to a downstream processing device, with a work area which is closed off from the outside by a protective wall and within which a stack preparation device is provided for preparing workpiece carriers with unprocessed workpieces and for receiving workpiece carriers after processing, with one of the stack preparation devices associated loading device for transferring unprocessed workpieces and for receiving workpieces after processing.

Based on the prior art described above, it is an object of the present invention to provide a handling device that is as versatile and/or compact as possible, which preferably automates workpieces or components and/or workpiece or Can change component pallets on machine tools, and preferably provides a pallet storage and / or a simple, efficient, fast and / or safe loading options of the handling device.

summary

To achieve the above object, a handling device for a machine tool according to patent claim 1 is proposed according to the invention. Dependent claims relate to preferred embodiments of the present invention. Furthermore, according to claim 14, a handling device according to the invention for a handling device according to the invention is proposed. In addition, an inventive A handling system according to claim 15 provided.

According to one aspect, a handling device for a machine tool is proposed, comprising: a handling device, carried on a carrier that can preferably be set up adjacent to the machine tool, for handling workpieces and/or workpiece pallets, in particular for picking up or transferring a workpiece pallet in the workspace of the machine tool set up adjacent and/or or for picking up or transferring a pallet of workpieces to a pallet space of an optionally attachable pallet store of the handling device; and/or a docking device for docking a driverless transport vehicle, preferably having a pallet carrier, of a driverless transport system at a transfer position of the docking device. The handling device can preferably be set up to place or pick up a workpiece and/or a workpiece pallet at the transfer position of the docking device.

In expedient exemplary embodiments, the docking device can have an openable or closable lock device, which can particularly preferably be set up to close off a transfer space of the docking device that has the transfer position from the outside when the transport vehicle is not docked, and particularly preferably to seal it.

In expedient exemplary embodiments, the lock device can be set up to close and particularly preferably seal the transfer space of the docking device that has the transfer position from the interior of the handling device, particularly preferably when the transfer position is made accessible from the outside, during a docking process of the transport vehicle.

In expedient exemplary embodiments, the lock device can be set up to close the transfer space of the docking device that has the transfer position from the interior of the handling device, and particularly preferably to seal it, particularly when the transfer position is made accessible to the outside when the transport vehicle is docked.

In expedient exemplary embodiments, the lock device can be set up to close off the transfer space of the docking device, which has the transfer position, from the outside when the transport vehicle is docked, and in particular preferably to seal it.

In expedient exemplary embodiments, the docking device can have a revolving door that can be rotated about a vertical axis of rotation, in which case the revolving door can particularly preferably be set up to rotate about the transfer position of the docking device or about a transfer space having the transfer position.

In expedient exemplary embodiments, the revolving door can be set up to close off a transfer space of the docking device that has the transfer position when the transport vehicle is not docked, and in particular preferably to seal it.

In expedient exemplary embodiments, the revolving door can be set up to close the transfer space of the docking device, which has the transfer position, to the interior of the handling device during a docking process of the transport vehicle, particularly when the transfer position is made accessible from the outside, and particularly preferably to seal it.

In expedient exemplary embodiments, the revolving door can be set up to close the transfer space of the docking device that has the transfer position from the interior of the handling device, particularly preferably when the transfer position is made accessible from the outside, and particularly preferably to seal it when the transport vehicle is docked.

In expedient exemplary embodiments, the revolving door can be set up to close the transfer space of the docking device, which has the transfer position, from the outside when the transport vehicle is in the docked state and, in particular, preferably to seal it.

In expedient exemplary embodiments, the docking device can have a pallet receptacle at the transfer position, particularly preferably for receiving a pallet from the pallet carrier of the transport vehicle.

In expedient exemplary embodiments, the handling device can be set up to place or pick up a workpiece pallet, preferably on the pallet receptacle of the docking device.

In expedient exemplary embodiments, the docking device can be positioned at the transfer position tion have a parking space for the transport vehicle when docked.

In expedient exemplary embodiments, the handling device can be set up to place or pick up a pallet of workpieces on a pallet receptacle of the transport vehicle in the docked state.

In expedient exemplary embodiments, the docking device can have an alignment mechanism which aligns and/or centers the pallet and/or the transport vehicle carrying the pallet during the docking process.

In expedient exemplary embodiments, the telescopic rail can be held hanging on a carrier frame of the handling device.

In expedient exemplary embodiments, the telescopic rail can be arranged on a vertically movable carriage.

In expedient exemplary embodiments, the handling device can be set up, preferably when the telescopic mechanism is in the retracted state, to place or pick up a workpiece pallet at the transfer position of the docking device and/or to place or pick up a workpiece pallet at a pallet location of an optionally attachable pallet store of the handling device.

In expedient exemplary embodiments, the handling device can be set up, preferably when the telescopic mechanism is in the extended state, to place or pick up a workpiece pallet in the working space of the adjacent machine tool.

According to a further aspect that can be combined with the above aspects, a driverless transport vehicle is described for use on a handling device according to one of the above aspects or exemplary embodiments, wherein the transport vehicle can preferably have a workpiece and/or pallet carrier and can preferably be set up to to dock the docking device of the handling device. This can be combined with the above features.

In expedient exemplary embodiments, the transport vehicle can have a transfer device which, preferably when the transport vehicle is docked on the docking device of the handling device, can be set up to transfer a pallet held on the workpiece and/or pallet carrier of the transport vehicle or a held workpiece to a workpiece or deposit pallet holder of the docking device at the transfer position and/or pick up a pallet held on the pallet holder of the docking device at the transfer position or a workpiece held at the transfer position.

According to a further aspect that can be combined with the above aspects, a docking device is described for use on a handling device according to one of the above aspects, the docking device for docking a driverless transport vehicle of a driverless transport system, preferably having a workpiece and/or pallet carrier, at a transfer position of the Docking device can be set up.

In expedient exemplary embodiments, the handling device can be set up to handle workpieces and/or pallets of workpieces, in particular for picking up or transferring a pallet of workpieces in the working area of a machine tool and/or for picking up or transferring a pallet of workpieces to a pallet location of an optionally attachable pallet storage device of the handling device.

In expedient exemplary embodiments, the handling device can be set up to place or pick up a workpiece or component and/or a workpiece pallet at a transfer position of a docking device of the handling device.

