LOADING DEVICE, LOADING SYSTEM, TRANSPORT SYSTEM, INSTALLATION AND METHOD FOR LOADING THE INSTALLATION

Abstract

A loading device for a loading of an installation, in particular a multi-clamping and measuring and/or presetting station for tools and/or tool holders, and/or a machine tool, in particular includes at least one handling robot, having at least tool holders and/or tool assemblies, having a rollable undercarriage unit and having a storage unit, arranged on the rollable undercarriage unit, for a storage of the tool holders and/or of the tool assemblies,

wherein the storage unit has at least one holding device at least for an oblique-positioned holding of the tool holders and/or of the tool assemblies relative to a put-up direction of the storage unit.

Claims

1. A loading device for a loading of an installation, in particular a multi-clamping and measuring and/or presetting station for tools and/or tool holders, and/or a machine tool, which in particular includes at least one handling robot, comprising at least tool holders and/or tool assemblies, comprising a rollable undercarriage unit and comprising a storage unit, arranged on the rollable undercarriage unit, for a storage of the tool holders and/or of the tool assemblies, wherein the storage unit comprises at least one holding device at least for an oblique-positioned holding of the tool holders and/or of the tool assemblies relative to a put-up direction of the storage unit.

2. The loading device according to claim 1, wherein the holding device comprises at least one holding place, which is implemented in such a way that an underside of a tool holder laid into the holding device and/or of a tool assembly laid into the holding device points at least partly toward a loading and/or unloading opening of the storage unit, which is arranged at least partly sidewise on the storage unit.

3. The loading device according to claim 2, wherein the holding device comprises a plurality of holding places, which are implemented at least substantially identically to one another and which are arranged at least substantially next to each other horizontally and at least substantially above one another vertically.

4. The loading device according to claim 1, wherein the storage unit comprises at least one further holding device at least for an upright holding of tools, which can in particular be combined with the tool holders held in the holding device.

5. The loading device according to claim 4, wherein the further holding device comprises at least one holding place, which is arranged in the put-up direction above the holding place of the holding device.

6. The loading device according to claim 5, wherein the at least one holding place of the further holding device comprises a universally loadable tool snap-holder.

7. The loading device according to claim 6, wherein the tool snap-holder comprises a clamping mechanism for a fixation of the tool in the holding place of the further holding device, which can be operated via a movement of a robot arm of the handling robot along a movement path.

8. A loading device according to claim 1, further comprising an at least semi-automated and/or sensor-controlled docking device for a docking of the loading device in a place of the installation that is configured for a docking.

9. The loading device according to claim 8, wherein the docking device comprises at least one docking sensor, which is configured to detect a correct docking of the loading device relative to the installation.

10. The loading device according to claim 9, wherein the storage unit comprises a loading and/or unloading opening, which is arranged at least partly sidewise on the storage unit, and comprises a lockable closure unit closing the loading and/or unloading opening, wherein a locking state of the closure unit depends on a measurement signal of the docking sensor.

11. The loading device according to claim 8, wherein the docking device comprises a fixation unit configured, in a docking at the installation, to fix at least the rollable undercarriage unit and/or at least the storage unit in the place of the installation that is designated for docking.

12. The loading device according to claim 8, wherein the docking device comprises at least one interface, which is configured at least for a transmission of a drive energy for an opening and/or closing movement of a closure unit that closes the loading and/or unloading opening of the storage unit, and/or for an external controlling of the opening and/or closing movement of the closure unit.

13. The loading device according to claim 8, wherein the docking device comprises at least one identification element, which is configured to permit automatic identification of the respective loading device by the installation.

14. The loading device according to one of the preceding claim 1, wherein the storage unit comprises, in addition to a primary loading and/or unloading opening, at least one manually openable and closable secondary loading and/or unloading opening.

15. The loading device according to claim 14, further comprising an at least semi-automated and/or sensor-controlled docking device for a docking of the loading device in a place of the installation that is configured for a docking, wherein the storage unit comprises a locking device, which is configured, in a state when the loading device is docked at the installation, to lock a closure unit that closes the secondary loading and/or unloading opening.

16. The loading device according to claim 1, wherein the rollable undercarriage unit comprises a coupling apparatus for a coupling with a driven, preferably autonomously driving, transport device.

