DE102021104900A1 - Process for the separation and sorting of primary products and device - Google Patents

Abstract

The present invention relates to a method for separating and sorting preliminary products from a store, e.g. for subsequent installation in a more complex unit, and a device designed accordingly. In order to create a method of the type mentioned that has a high degree of flexibility with regard to the pre-products to be processed and also a simple and low-maintenance structure using comparatively inexpensive components, it is proposed that• at least one pre-product from a storage facility (2, 2a, 2b) is removed and dropped over a predetermined area (4),• this predetermined area (4) is monitored by a camera system (6) using image recognition for a correctly positioned preliminary product as a good part,• a correctly positioned preliminary product or good part is removed and• as soon as no good part can be detected in the predetermined area (4), any remaining pre-products are conveyed back to the store (2, 2a, 2b), preferably directly. The method can then be restarted.

Description

The present invention relates to a method for separating and sorting preliminary products from a store, e.g. for subsequent installation in a more complex unit, and a corresponding device.

Various approaches for separating and sorting preliminary products are known from the prior art, by means of which the relevant preliminary products are prepared from a storage facility in a defined manner for subsequent installation or other further use within a more complex production process. Pre-products are taken from the store and usually handed in individually in a defined orientation and positioning. Known approaches use e.g. vibrating, vibrating or drum conveyors with connected sorting rail systems. Devices of this type guide the pre-products in a spiral path, with the constantly changing shape of a continuously ascending rail guide causing all parts that are at least incorrectly aligned to fall back into a store.

Alternatively, 3D video systems with image recognition devices are used today to control at least one gripping arm that can be rotated very flexibly about a number of axes. Using this gripper arm, individual pre-products are then specifically removed from a store and turned into a predetermined alignment and position. Alternatively, several preliminary products are arranged on a plate in such a way that they assume new positions or positions within a boundary when shaken by short impulses. Between these impulses, the panel is monitored by a 2D or, in the case of complex preliminary products, even a 3D video system in order to find correctly positioned preliminary products, which are then removed in a targeted manner by the gripper arm.

The disadvantages of these systems mentioned above by way of example lie either in their complex adaptation to a respective preliminary product, in a possible entanglement of several preliminary products with one another and/or in the still very high costs.

Preliminary products can be individual parts, but also assemblies. In the case of assemblies, preliminary products are of particular interest which are a combination of metal, plastic and textile parts, in particular a metal fitting and/or a plastic part with a belt section fixed to it. In addition to snagging several fittings, the belt sections can also become tangled, tangled or even knotted with these pre-products. Nevertheless, it is customary and desirable for reasons of cost to also deliver such preliminary products as bulk material to a storage facility in an unordered manner.

It is the object of the present invention to create a method of the type mentioned that has a high degree of flexibility with regard to the preliminary products to be processed and also a simple and low-maintenance structure using comparatively inexpensive components.

• • mindestens ein Vorprodukt aus einem Vorratsspeicher entnommen und über einem vorbestimmten Bereich abgeworfen wird,
• • dieser Bereich durch ein Kamerasystem mittels Bilderkennung auf ein korrekt liegendes Vorprodukt bzw. Gutteil analysiert wird,
• • ein Gutteil durch einen Greifer entnommen wird und
• • sobald kein Gutteil in dem vorbestimmten Bereich erkannt werden kann und/oder auf eine entsprechende Anforderung hin, etwaig verbliebene Vorprodukte in den Vorratsspeicher zurückbefördert werden,
• • wonach das Verfahren erneut gestartet wird.

This object is achieved according to the invention by the features of claim 1 in that

• • at least one preliminary product is taken from a store and dropped over a predetermined area,
• • this area is analyzed by a camera system using image recognition for a correctly positioned preliminary product or good part,
• • a good part is removed by a gripper and
• • as soon as no good part can be detected in the predetermined area and/or any remaining pre-products are conveyed back to the storage facility upon a corresponding request,
• • after which the procedure is restarted.

Advantageously, the number of preliminary products taken from a store in the first method step is arbitrary within wide limits, as long as it is only at least one.

A further advantage of a method according to the invention lies in the fact that the removed preliminary products are dropped or scattered over a predetermined area. This means that these pre-products can also unravel from one another or detach from mutual entanglements without damage occurring.

Finally, a single image of the predetermined area is required, as well as its analysis by means of image recognition, in order to reliably localize all correctly positioned preliminary products as good parts, which are then subsequently removed individually from the predetermined area. All other preliminary products are transported back to the storage facility in order to be subsequently removed and discarded again. A renewed removal from the store with subsequent dropping has proved to be faster and more effective than the use of a large number of pre-products in terms of untangling and/or resolving mutual entanglements tion of vibrating tables, in particular when used for the enrichment of pre-products with at least one limp section, ie for example pre-products with at least one thread, tape or belt section.

A method according to the invention prepares a restart itself in that any remaining pre-products are conveyed back into the storage store as soon as no pre-product or good part recognized as lying correctly can be detected in the predetermined area. Alternatively or additionally, this step can also be carried out upon a corresponding request, in particular when a predetermined number of good parts has been reached. In any case, a clear and defined start scenario is thus achieved again and the method can be restarted.

