Abstract:
A machining or processing plant ( 1 ) is provided including one or several machining stations ( 2 ) that are surrounded by a protective partition ( 13 ) and are supplied with components ( 4, 5 ) from at least one external supply ( 6 ) by a feeding mechanism ( 8 ). The feeding mechanism ( 8 ) is provided with one or several distribution vehicles ( 9 ) which can be moved between the supply ( 6 ) and the processing stations ( 2 ). The distribution vehicles ( 9 ) are equipped with a multi-shaft manipulator ( 10 ) and a device ( 36 ) for surmounting the protective partitions ( 13 ). The distribution vehicles ( 9 ) are also equipped with one or several receptacles ( 30 ) for component supports ( 24, 25 ).

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application is a United States National Phase application of International Application PCT/EP2006/009130 and claims the benefit of priority under 35 U.S.C. § 119 of German Patent Application DE 20 2005 015 118.1 filed Sep. 23, 2005, the entire contents of which are incorporated herein by reference. 
     
    
     FIELD OF THE INVENTION 
       [0002]    The present invention pertains to a machining plant with at least one machining station with a protective enclosure surrounding same, with at least one readiness position and with a feeding means for feeding components. 
       BACKGROUND OF THE INVENTION 
       [0003]    Such a machining plant is known from practice. It contains one or more machining stations, which are surrounded by a protective enclosure, e.g., a fence, which prevents free access to the work area within the machining station for persons for safety reasons. One or more special accesses with special securing means, which switch off the machining devices arranged in the machining station, especially machining robots, in case of access, are present for the entry of persons. A plurality of components are joined to one another or optionally also to a workpiece fed from the outside in the machining station or machining stations. The components are made ready in one or more component magazines on the outside of the protective enclosure, where they are commissioned manually by workers and transferred to stationary feeding means, which transport the components through the protective enclosure into the interior space of the machining station and make them ready there for picking up and processing for the machining devices, especially robots. This conventional component logistics requires the use of a large amount of manpower, device and protection technology. In addition, there is a large space requirement on the outsides of the machining stations. In addition, the circumstance that the feeding means and the component magazines shall be designed ergonomically favorably is unfavorable. This leads in many cases in practice to unfavorable pick-up positions for the robots within the machining station. The feeding means have, furthermore, a disturbing effect on the accessibility of the machining stations. 
       SUMMARY OF THE INVENTION 
       [0004]    The object of the present invention is to improve the component logistics. 
         [0005]    According to the invention, a processing or machining plant is provided comprising a machining station with a protective enclosure surrounding same, a readiness position and a feeding means for feeding components. The feeding means comprises at least one distributing vehicle movable between the readiness position and the machining station. The distributing vehicle have a multiaxial manipulator with a means for clearing the protective enclosure and with a support for component carriers. 
         [0006]    The embodiment of the feeding means according to the present invention and of the component logistics has the advantage of substantially reducing the construction and work effort. 
         [0007]    The distributing vehicles with their manipulators can replace at least part but preferably all hitherto common stationary component guides at the machining station or machining stations. The width of the station is considerably reduced. The space requirement for the entire machining plant decreases as a result. The outer contour of the machining station and of the protective enclosure can extend extensively linearly. On the whole, the plant and station concept as well as the logistics concept are substantially less expensive and more flexible than previous systems. The manual handling and commissioning activities can be shifted by the component logistics being claimed away from the machining station at least for the most part and to a component readiness position, especially a component center. On the whole, the manual handling operation and the staff needed herefor can be reduced as a result. 
         [0008]    Another great advantage is the reduction of the safety effort needed for protecting the staff at the machining station. The manual handling and feeding tasks performed hitherto are taken over by the distributing vehicle and the manipulator. They have a means for clearing the protective enclosure, which replaces the previous construction and safety effort at the stationary feeding means. In the simplest case, the manipulator can perform its handling operations beyond the protective enclosure in case of a corresponding arrangement and embodiment. In another variant, the distributing vehicle and/or the manipulator may have an opening device in order to open and close an entry to the machine in the protective enclosure. Unauthorized persons cannot open this entry. The protective enclosure can retain its person protection function as a result, and, on the other hand, it can be substantially simplified. Person protection is also guaranteed with this mechanical component logistics. On the one hand, the distributing vehicle may have a preferably circumferential protective screen, which denies access to the vehicle areas located inside for persons. The manipulator can likewise grasp beyond this protective screen of its own for handling purposes and for loading and unloading. The work area of the manipulator can likewise be secured by an optionally controllable locking mechanism for person protection, so that the motions of the manipulator and the work are limited to areas to which persons have no access. Accesses to machines at the protective enclosure can also be covered and screened against access for persons with the distributing vehicle screened on the other side during the handling operation. Similar safety measures may also be made at the component readiness position, especially at a component center. 