In expedient exemplary embodiments, the handling device can in particular have an extendable telescopic mechanism, particularly preferably with a telescopic rail that can be rotated about a vertical axis of rotation and/or is aligned horizontally and/or a telescopic slide that can be moved linearly on the telescopic rail radially to the vertical axis of rotation. This can be combined with the above features.

The handling system can preferably have or comprise one or more machine tools set up adjacent to the handling device and/or one or more driverless transport vehicles for docking with a corresponding docking device of the handling device.

Further aspects and their advantages, as well as advantages and more specific implementation options of the aspects and features described above, are evident from the following descriptions and explanations relating to the attached figures, which are, however, not to be understood as limiting in any way and corresponding exemplary embodiments and exemplary embodiment variants are described.

character list

• 1A until 1F show exemplary perspective illustrations of a handling device for use on a machine tool with a docking device for docking a transport vehicle according to exemplary embodiments of the invention;
• 2 FIG. 1 shows an exemplary detailed view of the docking device with the transport vehicle that can be docked to the docking device according to FIG 1A until 1F ;
• 3A and 3B show exemplary illustrations of a handling device according to FIG 1A until 1F on an exemplary machine tool, where 3A shows an exemplary perspective view and 3B shows an exemplary plan view;
• 4A until 4C show exemplary representations of the system with handling device and machine tool according to FIG 3A and 3B , example without covers, where 4A and 4C show exemplary perspective representations and 4B shows an exemplary plan view;
• 5A until 5C show exemplary top views of the system with handling device and machine tool according to FIG 4A until 4C in different positions of the handling device of the handling device;
• 6 shows an exemplary perspective view of the frame or support frame of the handling device according to FIG 4A until 4C ;
• 7A and 7B show exemplary representations of a system of a machine tool with a handling device according to further exemplary embodiments of the present invention;
• figs 8A and 8B show exemplary representations of the system with two machine tools and a handling device assigned to both machine tools according to further exemplary embodiments of the present invention;
• 9 shows an exemplary perspective view of a handling device for use on a machine tool with a docking device for docking a transport vehicle and the corresponding transport vehicle according to a further exemplary embodiment of the present invention;
• 10A and 10B show exemplary perspective illustrations of a handling device for use on a machine tool with a docking device for docking a transport vehicle and the corresponding transport vehicle according to a further exemplary embodiment of the present invention; and
• 11 FIG. 12 illustrates, by way of example, a building block system that can be assembled in a modular manner for providing a handling device according to exemplary embodiments of the present invention.

Detailed description of the accompanying figures and of exemplary embodiments of the present invention

In the following, examples or exemplary embodiments of the present invention are described in detail with reference to the attached figures. Identical or similar elements in the figures can be denoted by the same reference numbers, but sometimes also by different reference numbers.

It should be emphasized that the present invention is in no way limited or restricted to the exemplary embodiments described below and their design features, but also includes modifications of the exemplary embodiments, in particular those that are obtained by modifying the features of the examples described or by Combination of one or more of the features of the examples described are included within the scope of the independent claims.

In addition, it should be pointed out that in the following only exemplary embodiments of a handling device for use on a machine tool in connection with the handling of pallets of workpieces or components are described. However, the present invention is not limited to the handling of pallets of workpieces or components, but other transport goods can also be handled.

Examples or exemplary embodiments of the present invention and their modifications and advantages have been described in detail above with reference to the attached figures. It should be emphasized again that the present invention is in no way limited or restricted to the exemplary embodiments described above and their design features, but also includes modifications of the exemplary embodiments, in particular those that are obtained by modifying the features of the examples described or by combination one or more of the features of the examples described are included within the scope of the independent claims.

1A until 1F show exemplary perspective representations of a handling device 200 for use on a machine tool 100 (see e.g 3A and 3B ) with a docking device 250 for docking a transport vehicle 300 according to exemplary embodiments of the invention.

The handling device 200 includes, for example, a support frame 210 that can be placed or set up on a base (e.g. a workshop floor). For example, the support frame 210 has support columns 211 to 214 on which, for example, horizontal support beams 215 and 216 are held.

A carrier section 217 is held on the carrier beams 215 and 216, for example, and holds a handling device 220 of the handling device 200, which is held hanging on the carrier section 217, for example.

For example, the handling device 200 or its interior is covered on some sides by an optional cover 230 .

The cover 230 comprises plate-shaped cover elements 231 to 234 merely as an example. As an example, the cover elements 231 to 234 each have openings arranged in a grid for viewing the interior from the outside.

In further examples, the optional cover elements can also be provided without viewing options. In addition, transparent cover elements and cover elements having windows are conceivable.

An example is a page (in 1A for example, the left side) of the handling device 200 between the support columns 211 and 212 is not covered or the interior is accessible from one side of the handling device 200 through an opening. A machine tool 100 can be placed on the open side of the handling device 200; see eg 3A .

In addition, the carrier frame 210 also carries, for example, a pallet rack 240 which is arranged in the interior of the handling device 200 and on which a plurality of workpiece pallets or component pallets 241 to 246 are arranged, for example.

On the side between the support columns 212 and 213, the handling device 200 has, for example, the docking device 250 for docking the transport vehicle 300. The handling system according to 1A until 1F thus includes, for example, a transport vehicle 300.

In the embodiment according to 1A until 1F For example, the transport vehicle 300 is realized as a driverless transport vehicle of a driverless transport system.

In the embodiment according to 1A until 1F For example, the transport vehicle 300 is designed as a driverless transport vehicle (abbr.: AGV for driverless transport vehicle) of a driverless transport system (abbr.: AGV). In the English-speaking world, such a vehicle can also be referred to as an “Automated Guided Vehicle” or “Automatic Guided Vehicle” or AGV for short.

Through the use of driverless transport vehicles, which can be in contact with a central computer and/or control unit via radio, WLAN or the like, for example, production processes can be controlled and automated even more effectively. This also includes the optimization of the routes of the transport vehicles, timing with the machine tools/manufacturing centers, etc.

This is the preferred embodiment of the transport vehicle 300, in which it is designed or implemented as a driverless transport vehicle or AGV of a driverless transport system FTS. However, a driverless transport system does not necessarily have to be used, and any other vehicle can also be used as a transport vehicle. For example, the transport vehicle can also be designed as a manually steered or manually guided (but preferably driven) transport vehicle.

