Method for Configuring a Workpiece-Related Workpiece Holding Device for Press Automation

Abstract

A method configures a workpiece-related workpiece holding device for press automation. At least one workpiece-specific holding element of the workpiece holding device is configurably secured to a support of the workpiece holding device in at least one degree of configuration freedom. The method has the steps of (a) imaging a real image of the at least one workpiece-specific holding element on a display device and (b) outputting configuration information relating to the at least one workpiece-specific holding element on the display device, the configuration information including at least one piece of reference information relating to a relative reference orientation and/or a relative reference position of at least one region of a workpiece-specific holding element relative to the support.

Claims

1.-16. (canceled)

17. A method for configuring a workpiece-related workpiece holding device for press automation, wherein at least one workpiece-specific holding element of the workpiece holding device is fastened, in a manner configurable in at least one degree of configuration freedom, to a support of the workpiece holding device, the method comprising: depicting a real image of at least one workpiece-specific holding element on a display device; outputting a configuration information item, which relates to the at least one workpiece-specific holding element, on the display device, wherein the configuration information item comprises at least one setpoint information item regarding a relative setpoint orientation and/or regarding a relative setpoint position of at least one region of the workpiece-specific holding element with respect to the support.

18. The method according to claim 17, further comprising: acquiring at least the at least one workpiece-specific holding element via an acquisition device, which is arranged in part in a spatially fixed manner relative to a holder, in order to generate at least one actual information item at least relating to the workpiece-specific holding element, wherein the at least one actual information item comprises a relative actual orientation and/or actual position of the at least one workpiece-specific holding element with respect to the support, and the actual information item is taken into consideration in the configuration information item.

19. The method according to claim 18, further comprising: comparing the actual information item, which relates to a relative actual orientation and/or actual position of at least one region of the workpiece-specific holding element with respect to the support, with the setpoint information item; and generating a comparison information item which relates to a deviation and/or a correspondence of the comparison, wherein the comparison information item, which is taken into consideration in the configuration information item, is displayed on the display device.

20. The method according to claim 19, further comprising: displaying the comparison information item relating to a correspondence of the comparison via a first predefined symbol on the display device and/or displaying the comparison information item relating to deviation of the comparison via a second symbol, which differs from the first symbol, on the display device, wherein the first and the second symbol differ in terms of color, shape, and/or structure.

21. The method according to claim 17, further comprising: acquiring the at least one workpiece-specific holding element via an acquisition device, which is arranged in part in a spatially fixed manner relative to a holder, in order to generate the real image of the at least one workpiece-specific holding element, and depicting the real image on the display device.

22. The method according to claim 21, wherein the real image of the at least one workpiece-specific holding element is depicted on at least one transparent region of the display device.

23. The method according to claim 17, further comprising: acquiring the at least the at least one workpiece-specific holding element via an acquisition device, which is arranged in part in a spatially fixed manner relative to the holder, using at least two, three, or four optical acquisition devices which optically acquire the workpiece-specific holding element from different positions and/or orientations.

24. The method according to claim 23, further comprising: executing a calibration step in which at least a deviation of at least one optical acquisition device of the acquisition device to a measurement standard received in the holder is ascertained, wherein the measurement standard replicates a shape, orientation and/or contour of the support held on the holder and/or of the workpiece-specific holding element fastened to the holder and to the support.

25. The method according to claim 24, further comprising: considering any deviation of at least one optical acquisition device ascertained in the calibration step in a processing of the information items ascertained from the at least one optical acquisition device.

26. The method according to claim 17, further comprising: displaying an additional information item, which relates to the workpiece-specific holding element, to the support and/or to the workpiece that is to be held during intended use of the workpiece-specific holding element, of the configuration information item on the display device, wherein the additional information item comprises at least one of: a component number information item, a component weight information item, a component dimension information item, a manufacturer information item, a supplier information item, a manufacturing time information item, a delivery time information item, a tolerance information item, an aging information item of the workpiece-specific holding element, of the support and/or of the workpiece that is to be held during the intended use of the workpiece-specific holding element.