         [0009]    The mechanical component logistics makes it possible to feed and handle the components in component carriers, which can accommodate one or more components of the same or different type. This simplifies and reduces the handling effort and also the commissioning effort for loading the component carriers. This loading may be carried out in the above-mentioned sense outside the machining station at a preferably central site in a component center. The repeated reloading necessary with the state of the art can be eliminated. Commissioning may already take in the extreme case at the manufacturers of the components, so that already precommissioned components are available in the readiness position and the manual commissioning and loading effort can be reduced even further or even eliminated. The component logistics may take place partly or fully automatically. Moreover, it is possible by standardizing component carriers to reduce the handling and readiness effort in the entire machining plant, in which case a changeover to another type or another number of components is also readily possible. 
         [0010]    The manipulator on the distributing vehicle may also have other tasks besides the handling of components or component carriers. It may perform, e.g., joining tasks during the transportation of the component and, e.g., assemble and optionally join different components into one group. The manipulator may now also perform machining operations, e.g., welding, bonding, screwing, coating or the like with corresponding tools. The manipulator may, moreover, also be used at the docking site at the machining station for handling and joining tasks within the machining station and in the processes taking place there. 
         [0011]    The limitations dictated by ergonomics in the component feed are substantially reduced. Ergonomic conditions need to be taken into account essentially only at the composition readiness position, especially at the component center. The components can be made ready within the machining station in positions that are optimal for the machining devices located there, especially robots. In case of subsequent shifts of the work contents of individual stations, the effects or limitations in respect to component feed are substantially smaller than in the state of the art. It may happen that only new stops need to be introduced for the distributing vehicles. No workers are absolutely necessary any longer at the machining station proper, even if they may still be present for purposes of checking or for certain handling tasks. 
         [0012]    Furthermore, the improvement of the accessibility of the machining stations and of the entire machining plant is favorable. The flexibility of the machining stations and of the machining plant is increased. Components can be introduced from any desired site. The simple possibility of using the distributing vehicles, which can service a plurality of machining stations or even a plurality of machining plants, is also favorable. Already existing machining stations or machining plants can be retrofitted or converted with the component logistics being claimed. The logistics is, moreover, adaptable and can continue to be used should the components or workpieces change. 
         [0013]    It is advantageous, furthermore, that machining plants processing relatively smaller numbers of components can also be charged economically with components. The distributing vehicle can be used for maintenance, cleaning and inspection work during the production-free time. It can thus be used multifunctionally. The distributing vehicle or the manipulator located thereon can perform a tool change and take on tools suitable for these services, such as spray guns, grease guns, industrial vacuum units, etc. The distributing vehicle and/or the manipulator may have an optical monitoring system for controlling and checking the handling operations and also the aforementioned services, which may be designed, e.g., as a vision system. 
         [0014]    The present invention is schematically shown in the drawings as an example. The various features of novelty which characterize the invention are pointed out with particularity in the claims annexed to and forming a part of this disclosure. For a better understanding of the invention, its operating advantages and specific objects attained by its uses, reference is made to the accompanying drawings and descriptive matter in which preferred embodiments of the invention are illustrated. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS  
         [0015]    In the drawings: 
           [0016]      FIG. 1  is a schematic top view of a machining plant with a plurality of machining stations, a readiness position with a component center and with a component feeding means with a plurality of distributing vehicles; 
           [0017]      FIG. 2  is a schematic enlarged top view of a machining station with a docked distributing vehicle; 
           [0018]      FIG. 3  is a schematic side view of a distributing vehicle; 
           [0019]      FIG. 4  is a schematic rear view of the distributing vehicle; 
           [0020]      FIG. 5  is a schematic top view of the distributing vehicle; 
           [0021]      FIG. 6  is a schematic top view of a distributing vehicle in the docked position at a machining station shown in a cut-away position; 
           [0022]      FIG. 7  is a schematic front view of a distributing vehicle in the docked position at a machining station shown in a cut-away position; 
           [0023]      FIG. 8  is a schematic top view of details of a distributing vehicle in a component center; 
           [0024]      FIG. 9  is a schematic front view of details of a distributing vehicle in a component center; 
           [0025]      FIG. 10  is a schematic top view showing a variant of a distributing vehicle in the docked position at a machining plant provided with bays as well as an alternative view of a distributing vehicle. 
