阅读说明：本技术 用于配置用于压力机自动化的相关于工件的工件保持装置的方法 (Method for configuring a workpiece holding device for press automation in relation to a workpiece ) 是由 F·布赫纳 F·海尔迈尔 F-X·霍亨伯格 于 2020-05-07 设计创作，主要内容包括：本发明涉及一种用于配置用于压力机自动化的相关于工件的工件保持装置(1)的方法,所述工件保持装置(1)的至少一个特定于工件的保持元件(2、2’)在至少一个配置自由度中可配置地固定在工件保持装置(1)的支承件(3)上,所述方法包括(a)在显示装置(8)上成像至少一个特定于工件的保持元件(2、2’)的真实图像并且(b)将与所述至少一个特定于工件的保持元件(2、2’)有关的配置信息输出在显示装置(8)上,所述配置信息包括至少一项关于特定于工件的保持元件(2、2’)的至少一个区域相对于支承件(3)的相对目标定向和/或相对目标位置的目标信息。(The invention relates to a method for configuring a workpiece holding device (1) for press automation in relation to a workpiece, at least one workpiece-specific holding element (2, 2') of the workpiece holding device (1) is fixed on a support (3) of the workpiece holding device (1) in a manner that can be configured in at least one configuration degree of freedom, the method comprises (a) imaging a real image of at least one workpiece-specific holding element (2, 2') on a display device (8) and (b) outputting configuration information relating to the at least one workpiece-specific holding element (2, 2') on the display device (8), the configuration information comprises at least one item of target information about a relative target orientation and/or a relative target position of at least one region of the workpiece-specific holding element (2, 2') relative to the support (3).)

1. Method for configuring a workpiece-specific workpiece holding device (1) for press automation, wherein at least one workpiece-specific holding element (2, 2') of the workpiece holding device (1) is configurably fixed to a support (3) of the workpiece holding device (1) in at least one configuration degree of freedom,

-imaging a real image of at least one workpiece-specific holding element (2, 2') on a display device (8),

-outputting configuration information relating to the at least one workpiece-specific holding element (2, 2') on a display device (8), the configuration information comprising at least one item of target information about a relative target orientation and/or a relative target position of at least one region of the workpiece-specific holding element (2, 2') relative to the support (3).

2. Method according to claim 1, characterized in that at least the at least one workpiece-specific holding element (2, 2') is detected by means of a detection device, in particular partially arranged in a positionally fixed manner relative to the fixing device (11), in order to generate at least one item of actual information at least about the workpiece-specific holding element (2, 2'), in particular comprising the relative actual orientation and/or the actual position of the at least one workpiece-specific holding element (2, 2') relative to the support (3), wherein the actual information is taken into account in the configuration information.

3. Method according to claim 1 or 2, characterized in that the actual information relating to the relative actual orientation and/or actual position of at least one region of the workpiece-specific holding element (2, 2') with respect to the support (3) is compared with the target information and comparison information relating to the differences and/or coincidences of the comparisons is generated, in particular the comparison information considered in the configuration information is displayed on a display device (8).

4. Method according to claim 3, characterized in that comparison information relating to the agreement of the comparison is displayed on the display device (8) with a predefined first symbol and/or comparison information relating to the deviation of the comparison is displayed on the display device (8) with a second symbol different from the first symbol, in particular the first and second symbols are distinguished from each other by their color and/or shape and/or structure.

5. Method according to one of the preceding claims, characterized in that the at least one workpiece-specific holding element (2, 2') is detected by a detection device (12), in particular partially arranged in a positionally fixed manner relative to the fixing device (11), in order to generate a real image of the at least one workpiece-specific holding element (2, 2') and to image the real image on a display device (8).

6. Method according to any of the preceding claims, characterized in that a real image of the at least one workpiece-specific holding element (2, 2') is imaged on at least one transparent area of a display device (8).

7. Method according to one of the preceding claims, characterized in that, in the case of at least two, preferably at least three, particularly preferably at least four, detection means (13, 13', 13", 14) which optically detect the workpiece-specific holding element (2, 2') from different positions and/or orientations are used, at least the at least one workpiece-specific holding element (2, 2') is detected by means of a detection device (12), which is arranged in particular in part positionally fixed relative to the fixing device (11).

8. Method according to one of the preceding claims, characterized in that a calibration step is carried out in which the deviation of at least one optical detection means (13, 13', 13", 14) of the detection device (12) is determined at least on the basis of a standard accommodated in the fixing device (11), in particular which standard represents the shape and/or orientation and/or contour of the support (3) held on the fixing device (11) and/or of the workpiece-specific holding elements (2, 2') fixed on the fixing device (11) and the support (3).

9. Method according to claim 8, characterized in that in processing the information determined by the at least one optical detection means (13, 13', 13", 14) possible deviations of the at least one optical detection means (13, 13', 13", 14) determined in the calibration step are taken into account.

10. Method according to one of the preceding claims, characterized in that additional information (15) of the configuration information relating to the workpiece-specific holding elements (2, 2'), the support (3) and/or the workpiece to be held in the prescribed use of the workpiece-specific holding elements (2, 2') is displayed on the display device (8), in particular, the additional information comprises component number information and/or component weight information and/or component dimension information and/or manufacturer information and/or supplier information and/or manufacturing time information and/or delivery time information and/or tolerance information and/or aging information of the workpiece-specific holding elements (2, 2'), the supports (3) and/or the workpieces to be held in a defined use of the workpiece-specific holding elements (2, 2').