27. The method according to claim 21, further comprising: at least partially displaying the at least one workpiece, which during the intended use of the workpiece-specific holding element is to be at least temporarily held by the latter, as an additional information item of the configuration information item on the display device, wherein the additional information item is displayed in a superimposed manner on the real image depicted on the display device, on the actual information item and/or on the setpoint information item of the at least one workpiece-specific holding element.

28. The method according to claim 26, further comprising: using an acquisition information item, ascertained via an acquisition device and relating to the at least one workpiece-specific holding element, to derive an additional information item, wherein an identification of at least one workpiece-specific holding element and the display of an additional information item associated with this workpiece-specific holding element are performed via the acquisition information item.

29. The method according to claim 17, further comprising: displaying a subregion of the support, in enlarged form in relation to a previous display, on the display device, wherein the displayed subregion of the support corresponds to a fastening location of the at least one workpiece-specific holding element, and the enlargement of at least one subregion of the support on the display device is performed after selection of the workpiece-specific holding element that is to be fastened to the subregion of the support.

30. The method according to claim 29, further comprising: executing the selection of the at least one workpiece-specific holding element, which is to be fastened to the support, by optical acquisition of the workpiece-specific holding element via an acquisition device and/or via manual selection by way of an input device.

31. An apparatus for executing a method for configuring a workpiece-related workpiece holding device for press automation, comprising: a display device; and an acquisition device for acquisition of at least one workpiece-specific holding element of the workpiece holding device in order to generate at least one actual information item at least relating to the workpiece-specific holding element, which at least one actual information item comprises a relative actual orientation and/or actual position of the at least one workpiece-specific holding element with respect to a support, wherein the actual information item is taken into consideration in a configuration information item and is output on the display device.

32. A method for feeding a vehicle component workpiece into an automated press, comprising: for feeding the workpiece, using a workpiece holding device comprising at least one support and at least one workpiece-specific holding element, wherein the workpiece holding device has been configured in accordance with the method of claim 17.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0034] FIG. 1 is a diagrammatic illustration of a workpiece holding device with multiple workpiece-specific holding elements according to an exemplary embodiment;

[0035] FIG. 2 is a diagrammatic illustration of a workstation for the execution of a method for manually configuring a workpiece-related workpiece holding device for press automation according to an exemplary embodiment;

[0036] FIG. 3 is a diagrammatic illustration of a workstation as per FIG. 2 in plan view; and

[0037] FIG. 4 is a diagrammatic illustration of an at least partial depiction of a workpiece holding device on a display device.

DETAILED DESCRIPTION OF THE DRAWINGS

[0038] FIG. 1 shows a workpiece-related workpiece holding device 1 for press automation, wherein multiple workpiece-specific holding elements 2, 2′ of the workpiece holding device 1 are fastened, in a manner configurable in at least one degree of configuration freedom, to a support 3 of the workpiece holding device 1. The workpiece holding device 1 serves for temporarily gripping or for temporarily holding a workpiece 100. In the gripping state or in the holding state of the workpiece holding device 1, the workpiece 100 held by the workpiece holding device 1 can be moved, in particular removed from a deformation device (not illustrated), for example a press, and/or fed into a deformation device. The workpiece 100 may for example be fed in the form of a sheet-metal part or of a blank to the deformation device, subjected to a deformation process therein, and subsequently removed from the deformation device. The workpiece 100 may be a vehicle component, preferably a component of a motor vehicle, particularly preferably a body component of a motor vehicle. For the handling and the movement of the workpiece 100, the workpiece holding device 1 may be movably attached or fastened to a manipulator (not illustrated) or a robot apparatus (not illustrated).