           [0026]      FIG. 11  is a schematic front view showing the variant of a distributing vehicle in the docked position at a machining plant provided with bays 
       
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
       [0027]    Referring to the drawings in particular, The present invention pertains to a component logistics for a machining plant  1 ) with the device and process technology belonging to it. 
         [0028]      FIG. 1  shows a schematic top view of a machining plant  1 , which has one or more machining stations  2 , which are designated here as lines  1 ,  2  and  3 . The machining plant  1  has, furthermore, at least one readiness position  6  for components  4 ,  5 , which is designed, e.g., as a component center  7 . As an alternative or in addition, another readiness position  6  may be present, which may be, e.g., a transport vehicle indicated by broken line, especially a railroad car, a truck or the like, in which components  4 ,  5  are brought precommissioned into the machining plant  1  or are made ready here. The readiness position  6  is located outside of and optionally separated in space from the machining stations  2 . A readiness position  6  can service a plurality of machining stations  2 . 
         [0029]    The machining plant  1  contains, furthermore, a component feeding means  8 , with which the components  4 ,  5  are transported from the external readiness position  6  to the individual machining stations  2  and are transferred there. The component feeding means  8  has one or more mobile distributing vehicles  9 , which travel between the readiness position or readiness positions  6  and the machining plant or machining plants  2 . One of the different possibilities of motion is shown in  FIG. 1  in broken line as an exemplary variant. 
         [0030]    Components  4 ,  5  of any desired type, size and number are machined and handled in the machining plant  1  and the machining stations  2 . The components  4 ,  5  are joined to one another in the machining station  2 . In addition, the components  4 ,  5  can be joined to one or more other workpieces  3 , which reach the machining station  2  by another route, especially via a transfer line or a conveyor. The components  4 ,  5  and workpieces  3  are body parts of motor vehicles in the preferred embodiment. The components  4 ,  5  may be, e.g., parts of a side panel. The components  4 ,  5  may be, on the other hand, assembly parts, e.g., screws or other auxiliary means. Other variants are possible as well. 
         [0031]    The machining stations  2  may have any desired design and be used to perform any desired machining or handling process. One or more machining and/or handling devices not shown may be arranged in the individual machining station  2 . These may be, e.g., multiaxial industrial robots with corresponding tools. For example, handling and machining tasks are performed with these during the joining of the components  4 ,  5 . The individual machining station  2  may have a station control (not shown). As an alternative or in addition, a higher-level plant control may be present. 
         [0032]    The machining station  2  is surrounded on the outside by a peripheral protective enclosure  13 , which prevents access to unauthorized persons. The protective enclosure  13  is designed, e.g., as a fence with a height corresponding to that of a man. As an alternative, it may also be a fixed wall, e.g., at a laser welding box. As is illustrated in  FIG. 2  and  FIG. 10 , the protective enclosure  13  may have one or more accesses  14 ,  15  with a safety means  16 . These may be, e.g., accesses  14  for persons in the form of doors, which can be opened only when access without hazards is possible. For example, the safety means  16  switches off for this purpose the machining devices (not shown) located in the machining station. In a variant, the safety means  16  may trigger an emergency stop or emergency shutdown of the machining devices when the access  14  is opened. 
         [0033]    The other accesses  15  may be accesses to the machine, which cannot be opened by unauthorized persons and which can be opened by the distributing device  10  in the manner described below. Furthermore, remote-controllable accesses not shown may be present for introducing and removing the workpieces  3 . The machining stations  2  have, e.g., an elongated shape and a preferably central axis for the machining and joining progression as well as optionally for the transportation of the workpiece or workpieces  3 . 
         [0034]    A free traffic space  21  is present in at least some areas on the outside at the machining stations  2  to be loaded with components  4 ,  5  for the arrival, stopping and departure of at least one distributing vehicle  9 . An area, which is kept free from attached structures, deposited objects or the like, is present for the unhindered travel of the distributing vehicle, e.g., peripherally on the outside at the protective enclosure  13  in the embodiment being shown. This may be, e.g., a free corridor. 
         [0035]    One or more docking sites  22  for one or more distributing vehicles  9  may be present on one or more outsides of the machining station  2 . The distributing vehicle  9  can assume at these docking sites  22  a predetermined, exact position, which is favorable or even necessary for carrying out the handling tasks accurately. Furthermore, an energy supply means  23  for the distributing vehicle  9  may be present at the docking site  22 . The energy supplied may be electric current, a fluid fuel or the like. In addition, operating materials, e.g., cooling water, compressed air, hydraulic fluid or the like may be transferred at this site. Signal transmission is also possible. Furthermore, a stationary positioning aid for positioning the vehicle, which is equipped with corresponding mechanical support and guide means, may be present at the docking site  22 . Such docking sites  22  may also be arranged in other locations in the machining plant  1 , e.g., at the readiness position  6 . 
