DE102016226259A1 - SYSTEM FOR PROVIDING AT LEAST ONE WORK PIECE FOR A MEASUREMENT, TESTING OR MACHINING PROCESS - Google Patents

Abstract

The invention relates to a system and a method for providing at least one workpiece for a measuring, testing or processing operation, wherein the system comprises at least one support element, which comprises a foot part, a middle part and a head part, wherein the foot part in such a way over a first articulated connection is coupled to the central part and the head part is coupled in such a way via a second articulated connection with the central part, to form an inverse kinematic support member. Furthermore, the system comprises at least one storage element, which is arranged on the head part and has at least one storage surface on which the workpiece can be supported.

Description

Field of the invention

The invention relates to a system for providing at least one workpiece for a measuring, testing or machining process or the like, which has a modular structure and is particularly suitable for the production of small batches. Furthermore, the invention comprises a method for providing a workpiece for a measuring, testing or machining operation or the like.

Background of the invention

In manufacturing processes, and particularly in automated manufacturing processes, such as machining or welding, the workpieces to be machined must be provided and held in position so that the manufacturing process can be performed safely and correctly. Likewise, the provision and positioning of workpieces in measurement and inspection tasks is important, for example, to ensure a defined distance of the workpiece to a measuring device and to prevent unwanted movements of the workpiece during measurement and testing.

Typically, for the provision and positioning of the workpieces, specific devices characteristic of a particular type of workpiece are provided. Particularly in the case of geometrically complex workpieces, a plurality of support points, grippers and / or clamps may be necessary for reliable provision and positioning of the workpieces, some of which differ significantly in their design. Therefore, the structure of such systems is complex and adaptable only with great effort to other types of workpieces.

Furthermore, the contour of a support point must be adapted to the contour of the workpiece in order to ensure a secure grip. This results in high device costs. In particular, in a production of a small series or in variably used manufacturing facilities, such as manipulator cells or CNC machines, so very high costs for the design and manufacture of filing, provisioning and positioning devices. Furthermore, conventional filing, providing and positioning devices cause long changeover times, which further increases the production costs of the workpieces concerned.

It is therefore the object of the present invention to eliminate the disadvantages mentioned and to provide an improved system for providing at least one workpiece for a measuring, testing or machining operation.

Detailed summary of the invention

The object is achieved by a system for providing at least one workpiece for a measuring, testing or machining operation or the like. according to claim 1 and by a method for providing at least one workpiece for a measuring, testing or machining operation or the like. according to claim 15.

In particular, the object is achieved by a system for providing at least one workpiece for a measuring, testing or processing operation, the system comprising at least one support element, which comprises a foot part, a middle part and a head part, wherein the foot part in such a way over a first articulated connection is coupled to the central part and the head part is coupled in such a way via a second articulated connection with the central part, to form an inverse kinematic support member. Furthermore, the system comprises at least one storage element, which is arranged on the head part and has at least one storage surface on which the workpiece can be supported.

The inverse kinematics of the support element allows the determination of the position of the entire support element based on the pose (position and orientation) of the head part. The position of the support element is determined by the poses of the individual parts, i. determined by the pose of foot part, middle part and head part. The inverse kinematics allows the last link of the kinematic chain, i. the head part of the support element to bring in a desired pose and thereby align the other parts of the kinematic chain of the support element independently and determined, because due to the inverse kinematics foot and middle part must take according to the degrees of freedom of the first and second articulated joint defined poses.

Thus, the inverse kinematic support allows determination of the poses of all movable parts of the support based on the pose of the head. The head part is the last link of the kinematic chain of the support element. That is, the pose of the head part, the pose of all other moving parts, and thus the position of the support element, can be determined. This allows after the alignment of the head part in a desired pose, the determination of the position of the support element. Based on the position of the support element, the working range of a machining, measuring or testing tool and / or a manipulator can be defined. Thus, collisions when editing, measuring and testing between support element and a machining, measuring or Test tool and / or a manipulator can be effectively prevented.

In particular, the workpiece can be supported on the support surface of the storage element such that it rests on this. For this purpose, the support surface can be adapted to a contour of the workpiece. In particular, the support surface can be positioned relative to the workpiece by means of the inverse kinematic support element such that the support surface is normal to the contour of the workpiece to be supported. Thus, a specific adjustment of the shelf to the workpiece contour can be avoided and yet a damage-free and secure support of the workpiece can be achieved. This allows the system for providing at least one workpiece flexibly adapted to different workpiece types, without having to replace the shelves. The shelf may be a flat surface or a contoured surface. In particular, the storage surface may be spherically shaped. This allows a damage-free and safe support of complex shaped workpieces.