11. Method according to one of the preceding claims, characterized in that at least one workpiece (100) to be held at least temporarily by a holding element in a defined use of the workpiece-specific holding element (2, 2') is displayed at least partially on a display device (8) as additional information of the configuration information, in particular the additional information (15) is inserted superimposed on the actual image and/or the actual information and/or the target information of the at least one workpiece-specific holding element (2, 2') imaged on the display device (8).

12. Method according to claim 10 or 11, characterized in that the detection information determined by the detection device (12) about the at least one workpiece-specific holding element (2, 2') is used to derive additional information, in particular that the at least one workpiece-specific holding element (2, 2') is identified by the detection information and the additional information assigned to the workpiece-specific holding element (2, 2') is displayed.

13. Method according to one of the preceding claims, characterized in that a partial region of the support (3) shown enlarged in comparison with the previous display is displayed on the display device (8), wherein the displayed partial region of the support (3) corresponds to the fixing position of at least one workpiece-specific holding element (2, 2'), in particular in that the enlargement of the at least one partial region of the support (3) on the display device (8) is carried out after the selection of the workpiece-specific holding element (2, 2') to be fixed on the partial region of the support (3).

14. Method according to claim 13, characterized in that the selection of at least one workpiece-specific holding element (2, 2') to be fixed on the support (3) is carried out by optical detection of the workpiece-specific holding element (2, 2') by means of a detection device (12) and/or by manual selection via an input device.

15. Apparatus for carrying out a method for configuring a workpiece-specific workpiece holding device (1) for press automation, comprising a display device (8) and a detection device (12) for detecting at least one workpiece-specific holding element (2, 2') of the workpiece holding device (1) in order to generate at least one item of actual information at least about the workpiece-specific holding element (2, 2'), in particular comprising a relative actual orientation and/or an actual position of the at least one workpiece-specific holding element (2, 2') relative to a support (3), wherein the actual information is taken into account in the configuration information and can be output on the display device (8).

16. Method for feeding workpieces (100), in particular vehicle components, into an automatic press, wherein for feeding the workpieces (100) a workpiece holding device (1) is used which comprises at least one support (3) and at least one workpiece-specific holding element (2, 2'), which is configured according to one of the methods 1 to 14.

Technical Field

The invention relates to a method for configuring a workpiece holding device for press automation, said device being associated with a workpiece.

Background

Corresponding methods for configuring workpiece-related workpiece holding devices for press automation are known from the prior art. Known workpiece holding devices for press automation have a base element or base support, on which a holding element can be mounted, which serves for temporarily holding a workpiece, such as a sheet metal part (also referred to as a slab), which is supported by the workpiece holding device and is to be pressed or has been pressed by a pressing device. In this case, the workpiece holding device is used, in particular, for automatically or robotically loading workpieces into the pressing device and for removing pressed workpieces from the pressing device.

Disclosure of Invention

The object on which the invention is based is to provide a method which makes it possible, in particular in terms of simple, rapid and cost-effective measures, to configure a workpiece holding device in relation to a workpiece for a defined workpiece. In particular, it is possible to precisely adapt the workpiece-specific holding element to the workpiece in a simple and easy manner.

The object is achieved by a method for configuring a workpiece-related workpiece holding device for press automation according to claim 1. The dependent claims relate to possible embodiments of the method.

The invention relates to a method for configuring a workpiece-specific workpiece holding device for press automation, at least one workpiece-specific holding element of which is configurably fixed to a support of the workpiece holding device in at least one configuration degree of freedom. The method is characterized by the following method steps: (a) imaging a real image of at least one workpiece-specific holding element on a display device, and (b) outputting configuration information at least relating to the at least one workpiece-specific holding element on the display device, the configuration information comprising at least one item of target information about a relative target orientation and/or a relative target position of at least one region of the workpiece-specific holding element with respect to the support. In a further method step, it can optionally be provided that the configuration of the workpiece-specific holding elements or the adaptation to the workpiece is carried out on the basis of the configuration information. In general, the adaptation of the workpiece-specific holding elements is carried out by manual intervention by a worker or production staff, who may, for example, fix or mount at least one, preferably a plurality of workpiece-specific holding elements on a support that is fixed on the mounting table by means of a fixing device. The fastening or mounting is carried out in such a way that the workpiece-specific holding elements have a defined position and/or orientation relative to the support and thus, if necessary, relative to other workpiece-specific holding elements fastened or to be fastened to the support. In order to carry out such an arrangement, the support and/or the at least one workpiece-specific holding element and/or the connecting means arranged or formed between the support and the holding element and/or the connection point, for example, have a clamping mechanism which allows the workpiece-specific holding element to be fixed in a desired position and/or orientation and thus in a desired arrangement relative to the support and/or relative to the at least one holding element to be fixed or fixed on the support.

The configuration degrees of freedom may comprise a change of at least one, preferably a plurality of translational and/or rotational degrees of freedom of the at least one holding element relative to the support supporting the holding element.

The target information, in particular the relative target position and/or the relative target orientation of at least one holding element with respect to the other holding element and/or the support, can be determined at least partially, preferably only from a CAD data record for the workpiece to be clamped with the workpiece holding device. CAD data can preferably be automatically considered to generate the target information. The CAD data can comprise both geometric information about the workpiece and geometric information about the carrier and/or the holding elements.