         [0036]    The components  4 ,  5  are preferably commissioned and transported on suitable component carriers  24 ,  25 . The commissioning may take place at the component center  7  in the manner described below. As an alternative or in addition, precommissioned component carriers  24 ,  25  loaded with components  4 ,  5  may also be delivered to and kept ready at the readiness position  6 . The distributing vehicles  9  shuttle between the machining stations  2  and the readiness position, feeding loaded component carriers  24 ,  25  and returning empty component carriers  24 ,  25 . As an alternative, the components  4 ,  5  may also be transported and fed without component carriers  24 ,  25 . 
         [0037]    The component carriers  24 ,  25  may have any desired and suitable design. They may be, e.g., containers with side walls, pallets or any other carrying means, which optionally have suitable component supports and fixing means for the components  4 ,  5 . The component carriers  24  have a shape and size appropriate for handling as well as a weight that is favorable for lifting. As an alternative or in addition, other component carriers  25  are possible for heavy load purposes, which may be designed, e.g., as roller pallets and are moved on the floor or in suitable suspended guides. They are suitable for especially heavy components  4 ,  5  or an especially large collection of components  4 ,  5 . 
         [0038]      FIGS. 3 through 5  show a detail of a distributing vehicle  9 . It has a chassis  26 , with which it can roll on wheels on the floor of the plant or move along a guide erected on posts in the form of an overhead conveyor. The distributing vehicle  9  is preferably self-propelled and has a corresponding drive, e.g., an electric motor with transmission. The distributing vehicle  9  can be steered in any desired and suitable manner, e.g., by a front axle steering or front wheel steering, combined steering of the front and rear wheels or by an articulated frame steering of a correspondingly split chassis  26 . 
         [0039]    The distributing vehicle  9  may have an integrated energy supply, e.g., a battery. This may be recharged at a docking site  22  via the energy supply means  23  or at another site. As an alternative, permanent energy supply via a trailing cable, inductive transmission or the like is possible. Any other type of drives, energy source or energy storage means or energy supplies is possible in another variant. 
         [0040]    The distributing vehicle  9  may have a driver stand  27  for manual operation. As an alternative, this may be eliminated for fully automatic operation. In addition, the distributing vehicle  9  has a safety sensor system  28 , which detects and prevents collisions with persons or objects in time. Furthermore, a control  35 , which controls the travel motions and other functions of the distributing vehicle  9  and parts thereof, is present at a suitable site. 
         [0041]    At least one manipulator  10 , which performs the handling tasks with the components  4 ,  5  and/or the component carriers  24 ,  25 , is present on the distributing vehicle  9  at a suitable site. The manipulator  10  has a plurality of axes and may be arranged stationarily or detachably. It is preferably arranged in an elevated position on a base  41 . The manipulator  10  is designed, e.g., as a multiaxial articulated-arm robot and has, for example, six rotatory axes. The manipulator  10  may have any desired number and type of rotary and/or translatory axes. It is likewise connected to the control  35 . A suitable driven element, e.g., a multiaxial robot hand  39 , which carries an optionally changeable tool  40 , is arranged at its power take-off-side robot arm  38 . The tool  40  is, for example, a one- or two-armed pallet gripper, with which one or more component carriers  24  can be grasped and moved multiaxially. 
         [0042]    The distributing vehicle  9  shown in  FIGS. 3 through 5  is designed as an individual car  51 , which has one or more supports  30  for component carriers  24 ,  25 , besides the manipulator  10 . These component carriers  24 ,  25  may be positioned in a manner favorable for access, e.g., in the form of stairs. The supports  30  and the component carriers  24 ,  25  may have a modular dimension, which makes it possible to arrange component carriers  24 ,  25  of different types and sizes on one support  30  to increase the flexibility of transportation. A quick change possibility may be given as well. The supports  30  may be, e.g., frames with fixing elements for temporarily holding the component supports  24 ,  25 . Furthermore, it is possible that one or more supports  30  are designed as racks, drawers or the like for being accommodated in the vehicle body in a surrounded or recessed manner. For example, drawers may be arranged here for small parts. The supports  30  lie in the work area  31  of the manipulator  10  and their arrangement is preferably optimized for maximum conveying capacity. 