In particular, the storage element can be detachably coupled to the at least one head part. If the storage element releasably coupled with the head part formed, so for example storage elements such as centering pins, Stiftmatrizen, clamps, grippers and the like can be coupled to the headboard and depending on the application, different storage elements are provided. Thus, modularly constructed systems for providing at least one workpiece can be provided, which can be flexibly adapted to different processing, measuring or testing applications. Likewise, the storage element may also be formed integrally with the head part.

In particular, the middle part may be adjustable in length and preferably lockable, with the middle part preferably being adjustable in length by at least 20 mm, preferably by at least 40 mm and most preferably by at least 60 mm. Furthermore, depending on the size of the support element, the middle part can be adjusted in length by at least 150 mm and preferably by at least 300 mm. A length-adjustable central part allows the positioning and orientation of the head part in a larger and variable range. In particular, the length-adjustable middle part can be extended and / or shortened. This is preferably done by means of a retractable or retractable telescopic rod.

The length-adjustable central part allows the system to adapt flexibly to workpieces of different sizes, preferably without repositioning the support elements / the support element of the system. The length-adjustable central part may comprise, for example, a telescopic rod or a lifting cylinder. In particular, the middle part can be rotationally symmetrical along its length-adjustable axis. This allows the exact determination of the outer dimensions of the support element in order to effectively prevent the risk of undesired collision between the support element and a machining, measuring or testing tool and / or a manipulator.

In particular, the first and / or the second articulated connection can be set up in a lockable manner. This makes it possible to provide a system which can be aligned flexibly, since at first the support elements can be aligned as desired according to their degrees of freedom. The subsequent locking of the joints can then provide a rigid system for providing a workpiece. In particular, the alignment of the at least one support element can be automated, for example by means of a manipulator. The locking is preferably also automated.

In particular, the first and second articulated connection and / or the middle part can be arranged in a force-locked and / or positively locking manner. If the first and / or second articulated connection comprises, for example, a ball joint, then a non-positive locking can be achieved by means of a corresponding counterpart, for example in the form of a ball socket, which is pressed against a ball joint of the ball joint. If the first and / or second articulated connection comprises a different articulation type, the corresponding counterpart can be correspondingly shaped differently.

A positive locking can be achieved, for example, in that a locking projection of the articulated connection engages in a corresponding Arretierungsrücksprung the articulated connection, so as to provide a lock. A non-positive lock has the advantage that the joints can be locked in any position. A positive lock provides a simple structural locking.

For non-positive locking of the length-adjustable middle part, in particular conical clamping sleeves can be used. These can be pressed for example by means of a cylinder in a cone. Due to the shape of the cone, the conical clamping sleeve is deformed and pressed against a length-adjustable element of the central part, for example against a lifting cylinder or a telescopic rod, to provide a positive locking. Other types of locking are also possible.

In particular, the locking can be done hydraulically and / or pneumatically, wherein preferably the hydraulic and / or pneumatic locking of the first and second articulated connection and / or the central part takes place simultaneously. A hydraulic and / or pneumatic locking is advantageous because they are easy to control. For example, to lock a corresponding hydraulic or pneumatic pressure can be changed. A simultaneous locking of the articulated connections and / or the middle part allows, for example, to align the support element according to the specifications of the workpiece and to lock after reaching the desired orientation. The alignment can be done in a smooth state of the support element. Only with reaching the desired orientation is the locking. Due to the simultaneous locking, the support element can be quickly and efficiently locked and aligned.

A hydraulic and / or pneumatic simultaneous locking can be done by simultaneously controlling a plurality of hydraulic and / or pneumatic actuators or by a corresponding guidance of the hydraulic or pneumatic lines. For example, the first and / or second articulated connection and / or the middle part can be connected to only one hydraulic and / or pneumatic actuator in parallel or in series.

In particular, the first and / or the second articulated connection and / or the middle part may comprise an elastic element, wherein the elastic element is adapted to be prestressed when locking the first and / or second articulated connection and / or the middle part, wherein the Bias of the elastic member for releasing the lock is available.