The driverless transport vehicle 300, which can be moved freely (i.e. in particular e.g. not rail-bound or the like) on a base area (e.g. a hall floor), for example includes driven wheels 311 and an internal drive for the wheels. In addition, driverless transport vehicle 300 preferably internally includes a sensor and control system for controlling driverless transport vehicle 300.

The wheels 311 can be connected to a central drive motor via a drive train (not shown), but they can also each have their own drive motor (eg one or more electric motors), which can be controlled, for example, by an internal control of the internal sensor and control system can be controlled individually.

Furthermore, the wheels 311 can be articulated individually in preferred exemplary embodiments, so that an extremely flexible driving style and positioning (for example turning on the spot, driving sideways, etc.) of the driverless transport vehicle 300 is made possible. However, the wheels 311 can also cause the driverless vehicle 300 to rotate by moving in opposite directions in order to bring about a positioning of the driverless vehicle 300 .

Alternatively, instead of the wheels 311, chains or a crawler chassis or a combination of wheels and chains/crawler chassis can also be used in order to further increase the mobility or the flexibility of the driverless transport vehicle 300.

A particularly preferred embodiment of the wheels 311 are so-called mecanum wheels. By simply controlling the direction of rotation of each wheel, they allow the AGV 300 to rotate (rotate) on the spot, translate the AGV 300 in both the longitudinal (forward, backward) and lateral (sideways) directions of the AGV 300, as well as at a 45° angle to the longitudinal or transverse direction.

Through the use of Mecanum wheels, a steering mechanism for the wheels 311 can advantageously be completely dispensed with and a corresponding positioning movement of the driverless transport vehicle 300 can be generated solely with the internal control.

Furthermore, it can advantageously be possible in exemplary configurations for the transport vehicle 300 to be in contact (e.g. via radio, Bluetooth, WLAN, etc.) with an external central control unit, a machine tool or a numerical machine control of the machine tool (or another specific destination). , in order to be able to exchange information or signals directly with one another. This can also be done via a computer or control unit that is in contact with the transport vehicle 300 and the machine tool or a numerical machine control of the machine tool.

Driverless transport vehicle 300 can also include an internal energy storage device, for which purpose an electrical energy storage device such as one or more preferably rechargeable batteries is used. However, the internal energy storage is not limited to electrical energy, so that mechanical energy can also be stored if necessary in the form of e.g. pressurized fluids or deformation energy (e.g. a resilient element). Further energy stores for e.g. hydraulics or pneumatics can also be accommodated in the chassis of the vehicle 300 .

The driverless transport vehicle 300 according to 1A until 1F includes, for example, an optional collection container 320 on the top of the vehicle, a carrier section 330 and a transfer device 340 held on carrier section 330 for handling a pallet of workpieces or components 247. By way of example, transfer device 340 is set up to use pallet 247 for transporting the on the pallet 247 worn component B to wear or to keep. For example, the transfer device 340 holds the pallet 247, in particular in the transport state, above the optional collection container 320, which can thus collect any falling chips and/or dripping lubricant.

Driverless transport vehicle 300 is set up to drive up to the docking station or docking device 250 of handling device 200 and to dock at docking device 250, in particular for unloading pallet 247 held on transfer device 340 on handling device 200 or for picking up a pallet on the handling device 200 pallet or workpiece and/or component pallet to be picked up.

Docking device 250 is set up, for example, to enable driverless transport vehicle 300 to dock with docking device 250, in particular for unloading pallet 247 held on transfer device 340 on handling device 200 or for picking up a pallet or pallet to be picked up at handling device 200. Workpiece and/or component pallet.

The docking device 250 is also set up, for example, to cover the interior of the handling device 200 and the docking point or transfer position of the docking device 250 without a docked transport vehicle or in the non-docked state and to seal off the outside in preferred exemplary embodiments.

For covering or preferably sealing the interior of the handling device 200 and the docking point or transfer position of the docking device 250 without a docked trans port vehicle or in the undocked state, the docking device 250 has a closable and openable door 251 .

In the embodiment according to 1A until 1F For example, the door 250 is designed as a semi-cylindrical revolving door with a window 252 . The revolving door 250 is rotatably mounted, for example, on a sealing section 254, which closes off or seals the docking point or transfer position of the docking device 250 on the underside to the outside and below (example embodiment of a lock device).

An outwardly open area 253 is formed below the sealing section 254 , into which the substructure or the vehicle body 310 of the transport vehicle 300 can drive with its section 310a pointing in the direction of travel for docking with the docking device 250 .

the 1A until 1F illustrate an example of a possible loading process at the docking device 250 of the handling device 200. In 1A the revolving door 251 of the docking device 250 is shown closed by way of example. The transport vehicle 300 approaches the docking device 250 with the pallet 247 held on the transfer device 340 and carrying a component B, for example.

In order to be able to transfer the pallet 247 to the docking device 250, the revolving door 251 opens. 1B shows the handling device 200 as an example in the open state, in which the revolving door 251 is open and the docking point or transfer position of the docking device 250 is made accessible to the outside.

As 1B shown by way of example, the revolving door 251 shields or seals the docking point or transfer position from the interior of the handling device 200 in this open state. In other words, the revolving door 251 can be opened in that the semi-cylindrical section of the revolving door 251 that initially closes the docking point or transfer position to the outside then points inwards by rotating the revolving door 251 by 180° about a vertical axis of rotation on the sealing section 254 and the the Docking point or transfer position to the interior of the handling device 200 completes or preferably seals.

According to this exemplary embodiment, a docking lock (lock lock device) can advantageously be provided on the handling device 200, which always closes off or preferably seals the interior of the handling device 200 from the outside, with the docking point or transfer position being closed or closed from the outside in a normal state is sealed and in a transfer state the docking point or transfer position is open and accessible to the outside, but the docking point or transfer position is closed or sealed towards the interior of the handling device 200 .

In further exemplary embodiments, such a docking lock (lock lock device) or lock function can also be provided differently, e.g. by two or more independent doors, which can be designed as roller shutters and/or sliding doors, and preferably in front of and behind the docking point or transfer position can be provided.

According to 1B is shown by way of example that the docking device 250 has a pallet receptacle 255 for receiving the pallet 247 at the docking point or transfer position, on which the transport vehicle 300 can deposit the pallet 247 held at the transfer device 340 for transfer to the docking device 250.