         [0043]    The distributing vehicle  9  has an outside and preferably peripheral protective enclosure  29 , which denies people access to the interior space of the vehicle and to the supports  30  as well as to the manipulator  10 . The protective enclosure  29  may be designed as a lattice fence or as a massive wall and integrate the front and rear walls of the distributing vehicle  9 , which are present anyway. Separately secured accesses (not shown) may be present for maintenance purposes. 
         [0044]    At least one docking means  32 , which can optionally be extended laterally and cooperates with the stationary docking site, is arranged at the chassis  26  or at another suitable site. An energy coupling, which automatically docks with the energy supply  23 , may be integrated in the docking means. For example, the higher energy demand necessary for the handling tasks of the manipulator  10  at the stop or docking site  22  can be supplied via this energy supply. The energy supply carried on board the vehicle can be limited as a result and designed for the travel operation. Control signals can also be exchanged in the above-described manner via the energy coupling. Furthermore, the distributing vehicle  9  may have a suitable means securing against tilting (not shown), which ensures stability during the motions of the manipulator and lifting operations. The means securing against tilting, which is equipped, e.g., with support pads or support struts, is activated or extended in the parked position or docked position and can cooperate with the docking site  22  and a support means present there. 
         [0045]    The docking means  32  may have, furthermore, a position sensor system  33 . The docking means  32  has, e.g., a floatingly mounted docking element for this purpose, which meshes with an opposing element at the docking site  22  in a positive-locking manner. The clearance of motion is at least as great as the positioning accuracy of the distributing vehicle  9  and compensates these tolerances. The preferably movably driven docking element is positioned at the opposite element with a search function and self-centering and meshed in a positive-locking manner. The path traveled now between a starting position and the actual docking position is measured with the position sensor system  33  and is sent into the control  35  as a correction value for the manipulator position. The position in space of the distributing vehicle  9  is detected from the known position in space of the docking site  22  and communicated to the control  35 . The exact position in space of the manipulator  10  can be determined from this. As an alternative, the position sensor system  33  may also be associated with the docking site  22  and the kinematics can be correspondingly reversed. 
         [0046]    As is illustrated in  FIG. 5 , the work area  31  of the manipulator  10  may be restricted. This can be brought about, e.g., by means of a mechanical or control technical locking means  34 , which is in connection with the control  35  or optionally with the docking means  32 . The docking means  32 , arranged, for example, on both broad sides of the distributing vehicle  9 , signals the working side directed towards the machining station  2  in case of docking and restricts it to the interior space of the distributing vehicle  9 . Motion of the manipulator  10  beyond the opposite free side of the vehicle and the protective enclosure  29  located there is prevented by means of the locking means  34 . Thus, workers  12  or other persons cannot enter the work area  31  of the manipulator  10  from this side. The locking and the function are correspondingly turned around if the distributing vehicle  9  is docked on the other side of the vehicle. 
         [0047]      FIG. 10  shows a variant of the embodiment of the one-part distributing vehicle  9  shown in  FIGS. 3 through 5 . The right-hand side of  FIG. 10  shows a distributing vehicle  9 , which has a multipart design in the form of a train of cars and comprises a manipulator car  52  and one or more transport cars  53  coupled therewith. The manipulator  10  is located on the manipulator car  52 , and there are only a few or no supports  30  for component carriers  24 ,  25 . These supports  30  are arranged on the transport car or transport cars  53 , which are located in the work area of the correspondingly designed manipulator  10 . The transport car  53  can be uncoupled when needed, so that the manipulator car  52  can move in an isolated manner. 
         [0048]    The distributing vehicle  9  and/or the manipulator  10  have a means  36  for clearing the protective enclosure  13  of the machining station  2 . In the simplest case, this means  36  may be the manipulator  10 , whose mobility and range of motion are designed and arranged such that it can grasp into the machining station  2  beyond the protective enclosure  13 . It is favorable for this if the manipulator  10  is arranged in an elevated position on the base  41 . In case of a corresponding design of the manipulator, the base  41  may, however, also be eliminated. The manipulator  10  can grasp with its tool  40  one or more component carriers  24  at the support  30 , lift it/them over the protective enclosure  13  and deposit it/them within the machining plant  2  at a suitable site and in a predetermined position. Conversely, completely or partially emptied component containers  24  can be removed from the machining plant  2  and deposited on the supports  30 . One or more holders  18  for component carriers  24 ,  25  are provided at predetermined sites within the machining station  2 . Since no attention needs to be paid to ergonomic requirements due to the mechanical handling, the component carriers  24  can be deposited in the machining station  2  in positions favorable for the handling systems, e.g., elevated on stands  19 . Due to the short handling times of the logistic manipulator  10 , it is possible to change the component carriers  24  within the process time in the machining station  2 , so that storage sites for component carriers  24  may be eliminated or substantially reduced within the station. 