The term "workpiece-specific holding element" is to be understood as a holding element which can be adapted to the shape and/or contour of the workpiece or whose orientation and/or position can be changed at least with respect to a support supporting the workpiece-specific holding element and can be fixed in particular in such a change. For this purpose, the holding element can be connected to the support by at least one connecting means and/or a connecting point. By changing the orientation and/or position of the at least one workpiece-specific holding element, the workpiece holding device with respect to the workpiece can be adapted to workpieces of different designs.

The workpiece holding device associated with the workpiece is used for preferably automated operation, i.e. for automatically loading or removing the workpiece into or out of the pressing device. The workpiece holding device can be used as a connection link between the robot or the robot hand and the workpiece. In the pressing device, the inserted workpiece can be subjected to a forming process, in particular a deep-drawing process. After the workpiece has been subjected to the forming process, it can be removed by temporarily holding the formed workpiece by a workpiece holding device in relation to the workpiece. The workpiece holding device associated with the workpiece can be designed as a gripping or holding device of a robot and/or a robot and, after the workpiece holding device has gripped the shaped workpiece or is connected thereto, can be safely and reliably removed from the pressing device and transferred to a destination, if necessary a material pallet. Once the destination is reached, the connection to the workpiece holding device may be released and the workpiece holding device may be used to clamp another workpiece.

The molding process may, for example, comprise a plurality of molding steps, each of which is carried out on a separate molding die. For this purpose, a plurality of workpiece-related workpiece holding devices can be used, each of which is adapted to the shape of the shaped workpiece to be removed from the respective shaping die.

The workpiece may preferably be a sheet metal part which is fed as a sheet metal blank to the forming tool. The dimensions of the workpiece can have a maximum longitudinal extent of at least one meter, preferably a maximum longitudinal extent of at least 1.5 meters, particularly preferably a maximum longitudinal extent of at least 2.0 meters. In order to handle correspondingly large workpieces, it is necessary to use workpiece holding devices of substantially comparable size in relation to the workpiece. In this case, the individual workpiece-specific holding elements fastened to a common support can have substantially the same spacing, so that their fitting or a comparison of the position and/or orientation of the holding elements relative to one another is difficult, since it is difficult for manual configuration or manual fitting to be detected by the usual visual field of the production staff.

The manual adaptation has the advantage that it is less expensive than the automatic adaptation or configuration of the workpiece-specific holding elements, since in particular no investment is required for the corresponding industrial robot and its workpiece-specific programming which performs the adaptation of the holding elements. In particular, the fact that the workpiece-holding devices with respect to the workpieces need to be adapted for one workpiece and therefore the adaptation of each workpiece is usually performed only once is not proportional to the programming work of the industrial robot for performing the display and/or the configuration of the workpiece-holding devices with respect to the workpieces and can be done by manual installation by production personnel at lower cost.

The workpiece-specific holding elements of the workpiece holding device with respect to the workpiece can, for example, comprise suction devices, such as suction cups, which enable the workpiece to be held on the workpiece holding device by applying a negative pressure, in particular a vacuum. For this purpose, the suction device can be placed onto a preferably flat and planar section of the workpiece and a negative pressure can be established. Alternatively or additionally, the at least one workpiece-specific holding element can be designed as a holding element forming a form-fitting connection. For this purpose, the holding element can surround and/or grip and hold the workpiece from below, for example, by means of a clamping element. Alternatively or additionally, the at least one holding element of the workpiece holding device associated with the workpiece can be brought into a temporary connection with the workpiece by means of a force-fitting connection.

The configuration or operation of the at least one workpiece-specific holding element is assisted, in particular performed manually, by imaging a real image of the at least one workpiece-specific holding element on a display device for production personnel, wherein configuration information relating to the workpiece-specific holding element is also additionally output on the display device. The configuration information comprises at least one item of target information about a relative target orientation and/or a relative target position of at least one region of the workpiece-specific holding element relative to the support. The target information may, for example, merely indicate whether the holding element is in a predefined position and/or orientation relative to the support or is in a target position and/or target orientation, i.e. information indicating "OK" or "not OK" is displayed. Alternatively or additionally, the target information may represent the target position and/or target orientation by displaying or outputting two-dimensional or three-dimensional displayed elements on a display device. The target information thus provides assistance to the production staff, enabling them to operate or adapt the at least one workpiece-specific holding element relative to another workpiece-specific holding element and/or the support holding the workpiece-specific holding element.

In a preferred embodiment, the object information is superimposed on the actual image of the holding element, preferably of the holding element and at the same time of at least part of the support, which is likewise imaged or displayed on the display device. Such a presentation on the display device can be performed, for example, in the form of a so-called "augmented reality" (also referred to as "augmented reality") or in the form of a computer-aided visual reality perception extension. In this case, the object information can be displayed visually, in particular superimposed, together on the actual image of the holding element displayed or imaged on the display device. Preferably, the points, lines and/or area elements are displayed together as target information in a display device which images a real image of at least the holding element. The production staff can see and/or deduce the preferred or necessary actions he needs in the present case in a simple and convenient way by overlaying the illustrations. For example, the production staff can see how he should influence the fixing of the holding element in order to achieve a specific target position and/or target orientation.

