ATTACHMENT AND HANDLING DEVICE WITH AN ATTACHMENT

Abstract

An attachment for a mobile handling device is configured for processing walls or ceilings. The attachment comprises a mounting unit that is arranged to be supported at a mounting interface of the handling device, a processing head that is arranged to be equipped with at least one tool for material-removing processing or smoothing processing, and a compensation arrangement that is arranged between the mounting unit and the processing head and that defines a longitudinal axis. The mounting unit provides at least two pivot positions for the attachment that are offset from one another. The processing head is movable relative to the mounting unit in a longitudinal direction along the longitudinal axis. The compensation arrangement is configured to provide a defined contact pressure force for the processing head in a defined operating range along the longitudinal axis towards the surface to be processed.

Claims

1. An attachment for a mobile handling device for processing walls or ceilings, the attachment comprising: a mounting unit that is arranged to be supported at a mounting interface of the handling device, a processing head that is arranged to be equipped with at least one tool for material-removing processing or smoothing processing, and a compensation arrangement that is arranged between the mounting unit and the processing head and that defines a longitudinal axis, wherein the mounting unit provides at least two pivot positions for the attachment that are offset from one another, wherein the processing head is movable relative to the mounting unit in a longitudinal direction along the longitudinal axis, and wherein the compensation arrangement is configured to provide a defined contact pressure force for the processing head in a defined operating range along the longitudinal axis towards the surface to be processed.

2. The attachment device of claim 1, wherein the compensation arrangement is configured for compensating for positional changes of the mounting interface of the handling device along the longitudinal axis in the operating range.

3. The attachment of claim 1, wherein in the operating range of the compensation arrangement the compensation arrangement is configured to provide compensating movements along the longitudinal axis of at least 200 mm, in terms of absolute value.

4. The attachment of claim 1, wherein the compensation arrangement is operable in a first operating mode and in a second operating mode, wherein the first operating mode is adapted to a vertical orientation of the longitudinal axis, and wherein the second operating mode is adapted to a horizontal orientation of the longitudinal axis.

5. The attachment of claim 1, wherein the compensation arrangement is controlled in such a way that an effective contact pressure is provided in the operating range, and wherein the resulting contact pressure in the operating range varies by a maximum of 15%.

6. The attachment of claim 1, wherein the compensation arrangement comprises at least one working cylinder extending in the longitudinal direction, wherein the working cylinder is arranged to be connected to a pressure medium supply of the handling device, and wherein the regulation of an actual pressure in the working cylinder at a present supply pressure is effected by a pressure regulation, which is provided in the attachment itself.

7. The attachment of claim 1, wherein the compensation arrangement further comprises a longitudinal guide for the processing head, which guides a movement of the processing head in the longitudinal direction independently of an actual orientation of the attachment.

8. The attachment of claim 7, wherein the longitudinal guide is arranged as a roller guide.

9. The attachment of claim 7, wherein the longitudinal guide comprises a guide frame, in which a profile carriage is arranged that is movable relative to the guide frame and that is supported on the guide frame, and wherein the processing head is arranged at one end of the profile carriage.

10. The attachment of claim 1, wherein the compensation arrangement further comprises a visual indicator for visualization of a current working position of the processing head in the operating range.

11. The attachment of claim 1, wherein the processing head is connected to an end of the compensation arrangement via a joint arrangement, wherein at least one biasing element is provided at the joint arrangement, and wherein the at least one biasing element urges the processing head towards a desired orientation.

12. The attachment of claim 11, wherein the joint arrangement is arranged as a gimbal joint arrangement and provides two pivot axes, which are oriented perpendicular to each other and perpendicular to the longitudinal axis.

13. A mobile handling device, comprising: an undercarriage comprising a travel drive; a body that supports a controllable boom; a mounting interface at an end of the boom; a pressure medium supply unit; a control device; and an attachment for processing walls or ceilings, comprising: a mounting unit, a processing head that is arranged to be equipped with at least one tool for material-removing processing or smoothing processing, and a compensation arrangement that is arranged between the mounting unit and the processing head and that defines a longitudinal axis, wherein the attachment is mounted to the boom, with the mounting unit being mounted to the mounting interface, wherein the mounting unit provides at least two pivot positions for the attachment that are offset from one another, wherein the processing head is movable relative to the mounting unit in a longitudinal direction along the longitudinal axis, wherein the control device is configured to control the mobile handling device to guide the attachment in a defined orientation relative to a wall or ceiling and to position the mounting interface at a defined distance range from the wall or ceiling during a feed movement of the attachment along the wall or ceiling that is controlled by operator commands, wherein the compensation arrangement is supplied with a pressure medium via the pressure medium supply unit, and wherein the compensation arrangement is configured to provide a defined contact pressure force for the processing head in a defined operating range along the longitudinal axis towards the surface to be processed, with the attachment being supported by the handling device.