[0039] The support 3 comprises a base, which is in particular in the form of an elongate tube section 4, to which the holding elements 2, 2′ are fastened indirectly by connectors 5, 5′. Here, the connectors 5, 5′ may be fixable in different positions and/or orientations with respect to the base means or the tube section 4, and/or the holding element 2, 2′ may be fixable in different positions and/or orientations with respect to the connectors 5, 5′, respectively. For this purpose, the connecting points 6, 6′, 7, 7′ may for example be formed as lockable joints. Preferably, the connecting points 6, 6′, 7, 7′ can be undone and/or locked, and thus a fixed position and/or orientation of a support 3 with respect to a connector 5, 5′ and/or of a connector 5, 5′ with respect to a holding element 2, 2′ can be fixed and released, manually by a production worker 10, in particular without the use of tools. This means, for example, that a joint-like connecting point 6, 6′, 7, 7′ can be locked or released, that is to say transferred from a fixed state into a movable state and/or vice versa, by a production worker 10 using a wingnut or a quick release clamp.

[0040] The method provides that a real image of at least one workpiece-specific holding element 2, 2′ is output or depicted to the production worker 10 by means of a display device 8, cf. FIG. 4. In the embodiment illustrated, at least one section of the support 3, and additionally at least one holding element 2, 2′, is displayed by means of the display device 8. In the embodiment discussed below and illustrated by way of example in the figures, the display device 8 is in the form of a screen arranged in the vicinity of, or on, an assembly table 9. Alternatively or in addition, the display device 8 may be in the form of a pair of smart spectacles (not illustrated) or a pair of augmented reality spectacles. Here, the real image of the at least one workpiece-specific holding element 2, 2′ may be depicted on at least one transparent region (not illustrated) of the display device 8. In general, the display device 8 may be in the form of a head-mounted display (HMD), wherein the visual information may be projected by means of a screen, in particular close to the eye, or directly onto the retina of the person wearing the HMD.

[0041] To generate a real image of the at least one workpiece-specific holding element 2, 2′, an acquisition of the at least one workpiece-specific holding element 2, 2′ by means of an acquisition device 12, which is in particular arranged in part in a spatially fixed manner relative to a holder 11, in order to generate a real image of the at least one workpiece-specific holding element 2, 2′, and a depiction of the real image on the display device 8, may be performed. It is thus possible, for example, for a real-time depiction at least of the holding element 2, 2′ to be made possible by the acquisition thereof by means of the acquisition device 12 and by transmission of the acquired information to the display device 8. In particular, in addition to the holding element 2, 2′, at least sections of the support 3 are additionally jointly acquired by means of the acquisition device 12 and in particular jointly output on the display device 8.

[0042] In addition to the real image, a configuration information item relating to the at least one workpiece-specific holding element 2, 2′ is output on the display device 8, wherein the configuration information item comprises at least one setpoint information item relating to a relative setpoint orientation and/or relating to a relative setpoint position of at least one region of a workpiece-specific holding element 2, 2′ with respect to the support 3. The setpoint information item may thus also comprise a relative setpoint position and/or setpoint orientation of the holding element 2, 2′ with respect to the connector 5, 5′ and/or a relative setpoint position and/or setpoint orientation of the connector 5, 5′ with respect to the support 3.

[0043] By virtue of the fact that both the real image at least of the holding element 2, 2′ and a configuration information item are output in a visually comprehensible manner to the production worker 10 by means of the display device 8, it is made possible or easier for the production worker 10 to implement a configuration of a workpiece holding device 1 for a specific workpiece 100.