In particular, in the non-positive locking, a releasable means of a prestressed elastic element locking is advantageous. Typically, in non-positive locking, pressing against one another from a joint element, such as a joint ball, with a corresponding counterpart, such as a ball socket, occurs. Accordingly, a conical clamping sleeve can be pressed against a length-adjustable element of the central part. After dropping a hydraulic and / or pneumatic clamping pressure, this locking can continue to exist, since the pressure between the joint element and the corresponding counterpart does not solve independently. The elastic element releases the pressure after the hydraulic and / or pneumatic pressure has dropped by means of the biasing force, thereby enabling the articulation and / or the centerpiece to move.

In particular, the elastic element may be a sealing elastic element, preferably an O-ring. The integral design of elastic element and sealing element allows for the hydraulic and / or pneumatic locking, the reduction of the components. For example, an O-ring, which serves to seal the hydraulic part of the lockable articulated connection, can be biased when locked. If the hydraulic pressure drops, the O-ring can be deformed back to its original shape, thereby releasing the pressure or assisting in loosening.

In particular, the first and second articulated connection and / or the middle part can be set up in a self-locking manner. With a latching latch, no additional energy needs to be added to maintain the latch. For example, the locking can take place via corresponding elastic elements and / or via a pressurized pressure chamber. To release the lock, the clamping pressure is released or a force exerted on the elastic element, which counteracts a locking force. Thus, the system can be designed to save energy. In addition, the system is rigidly set in self-holding locking in its initial state and must not be kept active.

In particular, the first and / or the second articulated connection can have three degrees of freedom and is preferably designed as a ball joint, which is preferably deflectable by at least ± 20 °. The three degrees of freedom can be achieved by means of a ball joint or a combination of other joint types. A ball joint is advantageous because this can be easily brought into different orientations. The deflection of at least ± 20 ° allows flexible adaptation to different components.

Furthermore, the system may comprise at least one base plate, wherein the base plate has at least one fixing device, wherein the fixing device is adapted to fix a foot part of the at least one support member to the base plate, wherein the fixing device preferably comprises a quick coupling unit. In particular, a plurality of fixing devices can be arranged on the base plate. These allow the attachment of a plurality of support elements and / or the positioning of support elements at different positions on the base plate. This allows the system to be flexibly adapted to different workpieces. A quick coupling device allows the positions, ie the fixing or releasing the support elements without the use of tools. For example, the Quick coupling unit include a bayonet or a clamp closure.

In particular, the support element in its maximum deflection forces of at least 1000 N, preferably of at least 5000 N and most preferably of at least 10,000 N record. This allows the provision of different workpieces. For example, body parts of a motor vehicle can be provided.

Furthermore, the storage element may comprise a counter-tensioner, wherein the workpiece can be fixed by means of the counter-tensioner on the storage element. In particular, by means of the counter-tensioner a defined biasing force can be applied to the workpiece. For example, welded connections can thus be made in a simplified manner. Likewise, the pre-tensioning and fixing of the workpieces on the storage element allows the production of rivet, clinching or other connections.

Furthermore, the storage element may comprise at least two centering pins, which can be coupled with corresponding openings of the workpiece, wherein the centering pins are preferably arranged to be movable relative to each other. The movable arrangement of the centering pins makes it possible to clamp the workpiece by means of the centering pins by the centering pins are moved toward or away from each other. Likewise, the storage element can be adapted to different workpiece types by the movable arrangement of the centering pins. For example, a workpiece can be received, which has corresponding openings at a first distance. Likewise, another workpiece can be received with the storage element, which has corresponding openings with a second, different distance.

In particular, the storage element can have at least one movement axis, which can preferably be actuated by means of an actuator. The actuator may be, for example, a pneumatic or hydraulic actuator. Likewise, the actuator may include an electric motor or the like. The provision of a movement axis makes it possible to adjust the storage element in its position and / or orientation when it is arranged on the head part of the support element. Thus, when editing, measuring and / or checking a workpiece, the storage element can be removed from a processing area. Thus, the areas of the workpiece for machining, measuring and / or testing are accessible, which are covered by the storage element. For example, such a continuous weld can be generated. The movement axis may be, for example, a pivot axis or a linear axis. In particular, the storage element may comprise a lifting cylinder and / or the like.

Furthermore, the system may comprise a manipulator which is adapted to align the head part of the at least one support element corresponding to a workpiece to be supported. Manipulators in the field of industrial manufacturing refer to multi-axis automatically controlled multipurpose manipulators which are freely programmable in three or more axes and are either fixed or movable. In particular, the manipulator may be, for example, an industrial robot, which is equipped with a gripper. This gripper can grip the support member on the headboard and position the headboard in a desired pose. Due to the inverse kinematic support element, then the position of the entire support element can be clearly determined. This allows automated adaptation of the system to different workpieces and the automated determination of a work area of a machining, measuring or testing tool and / or a manipulator to prevent collisions.