14. The handling device of claim 13, wherein the body is rotatable relative to the undercarriage, wherein the boom comprises a first arm section, a second arm section and a third arm section forming an open chain and being pivotable relative to each other, wherein the first arm section is pivotally mounted to the body, wherein the third arm section supports the mounting interface, which is accommodated pivotably on the third arm section, wherein pivot axes of the arm sections of the boom are respectively oriented parallel to one another and perpendicularly to a rotation axis of the body relative to the undercarriage, and wherein drives are associated with the pivot axes and the rotation axis and can be controlled via the control device.

15. The handling device of claim 14, wherein the mounting interface is pivotable about a pivot axis at the boom to ensure a parallel orientation of the processing head relative to the wall or ceiling.

16. The handling device according to claim 15, wherein the mounting unit includes at least one pivot axis that is oriented perpendicular to the pivot axes of the boom, and wherein the attachment is pivotable about the pivot axis of the mounting unit between the at least two pivot positions provided by the mounting unit.

17. The handling device of claim 14, wherein the control device is configured to operate the handling device in at least one of a horizontal mode and a vertical mode, wherein the control device in the horizontal mode controls the drives of the handling device in such a way that the attachment is moved along a horizontal path, and wherein the control device in the vertical mode controls the drives of the handling device in such a way that the attachment is moved along a vertical path.

18. The handling device of claim 17, wherein the control device enables movements of the attachment in a horizontal plane in the horizontal mode and enables movements of the attachment in a vertical plane in the vertical mode, with the processing head having a parallel orientation with respect to the horizontal plane in the horizontal mode and the vertical plane in the vertical mode.

19. The handling device of claim 13, wherein the handling device is arranged as a remotely operable mobile work machine.

20. The handling device of claim 13, wherein the attachment is configured to be operated independently of control commands by the handling device and movable along a surface to be processed.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0097] Further features and advantages of the invention are disclosed by the following description of a plurality of exemplary embodiments, with reference to the drawings, wherein:

[0098] FIG. 1 is a side view of an exemplary embodiment of a handling device, which is arranged as a mobile work machine;

[0099] FIG. 2 is a perspective view of an embodiment of an attachment;

[0100] FIG. 3 is a side view of a handling device according to FIG. 1, which is equipped with an attachment according to FIG. 2, in a configuration for processing ceilings,

[0101] FIG. 4 is an arrangement of an attachment from the point of view of a mounting interface of a handling device, wherein different orientations of the attachment are indicated;

[0102] FIG. 5 is a perspective view of a room to illustrate conceivable machining surfaces;

[0103] FIG. 6 is a side view of the attachment according to FIG. 2;

[0104] FIG. 7 is another side view of the arrangement as shown in FIG. 6, with components hidden for illustrative purposes; and

[0105] FIG. 8 is a perspective view of the attachment according to FIG. 6 and FIG. 7 in a partially exploded state.

EMBODIMENTS

[0106] FIG. 1 elucidates with reference to a side view an exemplary embodiment of a handling device, which is overall designated by 10. In the exemplary embodiment according to FIG. 1, the handling device 10 is arranged as a mobile work machine 12.

[0107] The handling device 10 comprises an undercarriage 14, which in the exemplary embodiment according to FIG. 1 is arranged as a crawler undercarriage or tracked undercarriage. It goes without saying that the undercarriage 14 may also comprise wheels. Furthermore, the handling device 10 comprises supports designated by 16, which can be extended during use of the handling device 10. In other words, the handling device 10 can be jacked up if necessary.

[0108] The undercarriage 14 also carries a body 18, which can be rotated, for example, in relation to the undercarriage 14 and/or the supports 16. The body 18 may also be referred to as superstructure. For this purpose, for example, a rotating assembly or slewing ring 20 is provided between the undercarriage 14 and the body 18, which defines a vertically oriented rotation axis 22 for the body 18. A suitable rotary drive is assigned to the slewing ring 20.