17. The loading device according to claim 16, wherein viewed relative to the put-up direction, at least a large portion of the coupling apparatus is arranged on an underside of the rollable undercarriage unit.

18. (canceled)

19. A transport system with a loading device according to claim 1, and with an autonomous or remote-controlled transport device which is operatively couplable with the loading device and is operatively separable from the loading device.

20. (canceled)

21. A method for loading an installation, in particular a multi-clamping and measuring and/or presetting station and/or a machine tool, by means of the loading device according to claim 1.

22. The method according to claim 21, wherein in at least one docking step a connection is established between interfaces of the loading device and interfaces of the installation and, in an opening step following the docking step, an opening of a closure unit closing the loading and/or unloading opening of the loading device is controlled via the connected interfaces and/or is supplied with drive energy via the connected interfaces.

23. The method according to claim 21, wherein in at least one identification step carried out before a first removal of a tool holder out of the loading device, all tool holders arranged in the loading device are identified by a sensor of the installation, and preferably their position is registered.

24. The method according to claim 23, wherein the tool holders are allocated to different tool-chuck type categories in the identification step, wherein each tool holder is allocated to one of the tool-chuck type categories on the basis of the respectively used tool-clamping technology, and wherein in feeding steps the categorized tool holders are in each case inserted by the handling robot into a suitable tool-clamping station of a plurality of tool-clamping stations of the multi-clamping and measuring and/or presetting station, or wherein in alternative feeding steps the categorized tool holders are in each case inserted by the handling robot into a suitable tool place of a plurality of tool places of the machine tool.

25. The method according to claim 21, wherein in at least one loading step a tool holder supported in the storage unit in an oblique position and/or a tool assembly supported in the storage unit in an oblique position is gripped by a handling robot of the installation on an underside of the tool holder and/or of the tool assembly and is removed out of the loading device.

Description

DRAWINGS

[0038] Further advantages will become apparent from the following description of the drawings. In the drawings an exemplary embodiment of the invention is illustrated. The drawings, the description and the claims contain a plurality of features in combination. Someone skilled in the art will purposefully also consider the features separately and will find further expedient combinations.

[0039] It is shown in:

[0040] FIG. 1 a schematic illustration of an installation with a loading device,

[0041] FIG. 2 a schematic construction of an installation implemented as a multi-clamping and measuring and/or presetting station,

[0042] FIG. 3 a schematic perspective view of a front side of a transport system and of a loading system with the loading device, in an open state,

[0043] FIG. 4 a schematic sectional view through the loading system with the loading device and with tool holders,

[0044] FIG. 5 a schematic perspective view of a front side of the loading system with the loading device, in a closed state,

[0045] FIG. 6 a schematic perspective view of a further holding device for tools of the loading device,

[0046] FIG. 7 a schematic perspective view of a rear side of a transport system and of a loading system with the loading device,

[0047] FIG. 8 a schematic view of an underside of the loading device,

[0048] FIG. 9 a schematic view of a handling robot of the installation that is implemented as a multi-clamping and measuring and/or presetting station, and

[0049] FIG. 10 a schematic flow chart of a method for loading the installation.

DESCRIPTION OF THE EXEMPLARY EMBODIMENT

[0050] FIG. 1 shows a schematic illustration of an installation 12. The installation 12 is implemented as a multi-clamping and measuring and/or presetting station 102. Alternatively, the installation 12 could as well be implemented as a machine tool (not shown) or the like. The installation 12 comprises a loading device 46. The loading device 46 is embodied as a mobile storage system for tools 34 and tool holders 14 (see FIG. 3). It is conceivable that an installation 12 comprises several loading devices 46, which are implemented at least substantially identically to one another. The installation 12 comprises a first lock unit 80. The installation 12 comprises a second lock unit 82. The lock units 80, 82 respectively form a place 48 of the installation 12 which is configured for a docking of loading devices 46. The lock units 80, 82 are in each case implemented to be closable towards an outside by means of cover units 110 of the installation 12. Each of the lock units 80, 82 is configured at least for a partial accommodation of one of the loading devices 46. Preferably the opening measurements of the lock units 80, 82 approximately correspond to the external measurements of the loading devices 46. The installation 12 comprises an operating panel 112, which is configured at least for a controlling of the lock units 80, 82 and/or of further components of the installation 12. The installation 12 further comprises a maintenance access 114, which is realized separately from the lock units 80, 82. FIG. 1 furthermore shows a transport system 72 with the loading device 46 and with an autonomous or remote-controlled transport device 66, which is operatively couplable with the loading device 46 and is operatively separable from the loading device 46.