The method can provide that at least the at least one workpiece-specific holding element is detected by a detection device, in particular a part of which is arranged in a positionally fixed manner relative to the fixing device, wherein the detection device is used to generate at least one item of actual information at least about the workpiece-specific holding element, which in particular comprises the relative actual orientation and/or the actual position of the at least one workpiece-specific holding element relative to the support, the actual information being taken into account in the configuration information or constituting at least part of the configuration information. The detection device is preferably designed to detect the object, in this case the at least one holding element, at least optically. The information detected by the detection device can be processed in particular into actual information which indicates the position and/or orientation of the holding element relative to at least one further holding element and/or relative to the support for holding the holding element. The detected actual information can be processed and/or subjected to predefined processing, for example, the determined information can be reduced by using a filter, so that only the "corner points" or the reduced image information which are relevant for the configuration are transmitted as actual information on the display device or displayed there.

In a preferred embodiment, the method provides that the actual information relating to the relative actual orientation and/or the actual position of at least one region of the workpiece-specific holding element relative to the support is compared with the target information. In addition, provision is optionally made in a further method step for comparison information to be generated which is related to the differences and/or the agreement of the comparison. Displaying the configuration information on the display device preferably takes into account the comparison information. The configuration or adaptation of the at least one workpiece-specific holding element can be simplified for the production staff by, for example, carrying out the comparison operation by the evaluation device, since the requirements for its intelligence, in particular the spatial imagination, are reduced. The actual information may be based at least in part on information detected by the detection device. Alternatively or additionally, it can be provided that the actual information is taken into account in the evaluation device for selecting and/or determining the actual information by manual influence of the production staff and/or other input means.

The comparison information relating to the agreement of the comparison can be displayed on the display device, for example, with a first predefined symbol, and/or the comparison information relating to the deviation of the comparison can be displayed on the display device with a second symbol which differs from the first symbol, in particular the first and second symbols being distinguished from one another by their color and/or shape and/or structure. By selectively displaying the respective different symbols to the production staff, it is possible to display, for example, whether a target position and/or a target orientation of the workpiece-specific holding element is present to the production staff in a simple and visually understandable manner depending on the displayed symbols. The different colors of the at least two symbols can be designed differently, for example with regard to their brightness and/or color temperature and/or color. Alternatively or additionally, the at least two symbols may be designed differently in their shape (e.g. n-sided polygon, circle, oval). Alternatively or additionally, the at least two symbols may differ in their structure, i.e. for example in the type or extent of the filling thereof on their surface (e.g. checkers, lines, surface pattern types).

In a particularly preferred embodiment, it is provided that the configuration information is displayed on the display device in such a way that at least one section of the display device changes color when the workpiece-specific holding element approaches its target position and/or target orientation, wherein a defined color coding is used to indicate that the workpiece-specific holding element has a predefined distance or a predefined distance range from its target position and/or target orientation. Thus, a first distance range may be identified by a first color and a second distance range, different from the first distance range, may be identified by a second color. Finally, for example, at least one third distance range can be provided, which differs from the first and second distance ranges by displaying a third color which differs from the first two colors. Hereby is achieved that when the holding element moves closer to its target position and/or target orientation, the production staff can identify whether he is approaching the target position and/or target orientation or whether he has reached the target position and/or target orientation, where he can estimate how far the holding element is further from the target position by using at least three distance ranges and corresponding visual markings. As an alternative or in addition to color differentiation, differences in the shape and/or structure of the symbols may also be used here. The detection or the actual information of the holding element at least specific to the workpiece can be realized by a real-time detection thereof.

Furthermore, it can optionally be provided in a method step that the at least one workpiece-specific holding element is detected by a detection device, which is arranged in particular partially stationary relative to the fastening device, in order to generate a real image of the at least one workpiece-specific holding element and to image the real image on a display device. This makes it possible to process the real image on the display device, preferably by digital means. For example, the contrast and/or the identifiability of the regions of the holding element and/or the support that are important for the configuration of the production personnel can be highlighted optically or graphically. The detection device can be designed, for example, as a camera. The detection device can also be designed to output a "real-time image" and thus to perform a real-time detection, which is output by a display device designed as a screen. The detection device can be operated such that the information displayed on the display device is updated at least every two seconds, preferably at least every second, particularly preferably at least every half second. Such a delay may be considered sufficient for carrying out the method according to the invention, where the required computing power is in a favorable proportion.

The display device can be configured, for example, as a portable electronic terminal or an electronic mobile device. For example, a smartphone, a tablet computer, and/or a portable computer (e.g., a laptop computer) may be used as the electronic terminal device. Alternatively, a fixedly mounted screen may be used as the display device. For receiving the configuration information, the display device can be connected by wire or wirelessly with the evaluation device and/or the detection device for unidirectional or bidirectional information exchange.

In a further alternative or additional embodiment of the method, provision is made for a real image of the at least one workpiece-specific holding element to be imaged onto at least one transparent region of a display device. The display device can be designed as a transparent element at least in sections. The transparent element or the display device can be carried by the production staff hands-free. This can be achieved, for example, by constructing the display device or the transparent element as part of the glasses. By the production staff looking through the ophthalmic lens, a real image of the holding element and/or the support can be imaged on the ophthalmic lens or the transparent element. In particular, configuration information is output, in particular displayed, in a superimposable manner on the transparent element. Thus, the production staff allows easy additional visibility of at least one item of configuration information during viewing through the ophthalmic lens. Instead of spectacles, the transparent element can also be designed as a transparent element, such as a glass body, which is fixedly mounted on the mounting table. The transparent element can also be carried by the production staff by means of other holding means, for example the transparent element or the display device is integrated in the visor section of the helmet.