[0044] A preferred method step comprises an acquisition at least of the at least one workpiece-specific holding element 2, 2′ by means of an acquisition device 12, which is in particular arranged in part in a spatially fixed manner relative to a holder 11 arranged on an assembly table 9, in order to generate at least one actual information item at least relating to the workpiece-specific holding element 2, 2′, which at least one actual information item in particular comprises a relative actual orientation and/or actual position of the at least one workpiece-specific holding element 2, 2′ with respect to the support 3, wherein the actual information item is taken into consideration in the configuration information item. In the illustrated embodiment, the acquisition device 12 has 4 acquisition means 13, 13′, 13″, 14, wherein the acquisition means 13, 13′, 13″, 14 may for example be in the form of optical acquisition sensors or cameras. The acquisition means 13, 13′, 13″, 14 may be arranged with a spacing of 0.5 to 2.0 meters, preferably with a spacing of 0.8 to 1.7 m, to an assembly table 9.

[0045] The acquisition at least of the at least one workpiece-specific holding element 2, 2′ by means of an acquisition device 12, which is in particular in part arranged in a spatially fixed manner relative to the holder 11, may be performed using at least two, preferably using at least three, particularly preferably using at least four, acquisition means 13, 13′, 13″, 14 which optically acquire at least one workpiece-specific holding element 2, 2′ from different positions and/or orientations or perspectives. Here, a first group of acquisition means 13, 13′, 13″, composed of at least one, preferably of two or more, acquisition means 13, 13′, 13″, may serve for localizing or for acquiring the exact position and/or orientation at least of the at least one holding element 2, 2′. A second group composed of at least one acquisition means 14 may serve for the more suitable depiction or visualization of a real image of at least one holding element 2, 2′ and/or for the more suitable visualization of the configuration information item, in particular of the setpoint information item, for at least one production worker 10. By virtue of the fact that the further acquisition means 14, which is assigned to the second group, primarily does not perform a position-determining function, the further acquisition means may be arranged or oriented such that the image generated by the acquisition means 14 assumes a perspective that allows a production worker 10 to easily grasp or spatially visualize the information items displayed by means of the display device 8, because the information items can be set in relation to, or depicted in superimposed fashion on, the image generated by the acquisition means 14.

[0046] It may prove to be advantageous if at least the acquisition means 13, 13′, 13″ which perform a position-determining function are arranged and/or oriented such that a holding element 2, 2′ that is to be acquired, and/or a support 3 that is to be acquired, and/or a connecting point 5, 5′, 6, 6′ that is to be acquired, are/is acquired from at least three sides. In other words, the at least three acquisition means 13, 13′, 13″ are arranged such that the main acquisition lines 17, 17′, 17″ thereof, in the projection thereof onto a projection plane which lies perpendicular to a horizontally oriented assembly table 9 and to which the at least one holding element 2, 2′ and/or the support 3 can be fastened by means of a holder 11, enclose an angle α, α′, α″ in the respective ranges of from 35° to 65°, from 70 to 110° and from 120 to 160°. In particular, an angle α, α′, α″ in the respective ranges of from 45° to 55°, from 85° to 95° and from 135° to 145° is enclosed. In the plan view (cf. FIG. 3), for the respective main acquisition lines 17, 17′, 18 of the acquisition means 13, 13′, 14 in the projection of the main acquisition lines 17, 17′, 18 onto a projection plane which lies parallel to a horizontally oriented assembly table 9, there may be a resulting angle β, β′, β″ of from 150° to 190°, from 0° to 20° and from 70 to 110°. It may also be provided that an angle (not illustrated), lying in a projection plane parallel to the main plane of extent of the assembly table or to the worktop of the assembly table, between two adjacent main acquisition lines 17, 17′, 18 of two acquisition means 13, 13′, 14 lies in the range of from 60° to 100°, in particular in a range of from 70° to 90°, particularly preferably in a range of from 75° to 85°.

[0047] The configuration information item displayed by means of the display device 8 preferably comprises at least a comparison of an actual information item, which relates to a 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, with the setpoint information item. Here, a comparison information item which relates to a deviation and/or a correspondence of the comparison is generated. The comparison information item forms at least a constituent part of the configuration information item or is taken into consideration in the latter and is output by means of the display device 8. In other words, a predefined setpoint orientation and setpoint position of a holding element 2, 2′ relative to a support 3 is specified as a setpoint information item or as a reference and is discontinuously or continuously compared with actual information items (for example actual orientation and/or actual position), in particular acquired by means of the acquisition device 12, of the holding element 2, 2′ relative to the support 3, wherein the result of the comparison is output as a comparison information item, or as at least part of the configuration information item, on the display device 8.