[0051] FIG. 2 shows a schematic construction of the installation 12, which is implemented as a multi-clamping and measuring and/or presetting station 102. The installation 12 comprises an enclosure 116 (see FIG. 1) enclosing all (immobile) components of the installation 12 which are mentioned below. The installation 12 comprises a handling robot 10. The handling robot 10 is positioned in a central position of the installation 12, from which an access to all below-mentioned devices of the installation 12 is facilitated for the handling robot 10. The handling robot 10 is configured for an automated loading of all individual devices of the installation 12 with tools and/or tool holders 14. The handling robot 10 is configured for a loading of the loading device 46 with tools 34 and/or with tool holders 14. If the installation 12 is embodied as a machine tool, the handling robot 10 may, for example, be also configured for a loading of a processing apparatus of the machine tool with tool assemblies. The handling robot 10 is configured for a removal of tools 34 and/or tool holders 14 out of the loading device 46. The handling robot 10 is configured for a removal of tools 34 and/or tool holders 14 from the individual devices of the installation 12. The installation 12 comprises tool-clamping stations 98 for an at least semi-automated clamping of tools 34 in tool holders 14 and/or for an at least semi-automated unclamping of tools 34 out of tool holders 14. The installation 12 comprises several different tool-clamping stations 98 for different clamping methods. The installation 12 comprises a shrink-clamping apparatus 120 for shrink chucks. The installation 12 comprises a hydraulic-expansion clamping apparatus 122 (a hydraulic-expansion screwing station) for hydraulic-expansion chucks. The installation 12 comprises a compression-clamping station 124 (for powRgrip® tool holders) for compression-clamp chucks. The installation 12 comprises a union-nut clamping station 126 (a union-nut screw-driving station) for tool chucks with union nuts. The installation 12 comprises a measuring and/or presetting apparatus 128 for an at least semi-automated presetting and/or optical measuring of tools 34 and/or tool holders 14. The installation 12 comprises a cooling device 130 for an automated cooling of tool holders 14 which were previously heated in a shrink-clamping process. The installation 12 comprises a tool-mounting device 132 for an automated mounting of multi-part tools 34. The installation 12 comprises a balancing station 134 for an at least semi-automated balancing of tool holders 14 with or without clamped-in tools 34.

[0052] FIG. 3 shows a schematic perspective view of the transport system 72. FIG. 3 shows a schematic perspective view of a loading system 70. The loading system 70 comprises the loading device 46. The loading system 70 comprises several tool holders 14, which are arranged in the loading device 46. The loading system 70 comprises several tools 34, which are arranged in the loading device 46. It is not shown but conceivable that the loading system 70 moreover comprises a tool assembly or several tool assemblies, which is/are arranged in the loading device 46.

[0053] The loading device 46 is configured for a loading of the installation 12 with the tool holders 14, the tools 34 and/or the tool assemblies. The loading device 46 is configured for providing the tool holders 14, tools 34 and/or tool assemblies for the handling robot 10 of the installation 12. The loading device 46 comprises a rollable undercarriage unit 16. The rollable undercarriage unit 16 has four wheels 136. The rollable undercarriage unit 16 has a frame 138. The wheels 136 are mounted to the frame 138. The loading device 46 comprises a storage unit 18. The storage unit 18 is configured for a storage of the tool holders 14, the tools 34 and/or the tool assemblies. The storage unit 18 forms a receiving space 140. The tools 34, tool holders 14 and/or tool assemblies accommodated in the storage unit 18 are positioned within the receiving space 140. The storage unit 18 is arranged on the rollable undercarriage unit 16. The storage unit 18 is fastened on the rollable undercarriage unit 16. The storage unit 18 is put upon the rollable undercarriage unit 16. The storage unit 18 has a put-up direction 22. The storage unit 18 is arranged in the put-up direction 22 above the rollable undercarriage unit 16.