The detection of at least the at least one workpiece-specific holding element by the detection device, which is arranged in particular partially fixed in position relative to the fixing device, can be carried out using at least two, preferably at least three, particularly preferably at least four detection means which optically detect the workpiece-specific holding element from different positions and/or orientations. The two, three or more detection means allow the actual position and/or the actual orientation of the at least one holding element to be precisely positioned. By providing at least one detection means, in particular all detection means, with a defined and preferably positionally fixed position and/or orientation relative to the support or relative to the fixing device holding the support and/or the mounting table holding the support indirectly or directly, precise relative position information of the support relative to the at least one holding element can be obtained. Precision values with tolerances of less than 5mm, preferably less than 3mm, particularly preferably less than 2mm, can be achieved here. This is particularly advantageous when the support has a maximum longitudinal extension of at least 1m, preferably at least 1.5m, particularly preferably at least 2.0 m. The at least one detection means may additionally or exclusively be used for providing a real image of the holding element and/or the support. In this case, the detection device, which is designed, for example, as a camera, can be arranged such that the image generated from its perspective serves as a basis or perspective for the display of the production staff. This can help provide a production employee with a show that makes it easier for him to coordinate the content in front of him with the content displayed to him on the display device. Possible further detection means are arranged and oriented in such a way as to permit spatially determined imaging of the position and orientation of the at least one holding element as precisely as possible. For example, the main detection lines of at least two optical detection means form an angle of 5 ° to 180 °, preferably an angle of 20 ° to 165 °, particularly preferably an angle of 40 ° to 95 °.

As an additional function, it can be provided that the method provides for a calibration step to be carried out, in which a deviation of at least one optical detection means of the detection device is determined at least on the basis of a standard received in the fixing device, which standard represents in particular the shape and/or the orientation and/or the contour of the support held on the fixing device and/or of the workpiece-specific holding elements fixed on the fixing device and the support. By such a calibration step, e.g. by performing a zero point balancing, the accuracy of the information detected by the detection device and the configuration information derived from this information is improved. The standard may for example have a checkerboard pattern with high contrast. Provision can also be made for the standard to be arranged or formed at least in sections on the fastening device and/or the mounting table, so that the calibration process can be carried out in a simple and easy manner during repeated use.

It may prove advantageous to take into account possible deviations of the at least one optical detection means determined in the calibration step when processing the information determined by the at least one optical detection means. Possible inaccuracies of the detection device can be taken into account or compensated for by taking account of the deviation, either quantitatively or qualitatively, when processing the data determined by the detection device.

The additional information of the configuration information relating to the workpiece-specific holding elements, the support and/or the workpieces to be held in the intended use of the workpiece-specific holding elements can be displayed on the display device, so that the ease of operation of the production staff can be increased. The additional information comprises, in particular, component number information and/or component weight information and/or component size information and/or manufacturer information and/or supplier information and/or manufacturing time information and/or delivery time information and/or tolerance information and/or aging information of the workpiece-specific holding elements, supports and/or workpieces to be held in a defined use of the workpiece-specific holding elements. Such additional information may allow production personnel to easily engage in or perform rationality checks or steps during their configuration operations. For example, the component number of the holding element currently to be configured can be displayed to a production staff.

It is particularly advantageous if at least one workpiece to be held at least temporarily by the workpiece-specific holding element during a defined use thereof is displayed at least partially visually perceptible on the display device as additional information of the configuration information. In this case, the additional information can be superimposed, in particular, on the actual image and/or the actual information and/or the target information of the at least one workpiece-specific holding element imaged on the display device. Since the absence of workpieces to be held in a defined use by the workpiece-specific holding elements during the configuration of the workpiece holding device or the handling thereof can greatly complicate the configuration process (in particular because of the quality and size of the workpieces, in particular configured as profiled sheet metal parts), it is advantageous if the workpiece-specific information is displayed on the display device as superimposed visually perceptible information or configuration information. This reduces the requirements on the spatial imagination of the production staff, since the possible perspective shows that the image can be superimposed on the actual image of the holding element and/or the support simultaneously imaged on the display device.

The additional information may comprise static, i.e. unchanging, information, for example at least about the geometry of the component parts of the workpiece holding device, the target distance, and/or other static component information. Alternatively or additionally, the at least one item of additional information may be based on or derived from or related to detection information determined by the detection device with respect to the at least one workpiece-specific holding element. In particular, at least one workpiece-specific holding element is identified by the detection information, which can be displayed as additional information assigned to the holding element. The display holding element comes from the first manufacturer, for example, which can be derived by analyzing the shape or pattern of the workpiece-specific holding element detected by the detection device and/or by detecting a marking (e.g. an opto-electronically readable text, such as a bar code) provided on the detected holding element.

In particular, if the support has a greater extension with respect to the field of view of the production staff or if the holding elements are fixed on regions of the support that are at a greater distance from one another, it can be provided that a partial region of the support shown enlarged compared to the previous display is displayed on the display device, which corresponds to the fixing position of at least one workpiece-specific holding element. In other words, the partial region or the enlarged display image portion can be enlarged automatically or by manual intervention, so that a simpler and more precise visual perception of the region of the workpiece holding device that is important for the at least one configuration substep can be displayed at least temporarily for production personnel. The enlargement of at least one partial region of the support on the display device takes place, in particular after the selection of the workpiece-specific holding element to be fixed on the partial region of the support. This selection can be carried out, for example, by automatically and/or, in particular, manually detecting the marking of the respective holding element and/or the shape of the respective holding element beforehand.