         [0049]    The holders  18  may have any desired and suitable design. They are preferably adapted to the shape of the component carriers  24 ,  25  and have suitable guide and fixing means. In the simplest means they are support plates with positioning pins. As an alternative, one or more holders  18  may also be designed as bulk material containers  20 , into which small parts, e.g., screws, straps, etc., are introduced with their component carriers  24 . As an alternative, the component carrier  24  filled with the small parts can be emptied by the manipulator  10  into the bulk material container  20 . A separating means and feed for the further processing of the individual parts and for keeping them ready may be present at the bulk material container  20 , e.g., a vibrating pot. 
         [0050]      FIG. 10  shows a variant with heavyweight component carriers  25  and an access  15  to the machine in the protective enclosure  13 . The component carrier  25  can be carried by the distributing vehicle  9  in a suitable manner or kept ready in another manner in the vicinity of the access  15  to the machine. The component carrier  25  rolls on rollers of its own or on other support means. A component carrier  25 , whose weight or size exceeds the load or the handling capacity of the manipulator  10 , can be pulled by the manipulator  10  over an oblique plane onto a corresponding support at the distributing vehicle  9 , locked, and, conversely pushed off for unloading. The support may be arranged in a bay of the protective screen  29  or have a closable access in the protective screen  29 . In another variant, the heavyweight component carrier  25  may be suspended on the distributing vehicle  9  and roll on wheels of its own during transportation. 
         [0051]    The manipulator  10  pushes the component carrier  25  at the machining station  2  into the access  15  to the machine located preferably in a bay of the protective enclosure  13 . The distributing vehicle  9  positioned directly in front of the access  15  to the machine screens out the access against persons. 
         [0052]    The means  36  for clearing the protective enclosure  13  may comprise in this case an opening means  37 , which is carried and activated by the manipulator  10  or the distributing vehicle  9 . It contains a kind of key, with which the access  15  to the machine can be opened and its safety means  16  can be switched off. The manipulator  10  pushes the component carrier  25  in the above-mentioned manner to its intended place in the machining station  2  and possibly to a floor-side holder  18  and removes, possibly as an exchange, an empty component carrier  25 . These exchange operations may, however, also take place separately at different times and on different occasions. After the end of the feeding and handling operations, the access  15  to the machine is again closed with the opening means  37 . 
         [0053]      FIG. 10  illustrates another variant with the readiness position and feed of components  4 ,  5 . For example, a bay  17  is arranged in the protective enclosure  13 , which bay accommodates one or more component carriers  24 . On these component carriers, a worker  12  commissions one or more and optionally different components  4 ,  5 , which he takes from a component magazine  42  located outside the traffic space  21 . The worker  12  leaves after finishing, and the manipulator  10  of a distributing vehicle  9 , which has been brought in, subsequently picks up the component carrier or component carriers  24  and moves them into the machining station  2  in a suitable manner over or through the protective enclosure  13 . In this variant, the component carriers  24  can be in an ergonomically suitable position for manual mounting and commissioning and can be subsequently brought by the manipulator  10  into another position suitable for handling in the machining station  2 . 
         [0054]    The manipulator  10  knows the positions of the individual holders  18  in the machining station  2 , e.g., from a teaching operation or by offline programming and can approach and service them directly. The corresponding data are stored in the control  35 . 
         [0055]    Each distributing vehicle  9  receives the request signals for feeding components  4 ,  5  and component carriers  24 ,  25  from one or more logistic controls  11  in the machining plant  1 . These may be connected or integrated into the plant control or plant controls. The filling level of the component carriers  24 ,  25  is monitored within the machining station as needed, so that a request signal is sent to the logistic control  11  in time before they are emptied, the logistic control ensuring that the component or components  4 ,  5  needed is/are correspondingly available in time at the readiness position  6  and that these components  4 ,  5  are hauled off and fed with one or more distributing vehicles  9 . The logistic control  11  also controls the travel motions of the distributing vehicles  9  and optionally the entire vehicle traffic. The sensor signals may be transmitted in any desired and suitable manner via line connections or in a wireless manner by radio, infrared light or the like. 