When the transport vehicle 300 has entered the open area 253 formed under the sealing portion 254 (see e.g 1C ), then the pallet 247 held on the transfer device 340 can be transferred to the pallet receptacle 255 of the docking device 250.

For example, the transport vehicle 300 has an internal lifting axis with which the transfer device 340 can be raised and lowered. In comparison between 1C and 1D is shown how the transport vehicle 300 lifted the transfer device 340 during entry after reaching the transfer position (see 1C ) to deposit the pallet 247 on the pallet receptacle 255 of the docking device 250 and in the lowered state (see 1D ) the pallet 247 is placed on the pallet receptacle 255 of the docking device 250.

The transport vehicle 300 can then drive away from the docking device 250 (see e.g 1E ), wherein the pallet 247 deposited or transferred to the pallet receptacle 255 of the docking device 250 is received or held on the pallet receptacle 255 of the docking device 250.

The revolving door 250 can then be closed, for example, in order to close off or preferably seal off the docking point or transfer position of the docking device 250 from the outside; see eg 1F . This includes the example Loading process or transfer process at the docking device 250 from.

An exemplary discharging process can be performed analogously in the reverse order of 1E towards 1A be carried out, for example after opening the revolving door 251 (see e.g 1E ) the transport vehicle 300 with a free transfer device 340 without a pallet approaches the docking device 250 or drives into the area 253 under the sealing section 254 until the transfer device 340 is positioned under the pallet 247 held on the pallet receptacle 255 of the docking device 250, see e.g 1D .

By raising the transfer device 340 at the transfer position of the docking device 250, the pallet 247 held on the pallet receptacle 255 of the docking device 250 can be picked up by the transfer device 340 of the transport vehicle 300 (see e.g 1C ).

The transport vehicle 300 can then drive away from the docking device 250 (see e.g 1B ), wherein the pallet 247 picked up on the pallet holder 255 of the docking device 250 is picked up or held on the transfer device 340 of the transport vehicle 300 .

The revolving door 250 can then be closed, for example, in order to close off or preferably seal off the docking point or transfer position of the docking device 250 from the outside; see eg 1A . This completes the exemplary unloading process at docking facility 250 .

2 FIG. 1 shows an exemplary detailed representation of the docking device 250 with the transport vehicle 300 that can be docked to the docking device 250 according to FIG 1A until 1F .

By way of example, vehicle body 310 of transport vehicle 300 has a lower vehicle body section 310b, on which an upper vehicle body section 310c is arranged, transport vehicle 300 having an internal lifting axis, for example, which is set up to raise or lower upper vehicle body section 310c relative to lower vehicle body section 310b . to lower (cf. also 1C and 1D ).

In further exemplary embodiments, a lifting axis can also be provided on the wheels 311 in addition or as an alternative, which raises or lowers the vehicle body 310 . In further exemplary embodiments, the transfer device 340 can additionally or alternatively also have a separate lifting axis for raising or lowering the transfer device 340 (see e.g 9 ).

By way of example, the optional receptacle 320 is disposed on the vehicle upper body portion 310c. In addition, the transfer device 340 is held or attached to the carrier section 330 above the optional collecting container 320 , for example. The transfer device 340 stops in 2 palette 247 as an example, but is e.g 1E and 1F Shown without palette.

The transfer device 340 comprises, for example, two holding elements 341 and 342 which extend parallel to one another in the direction of travel of the transport vehicle 300 and which, when approaching the docking device 250, face the docking device 250 and which, for example, form a carrier fork for carrying the pallet 247.

In addition, the transfer device 340 has, for example, a spring mechanism 343 which, e.g. with a mechanically and/or electromagnetically acting spring element, rests against the pallet 247 received on the transfer device 340 when it approaches the docking device 250 on the side facing away from the docking device 250.

The docking device 250 of the handling device 200 has on the sealing section 254 at the transfer position the pallet receptacle 255 with, for example, four receiving elements 255A spanning a support plane, the pallet 247 being able to be placed on the receiving elements 255A of the pallet receptacle 255 .

The docking device 250 of the handling device 200 has, for example, a stop section 256 on the inward-facing side of the pallet receptacle 255 . For example, the stop section 256 has, for example, positioning elements 256a and 256b on the inward-facing side of the pallet receptacle 255 . The positioning elements 256a and 256b are set up to align the pallet 247 laterally and to compensate for any angular errors.

By way of example, the pallet 247 has a centering section 2471 on the end face or with the side facing the docking device 250 when it is approached, which centering section 2471 has, for example, two contour sections 2471A and 2471B. By way of example, the positioning elements 256a and 256b are each set up to engage in a respective contour section 2471A or 2471B when the transport vehicle 300 drives into the docking device 250 .

The contour sections 2471A and 2471B are designed so that the position of the pallet 247 is deposited at the transfer position on the pallet receptacle 255 with the correct angular orientation in which the angle of the pallet 247 is aligned when both the positioning element 256a is in contact with the contour section 2471A and the positioning element 256b is in contact with the contour section 2471B.

In addition, the contour sections 2471A and 2471B are each formed, for example, in such a way that the pallet 247 is positioned in the transverse direction when it is lowered onto the pallet receptacle 255 . For example, the contour sections 2471A and 2471B each have a guide contour that tapers upwards or from the bottom toward the middle, which can be open upwards or widen again from the middle upwards, e.g. in the form of a symmetrical or asymmetrical one Hourglass.

When the transport vehicle 300 approaches the (opened) docking device 250 with the pallet 247 received (and raised) on the transfer device 340, the contour sections 2471A and 2471B at the lower expanded contour position come into contact with the respective positioning elements 256a and 256b at the transfer position. This aligns the pallet 247 exactly in angle or corrects any angular errors. In addition, the spring mechanism 343 of the transfer device 340 dampens this state, which can also be detected via sensors, e.g. in order to stop the (very slow) travel movement or residual movement of the transport vehicle 300 in an exactly positioned manner.

By lowering the pallet 247, the pallet 247 can be precisely aligned in the transverse direction by the self-centering of the contour sections 2471A and 2471B on the positioning elements 256a and 256b and can be placed on the pallet receptacle 255.

3A and 3B show exemplary illustrations of a handling device 200 according to FIG 1A until 1F on an exemplary machine tool 100, wherein 3A shows an exemplary perspective view and 3B shows an exemplary plan view.