Furthermore, it can be provided, for example, that the workpiece-specific holding elements are optically detected by a detection device and/or that at least one workpiece-specific holding element to be fastened to the support is selected by manual selection by an input device. After the selection of the holding element, a zooming effect is preferably automatically achieved for the partial region of the support on which the holding element provided for this purpose is to be mounted or adjusted.

In addition to the method for configuring a workpiece-related workpiece holding device for press automation, the invention also relates to a device for carrying out the method for configuring a workpiece-related workpiece holding device for press automation, comprising a display device and a detection device for detecting at least one workpiece-specific holding element of the workpiece holding device in order to generate at least one item of actual information at least about the workpiece-specific holding element, which in particular comprises a relative actual orientation and/or an actual position of the at least one workpiece-specific holding element relative to a support, the actual information being taken into account in the configuration information and being able to be output on the display device. The invention further relates to a method for feeding workpieces, in particular vehicle components, into an automatic press, wherein for feeding workpieces a workpiece holding device is used which comprises at least one support and at least one workpiece-specific holding element and which is configured according to the method described herein.

All advantages, details, designs and/or features of the method according to the invention for configuring a workpiece-related workpiece holding device for press automation may also be transferred or applied to the apparatus according to the invention and/or the method according to the invention for feeding workpieces into an automatic press.

Drawings

The invention is explained in detail below with the aid of embodiments in the drawing. The attached drawings are as follows:

FIG. 1 shows a schematic diagram of a workpiece holding device having a plurality of workpiece-specific holding elements according to an embodiment;

FIG. 2 illustrates a schematic diagram of a workstation for performing a method for manually configuring a workpiece-related workpiece holding device for press automation, according to one embodiment;

fig. 3 shows a schematic diagram of the workstation according to fig. 2 in a top view;

fig. 4 shows a schematic diagram of a workpiece holding device on a display device at least in sections.

Detailed Description

Fig. 1 shows a workpiece-specific workpiece holding device 1 for press automation, a plurality of workpiece-specific holding elements 2, 2 of the workpiece holding device 1 being displaceably fastened in at least one degree of freedom of arrangement on a support 3 of the workpiece holding device 1. The workpiece holding device 1 is used to temporarily clamp or temporarily hold the workpiece 100. In the clamped or held state of the workpiece holding device 1, the workpiece 100 held by the workpiece holding device 1 can be transferred, in particular removed from a forming device (not shown), such as a press, and/or introduced into the forming device. The workpiece 100 can be introduced into the forming device, for example in the form of a sheet metal part or a blank, subjected to the forming process there and subsequently removed from the forming device. The workpiece 100 can be a vehicle component, preferably a component of a motor vehicle, particularly preferably a body component of a motor vehicle. The workpiece holding device 1 can be movably connected or fixed to a robot arm (not shown) or a robot device (not shown) for handling or transferring the workpiece 100.

The support 3 comprises basic means, in particular configured as an elongated tube section 4, to which the holding elements 2, 2 'are indirectly fixed by means of connecting means 5, 5'. In this case, the connecting means 5, 5' can be fixed in different positions and/or orientations relative to the base means or the pipe section 4 and/or the holding elements 2, 2' relative to the connecting means 5, 5', respectively. For this purpose, the connection points 6, 6', 7' can be designed, for example, as lockable hinges. Preferably, the release and/or locking of the connection points 6, 6', 7' and thus the fixing and/or releasing of the rigid position and/or orientation of the support 3 relative to the connection means 5, 5' and/or the connection means 5, 5' relative to the holding element 2, 2' can be performed manually by the production staff 10, in particular without tools. That is to say, the production staff 10 locks or releases the hinge-like connection points 6, 6', 7', for example, by means of wing nuts or quick-action chucks, i.e. changes the rigid state into the movable state and/or vice versa.

The method provides that a real image of at least one workpiece-specific holding element 2, 2' is output or displayed to a production staff 10 by means of a display device 8, see fig. 4. In the embodiment shown, at least one section of the support 3 and additionally at least one holding element 2, 2' is displayed by the display device 8. In the embodiments described below and illustrated by way of example in the figures, the display device 8 is configured as a screen which is arranged near or on the mounting table 9. Alternatively or additionally, the display device 8 may be configured as data glasses (not shown) or augmented reality glasses. In this case, a real image of the at least one workpiece-specific holding element 2, 2' can be imaged on at least one transparent region (not shown) of the display device 8. In general terms, the display device 8 may be configured as a head mounted display (HDM), wherein the visual information may be projected through a screen, in particular close to the eye, or directly into the retina of the person wearing the HDM.

In order to generate a real image of the at least one workpiece-specific holding element 2, 2', the at least one workpiece-specific holding element 2, 2' can be detected by a detection device 12, which is arranged in particular partially fixed in position relative to the fixing device 11, in order to generate a real image of the at least one workpiece-specific holding element 2, 2' and to image the real image on the display device 8. Thus, by detecting the holding elements by the detection means 12 and transmitting the detected information to the display means 8, real-time imaging of at least the holding elements 2, 2' can be achieved. In particular, in addition to the holding elements 2, 2', the support 3 is also detected at least in sections by the detection device 12 and is in particular output together to the display device 8.

In addition to the real image, configuration information relating to the at least one workpiece-specific holding element 2, 2 'is also output on the display device 8, which configuration information comprises at least one item of target information relating to the relative target orientation and/or the relative target position of at least one region of the workpiece-specific holding element 2, 2' relative to the support 3. The target information may thus also comprise the relative target position and/or target orientation of the holding element 2, 2' with respect to the connecting means 5, 5' and/or the relative target position and/or target orientation of the connecting means 5, 5' with respect to the support 3.