[0109] The body 18 carries a boom 30, which is arranged as an articulated boom. The boom 30 comprises arm sections 32, 34, 36. The arm section 32 is mounted on the body 18. The arm section 34 is arranged between the arm sections 32, 36. The arm section 36 is arranged facing away and/or remote from the body 18. The arm section 32 may also be referred to as proximal arm section 32. The arm section 36 may also be referred to as distal arm section 36. The arm section 36 carries a device interface or mounting interface 38. Attachments can be picked up at the mounting interface 38.

[0110] The arm section 32 is pivotably mounted to the body 18 via a pivot axis 42. The arm section 34 is pivotably mounted on the arm section 32 via a pivot axis 44. The arm section 36 is pivotably mounted on the arm section 34 via a swivel axis 46. The mounting interface 38 is mounted pivotably on the arm section 36 via a pivot axis 48. Departing from the undercarriage 14, the body 18, the arm sections 32, 34, 36 and the mounting interface 38 form a linear, open kinematic chain. The axes 42, 44, 46 and 48 are parallel to each other and each oriented perpendicular to the axis 22.

[0111] A cylinder 50 is provided to move the arm section 32 relative to the body 18. A cylinder 52 is provided for moving the arm section 34 relative to the arm section 32. A cylinder 54 is provided to move the arm section 36 relative to the arm section 34. A cylinder 56 is provided for moving the mounting interface 38 relative to the arm section 36.

[0112] In FIG. 1, a control device of the handling device 10 is indicated by 60. The control device 60 controls the operation of the handling device 10. Furthermore, a drive unit indicated by 62 is provided, especially an electro-hydraulic drive unit. Further, a pressure medium supply unit 64 is provided. The pressure medium supply unit 64 comprises at least one pump or a pressure reservoir for providing a pressure medium. The pressure medium is a suitable fluid, such as hydraulic oil.

[0113] Further, FIG. 1 shows an operating unit 70, which in the exemplary embodiment is a remote control. The operating unit 70 is connected by cable or without cable to the control device 60 of the handling device 10. Via the operating unit 70, an operator can control the handling device 10. In accordance with the exemplary embodiment according to FIG. 1, no operator's console, control stand or similar is provided directly on the body 18. The remote operability of the handling device 10 may have the effect that the operator can control the handling device 10 from a safe distance. In addition, the operator can position himself freely to obtain a good overview of the current application of the handling device 10.

[0114] With reference to FIG. 2 and with supplementary reference to FIG. 3, an attachment designated by 100 for the handling device 10 is illustrated and explained in more detail.

[0115] The attachment 100 is arranged as a device for removing processing or smoothing processing walls or ceilings. The processing may include grinding, milling, polishing, bush hammering and/or smoothing. As stated above, the term wall can include both side walls with a substantially vertical extension and ceiling walls with a substantially horizontal extension.

[0116] The attachment 100 includes a processing head 102, which may also be referred to as a working head. The processing head 102 is formed at a distal end of the attachment 100. A mounting unit 104 is provided at a proximal end of the attachment 100 and facing away therefrom. The mounting unit 104 is arranged for supporting the attachment at the mounting interface 38 of the handling device 10, see FIG. 1 and FIG. 3.

[0117] A compensation arrangement 106 is arranged between the mounting unit 104 and the processing head 102. At least in accordance with the exemplary embodiment shown in FIG. 2, the processing head 102 is connected to the compensation arrangement 106 via a joint arrangement 108. The joint arrangement 108 can also be described as gimbal suspension. Furthermore, a control unit designated by 110 is provided, which is arranged as a component of the attachment 100.

[0118] As already mentioned above, at least some of the embodiments are arranged for providing as few interfaces as possible or no interfaces for the exchange of information and/or control commands between the handling device 10 and the attachment 100. This increases flexibility, the attachment 100 can be used with different handling devices 10 without the need for complex conversions and the like.

[0119] With reference to FIG. 2 and with supplementary reference to FIGS. 3-8, components and functions of the attachment 100 are explained in more detail.

[0120] The mounting unit 104 comprises a support 116, which is adapted to the mounting interface 38 of the handling device 10. The support 116 allows the attachment device 100 to be hooked onto the mounting interface 38. Furthermore, the mounting unit 104 comprises a pivot bearing 118, which forms a rotation center for a disc 120, which carries the support(s) 116.

[0121] The disc 120 comprises circumferentially distributed detent recesses 122, which define a division of the disc 120. Furthermore, the attachment 100 is equipped with retaining elements 124, which engage the detent recesses 122 in order to define a current rotational position of the disc 120 relative to the attachment 100. The pivot bearing 118 provides a pivot axis 126 for the support 116 together with the disc 120. In this connection, FIG. 4 illustrates swivel movements between the disc 120 with the support 116 and the attachment 100 by means of a curved double arrow 128, by way of example.