In this case, a machine tool 100 to be loaded by the handling device 200 for machining a workpiece or component on the machine tool 100 is now arranged adjacent to the handling device 200 or on the previously opened side of the handling device 200 .

By way of example, the machine tool 100 is equipped with a machine housing 110 and with an openable and closable machine door 120, which closes off the working area of the machine tool 100 from the outside.

For example, the machine tool 100 is arranged on the handling device 200 in such a way that the docking device 200 for docking the transport vehicle 300 is arranged on the same side as the machine door 120 of the machine tool 100. However, this is not restrictive, and the docking device 250 and/or the Machine doors 120 can also be arranged on different sides relative to one another.

4A until 4C show exemplary representations of the system with handling device 200 and machine tool 100 according to FIG 3A and 3B , example without covers, where 4A and 4C show exemplary perspective representations and 4B shows an exemplary plan view.

For example, the machine tool 100 is designed as a 5-axis universal milling machine, the machine tool 100 having a machine bed 160 on which a pallet clamping device 133 is provided for clamping a pallet carrying one or more workpieces or components.

Machine tool 100 includes, for example, a pivoting/rotating device 130 that is set up to rotate pallet clamping device 133 relative to a tool-carrying work spindle 150 about a rotary axis (driven rotary axis) and about a pivot axis (driven pivot axis) aligned perpendicular to the rotary axis .

For example, a swivel arm 131, which is held on both sides, is held on machine bed 160 so that it can swivel about a horizontal swivel axis, with swivel arm 131 being provided with a work table or rotary table 132 that can be rotated about an axis of rotation perpendicular to the swivel axis of swivel arm 131, on which the pallet clamping device 133 is arranged.

By way of example, the machine tool 100 also has a carriage structure 140 which is set up to linearly move the work spindle 150 relative to the pallet clamping device 133 in the three spatial directions via three driven linear axes. For this purpose, the spindle 150 is held, for example, on a vertically displaceable spindle slide 141 which is mounted in a vertically displaceable manner on a horizontal (transverse) displaceable slide 142 . The carriage 142 is in turn, for example, horizontal on a machine bed 160 (Longitudinally) movable carriage 143 stored or carried.

This is a non-limiting exemplary embodiment for a machine tool that interacts with the handling device 200 . However, other machine tools that interact with the handling device 200 can also be provided, e.g. universal milling machines, in which the pallet clamping device 133 is arranged on a work table that can be moved linearly, which may have a rotary table or a swiveling rotary table, and/or which can optionally be equipped with work spindles that can be pivoted or pivoted.

In addition, other milling machines, e.g. horizontal milling machines, or other workpiece processing machining centers are possible, or also machine tools for other types of processing, such as lathes, grinding machines, gear cutting machines, machines for additive manufacturing, etc. Machine tools with more or less than 5 linear and/or rotary or swivel axes are conceivable.

In 4A until 4C the handling device 220 of the handling device 200 is also shown in an exemplary embodiment with a telescopic mechanism which is arranged in a suspended manner, can be rotated about a vertical axis and can be extended horizontally (radially).

The handling device 220 has, for example, a carrier 221 which is arranged, for example, hanging on the carrier section 217 . A horizontally oriented telescopic rail 222 is held and rotatably mounted on the carrier 221, for example. The telescopic rail 222 is rotatably mounted about a vertical axis of rotation extending through the carrier 221 . A drive 222a is provided, for example, to drive the rotational movement of the telescopic rail 222 about the vertical axis of rotation.

A telescopic slide 223 that can be moved horizontally along the telescopic rail is held on the horizontally aligned telescopic rail 222, for example. The telescopic carriage 223 can be extended horizontally and in the radial direction in relation to the vertical axis of rotation of the telescopic rail 222 which extends through the carrier 221 . A drive 223a is provided on the telescopic rail 222 for this purpose (see Fig 4C ). In particular shows 4C for example, the radially extended state of the horizontally (radially) extendable telescopic mechanism, in which the telescopic carriage 223 is radially extended. 4A shows the retracted state in which the telescopic carriage 223 is retracted radially.

A suspended carrier section 224 is provided or arranged on the telescopic carriage 223 , for example, and holds a carrier carriage 225 that can be moved vertically. A pallet receiving device 226 pointing radially outwards, for example, is arranged on the vertically movable carrier carriage 225 .

As 4A As can be seen by way of example, the handling device 220 is set up to align the pallet receiving device 226 in the retracted state with a pallet 243 on the pallet rack 240 by rotating the telescopic rail 222 and to move the carrier carriage 225 vertically downwards to the pallet 243 in the aligned position in order to Pallet 243 included with the pallet pick-up device 226. 4B shows this aligned position for receiving the pallet 243 on the pallet rack 240 as an example in a plan view.

As 4C As can be seen by way of example, handling device 220 is set up to align pallet receiving device 226 in the retracted state with the working space of machine tool 100 by rotating telescopic rail 222 (or with an opening in handling device 200 pointing towards the working space of machine tool 100) and pallet 247 through Extending the telescopic slide 223 to move into the working space of the machine tool 100 . The pallet 247 can then be deposited or transferred to the pallet clamping device 133 of the machine tool and clamped by moving the carrier carriage 225 vertically downwards from the pallet receiving device 226 .

Conversely, a pallet received or clamped on the pallet clamping device 133 can also be removed from the pallet receiving device 226 in the position according to FIG 4C and removed from the machine tool 100 by retracting the telescopic carriage 223 and aligning the telescopic rail 222 with a free pallet space on the pallet rack 240 .

Thus, a handling device 200 according to the present exemplary embodiment can be used to provide an automatic pallet changing mechanism for changing pallets on and off machine tool 100 and for holding multiple pallets in the case of pallet storage with multiple pallet locations, with pallet storage also advantageously via docking device 250 with driverless transport vehicles 300 can be loaded and unloaded.

For this purpose, the telescopic rail 222 can also be aligned with the docking device 250, see for example FIG 5A .

5A until 5C FIG. 1 shows exemplary top views of the system with handling device 200 and machine tool 100 according to FIG 4A until 4C in different positions of the handling device of the handling device.