Since at least the actual image of the holding elements 2, 2' and the configuration information are output visually understandable to the production staff 10 by means of the display device 8, it is possible or easier for the production staff 10 to carry out the configuration of the workpiece holding device 1 for a specific workpiece 100.

A preferred method step comprises detecting at least the at least one workpiece-specific holding element 2, 2' by means of a detection device 12, which is arranged in a stationary manner, in particular in part, relative to a fixing device 11 arranged on the mounting table 9, in order to generate at least one item of actual information at least about the workpiece-specific holding element 2, 2', which comprises in particular the relative actual orientation and/or the actual position of the at least one workpiece-specific holding element 2, 2' relative to the support 3, the actual information being taken into account in the configuration information. In the embodiment shown, the detection device 12 has detection means 13, 13', 13", 14, which detection means 13, 13', 13", 14 can be designed, for example, as an optical detection sensor or as a camera. The detection means 13, 13', 13", 14 may be arranged at a distance of 90.5 to 2.0 meters, preferably at a distance of 0.8 to 1.7m from the mounting table.

The detection of at least the at least one workpiece-specific holding element 2, 2' by means of the detection device 12, which is arranged in particular in a partially positionally fixed manner relative to the fixing device 11, can be carried out using at least two, preferably at least three, particularly preferably at least four detection means 13, 13', 13", 14, which optically detect the at least one workpiece-specific holding element 2, 2' from different positions and/or orientations or viewing angles. In this case, a first group of detection means 13, 13', 13 "consisting of at least one, preferably two or more detection means 13, 13', 13" is used for positioning or for detecting the exact position and/or orientation of at least the at least one workpiece-specific holding element 2, 2 '. The second group of at least one detection means 14 can be used to better display or visualize a real image of at least one holding element 2, 2 for at least one production worker 10 and/or to better visualize configuration information, in particular target information. Since the further detection means 14 assigned to the second group have mainly no position-determining function, the detection means 14 can be arranged and oriented in such a way that the image generated by the detection means 14 has a viewing angle which enables the production staff 10 to easily understand or to spatially visualize the information displayed by the display device 8, since this information can be associated with or superimposed on the image generated by the detection means 14.

It may prove advantageous if the detection means 13, 13', 13 ″ with at least a position-determining function are arranged and/or oriented in such a way that the holding element 2, 2' to be detected and/or the support 3 to be detected and/or the connection site 5, 5', 6' to be detected are detected from at least three sides. In other words, the at least three detection means 13, 13', 13 ″ are arranged such that their main detection lines 17, 17', 17 ″ form angles α, α ', α ″ in their projections perpendicular to the projection plane of the horizontally oriented mounting table 9 in the range of 35 ° to 65 °, 70 ° to 110 ° and 120 ° to 160 °, respectively, in particular in the range of 45 ° to 55 °, 85 ° to 95 ° and 135 ° to 145 °, respectively. In a top view (see fig. 3), when these main detection lines 17, 17', 18 are projected into a projection plane parallel to the horizontally oriented mounting table 9, angles β, β', β ″ of 150 ° to 190 °, from 0 ° to 20 °, or 70 to 110 ° are produced for the main detection lines 17, 17', 18 of the respective detection devices 13, 13', 14. It can also be provided that the angle (not shown) between two adjacent main test lines 17, 17', 18 of two test devices 13, 13', 14 lying in a projection plane parallel to the main extension plane of the mounting table or the mounting table work plate is in the range from 60 ° to 100 °, in particular in the range from 70 ° to 90 °, particularly preferably in the range from 75 ° to 85 °.

The configuration information displayed by the display device 8 preferably comprises at least a comparison of the actual information relating to the relative actual orientation and/or the actual position of at least one region of the workpiece-specific holding element 2, 2' relative to the support 3 with the target information. In this case, comparison information is generated which relates to the differences and/or the agreement of the comparison. This comparison information forms at least part of the configuration information or is taken into account in the latter and is output via the display device 8. In other words, the predefined target orientation and target position of the holding element 2, 2 'relative to the support 3 are predetermined as target information or reference and compared discontinuously or continuously with the actual information (such as the actual orientation and/or the actual position) of the holding element 2, 2' relative to the support 3, which is detected in particular by the detection device 12, the result of the comparison being output as comparison information or as at least part of the configuration information on the display device 8.

For example, comparison information relating to the agreement of the comparison is displayed on the display device 8 with a first predefined symbol and/or comparison information relating to the deviation of the comparison is displayed on the display device 8 with a second symbol which is different from the first symbol, in particular the first and second symbols being distinguished from each other by their color and/or shape and/or structure. In the visual output information of the display device 8 shown in fig. 4, it can be seen that the contour of the holding elements 2, 2' and/or the connecting means 6, 6', 7', which is likewise displayed on the display device 8, is highlighted in a first manner by means of the markings 19 of at least sections of their boundary lines. The boundary line of the workpiece holding device 1 is displayed on the display device 8 by a mark 19 in the form of a dotted line in the display shown in fig. 4. The dot-dash line may vary at least in sections. As soon as the holding element 2, 2 'and/or the connecting means 5, 5' have reached their position and/or orientation that is in accordance with the specification at least in regions, or as soon as the target position and/or target orientation occurs at least in regions, this can be indicated by a change in the boundary line marking 19 of at least one component of the workpiece holding device 1 that is displayed on the display device 8. The change in the marks 19 or the boundary lines is only one possibility of representation. Alternatively or additionally, the surface and/or at least part of the color or structure of the holding elements 2, 2' and/or the connecting means 5, 5' and/or the connecting points 6, 6', 7' displayed by the display device 8 can be varied depending on the relative actual orientation and/or the actual position of the holding elements 2, 2' and the support 3.