[0054] The storage unit 18 comprises a holding device 20 for holding the tool holders 14 and/or the tool assemblies within the receiving space 140. The holding device 20 comprises a plurality of holding places 24, 26, 142, which are implemented identically to one another. Different holding places 24, 26 of the plurality of holding places 24, 26, 142 are arranged horizontally (perpendicularly to the put-up direction 22) side by side. Different holding places 24, 142 of the plurality of holding places 24, 26, 142 are arranged vertically (in the put-up direction 22) above one another. In order to form the holding places 24, 26, 142, the holding device 20 comprises holding rails 144, 146, which are implemented in a rake-like manner and are positioned horizontally in the receiving space 140. Several holding rails 144, 146 are arranged above one another in the receiving space 140. Within the receiving space 140, neighboring holding rails 144, 146 are offset from each other in a depth direction 76 of the storage unit 18. A lower-situated holding rail 144 of the holding device 20 lies closer to a loading and/or unloading opening 30 of the storage unit 18 than a holding rail 146 that is arranged above the holding rail 144. Within the receiving space 140, with increasing heights neighboring holding rails 144, 146 are offset in the depth direction 76 inwards (away from the loading and/or unloading opening 30) (see also FIG. 4). The depth direction 76 of the storage unit 18 extends horizontally between two sides of the storage unit 18, in particular between a front side 152 of the storage unit 18 and a rear side 154 of the storage unit 18. The depth direction 76 extends perpendicularly to the holding rails 144, 146 of the holding device 20. The holding rails 144, 146 of the holding device 20 are manually removable out of the storage unit 18 and/or exchangeable and/or arrangeable at a different height relative to the put-up direction 22 and/or at a different depth relative to the depth direction 76.

[0055] The storage unit 18 comprises the loading and/or unloading opening 30. The loading and/or unloading opening 30 is configured, in an open state, to permit access from outside to the receiving space 140 of the storage unit 18. The loading and/or unloading opening 30 is arranged on the front side 152 of the storage unit 18. The loading and/or unloading opening 30 is arranged on a long (wide) side of the storage unit 18. The loading and/or unloading opening 30 has a width that is approximately equivalent to a width of the storage unit 18 in a width direction 74 of the storage unit 18. The width direction 74 extends horizontally between two sides of the storage unit 18, in particular between two sides of the storage unit 18 different than the front side 152 and the rear side 154. The width direction 74 extends parallel to the holding rails 144, 146 of the holding device 20. The loading and/or unloading opening 30 has a height approximately corresponding to a height of the storage unit 18 in the put-up direction 22 of the storage unit 18. The loading and/or unloading opening 30 extends over a (large) portion of an upper side 150 of the storage unit 18. The loading and/or unloading opening 30 extends across an edge of the storage unit 18 from the front side 152 of the storage unit 18 to the upper side 150 of the storage unit 18. The put-up direction 22 runs, parallel to the front side 152 or the rear side 154 of the storage unit 18, from an underside 156 of the storage unit 18 to the upper side 150 of the storage unit 18.

[0056] The loading and/or unloading opening 30 has a closure unit 56. The closure unit 56 comprises at least one closure element 78. The closure element 78 is configured to optionally close, preferably cover, the loading and/or unloading opening 30. The closure element 78 is exemplarily embodied as a roller blind. The roller blind is openable toward the upper side 150 of the storage unit 18 and is closable toward the underside 156 of the storage unit 18. The loading and/or unloading opening 30 realizes a primary loading and/or unloading opening 30. The loading device 46 comprises a drive unit 158, which is configured to generate an opening movement of the closure element 78 and/or a closing movement of the closure element 78. The closure element 78 is transparent (see also FIG. 5).