In 5A the handling device 220 of the handling device 200 is aligned for receiving or transferring a pallet 247 at the transfer position of the docking device 250 . The telescopic rail 222 is rotated radially with respect to the docking device 250, so that the pallet receiving device 226 can transfer the pallet 247 to the docking device 250 when the carrier carriage 225 has been moved downwards and the telescopic carriage 223 has been retracted, e.g. for collection by a transport vehicle 300, or can pick up E.g. for transfer to the pallet storage 240 (e.g. towards the position according to 5C ) or directly for transfer to the pallet clamping device 133 of the machine tool 100 (e.g. to the position according to 5B ).

6 shows an exemplary perspective view of the frame (support frame 210) of the handling device 200 according to FIG 4A until 4C , for example without docking device 250 and without pallet rack 240. This illustrates the transfer or fetching of a pallet 247 to the pallet clamping device 133 of machine tool 100 in the extended state of telescopic rail 222 with telescopic slide 223 extended radially from the axis of rotation of telescopic rail 222 into the working area of the machine tool .

7A and 7B 12 show exemplary representations of a system of a machine tool 100 with a handling device 200 according to further exemplary embodiments of the present invention.

7A shows the handling device 200 initially as an example without a pallet depositing device 240 and without a docking device 250. 7B shows the handling device 200 with an exemplary pallet deposit 240 and an exemplary docking device 250.

In contrast to the above exemplary embodiments, the handling device 200 is not designed to be suspended. However, a handling device 220 with a telescopic mechanism is again provided as an example.

The telescopic mechanism comprises a telescopic rail 222 on which the telescopic carriage 223 is arranged so that it can be extended linearly, in 7A shown as an example in the extended state. The telescopic rail 222 is held, for example, on a carrier carriage 221, which in this exemplary embodiment can be moved vertically on a stand 227 on vertically running guides 227a and 227a.

The stand 227 is, for example, by means of a rotatable foot body 228 which is mounted on the support frame 210 so that it can rotate about a vertical axis of rotation.

By rotating the stand 227 about the vertical axis of rotation, the telescopic rail 222 can be aligned with the working space of the machine 100, with any pallet racks 240 and/or with a docking device 250 of the handling device 200, analogously to the above exemplary embodiments.

in the in 7A shown position with the telescopic carriage 223 extended, the pallet receiving device 226 at the front end of the telescopic slide 223 can receive the pallet 247 received on the clamping device 133 (or deposit it there). After the carriage 221 has been moved upwards on the stand 227 and after the telescopic carriage 223 has been retracted, the pallet 247 can be placed on any pallet racks 240 by rotating the telescopic rail 222 and/or placed on a docking device 250 of the handling device 200 for collection by a transport vehicle 300 will.

Conversely, pallets can be fetched from any pallet racks 240 or the docking device 250 in order to be transferred to the clamping device 133 of the machine tool 100 . In addition, the handling device 220 can transport pallets between any pallet racks and the docking device. The docking device 250 in 7B is designed, for example, analogously to the docking devices described above.

The greater travel distance available for the vertical movement of the carrier carriage 221 on the stand 227 advantageously also enables several pallet racks 240-1 to 240-3 arranged one above the other, which can be arranged one above the other in a quasi multi-level or shelf-like manner, see eg 7B . Analogously to the above exemplary embodiments, the pallet locations of the pallet deposits 240 - 1 to 240 - 3 are arranged circumferentially or along a circular arc around the axis of rotation of the handling device 220 on each floor.

8A and 8B 12 show exemplary illustrations of the system with two machine tools 100 and one handling device 200 assigned to two machine tools 100 (provided only as an example with the same construction) according to further exemplary embodiments of the present invention.

The handling device 220 can be configured analogously to the above handling devices 200, with the hanging version being shown as an example. In contrast to the above embodiments, however, the handling device 200 has an opening on two opposite sides to the respective working spaces of the machine tools 100-1 and 100-2, between which the handling device 200 is arranged by way of example, so that the handling device 220 can be used both on the left Machine tool 100-1 and on the right machine tool 100-2 (see 8B ) can deposit or collect pallets. The docking device 250 in 7B is designed, for example, analogously to the docking devices described above.

9 shows an exemplary perspective view of a handling device 200 for use on a machine tool 100 with a docking device 250 for docking a transport vehicle 300 and the corresponding transport vehicle 300 according to a further exemplary embodiment of the present invention.

The handling device 200 is analogous to FIG 1A until 6 educated. However, a modified transport vehicle 300 is used as an example, which has an additional movable lifting axis for the transfer device 340 .

In this exemplary embodiment, the carrier section 330 comprises, for example, a guide section 331 arranged on the vehicle body 310, on which a carrier carriage 332, which holds the transfer device 340 carrying or receiving the pallet 247 (which is constructed analogously to the transfer device 340 of the above exemplary embodiments, merely by way of example), holds vertically is movably mounted in order to be able to move the transfer device 340 upwards or downwards.

On the one hand, this allows the pallet to be raised or lowered at the transfer position, eg analogous to 1C and 1D , But by a possible larger travel in the vertical direction, the transport vehicle 300 according to 9 can also advantageously be used on different docking devices 250 of different handling devices 200 with transfer positions at different heights. In addition, this advantageously enables pallets to be deposited or picked up, for example from multi-storey (possibly central) pallet warehouses or high racks.

10A and 10B show exemplary perspective illustrations of a handling device 200 for use on a machine tool 100 with a docking device 250 for docking a transport vehicle 310 and the corresponding transport vehicle 310 according to a further exemplary embodiment of the present invention.

Here, the handling device 200 is analogous to , for example, with a handling device 220 and pallet racks 240 - 1 to 240 - 3 7B fitted. However, in this exemplary embodiment, the transport vehicle 300 and the docking device 250 are equipped with an additional docking interface.

In addition, in this exemplary embodiment, for example, no pallet receptacle 255 is provided on the docking device 250 . For this purpose, the transfer device of the transport vehicle 300 includes a pallet holder 355 for receiving the pallet 247.

If the transport vehicle 300 drives into the docking area 253 (with the revolving door 251 closing off the interior space according to 10A ), the forward-facing docking portion 370 (see 10B ) to dock portion 259 of docking device 250. On the one hand, this aligns the positioning of the transfer device 340 to provide an aligned docking state for the pallet transfer and, in further exemplary embodiments, can also advantageously include a docking lock to provide an aligned and locked docking state.

In the docking state, the revolving door 251 can be closed in order to close off the docking point from the outside and to make the pallet receptacle 355 on the transport vehicle 300 accessible to the handling device 220 . The pallet picked up on the pallet holder 355 of the transport vehicle 300 can thus be picked up by means of the handling device 220 or a pallet can be deposited on the free pallet holder 355 of the transport vehicle 300 .