[0122] The processing head 102 is provided with at least one tool holder 130, which can be equipped with a tool. In the exemplary embodiment according to FIG. 2, three plate-shaped tool holders 130 are provided, which are arranged within a ring. It goes without saying that otherwise designed processing heads may comprise only a single tool holder 130 or several tool holders 130. A drive 132 is provided for driving the tools, which are accommodated on at least one tool holder 130, which is arranged as a hydraulic drive or as an electric motor drive. Furthermore, by way of example, a dust extraction system 134 is provided to reduce the dust development during machining.

[0123] Depending on the application, the attachment 100 can be used for dry processing or wet processing by adding a liquid to bind dust. Accordingly, a fluid supply can be provided in addition or as an alternative to the dust extraction system 134, which, for example, supplies water to the machining point.

[0124] In FIG. 3 as well as in FIG. 6 a working plane is indicated by 136. When using the attachment 100 for machining surfaces, the working plane 136 is aligned as parallel as possible to the corresponding working surface.

[0125] The design of the joint arrangement 108 is explained in more detail with reference to FIGS. 2, 6, 7 and 8. The joint arrangement 108 comprises a first support bracket 140 and a second support bracket 142. The first support bracket 140 provides a swivel axis 144 for the second support bracket 142, see FIG. 6 and FIG. 8. The second support bracket 142 is swivel-mounted on the first support bracket 140. The second support bracket 142 provides a swivel axis 146 for the processing head 102. The machine head 102 is swivel-mounted on the second support bracket 142.

[0126] The swivel axes 144, 146 of the support brackets 140, 142 are perpendicular to each other. In the exemplary embodiment shown in FIG. 6, the two swivel axes intersect. The support brackets 140, 142 provide for a gimbal suspension of the processing head 102. This enables compensating movements so that the working plane 136 can be aligned parallel to the machining surface with high accuracy at a present contact pressure.

[0127] In FIG. 6 biasing elements 148, 150 are illustrated in the form of springs. The biasing elements 148, 150 urge the processing head 102 in the joint arrangement 108 into a desired position. At least one corresponding biasing element 148 is arranged between the support bracket 140 and the support bracket 142. At least one further biasing element 150 is arranged between the support bracket 142 and the processing head 102. A pairwise, opposite arrangement of the respective biasing elements 148, 150 is possible. The at least one biasing element 148 urges the support bracket 142 into a desired position with respect to the support bracket 140. The at least one biasing element 150 urges the processing head 102 into a desired position with respect to the support bracket 142.

[0128] In FIG. 2, a double arrow designated by 160 indicates a longitudinal direction of the attachment 100 and/or the compensation arrangement 106. The compensation arrangement 106 defines a longitudinal axis for a corresponding movement between the processing head 102 and the mounting unit 104. This movement (compensation movements) takes place along the longitudinal axis in the longitudinal direction 160.

[0129] A current position of the processing head 102 is indicated by an indicator 162. The indicator 162 comprises a pointer 164 and a scale 166. In the exemplary embodiment shown in FIG. 2, the pointer 164 is arranged on a base plate 168 of the joint arrangement 108. The base plate 168 is a component of the support bracket 140 or is firmly connected thereto. Therefore, when the processing head 102 is extended or retracted in the longitudinal direction 160, the pointer 164 performs the same movement. The scale 166 is exemplarily attached to a housing 170 of the compensation arrangement 106. The scale 166 can contain quantitative information and qualitative information. Qualitative information may include color fields and the like.

[0130] The scale 166 illustrates an operating range 172 (FIG. 6), in which the functionality of the attachment 100 is ensured. In the operating range 172 it is ensured that the contact pressure of the processing head 102 is within the desired target range. On the indicator 162 the operator can also read off from a certain distance whether the processing head 102 is in a favorable operating position in relation to the mounting unit 104 and thus to the handling device 10. Especially when the attachment 100 can be operated in different orientations, a plurality of indicators 162 can be provided to facilitate the acquisition of position information.

[0131] FIG. 3 illustrates an assembled state of the attachment 100 at the mounting interface 38 of the handling device 10. The handling device 10 is set up in FIG. 3 for ceiling processing. The attachment 100 is mounted in a vertical orientation on the extension boom 30, wherein the working plane 136 of the processing head 102 is arranged parallel to the flat extension of the ceiling. In the state according to FIG. 3, the handling device 10 must not only hold the attachment 10 but also provide additional support so that a contact pressure force 176 can be applied.