[0057] FIG. 4 shows a schematic section through the loading system 70 with the loading device 46 and with the tool holders 14. The holding device 20, in particular the holding places 24, 26, 142 of the holding rails 144, 146, is/are configured to hold the tool holders 14 (and/or the tool assemblies) in an oblique position relative to the put-up direction 22 of the storage unit 18, in particular with respect to a longitudinal axis 148 of the tool holders 14 (and/or of the tool assemblies). Viewed from a direction running parallel to the width direction 74 of the storage unit 18, the longitudinal axis 148 of the tool holders 14 (and/or tool assemblies) supported in the holding device 20 extends obliquely, in particular at an angle, preferably at an acute angle (meaning an angle included by the put-up direction 22 and the longitudinal axis 148 and having a mathematically positive sense of rotation), relative to the put-up direction 22. The longitudinal axis 148 of the tool holder 14 extends parallel to an imaginary prolongation of a designated rotary axis 186 of the tool holder 14. The longitudinal axis 148 of the tool holder 14 extends from a center of an upper side 184 of the tool holder 14 to a center of an underside 28 of the tool holder 14. The longitudinal axis 148 of the tool holder 14 extends parallel to a longest edge of a smallest geometrical rectangular cuboid that just still completely encloses the tool holder 14. The holding device 20, in particular the holding places 24, 26, 142 of the holding rails 144, 146, is/are configured to hold the tool holders 14 (and/or the tool assemblies) in an oblique position relative to the depth direction 76 of the storage unit 18, in particular with respect to the longitudinal axis 148 of the tool holders 14 (and/or of the tool assemblies). Viewed from a direction that runs parallel to the width direction 74 of the storage unit 18, the longitudinal axis 148 of the tool holders 14 (and/or tool assemblies) supported in the holding device 20 runs obliquely, in particular at an angle, preferably at an acute angle (meaning an angle included between the depth direction 76 and the longitudinal axis 148 and having a mathematically positive sense of rotation), relative to the depth direction 76. The holding device 20, in particular the holding places 24, 26, 142 of the holding rails 144, 146, are configured to hold the tool holders 14 (and/or the tool assemblies) perpendicularly relative to the width direction 74 (see FIG. 3) of the storage unit 18, in particular with respect to the longitudinal axis 148 of the tool holders 14 (and/or of the tool assemblies). Viewed from a direction that runs parallel to the put-up direction 22, the longitudinal axis 148 of the tool holders 14 (and/or tool assemblies) supported in the holding device 20 extends perpendicularly to the width direction 74.

[0058] The holding places 24, 26, 142 of the holding device 20 are implemented in such a way that the underside 28 of the tool holder 14 laid into the holding device 20 and/or an underside of a tool assembly laid into the holding device 20 points partly toward the portion of the loading and/or unloading opening 30 that is arranged sidewise on the storage unit 18, in particular the portion of the loading and/or unloading opening 30 that is arranged on the front side 152 of the storage unit 18.

[0059] The holding places 24, 26, 142 of the holding device 20 are implemented in such a way that, in a state when appropriately arranged on the installation 12, the underside 28 of the tool holder 14 laid into the holding device 20 and/or the underside of a tool assembly laid into the holding device 20 points toward the handling robot 10.

[0060] The storage unit 18 comprises the further holding device 32 (see FIG. 3). The further holding device 32 is configured for an upright holding of tools 34 (which can be combined with the tool holders 14 held in the holding device 20 at the same time). A tool rotary axis 182 of the tools 34 held upright in the further holding device 32 extends parallel to the put-up direction 22. The tool rotary axis 182 of a tool 34 extends parallel to a longest edge of a smallest geometrical rectangular cuboid that just still completely encloses the tool 34. The further holding device 32 comprises holding places 36. The holding places 36 of the further holding device 32 are arranged in the put-up direction 22 above the holding places 24, 26, 142 of the holding device 20. The holding places 36 of the further holding device 32 are arranged in a manner that permits the handling robot 10 to grip the tools 34 from the upper side 150 of the storage unit 18. The holding places 36 of the further holding device 32 are arranged in several rows behind one another. The rows of holding places 36 of the further holding device 32 are all arranged at a same height level relative to the put-up direction 22. The individual rows of holding places 36 of the further holding device 32 are manually removable out of the storage unit 18 and/or exchangeable and/or arrangeable at a different height level relative to the put-up direction 22.

[0061] FIG. 6 shows a schematic perspective view of a row of holding places 36 of the further holding device 32. The holding places 36 of the further holding device 32 comprise universally loadable tool snap-holders 38. The tool snap-holders 38 in each case comprise a clamping mechanism 40 for a positionally fix and oriented fixation of the respective tool 34 in the respective holding place 36 of the further holding device 32. The clamping mechanism 40 comprises a clamping element 160. The clamping element 160 is arranged within a recess 162 and is pre-tensioned in a direction, preferably in a horizontal direction, preferentially in the depth direction 76. The clamping element 160 is clamped, for example, by means of a mechanical spring. The clamping element 160 has an orientation element 164 in the pre-tension direction. The orientation element 164 is implemented as a prism-shaped vertically-extending furrow. The clamping mechanism 40 is configured to clamp a tool shaft of a tool 34 in a proximity of the orientation element 164, between an edge of the recess 162 and the clamping element 160. The clamping mechanism 40, in particular a movement of the clamping element 160 within the recess 162, can be operated via a movement of a robot arm 42 (see FIG. 9) of the handling robot 10 along a movement path of the robot arm 42.