Furthermore, the system may comprise a manipulator flange which is adapted to arrange the system on a manipulator. Thus, the system itself can be arranged movably on a manipulator. This allows the use of the system in different fields of application. Furthermore, the system may be arranged in a manipulator cell and preferably configured to provide a workpiece during welding. This allows a flexible welding process of different workpieces, without requiring a complex conversion of the system. If the system itself is movably arranged on a manipulator, complex welding paths can be generated, since the system for providing the workpiece can be optimally positioned to a welding manipulator.

• - Bereitstellen zumindest eines Systems zum Bereitstellen von zumindest einem Werkstück für einen Mess- Prüf- oder Verarbeitungsvorgang;
• - Ausrichten eines Kopfteils des zumindest einen Stützelements entsprechend einem abzustützenden Werkstücks, wobei das Ausrichten vorzugsweise mittels eines Manipulators erfolgt; und
• - Ablegen des Werkstücks auf der Ablagefläche des Ablageelements.

Furthermore, the object is achieved by a method for providing at least one workpiece for a measuring test or processing operation, which comprises the following method steps:

• Providing at least one system for providing at least one workpiece for a measuring test or processing operation;
• - Aligning a head portion of the at least one support member corresponding to a workpiece to be supported, wherein the aligning preferably by means of a manipulator; and
• - Store the workpiece on the shelf of the storage element.

In particular, the at least one support element can be locked before depositing the workpiece and after aligning the head part, the locking preferably taking place automatically.

Further, after aligning the header, the method may include a step that includes determining the position of the support member to define a workspace. Thus, collisions during machining, measuring and testing between the support element and a machining, measuring or testing tool and / or a manipulator can be effectively prevented.

list of figures

• 1A eine schematische isometrische Darstellung eines Stützelements;
• 1B eine schematische Schnittdarstellung des Stützelements aus 1A;
• 1C eine schematische Explosionsansicht des Stützelements aus 1A;
• 2 eine schematische isometrische Darstellung eines Ablageelements;
• 3 eine schematische Darstellung des System zum Bereitstellen von zumindest einem Werkstück für ein Mess-, Prüf- oder Bearbeitungsvorgang,
• 4 eine weitere schematische Darstellung des System zum Bereitstellen von zumindest einem Werkstück für ein Mess-, Prüf- oder Bearbeitungsvorgang, und
• 5 eine schematische Darstellung des Verfahrens zum Bereitstellen von zumindest einem Werkstück für ein Mess-, Prüf- oder Bearbeitungsvorgang.

In the following the invention will be described in more detail with reference to the attached Figures 1A to 4. It shows

• 1A a schematic isometric view of a support member;
• 1B a schematic sectional view of the support element 1A ;
• 1C a schematic exploded view of the support member 1A ;
• 2 a schematic isometric view of a storage element;
• 3 a schematic representation of the system for providing at least one workpiece for a measuring, testing or machining operation,
• 4 a further schematic representation of the system for providing at least one workpiece for a measuring, testing or machining operation, and
• 5 a schematic representation of the method for providing at least one workpiece for a measuring, testing or machining operation.

In particular shows 1A a support element 100 which is a foot part 110 , a middle part 130 and a head part 150 includes. The foot part is over a first articulated connection 120 with the middle part 130 coupled, the first articulated connection 120 is designed as a first ball joint. The headboard 150 is about a second articulated connection 140 with the middle part 130 coupled, wherein the second articulated connection is designed as a second ball joint. The middle part 130 is adjustable in length and arranged lockable, as explained in more detail with reference to the following figures. In particular, both the first and second hinged connections 120 . 140 as well as the middle part 130 designed hydraulically lockable. This is indicated by the foot part 110 , the headboard 150 and the middle part 130 one hydraulic connection each 111 . 131 . 151 on, by means of which the articulated connections 120, 140 or the middle part 130 can be acted upon by a hydraulic pressure. The hydraulic connection is presently designed as an opening for introducing a hydraulic fluid (not shown). Likewise, the first and second articulated connections 120 . 140 or the middle part 130 be formed pneumatically lockable.

1B is a schematic sectional view of the support element 1A , The foot part 110 includes a first cylinder part 112 in which a first piston part 114 is slidably mounted. The piston part comprises a ball socket 116 , which with the joint ball 124 coupled to the first ball joint. By applying the first cylinder part 112 with hydraulic fluid is the first piston part 114 against the joint ball 124 the first articulated connection 120 pressed and thus the first articulated connection 120 locked.