The accuracy of the method can be increased by carrying out a calibration step in which the deviation of at least one optical detection means 13, 13', 13", 14 of the detection device 12 is determined at least on the basis of a standard which is accommodated in the fixing device 11 or is arranged or constructed on the fixing device 11 and which in particular represents the shape and/or orientation and/or contour of the support 3 held on the fixing device 11 and/or of the workpiece-specific holding elements 2, 2' fixed on the fixing device 11 and the support 3. Alternatively or additionally, a marking section can be provided or formed on the mounting table 9, for example in the form of a checkerboard pattern, which can serve as a standard for calibration and thus zero-point balancing the detection device 12. If deviations are determined during the calibration step, it can be provided that such deviations of the at least one optical detection means 13, 13', 13", 14 are taken into account when processing the information determined by the at least one optical detection means 13, 13', 13", 14 and thus when generating the configuration information.

Alternatively, it can be provided on the display device 8 that additional information 15 of the configuration information relating to the workpiece-specific holding elements 2, 2', the carrier 3 and/or the workpiece 100 to be held in the intended use of the workpiece-specific holding elements 2, 2' is displayed or inserted on the display device 8. The additional information 15 may comprise, for example, component number information and/or component weight information and/or component size information and/or manufacturer information and/or supplier information and/or manufacturing time information and/or delivery time information and/or tolerance information and/or aging information of the workpiece-specific holding elements 2, 2', the supports 3 and/or the workpieces 100 to be held in a defined use of the workpiece-specific holding elements 2, 2'.

As shown in fig. 4, at least one part of the workpiece 100, which is to be held at least temporarily by the workpiece-specific holding elements 2, 2' during the intended use thereof, can be displayed on the display device 8 as additional information 15 of the configuration information. This can take place, for example, in the form of an additional information 15 superimposed on the actual image and/or the actual information and/or the target information of the at least one workpiece-specific holding element 2, 2' imaged on the display device 8. This is achieved, for example, by means of markings 19 along the border lines of the holding elements 2, 2 'and/or the connecting means 5, 5' and/or the connecting points 6, 6', 7' and/or the support 3 shown on the screen.

The detection information determined by the detection device 12 about the at least one workpiece-specific holding element 2, 2' can be used to derive the additional information 15. In this case, at least one workpiece-specific holding element 2, 2 'can be identified by the detection information and the additional information 15 assigned to this workpiece-specific holding element 2, 2' can be displayed. For example, the component number of the at least one holding element 2, 2' is displayed as additional information 15, see fig. 4.

It can prove advantageous if a partial region of the support 3 shown enlarged compared to the previous representation is displayed at least temporarily on the display device 8 (not shown), the displayed partial region of the support 3 corresponding to the fastening position of the at least one workpiece-specific holding element 2, 2'. For example, the enlargement of at least one partial region of the support 3 on the display device 8 is carried out after the selection of the workpiece-specific holding elements 2, 2' to be fastened on this partial region of the support 3. By at least temporarily magnifying the local areas of support 3, production staff 10 is made visually easier to perceive installation-specific details, as these areas are shown magnified.

The workpiece-specific holding element 2, 2' can be selected, for example, by optically detecting the workpiece-specific holding element 2, 2' by means of the detection device 12 and/or by manual selection by means of an input device (not shown) for at least one workpiece-specific holding element 2, 2' to be fastened to the support 3. For example, the holding element 2, 2' is provided with a marking area which can be recognized, so that an automatic selection or at least a suggested selection can be made after the detection device 12 detects this marking area, which the production staff 10 can confirm by means of an input unit or by not reacting.

The device according to the invention for carrying out the method for configuring a workpiece-specific workpiece holding device 1 for press automation comprises a display device 8 and a detection device 12 for detecting at least one workpiece-specific holding element 2, 2' of the workpiece holding device 1 in order to generate at least one item of actual information at least about the workpiece-specific holding element 2, 2', which in particular comprises the relative actual orientation and/or the actual position of the at least one workpiece-specific holding element 2, 2' relative to the support 3, the actual information being taken into account in the configuration information and being able to be output on the display device 8. The device-side detection apparatus 12 can comprise a plurality of detection means 13, 13", 14 which are arranged or constructed so as to be fixable at least in their position and/or orientation relative to the mounting table 9 of the device.

Finally, the inventive concept comprises a method for feeding a workpiece 100 into an automatic press (not shown), wherein for feeding the workpiece 100 a workpiece holding device 1 is used which comprises at least one support 3 and at least one workpiece-specific holding element 2, 2', which is configured according to the method described herein.

List of reference numerals

1 workpiece holding device

2. 2' holding element

3 support part

4 elongated tube section

5. 5' connection device

6. 6' connection site

7. 7' connection site

8 display device

9 mounting table

10 production staff

11 fixing device

12 detection device

13. 13', 13' detection device

14 detection device

15 additional information

17. 17', 17' main test line

18 main detection line

19 mark