[0132] When operating the attachment 100, a considerable contact pressure is required, which should be applied as constantly as possible. In FIG. 3 an arrow designated by 176 illustrates the corresponding contact pressure. The contact pressure 176 is applied by the compensation arrangement 106. The compensation arrangement 106 further transmits a counterforce 178, which must be supported or sustained by the boom 30 of the handling device 10. The holding force required for this is designated 180 in FIG. 3.

[0133] In FIG. 3 there is indicated a machining path 184, which illustrates a horizontal movement of the processing head 102 along the surface to be processed. During machining, position fluctuations and other disturbance variables inherently occur, which can lead to deviations in the resulting contact pressure 176. The compensation arrangement 106 is configured to ensure that the contact pressure 176 remains as constant as possible, even if compensating movements are required, see the double arrow 186 in FIG. 3. Such compensating movements can be used, for example, to react to position fluctuations or a certain amount of yielding of the boom 30 of the handling device 10. The extent of the compensating movement 186 can be easily read off at the indicator 162.

[0134] The pivoting of the mounting interface 38 about the pivot axis 48 allows the desired orientation of the attachment 100 in relation to the surface to be worked on (e.g. wall or ceiling) to be achieved and maintained. This can be done independently of the actual orientation of the arm section 36 (FIG. 1) in relation to this surface. In this way it can be ensured that the processing head 102 is aligned as parallel as possible to the respective surface. This also applies when the attachment 100 is moved along the surface to be machined via the boom 30 of the handling device 10.

[0135] FIG. 4 illustrates various conceivable orientations for the attachment 100 from the point of view of the mounting interface 38 of the handling device 10. In FIG. 4, 190 indicates an orientation for machining a right-hand wall. 192 indicates with reference to a dashed representation an orientation for machining a left-hand wall. 194 indicates an orientation for machining a wall on the ceiling side. The curved double arrow 128 in FIG. 4 shows that the disc 120 with the support 116 can be rotated around the pivot bearing 118 of the mounting unit 104, wherein the detent recesses 122 define different detent positions for the retaining elements 124. A pitch can be approximately 90 (degrees). It goes without saying that intermediate steps such as approximately 45 steps are also conceivable. Such an orientation is basically conceivable in connection with the machining of inclined walls.

[0136] With reference to FIG. 5 as well as with additional reference to FIG. 3 and FIG. 4 different applications for the mounted attachment 100 for surface machining are illustrated. FIG. 5 shows a perspective view of a room with a floor 198, a right wall 200, a left wall 202, a rear wall 204 and a ceiling wall or top wall 206. The attachment 100 is configured to work on the side walls 200, 202, 204. This may require moving the handling device 10 for rough alignment. Furthermore, the attachment 100 can be used to machine the upper wall 206. In principle, it is also possible to work on the bottom 198, but this is not the main application.

[0137] For example, the right wall 200 forms a flat surface 208, which should be processed as completely and evenly as possible. A dashed curve indicated by 210 illustrates in a greatly simplified form a possible machining path or a corresponding motion path of attachment 100.

[0138] From the point of view of the operator of the handling device 10, which is holding the attachment 100, the actual processing takes place in one plane respectively, so that not necessarily all available degrees of freedom of the handling device 10 have to be used. Furthermore, the attachment 100 should be guided by the handling device 10 as parallel as possible to the respective wall 200, 202, 204, 206. However, at least in the embodiment according to FIGS. 1 and 3, the handling device 10 comprises a kinematics, which is structurally not ideally configured for such movements in one plane. If the operator himself had to provide for a corresponding approximation of the movement, this would result in significantly higher operator effort and ultimately in much greater deviations and fluctuations in the contact pressure.

[0139] For this reason the control device 60 of the handling device 10 is arranged, at least according to exemplary embodiments, to be operated in a vertical mode and/or a horizontal mode. In the respective mode, the control device 60 ensures that the desired plane parallel to the wall to be processed is not left, if possible, so that the operating effort for the operator is significantly reduced. If possible, the operator then only has to control a simple movement in a two-dimensional space, compare the machining path 210 in FIG. 5. This significantly reduces pressure fluctuations that occur in the contact pressure. Machining can be carried out with high uniformity and correspondingly good results.