In order to achieve an (optional) seal, an only in 10A sealing section 354 shown can be provided on the transport vehicle 300, which, when the revolving door 251 is closed, seals to the rear (on example arcuate portion of the sealing portion 354) to cooperate and to seal the docking point down.

For the docking state, docking section 259 of docking device 250 has a docking element 259a, which docks or can dock with a docking element 372 of docking section 370 of transport vehicle 300, and also docking elements 259b, which dock or can dock with docking elements 371 of docking section 370 of transport vehicle 300 .can dock.

In this exemplary embodiment, the docking device 250 thus includes, for example, a docking section 259 at the docking position or transfer position, with the docking device 250 being provided in particular with the docking section 259 for docking with the corresponding docking section 370 of the transport vehicle 300 . Driverless transport vehicle 300 is set up to approach docking section 259 and to dock with docking section 370 .

In this case, docking section 370 on driverless transport vehicle 300 includes, for example, a central docking element 372 configured as a data interface or as a data interface having an I/O link, which is set up to be connected to a corresponding central docking element 259a of docking section 259 during docking .

Via the data interface or the I/O link of the then connected docking elements 372 and 259a, for example, the corresponding pallets (or workpieces and/or components) can be directly or indirectly exchanged for data, e.g. the pallets to be loaded or unloaded (or workpieces and/or components) assigned pallet data (or workpiece and/or component data).

This can mean, for example, that the control device of driverless transport vehicle 300, when transport vehicle 300 brings a pallet (or workpieces and/or components) to be loaded, via the data interface or the I/O link of the docking elements 372 and 259a that are then connected transfers pallet data (or workpiece and/or component data) on the pallets (or workpieces and/or components) brought to the controller or to a computer-implemented operating device, the information on the pallets (or workpieces and/or components) brought specify, such as identification numbers, information on type, size, geometry, etc.

In the event that the driverless transport vehicle 300 unloads or picks up pallets (or workpieces and/or components), the controller or a computer-implemented operating device of the control device of the driverless transport vehicle 300 can send corresponding pallet data (or workpiece and/or component data) transmitted via the data interface or the I/O link of the docking elements 372 and 259a that are then connected.

In addition, the interface of the docking elements 372 and 259a that are then connected can advantageously have a device for the contactless transmission of signals. This device for contactless signal transmission can be designed, for example, as a transmitter/receiver coil, or as an inductive coupler with I/O link for contactless transmission of the signals. In addition or as an alternative, optical signal transmission is conceivable.

The device can be provided at any point at the interface of the then connected docking elements or also outside the interface of the then connected docking elements, the device for contactless signal transmission being advantageously provided centrally in the interface of the then connected docking elements.

For example, the docking section 370 on the driverless transport vehicle 300 includes further docking elements 371 (embodied as clamping cones, for example), which are set up to be connected to corresponding docking elements 259b of the docking section 259 or to dock onto them during docking.

This advantageously leads to precise positioning of the driverless vehicle 300 in the docked state or in the state docked to the docking section 259, in which the driverless transport vehicle 300 is positioned in a predefined handover position.

In exemplary embodiments, the docking elements 371 can, for example, be arrested or locked with the respective docking elements 259b, so that a mechanical locking of the docked docking sections can be provided.

For this purpose, for example, cone-shaped sections can be provided as docking elements 371 or 259b to align and preferably also fix the pallet receptacle 355 on the driverless transport vehicle 300 relative to the docking device 250 . For such alignment and simultaneous fixing can in Ausführungsbei play advantageous clamping cones are used, such as are already known from the recording for pallets in a machine tool.

The docking elements 371 and/or 259b can also have one or more interfaces for the transmission of mechanical energy (for example a driven rotation of a coupling element on the corresponding docking element) and/or electrical, hydraulic and/or pneumatic energy.

The transmission of electrical energy can also be used to charge the battery(ies) of the automated guided vehicle 300, for example. Furthermore, for example, operating resources such as cooling lubricant could also be supplied. Appropriate fastening means and electrical and/or fluid-conducting connections (fastening means and connections) can be provided for this purpose, for example.

11 FIG. 12 illustrates, by way of example, a building block system that can be assembled in a modular manner for providing a handling device 200 according to exemplary embodiments of the present invention.

By way of example, a handling device 220 can be selected, for example a handling device 220A with a handling mechanism (for example with a telescopic mechanism) arranged hanging on the carrier frame 210 in accordance with the examples in FIG 1A until 6 or a handling device 220B with a handling mechanism arranged on a base support 210B (eg with a telescopic mechanism) according to examples from FIG 7A and 7B .

Furthermore, one or more attachable docking modules with a respective docking device 250 can be selected (e.g. according to 1A until 9 , as in 11 shown, and / or according to the docking device 10A ).

In addition, one or more pallet storage modules can optionally be selected and arranged around the handling device 220A or 220B. The pallet storage modules can, for example, each have one or more floors, each with one or more pallet spaces. Examples are in 11 Various sizes and capacities of pallet storage modules are shown, eg, three-story pallet storage modules 240A and 240B and four-story pallet storage modules 240C and 240D, respectively.

Optionally, an alignment device 260 can also be attached, which can hold a pallet 248 and rotate it around the vertical axis of rotation according to a desired orientation; see also that in 10A example mounted module with alignment device 260.

Consequently, in an advantageous modular assembly principle according to an embodiment of the invention, handling devices with handling device (e.g. handling module 220A or 220B) and one or more attachable docking devices (docking module or docking modules) can be provided variably and according to requirements simply, efficiently and compactly, in particular for use on one or more machine tools to be set up next to each other. Furthermore, optional components or modules, such as pallet storage modules with one or more tier pallet storage or pallet racks and/or aligning devices or aligning modules for aligning pallets can be added.

In summary, the aspects or features of the present invention and in particular, but not conclusively, the aspects or features of the exemplary embodiments described make it possible to provide versatile and/or compact handling devices or handling systems that are preferably automated as efficiently, quickly and/or safely as possible Being able to change workpieces or components and/or pallets of workpieces or components on machine tools, and preferably provide a pallet storage and/or simple, efficient, fast and/or safe loading options for the handling device, particularly advantageously in connection with a driverless transport system.