The headboard 150 or the second articulated connection 140 have a similar device. The headboard 150 includes a second cylinder part 152 and a second piston part 154 the one ball socket 156 having. The ball socket 156 is with the ball joint 144 the second articulated connection 140 coupled. By applying the second cylinder part 152 with hydraulic fluid is the second piston part 154 against the joint ball 144 the second articulated connection 140 pressed and thus the second articulated connection 140 locked.

The middle part 130 includes a third piston part 134 and a third cylinder part 132 , By applying the third cylinder part 132 with hydraulic pressure is the third piston part 134 displaced translationally and presses against a conical clamping sleeve 136. The conical clamping sleeve 136 is by means of the third piston part 134 in a conical housing part 138 pressed and deformed, so that the conical clamping sleeve 136 against a telescopic pole 139 is pressed. Thus, the middle part becomes 130 locked. By simultaneously applying the first, second and third cylinder parts 112 , 132, 152 may be the first and second articulated connection 120 . 140 and the middle part 130 are locked simultaneously.

The headboard 150 can with different storage elements 200 , 200 ', 200 ". The foot part preferably comprises a clack coupling unit 320 with it on a base plate 300 is fixable, as in 3 shown.

2 shows an exemplary storage element 200 , which has two centering pins 232 , 234. The centering pin 232 is relative to the centering pin 234 movably furnished and can via a swivel mechanism 230 be pivoted, thereby the distance A between the centering pins 232 . 234 be set. This is preferably done by means of an actuator 236 , The adjustment of the centering pins 232 . 234 serves to clamp workpieces 2 and / or for adjusting the storage element 200 to different workpieces 2 ,

Furthermore, the storage element 200 about a movement axis 240 feature. The movement axis 240 for example, an actuator 246 includes his and allows the height adjustment of the storage element 200 , in particular the storage area 210 , or the centering pins 232 . 234 , As a result, for example, the centering pins 232 . 234 in corresponding centering openings of a workpiece 2 be introduced automatically. Likewise, the storage element 200 by means of the movement axis 240 from the workpiece 2 be solved so that, for example, the workpiece 2 at another, by the storage element 200 is actually accessible to hidden areas to work on them.

3 shows a system 1 for providing at least one workpiece 2 , The system 1 includes a base plate 300 on which a plurality of fixing devices 310 . 312 . 314 . 316 . 318 are arranged. The fixing devices 310 . 312 . 314 . 316 . 318 are furnished to at least a foot part 110 a support element 100 to fix. In particular, the fixing devices 310 a quick coupling unit 320 include. The variety of fixation devices 310 . 312 . 314 . 316 . 318 it allows a variety of support elements 100 preferably with different storage elements 200 , 200 ', 200 "on the base plate 300 provide. On the support elements 100 or their headboards 150 can have different storage elements 200 , 200 ', 200 " 200 , which can be seen on the far right, corresponds to the storage element 2 , The storage element 200 'may be a to the workpiece 2 have adapted contour, or be designed as a pin matrix, which is preferably hydraulically or pneumatically locked. The storage element 200 "can be a counter-tensioner 220 or include a gripper around the workpiece 2 to fix. Furthermore, the system includes 1 a manipulator flange 350 which is set up the system 1 on a second manipulator 20 to arrange. Preferably, at the fixing devices 310 . 312 . 314 . 316 . 318 Other elements, such as another, not positionally variable storage element 200 '"on the base plate 300 be fixed.

4 shows the system 1 for providing at least one workpiece 2 out 3 , The system 1 can continue a first manipulator 10 include, which is adapted to the headboard 150 the at least one support element 100 according to a workpiece to be supported 2 align. For this purpose, a gripper engages 15 , the first manipulator 10 arranged is the headboard 150 and align it according to the workpiece 2 out. After aligning the headboard 150 can be the first and second articulated connection 120 . 140 and / or the middle part 130 be arrested. Furthermore, the system can 1 by means of the manipulator flange 350 on a second manipulator 20 be arranged.

5 shows a schematic representation of the method, wherein in a first method step S1, the system described above 1 provided. In a method step S2, a header is 150 at least one support element 100 , preferably by means of a first manipulator ( 10 ) and in a further method step S3 becomes a workpiece 2 placed on the shelf of the storage element.