[0140] FIG. 6 and FIG. 7 illustrate side views of the attachment 100. FIG. 8 additionally shows a perspective, partially exploded view.

[0141] FIG. 6 shows that the control unit 110 of the attachment 100 can comprise different simple operating elements. By way of example, with the selector switch 214 it is possible to switch over between the processing of side walls and the processing of the ceiling. When machining the ceiling, the compensation arrangement 106 must take the dead weight of the attachment 100 into account in a different way than when machining side walls.

[0142] Furthermore, 216 indicates a speed controller, which controls a machining speed, such as a rotational speed and/or orbital speed of at least one tool holder 130. The relative speed between the tool and the surface to be processed depends on the type of machining and the material of the wall. In certain embodiments, the control unit 110, at least in exemplary embodiments, is not provided with further operating elements. This further simplifies operation. During operation of the attachment 100 the operator does not have to operate the control elements of the control unit 110.

[0143] During operation, indicator 162 provides feedback on the current compensation movement of the compensation unit 106. If possible, pointer 164 is located in a zero position or neutral position of scale 166. This would mean that the desired contact pressure is applied and that no compensation movement is required. Starting from this zero position, compensating movements can be made in the longitudinal direction 160 in order to react, for example, to variations in distance between the mounting interface 38 of the boom 30 of the handling device 10 and the surface to be processed. If only moderate compensation movements are present, the compensation arrangement can keep the contact pressure in the target area. Machining does not have to be interrupted and the uniformity of machining is maintained. Only if excessive compensation movements occur, the operator must interrupt the machining process, for example, to roughly re-align the handling device 10.

[0144] The compensation movement is enabled by the compensation arrangement 106. FIG. 7 shows the compensation arrangement 106 in a state, in which the housing 170 is not shown for illustrative purposes. The compensation arrangement 106 comprises a guide 230. The guide 230 comprises a guide frame 232 and a profile carriage 234, which is movably mounted therein. Rollers 238, 240 are arranged between the guide frame 232 and the profile carriage 234, see FIG. 8. The rollers 238, 240 are exemplarily arranged as profile rollers and are adapted to the longitudinal edges of the profile carriage 234 on guideways 242, 244.

[0145] The retraction and extraction movement of the profile carriage 234 takes place along a longitudinal axis 246, which also determines the longitudinal direction 160. Along the longitudinal axis 246, compensating movements are possible in order to keep the contact pressure or contact force as constant as possible. The compensation movement or compensation of the contact pressure is carried out by a working cylinder 250, which is also assigned to the compensation arrangement 106. The working cylinder 250 is arranged within the guide 230 and parallel to the longitudinal axis 246. The working cylinder 250 comprises a cylinder housing 252, which is supported on a base plate 254 at the proximal end of the compensation arrangement 106. Furthermore, the working cylinder 250 comprises a piston rod 256 which engages a cross member 260 and thus the profile carriage 234. The cylinder housing 252 is connected to the guide frame 232. The piston rod 256 is connected to the profile carriage 234. Accordingly, the movement of the piston rod 256 relative to the cylinder housing 252 causes a longitudinal movement between the profile carriage 234 and the guide frame 232.

[0146] For the working cylinder 250 a pressure control is provided, which is performed by the control unit 110, by way of example. The pressure control is integrated in the attachment and, in certain embodiments, independent of the handling device 10. However, the handling device 10 provides a pressure medium supply.

[0147] The perspective illustration in FIG. 8 clearly shows that the guide rollers 238, 240 are mounted on guide walls 264, 266 that are offset from one another. The guide walls 264, 266 are connected to the guide frame 232.

[0148] The profile carriage 234 is connected at its distal end to the base plate 168. Accordingly, the first support bracket 140 is firmly attached to the profile carriage 234. FIG. 8 the shows the second support bracket 142 in an exploded, detached state. The swivel axis 144 is provided between the first support bracket 140 and the second support bracket 142. The second support bracket 142 also provides the swivel axis 146 for the processing head 102 (not shown in FIG. 8).

[0149] The support bracket 140 comprises lateral support arms 270. The support bracket 142 comprises first support arms 272 and second support arms 274. Support arms 272 are assigned to support arms 270 of support bracket 140. The support arms 274 are used to support the processing head 102. Together, the support arms 270 and 272 form the swivel axis 144. The support arms 274 form the swivel axis 146. Overall, the design of the joint arrangement 108 illustrated herein permits simple alignment and adaptation of the processing head 102 with respect to the surface to be processed. This supports the desired parallel alignment.