[0062] The loading device 46 comprises a docking device 44 (see FIG. 3). The docking device 44 is configured for an at least semi-automated and/or sensor-controlled docking of the loading device 46, in particular the storage unit 18 and/or the rollable undercarriage unit 16, at the place 48 of the installation 12 designated for docking (see FIG. 1). The docking device 44 is configured for a docking at the lock units 80, 82. The docking device 44 comprises a docking sensor 50. The docking sensor 50 is configured to detect a correct docking of the loading device 46 relative to the installation 12, in particular at the lock units 80, 82. The docking sensor 50 is exemplarily embodied as a proximity sensor. The docking sensor 50 is configured to output a measurement signal, on the basis of which it can be determined whether the loading device 46 is positioned in a docking region of the installation 12, in particular in the place 48 of the installation 12 that is designated for docking. The closure unit 56 comprises a locking unit (not shown). The locking unit is configured for locking the closure element 78, at least in a closed state. The locking state of the closure unit 56 depends on the measurement signal of the docking sensor 50. Upon detection of a positioning of the loading device 46 in the docking region of the installation 12, in particular in the place 48 of the installation 12 designated for docking, the closure unit 56 is automatically unlocked. Upon detection of a positioning of the loading device 46 that deviates from the docking region of the installation 12, in particular from the place 48 of the installation 12 designated for docking, the closure unit 56 is automatically locked and/or the closure unit 56 remains locked.

[0063] The docking device 44 comprises an interface 54. The interface 54 is arranged on the storage unit 18. Alternatively the interface 54 could also be arranged on the rollable undercarriage unit 16. The interface 54 is embodied as an electrical or pneumatic interface. The interface 54 is configured for a transmission of a drive energy for an opening and/or closing movement of the closure element 78 that closes the loading and/or unloading opening 30 of the storage unit 18. The interface 54 is configured for a transmission of a drive energy to the drive unit 158, which that is integrated in the storage unit 18 or in the rollable undercarriage unit 16. The interface 54 is configured for an external controlling of an opening and/or closing movement of the closure unit 56, in particular of the drive unit 158 driving the opening and/or closing movement of the closure element 78. The installation 12 comprises an interface (not shown). The interface 54 of the loading device 46 is in the docked state connected to the interface of the installation 12.

[0064] The docking device 44 comprises an identification element 58. The identification element 58 is configured for an automatic identification of the respective loading device 46 that is approaching the installation 12, in particular the lock units 80, 82, by the installation 12. The identification element 58 is integrated in the storage unit 18 or in the rollable undercarriage unit 16 or is attached to the storage unit 18 or to the rollable undercarriage unit 16. By way of example, the identification element 58 is embodied as an RFID chip. The installation 12 in its turn comprises a read-out element (not shown), for example an RFID reader, which is configured to read out the identification element 58.

[0065] The docking device 44 comprises a fixation unit 52. The fixation unit 52 is configured to fix the rollable undercarriage unit 16 and/or the storage unit 18, when docking at the installation 12, in the place 48 of the installation 12 that is designated for docking. The docking device 44 is exemplarily embodied as a magnet, in particular a permanent magnet or an electromagnet, which is configured to interact with a magnet unit (not shown) of the installation 12.

[0066] FIG. 7 shows a schematic view of the rear side 154 of the loading device 46. The storage unit 18 has, in addition to the primary loading and/or unloading opening 30, a secondary loading and/or unloading opening 60. The storage unit 18 comprises a locking device (not shown), which is configured, in a state when the loading device 46 is docked at the installation 12, to lock a closure unit 62 that closes the secondary loading and/or unloading opening 60, in particular a further closure element 166 of the storage unit 18 that is configured for closing the secondary loading and/or unloading opening 60. The secondary loading and/or unloading opening 60 is manually openable and closable via the further closure element 166 of the storage unit 18. The further closure element 166 is exemplarily embodied as a door flap. The further closure element 166 is implemented transparent.