         [0056]    In a cut-away view,  FIGS. 8 and 9  illustrate a component center  7 , which is shown in a larger outline in  FIG. 1 . The component center  7  has one or more commissioning areas  43  with component magazines  42  for the manual or automatic commissioning and loading of component carriers  24 ,  25  with components  4 ,  5 . A readiness table  44  with one or more associated component magazines  42 , which are separated from the readiness table  44  by an aisle  45 , is located at the individual commissioning area. The dimensions of the aisle in terms of length and width are preferably coordinated with the dimensions of a distributing vehicle  9 . The aisle  45  is constructed such that workers  12  can walk on it and one or more distributing vehicles  9  can travel on it. One or more component carriers  24 ,  25  made ready with components  4 ,  5  from the component magazines  42  in the desired type, number and arrangement are loaded and commissioned at the readiness table  44 . The component carriers  24 ,  25  may be optionally positioned at predetermined sites. The component carriers  24 ,  25  can be subsequently hauled off at this site by one or more distributing vehicles  9  and brought to the machining stations  2 . 
         [0057]    The readiness table  44  may have a plurality of, e.g., two table sides  46 ,  47 , which are divided from each other by the protective enclosure  48 . Manual commissioning operations and mechanical loading and unloading operations carried out by a logistic manipulator  10  can take place as a result simultaneously on the sides  46 ,  47  of the table. The protective enclosure  48  extends, e.g., in the longitudinal central axis of the readiness table  44  and on the transverse sides of the table areas  46 ,  47 . Each side  46 ,  47  of the table has the aisle  45  and the component magazine  42  associated with it. 
         [0058]    The readiness table  44  may have at the loading areas one or more lifting means  49 , which can be actuated manually or automatically and are optionally driven by a motor, for raising or lowering the work surface and the component carriers  24 ,  25  locally or in an area larger than the table itself. These make possible, e.g., an ergonomically favorable low loading height and the formation of component stacks in the component carriers  24 ,  25  or of component carrier stacks. A higher position of the component carriers  24 ,  25  is kinematically more favorable for the logistic manipulator  10  for the loading and unloading operations. 
         [0059]    Furthermore, one or more, essentially horizontally operating displacing means not shown, with which the work surface on the readiness table [sic-Tr.Ed.]  44  and/or the component magazines  42  can be displaced laterally in the longitudinal or transverse direction, may be arranged in the commissioning area  43 . It is possible, as a result, e.g., to reduce the width of the aisle in order to improve ergonomics and to shorten the paths for the worker  12  during the commissioning and loading of the component carriers  24 ,  25 . In addition, one or more loading aids not shown, which may have, e.g., a crane-like design and support and relieve the worker  12  during the component  4 ,  5  loading and conveying operations, may be present in the component center  7 . 
         [0060]    The safety of persons within the component center  7  is guaranteed by the protective enclosures  48 . The safety sensor system  28  or another suitable means ensures that a distributing vehicle  9  can enter an aisle  45  only when no worker  12  is located there. On the other hand, by adapting the width of the distributing vehicle  9  and the aisle  45 , access for workers  12  into this area of the aisle is prevented. 
         [0061]    The readiness position  6 , especially in the embodiment as a component center  7 , has a control  50 , which communicates with the logistic control  11  in a suitable manner. The worker  12  thus receives information in time on the type and number of components  4 ,  5  requested by one or more machining stations  2 . How and where he has to make these components  4 ,  5  ready at the readiness table  44  in the component carriers  24 ,  25  may optionally also be signaled to him optically, acoustically or in another manner. These readiness positions are likewise preferably preset and known to the manipulator  10  for grasping securely. In addition, the component magazines  42  may have a means for monitoring the filling level, which is likewise connected to the control  50 . The fact that the components are running low can thus be signaled and the components  4 ,  5 , delivered in large packages, can be requested on time. This reorder may be carried out fully automatically via the control  50  or by manual intervention on the part of the worker  12 . 
         [0062]    It is, furthermore, possible in a fully automatic variant that the manipulator  10  of the distributing vehicle  9  itself organizes and performs the commissioning and loading. To do so, it can grasp the individual components  4 ,  5  from the component magazine  42 , with a suitable, possibly changed tool  40 , and load its component carriers  24 ,  25 , which it carries with it on the supports  30 . The manipulator  10  also carries out the unloading of the empty component carriers  24 ,  25  automatically in the component center  7  or at another readiness position  6 . 
         [0063]    Just as at the machining stations  2 , one or more stationary docking sites  22  with the above-described embodiments and functions, including energy supply and position determination, can be arranged at the readiness position  6  or the component center  7 . Furthermore, the control  50  of the component center  7  can also communicate with the controls  35  of the distributing vehicles  9 . The controls  35  of the distributing vehicle  9  can in turn also be connected to the station and plant controls. 