[0048] For example, a comparison information item relating to correspondence of the comparison is displayed by means of a first predefined symbol on the display device 8, and/or a comparison information item relating to deviation of the comparison is displayed by means of a second symbol, which differs from the first symbol, on the display device 8, and in particular the first and the second symbol differ in terms of their color and/or shape and/or structure. In the information visually output on the display device 8 in FIG. 4, it can be seen that the contour of the holding element 2, 2′, which is likewise displayed on the display device 8, and/or of the connector 6, 6′, 7, 7′ has been highlighted in a first manner by a marking 19, at least in certain sections, of the boundary line thereof. In the display on the display device 8 shown in FIG. 4, the boundary line of the workpiece holding device 1 is depicted by means of a marking 19 in the form of a dash-dotted line. The dash-dotted line may undergo a change at least in certain sections. As soon as the holding element 2, 2′ and/or the connector 5, 5′ has, at least in certain regions, reached its intended position and/or orientation, or as soon as the setpoint position and/or setpoint orientation is present at least in certain regions, this may be indicated by means of a change in the marking 19 of the boundary line, displayed on the display device 8, of at least one constituent part of the workpiece holding device 1. The change in the marking 19 or in the boundary line is only one indication possibility. Alternatively or in addition, the surface, and/or, at least in certain sections, the color or structure, of the holding element 2, 2′ and/or connector 5, 5′ depicted by means of the display device 8, and/or of the connecting points 6, 6′, 7, 7′, may vary in a manner dependent on the relative actual orientation and/or actual position of holding element 2, 2′ and support 3.

[0049] The accuracy of the method can be increased by virtue of a calibration step being performed in which at least the deviation of at least one optical acquisition means 13, 13′, 13″, 14 of the acquisition device 12 to a measurement standard received in the holder 11 or to a measurement standard arranged or formed on the holder 11 is ascertained, and in particular the measurement standard replicates the shape and/or orientation and/or contour of a support 3 held on the holder 11 and/or of a workpiece-specific holding element 2, 2′ fastened to the holder 11 and to a support 3. Alternatively or in addition, a marking section, for example in the form of a checkerboard pattern, may be arranged or formed on the assembly table 9, which marking section can be used as a measurement standard for the calibration and thus for the zero adjustment of the acquisition device 12. If a deviation is ascertained during the calibration step, provision may be made for the deviation of at least one optical acquisition means 13, 13′, 13″, 14 to be taken into consideration in the processing of the information items ascertained from the at least one optical acquisition means 13, 13′, 13″, 14 and thus in the generation of a configuration information item.

[0050] On the display device 8, provision may optionally be made for an additional information item 15, which relates to the workpiece-specific holding element 2, 2′, to the support 3 and/or to the workpiece 100 that is to be held during the intended use of the workpiece-specific holding element 2, 2′, of the configuration information item to be displayed or shown on the display device 8. The additional information item 15 may for example comprise a component number information item and/or a component weight information item and/or a component dimension information item and/or a manufacturer information item and/or a supplier information item and/or a manufacturing time information item and/or a delivery time information item and/or a tolerance information item and/or an aging information item of the workpiece-specific holding element 2, 2′, of the support 3 and/or of the workpiece 100 that is to be held during the intended use of the workpiece-specific holding element 2, 2′.