[0067] FIG. 8 shows a schematic view of the underside 156 of the loading device 46, in particular of the rollable undercarriage unit 16. The rollable undercarriage unit 16 comprises a coupling apparatus 64. The coupling apparatus 64 is configured for a coupling with the driven, autonomously driving transport device 66 (see also FIG. 1). Viewed relative to the put-up direction 22, the coupling apparatus 64 is arranged on an underside 68 of the rollable undercarriage unit 16. In the case that is shown in FIG. 8 by way of example, the coupling apparatus 64 comprises for the purpose of generating a coupling force a coupling magnet 168 for an interaction with a corresponding magnet unit 170 of the transport device 66 (see FIG. 3). Alternative implementations, e. g. mechanical or other implementations, of the coupling apparatus 64 are conceivable. The coupling apparatus 64, in particular the rollable undercarriage unit 16, forms a drive-under opening 172, which is configured to accommodate the transport device 66. The transport device 66 is configured to drive below the loading device 46 and to couple with the loading device 46 for a transmission of a movement energy from the transport device 66 to the loading device 46. The loading device 46 has a base area of maximally 1,200 mm*800 mm (EUR pallet). The loading device 46 has a height of less than 2 m, preferably less than 1.5 m.

[0068] FIG. 9 shows a schematic view of the handling robot 10. The handling robot 10 comprises the robot arm 42. The handling robot 10 comprises a gripper unit 178 for gripping the tools 34, the tool holders 14 and/or the tool assemblies. The handling robot 10 is arranged in a center 180 of the multi-clamping and measuring and/or presetting station 102 (see FIG. 2). The handling robot 10 has access to all individual stations of the multi-clamping and measuring and/or presetting station 102. The handling robot 10 comprises an integrated sensor 92. Alternatively it is conceivable that the sensor 92 is realized separately from the handling robot 10 and can be gripped by the handling robot 10 temporarily for a readout of the contents of the loading device 46. The sensor 92 of the handling robot 10 is embodied as a camera (with illumination). The sensor 92 of the handling robot 10 is configured to identify the tool holders 14, tools 34 and/or tool assemblies arranged in the loading device 46, in particular by camera image recognition or by reading out a OR code or the like arranged on the respective tool holder 14 and/or on the respective tool 34. The sensor 92 of the handling robot 10 is configured to register the positions of the tool holders 14, tools 34 and/or tool assemblies, in particular by camera image recognition.

[0069] FIG. 10 shows a schematic flow chart of a method for loading the installation 12, in particular the multi-clamping and measuring and/or presetting station 102 and/or a machine tool, by the loading device 46. In at least one method step 86 the loading device 46, which is loaded with a plurality of tool holders 14 and with a plurality of tools 34 and is locked, gets coupled with the transport device 66. For this purpose the transport device 66 drives into the drive-under opening 172 of the rollable undercarriage unit 16 and creates a coupling with the loading device 46 via the coupling apparatus 64. In at least one further method step 100 the loading device 46 is conveyed to the installation 12, In at least one docking step 84 the loading device 46 is docked at a lock unit 80, 82 of the installation 12. In the docking step 84 a connection is established between the interfaces 54 of the loading device 46 and of the installation 12. In at least one substep 118 of the docking step 84 the docking process is monitored by the docking sensor 50. Upon detection of a successful docking, a corresponding measurement signal is emitted by the docking sensor 50. Upon detection of a successful docking, the closure element 78 is unlocked. Upon detection of a successful docking, the further closure element 166, which closes the secondary loading and/or unloading opening 60, is locked. In an opening step 88 following the docking step 84, an opening of the closure element 78, which closes the loading and/or unloading opening 30 of the loading device 46, is controlled via the connected interfaces 54. In the opening step 88 the drive unit 158 that brings about the opening is supplied with drive energy via the connected interfaces 54.