Examples or exemplary embodiments of the present invention and their modifications and advantages have been described in detail above with reference to the attached figures. It should be emphasized again that the present invention is in no way limited or restricted to the exemplary embodiments described above and their design features, but also includes modifications of the exemplary embodiments, in particular those that are obtained by modifying the features of the examples described or by combining individual or more of the features of the described examples are included within the scope of the independent claims.

Claims (15)

Handling device (200) for a machine tool (100), comprising: a handling device (220) carried on a support (210) that can be set up adjacent to the machine tool (100) for handling workpieces and/or workpiece pallets (247), for picking up or transferring a workpiece pallet (247) in the working area of the machine tool (100) set up adjacent and/or for picking up or transferring a workpiece pallet (247) at a pallet location of an attachable pallet store (240) of the handling device (200); and a docking device (250) for docking a driverless transport vehicle (300), which has a pallet carrier (341, 342; 355), of a driverless transport system at a transfer position of the docking device (250), wherein the handling device (220) is set up to, at the transfer position of the Docking device (250) receiving or transferring a workpiece and/or a workpiece pallet (247), characterized in that the handling device (220) has an extendable telescopic mechanism, the telescopic mechanism has a horizontally oriented telescopic rail (222) which can be rotated about a vertical axis of rotation and a on the telescopic rail (222) linearly movable telescopic slide (223) radially to the vertical axis of rotation, on the side of the telescopic slide (223) facing away from the vertical axis of rotation a pallet mount (226) for receiving a workpiece pallet (247) is arranged, and the pallet mount (226 ) of the handling device (220) is held on a slide (225) that can be moved vertically relative to the telescopic slide (223). Handling device (200) according to claim 1 , characterized in that the docking device (250) has an openable and closable lock device which is set up to close and seal a transfer space of the docking device (250), which has the transfer position, when the transport vehicle (300) is not docked. Handling device (200) according to claim 2 , characterized in that the lock device is set up to: when the transfer position is made accessible to the outside, during a docking process of the transport vehicle (300) to close and seal the transfer space of the docking device (250), which has the transfer position, towards the interior of the handling device (200); and with the transfer position made accessible to the outside, in the docked state of the transport vehicle (300) to close and seal the transfer space of the docking device (250) having the transfer position towards the interior of the handling device (200); and/or in the docked state of the transport vehicle (300) to close off and seal the transfer space of the docking device (250) having the transfer position from the outside. Handling device (200) according to one of the preceding claims, characterized in that the docking device (250) has a revolving door (251) which can be rotated about a vertical axis of rotation, the revolving door being set up to rotate around the transfer position of the docking device (250) and/or around rotate a transfer space having the transfer position. Handling device (200) according to claim 4 , characterized in that the revolving door (251) is set up to: close and seal a transfer space of the docking device (250) having the transfer position when the transport vehicle (300) is not docked; with the transfer position made accessible to the outside, during a docking process of the transport vehicle (300) to close and seal the transfer space of the docking device (250) having the transfer position towards the interior of the handling device (200); and with the transfer position made accessible to the outside, in the docked state of the transport vehicle (300) to close and seal the transfer space of the docking device (250) having the transfer position towards the interior of the handling device (200); or in the docked state of the transport vehicle (300) to close and seal the transfer space of the docking device (250) having the transfer position from the outside. Handling device (200) according to one of the preceding claims, characterized in that the docking device (250) has a pallet receptacle (255) at the transfer position for receiving a workpiece pallet (247) from the pallet carrier (341, 342; 355) of the transport vehicle (300) . Handling device (200) according to claim 6 , characterized in that the handling device (220) is set up to receive or transfer a workpiece pallet (247) to the pallet receptacle (255) of the docking device (250). Handling device (200) according to one of Claims 1 until 7 , characterized in that the docking device (250) has a parking space for the transport vehicle (300) in the docked state at the transfer position, the handling device (220) being set up to work on a pallet receptacle (355) of the transport vehicle (300) in the docked state picking up or handing over a workpiece pallet (247). Handling device (200) according to one of the preceding claims, characterized in that the docking device (250) has an alignment mechanism (256) which aligns the workpiece pallet (247) or the transport vehicle (300) carrying the workpiece pallet (247) during the docking process and/or centered. Handling device (200) according to claim 1 , characterized in that the telescopic rail (222) is suspended from a support frame (215, 216, 217) of the handling device (200). Handling device (200) according to claim 1 or 10 , characterized in that the telescopic rail (222) is arranged on a vertically movable slide (221). Handling device (200) according to one of Claims 1 , 10 or 11 , characterized in that the handling device (220) is set up in the retracted state of the telescopic mechanism to deposit or pick up a workpiece pallet (247) at the transfer position of the docking device (250) and/or at a pallet location of an optionally attachable pallet storage (240) of the handling device (200) picking up or handing over a workpiece pallet (247). Handling device (200) according to one of Claims 1 or 10 until 12 , characterized in that the handling device (220) is set up in the extended state of the telescopic mechanism to pick up or transfer a workpiece pallet (247) in the working area of the machine tool (100) set up next to it. Handling device (220) for a handling device (200) according to one of Claims 1 until 13 , wherein the handling device (220) is set up to handle workpieces and/or workpiece pallets (247), to pick up or transfer a workpiece pallet (247) in the working space of a machine tool (100) and/or to pick up or transfer a workpiece pallet (247) at a pallet location of an attachable pallet store (240) of the handling device (200), and wherein the handling device (220) is set up to receive a workpiece and/or a workpiece pallet (247) at a transfer position of a docking device (250) of the handling device (200). or to be handed over, characterized in that the handling device (220) has an extendable telescopic mechanism, with a horizontally aligned telescopic rail (222) which can be rotated about a vertical axis of rotation and a telescopic carriage (223) which can be moved linearly on the telescopic rail (222) radially to the vertical axis of rotation , on the side facing away from the vertical axis of rotation e of the telescopic carriage (223) there is a pallet holder (226) for receiving a workpiece pallet (247), and the pallet holder (226) of the handling device (220) is held on a carriage (225) that can be moved vertically relative to the telescopic carriage (223). Handling system, comprising: at least one driverless transport vehicle (300) with a pallet carrier (341, 342; 355) for transporting workpieces and/or workpiece pallets (247); and a handling device (200) according to any one of Claims 1 until 13 .

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