         [0064]    The control and steering of the distributing vehicle or distributing vehicles  9  may take place in any desired and suitable manner. It may be a radio control, a floor-side inductive vehicle guiding or the like. The manipulators  10  are controlled, e.g., via a programmable continuous-path control, in which the positions of the supports  30  and of the component carriers  24 ,  25  on the distributing vehicle  9  as well as on the readiness table  44  as well as the positions of the holders  18  in the machining stations  2  are stored as absolute positions or relative to the docking sites  22 , whose position is likewise known. Such docking sites  22  may also be present in the readiness position  6 , especially the component center  7 . 
         [0065]    The manipulator  10  may be equipped with a changing device for changing its tools  40 . This enables it to perform other tasks. These may be, on the one hand, the aforementioned tools for joining and processing the components  4 ,  5  during the conveying thereof on the distributing vehicle  9 . On the other hand, these tools may be [intended] for participating in the processes taking place within the station. The manipulator  10  can be used, furthermore, for maintenance, inspection or cleaning work within the machining stations  2 . The tools may be designed for this as spray guns, grease guns, industrial vacuum units or the like. Due to the fact that the width of the station can be reduced thanks to the component logistics according to the present invention, the manipulator  10  can extend relatively far into the machining station  2  and automatically clean and lubricate, e.g., chains there or inspect trailing cables or critical machine components for damage with a camera or video system. Another possibility of use is the automatic emptying of chip containers at cutting mills. 
         [0066]    The logistic system is used for feeding components  4 ,  5  to machining stations  2  in the exemplary embodiment being described. The use may also be reversed, in which case components are removed in connection with disassembly lines. 
         [0067]    The manipulator  10  may be equipped with a camera or video system for detecting and analyzing images in the above-described manner. This can also be used for logistic purposes, e.g., for checking the filling level of the component magazines  42  or of the component carriers  24 ,  25  located in the machining stations  2 , which is to be performed by the manipulator  10 . In addition, the manipulator  10  may be guided and positioned by means of this camera system. 
         [0068]    The features of the above-described exemplary embodiments may be interchanged and combined with one another as desired. Furthermore, various variants of the design and functional embodiments described are possible. This pertains, e.g., to the arrangement of the control, the assignment of stations  2  and readiness positions  6 , the number, design and motion of the distributing vehicles  9 . It is possible, in particular, to have distributing vehicles  9  of different types and sizes within one machining plant  1 . Furthermore, commissioning of components  4 ,  5  and loading of component carriers  24 ,  25  in the machining plant  1  may be completely or partially eliminated. Components  4 ,  5  may be precommissioned, e.g., at the manufacturer and delivered already in component carriers  24 ,  25  or in another form of packaging suitable for the logistics described and made available at the readiness position  6 . 
         [0069]    While specific embodiments of the invention have been shown and described in detail to illustrate the application of the principles of the invention, it will be understood that the invention may be embodied otherwise without departing from such principles. 
       LIST OF REFERENCE NUMBERS 
       [0000]    
       
           1  Machining plant 
           2  Machining station 
           3  Workpiece, body part 
           4  Component 
           5  Component 
           6  Readiness position for components 
           7  Component center 
           8  Component feeding means 
           9  Distributing vehicle 
           10  Manipulator 
           11  Control, logistic control 
           12  Worker 
           13  Protective enclosure, fence 
           14  Access, access for persons 
           15  Access, access to machine 
           16  Safety means 
           17  Bay 
           18  Holder for component carrier 
           19  Stand 
           20  Bulk material container 
           21  Traffic space 
           22  Docking site 
           23  Energy supply 
           24  Component carrier, container, pallet 
           25  Component carrier, roller pallet 
           26  Chassis 
           27  Driver stand 
           28  Safety sensor system 
           29  Protective screen 
           30  Support for component carrier 
           31  Work area 
           32  Docking means, energy coupling 
           33  Position sensor system 
           34  Locking means for work area 
           35  Control 
           36  Means for clearing the protective enclosure 
           37  Opening means 
           38  Robot arm 
           39  Robot hand 
           40  Tool, pallet gripper 
           41  Base 
           42  Component magazine 
           43  Commissioning area 
           44  Readiness table 
           45  Aisle 
           46  Table side 
           47  Table side 
           48  Protective enclosure 
           49  Lifting means 
           50  Control 
           51  Individual car 
           52  Manipulator car 
           53  Transport car