LIST OF REFERENCE NUMBERS

1

system

2

workpiece

10

First manipulator

15

grab

20

Second manipulator

100

support element

110

footboard

111

hydraulic connection

112

first cylinder part

114

first piston part

116

ball socket

120

first articulated connection

122

elastic element

124

joint ball

130

midsection

131

hydraulic connection

132

third cylinder part

133

elastic element

134

third piston part

136

conical clamping sleeve

138

conical housing part

139

telescopic rod

140

second articulated connection

142

elastic element

144

joint ball

150

headboard

151

hydraulic connection

152

second cylinder part

154

second piston part

156

ball socket

200

storage element

210

shelf

220

against tensioner

230

swivel mechanism

232

Centering

234

Centering

236

actuator

240

motion axis

246

actuator

300

baseplate

310

fixing device

312

fixing device

314

fixing device

316

fixing device

318

fixing device

320

Schell clutch unit

350

Manipulatorflansch

A

distance

S1 to S3

steps

Claims (16)

System (1) for providing at least one workpiece (2) for a measuring, testing or machining operation, the system (1) comprising: at least one support element (100) comprising a foot part (110), a middle part (130) and a head part (150), wherein the foot part (110) is coupled to the middle part (130) via a first articulated connection (120) and the head part (150) is coupled to the middle part (130) via a second articulated connection (140) to form an inverse kinematic support element (100) form; and at least one storage element (200) which is arranged on the head part (150) and has at least one storage surface (210) on which the workpiece (2) can be supported. System (1) to Claim 1 , wherein the storage element (200) with the at least one head part (150) is releasably coupled. System (1) according to any one of the preceding claims, wherein the central part (130) is adjustable in length and preferably lockable, the central part being preferably adjustable in length by at least 20 mm, preferably by at least 40 mm and most preferably by at least 60 mm. System (1) according to one of the preceding claims, wherein the first and / or second articulated connection (120, 140) are set lockable. System (1) according to one of the preceding Claims 3 or 4 , wherein the first and second articulated connection (120, 140) and / or the central part (130) are arranged locked in a force and / or positive lock. System (1) according to one of the preceding Claims 3 to 5 wherein the locking is effected hydraulically or pneumatically, and wherein preferably the hydraulic or pneumatic locking of the first and second articulated connection (120, 140) and the middle part (130) takes place simultaneously. System (1) according to one of the preceding Claims 3 to 6 wherein the first and / or second articulated connection (120, 140) and / or the middle part (130) comprise an elastic element (122, 133, 142), wherein the elastic element is adapted to lock the first and / or second articulated connection (120, 140) and / or the central part (130) to be biased, wherein the bias of the elastic element (122, 133, 142) is available for releasing the locking. System (1) according to any one of the preceding claims, wherein the first and second articulated connection (120, 140) and / or the central part (130) are arranged latchable lockable. System (1) according to any one of the preceding claims, wherein the first and / or second articulated connection (120, 140) has three degrees of freedom and is preferably designed as a ball joint, which is preferably deflected by at least ± 20 °. System (1) according to one of the preceding claims, wherein the system (1) comprises at least one base plate (300), wherein the base plate (300) has at least one fixing device (310), wherein the fixing device (310) is adapted to a foot part (110) of the at least one support element (100) to the base plate (300) to fix, wherein the fixing device (310) preferably comprises a clip coupling unit (320). System (1) according to one of the preceding claims, wherein the storage element (200) comprises a counter-tensioner (220), and wherein the workpiece (2) by means of the counter-tensioner (220) on the storage element (200) can be fixed. System (1) according to one of the preceding claims, wherein the storage element (200) at least two centering pins (232, 234) which are coupled to corresponding openings of the workpiece (2), wherein the centering pins (232, 234) preferably relative to each other movable are arranged. System (1) according to one of the preceding claims, wherein the storage element (200) has at least one movement axis (240), which is preferably actuated by means of an actuator (246). A system (1) according to any one of the preceding claims, wherein the system (1) further comprises a manipulator (10) adapted to align the head portion (150) of the at least one support member (100) with a workpiece (2) to be supported. Method for providing at least one workpiece (2) for a measuring, testing or machining operation, comprising the following method steps: Providing (S1) at least one system according to one of the preceding claims; Aligning (S2) the head part (150) of the at least one support element (100) corresponding to a workpiece (2) to be supported, wherein the alignment preferably takes place automatically by means of a manipulator (10); Depositing (S3) the workpiece (2) on the support surface (210) of the storage element (200). Method according to Claim 15 in which, after the alignment of the head part (150) of the at least one support element (100), the position of the support element is determined in order to define a work space.

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