[0051] For example, as shown in FIG. 4, at least one workpiece 100, which during the intended use of the workpiece-specific holding element 2, 2′ is to be at least temporarily held by the latter, may be at least partially displayed as an additional information item 15 of the configuration information item on the display device 8. This may be performed for example in the form of a superimposed display of the additional information item 15 on the real image depicted on the display device 8 and/or of the actual information item and/or of the setpoint information item of the at least one workpiece-specific holding element 2, 2′. For example, this is implemented by means of the marking 19 along the boundary lines of the holding element 2, 2′ displayed on the screen and/or of the connector 5, 5′ and/or of the connecting points 6, 6′, 7, 7′ and/or of the support 3.

[0052] It is possible that the acquisition information item, ascertained by means of an acquisition device 12 and relating to the at least one workpiece-specific holding element 2, 2′, is used to derive an additional information item 15. Here, an identification of at least one workpiece-specific holding element 2, 2′ and the display of an additional information item 15 associated with this workpiece-specific holding element 2, 2′ may be performed by means of the acquisition information item. For example, as an additional information item 15, the component number of the at least one holding element 2, 2′ is shown, cf. FIG. 4.

[0053] It may prove to be advantageous if a subregion of the support 3 is at least temporarily displayed (not illustrated), in enlarged form in relation to a previous display, on the display device 8, wherein the displayed subregion of the support 3 corresponds to a fastening location of at least one workpiece-specific holding element 2, 2′. For example, the enlargement of at least one subregion of the support 3 on the display device 8 is performed after selection of the workpiece-specific holding element 2, 2′ that is to be fastened to the subregion of the support 3. By means of the at least temporary enlarged depiction of a subregion of the support 3, it is made easier for a production worker 10 to visualize assembly-specific details more easily, because these regions are illustrated in enlarged form.

[0054] The execution of the selection of at least one workpiece-specific holding element 2, 2′ which is to be fastened to the support 3 may be performed for example by optical acquisition of the workpiece-specific holding element 2, 2′ by means of an acquisition device 12 and/or by means of manual selection by way of an input device (not illustrated). For example, the holding element 2, 2′ is provided with a marking region which allows it to be identified, such that, after acquisition of the marking region by means of the acquisition device 12, an automated selection can be performed, or at least a proposed selection can be offered, which can be confirmed by the production worker 10 by way of an input unit or by an absence of reaction.

[0055] The apparatus for executing a method for configuring a workpiece-related workpiece holding device 1 for press automation, comprises a display device 8 and an acquisition device 12 for acquisition of at least one workpiece-specific holding element 2, 2′ of the workpiece holding device 1 in order to generate at least one actual information item at least relating to the workpiece-specific holding element 2, 2′, which at least one actual information item in particular comprises a relative actual orientation and/or actual position of the at least one workpiece-specific holding element 2, 2′ with respect to a support 3, wherein the actual information item is taken into consideration in a configuration information item and can be output on the display device 8. The acquisition device 12 of the apparatus may comprise multiple acquisition means 13, 13′, 13″, 14 which are arranged or formed so as to be fixable at least in terms of their position and/or orientation relative to an assembly table 9 of the apparatus.

[0056] Finally, the concept of the invention relates to a method for feeding a workpiece 100 into an automated press (not illustrated), wherein, for the feed of the workpiece 100, use is made of a workpiece holding device 1 comprising at least one support 3 and at least one workpiece-specific holding element 2, 2′, which workpiece holding device has been configured in accordance with a method described herein.

LIST OF REFERENCE DESIGNATIONS

[0057] 1 Workpiece holding device [0058] 2, 2′ Holding element [0059] 3 Support [0060] 4 Elongate tube section [0061] 5, 5′ Connector [0062] 6, 6′ Connecting point [0063] 7, 7′ Connecting point [0064] 8 Display device [0065] 9 Assembly table [0066] 101 Production worker [0067] 11 Holder [0068] 12 Acquisition device [0069] 13, 13′, 13″ Acquisition means [0070] 14 Acquisition means [0071] 15 Additional information [0072] 17, 17′, 17″ Main acquisition line [0073] 18 Main acquisition line [0074] 19 Marking