[0070] In at least one identification step 90 carried out before a first removal of a tool holder 14 out of the loading device 46, all the tool holders 14 arranged in the loading device 46 are identified by the sensor 92 of the installation 12. In the identification step 90 the positions of the tool holders 14 which are arranged in the loading device 46 are registered. In the identification step 90 the tool holders 14 are allocated to different tool-chuck type categories. Herein each tool holder 14 is allocated to one of the tool-chuck type categories on the basis of the respectively used tool-clamping technology. Then, in at least one loading step 108, one of the tool holders 14 supported in the storage unit 18 in an oblique-positioned manner, and/or one of the tool assemblies supported in the storage unit 18 in an oblique-positioned manner is gripped by the handling robot 10 of the installation 12 at the underside 28 of the tool holder 14 and/or of the tool assembly and is removed out of the loading device 46. In one or several feeding steps 94, 96 the categorized tool holders 14 are in each case inserted by the handling robot 10 into a suitable tool-clamping station 98 of a plurality of tool-clamping stations 120, 122, 124, 126 of the multi-clamping and measuring and/or presetting station 102 or into the measuring and/or presetting apparatus 128, the cooling device 130, the took mounting device 132 or the balancing station 134. In the case of a machine tool, in alternative feeding steps 104, 106 the categorized tool holders 14 or the categorized tool assemblies are in each case inserted by the handling robot 10 into a suitable tool place of a plurality of tool places of the machine tool.

[0071] In at least one further method step 174 tool holders 14 and/or tools 34 are inserted into the holding devices 20, 32 of the loading device 46 by the handling robot 10. In at least one further method step 176 the filled loading device 46 is uncoupled from the lock unit 80, 82 and is removed out of the docking region (undocked). In the method step 176 the closure element 78 is closed and locked. In the method step 176 the closed and locked loading device 46 is transported away from the installation 12 by the transport device 66.

REFERENCE NUMERALS

[0072] 10 handling robot [0073] 12 installation [0074] 14 tool holder [0075] 16 rollable undercarriage unit [0076] 18 storage unit [0077] 20 holding device [0078] 22 put-up direction [0079] 24 holding place [0080] 26 holding place [0081] 28 underside [0082] 30 loading and/or unloading opening [0083] 32 further holding device [0084] 34 tool [0085] 36 holding place [0086] 38 tool snap-holder [0087] 40 clamping mechanism [0088] 42 robot arm [0089] 44 docking device [0090] 46 loading device [0091] 48 place [0092] 50 docking sensor [0093] 52 fixation unit [0094] 54 interface [0095] 56 closure unit [0096] 58 identification element [0097] 60 secondary loading and/or unloading opening [0098] 62 closure unit [0099] 64 coupling apparatus [0100] 66 transport device [0101] 68 underside [0102] 70 loading system [0103] 72 transport system [0104] 74 width direction [0105] 76 depth direction [0106] 78 closure element [0107] 80 lock unit [0108] 82 lock unit [0109] 84 docking step [0110] 86 method step [0111] 88 opening step [0112] 90 identification step [0113] 92 sensor [0114] 94 feeding step [0115] 96 feeding step [0116] 98 tool-clamping station [0117] 100 method step [0118] 102 multi-clamping and measuring and/or presetting station [0119] 104 feeding step [0120] 106 feeding step [0121] 108 loading step [0122] 110 cover unit [0123] 112 operating panel [0124] 114 maintenance access [0125] 116 enclosure [0126] 118 substep [0127] 120 shrink-clamping apparatus [0128] 122 hydraulic-expansion clamping apparatus [0129] 124 compression-clamping station [0130] 126 union-nut clamping station [0131] 128 measuring and/or presetting apparatus [0132] 130 cooling device [0133] 132 tool-mounting device [0134] 134 balancing station [0135] 136 wheel [0136] 138 frame [0137] 140 receiving space [0138] 142 holding place [0139] 144 holding rail [0140] 146 holding rail [0141] 148 longitudinal axis [0142] 150 upper side [0143] 152 front side [0144] 154 rear side [0145] 156 underside [0146] 158 drive unit [0147] 160 clamping element [0148] 162 recess [0149] 164 orientation element [0150] 166 further closure element [0151] 168 coupling magnet [0152] 170 magnet unit [0153] 172 drive-under opening [0154] 174 method step [0155] 176 method step [0156] 178 gripper unit [0157] 180 center [0158] 182 tool rotary axis [0159] 184 upper side [0160] 186 rotary axis