Furthermore, with regard to the flexibility of a method according to the invention, it is very advantageous that, after a method has been run through, at least one preliminary product does not necessarily have to be removed again from the same reservoir. As soon as all remaining pre-products have been transported back to the associated store, other and different pre-products can also be separated and sorted and handed over in a defined manner one after the other in a defined manner according to a method described above. For this purpose, with basically the same process sequence on the same device, it is only necessary to use a corresponding number of reservoirs with a single removal system and camera systems with image recognition that has been trained accordingly. In this case, a predetermined area can advantageously be used for the scattered dropping of the respective at least one preliminary product together over a number of different preliminary products in just one device.

Advantageous developments are the subject of the subclaims. Accordingly, the shedding is controlled at least over the specific area with the aim of scattering the primary products removed. This counteracts the formation of a heap of several preliminary products in a small section of the predetermined area, with the shedding being able to contribute to the release of entanglements and the untangling of several preliminary products. Overall, this separation simplifies image recognition, as does a subsequent removal of individual pre-products lying correctly oriented as so-called good parts.

In a preferred embodiment of the invention, the removal of at least one preliminary product from the store is carried out using a gripper, preferably a mechanical or magnetic gripper. But a suction pad or something similar can also be used. A mechanical opening can be controlled just as slowly with the above-mentioned goal of a scattered dropping of removed preliminary products over the predetermined area as a decreasing excitation current of an electromagnetic gripper or a decreasing suction flow of a suction gripper.

It is preferable to use a predetermined area in a flat and horizontal surface. This means that once the preliminary products are in place, they can hardly change their location and position to be examined. Targeted removal is also easily possible after evaluating an image from the camera using connected pattern recognition or other image processing.

In one embodiment of the invention, as soon as no preliminary product or good part recognized as lying correctly can be detected in the predetermined area or a predetermined number of good parts has been reached, any remaining preliminary products are removed by a slide moved over the predetermined area, or by lifting and/or Returned tilting of the predetermined area to a sufficiently inclined plane in the storage. However, the use of an endless conveyor is particularly preferred, with a surface on its conveyor belt being used as the predetermined area.

Advantageously, a gripper with a two-axis arm is used to remove a good part from the predetermined area. This is a simple, quick and inexpensive solution. In a further development, this gripper is used on a rotatable two-axis arm, so that it serves a number of predetermined areas controlled by a number of camera systems with respective image recognition, or a number of sections of a predetermined area sequentially in time, in particular after a displacement. Depending on the application, more than just one type of pre-product can also be prepared in the respective number for subsequent processing steps in a required chronological order in a defined manner.

As will be illustrated below with the aid of a graphic representation of the drawing, according to a preferred embodiment of the invention, different types of pre-products are provided in separate reservoirs, with these reservoirs being displaceable in a defined manner, for example, in a row relative to a removal position with a unit consisting of a gripper for removal and Separation of a respective pre-product from the relevant storage facility, a predetermined area with image recognition trained on a respective pre-product and a gripper for recognized good parts are positioned. If a respective number of a respective preliminary product has been recognized and removed from the predetermined area by the good part gripper, any remaining preliminary products are conveyed back into the associated store. According to a specification, a new store is positioned in such a way that the gripper for removing and separating the pre-product now selected can work from the relevant store. The previously trained image recognition is loaded accordingly so that the gripper for recognized good parts is operated until a predefined number of good parts is reached again. Any remaining preliminary products are then conveyed back to the associated storage facility, and the method starts again with the displacement and positioning of a storage facility that is then determined.

• • eine Entnahmevorrichtung zum Entnehmen mindestens eines Vorprodukts aus einem Vorratsspeicher, die zum Abwerfen über einem vorbestimmten Bereich ausgebildet ist,
• • ein Kamerasystem mit einer Bilderkennung, die dazu ausgebildet ist, den vorbestimmten Bereich auf das Vorhandensein eines korrekt liegenden Vorprodukts zu überwachen,
• • ein Selektionsmittel zum selektiven Entnehmen eines als korrekt liegend erkannten Vorprodukts aus dem vorbestimmten Bereich und
• • eine Rückfördervorrichtung, die dazu ausgebildet ist, etwaig in dem vorbestimmten Bereich verbliebene Vorprodukte in den Vorratsspeicher zurückbefördert, vorzugsweise direkt.

Furthermore, a device for implementing a method according to one of the preceding features is also a solution to the task formulated at the outset, the device comprising the following elements:

• • a removal device for removing at least one preliminary product from a store, which is designed to drop over a predetermined area,
• • a camera system with image recognition, which is designed to monitor the predetermined area for the presence of a correctly positioned preliminary product,
• • a selection means for selectively removing a preliminary product that has been recognized as lying correctly from the predetermined area and
• • a return device, which is designed to return any preliminary products that have remained in the predetermined area to the store, preferably directly.

The removal device and the selection means are preferably designed together as only one at least three-axis gripper, the position of which within the entire device is optimized with short distances to all accessible positions.

A removal device, a surface formed as a predetermined area on a conveyor belt of an endless conveyor, as well as a selection means for the targeted gripping of recognized preliminary products in the sense of good parts are advantageously components of comparatively simple construction. A camera system that analyzes the predetermined area by means of image recognition for a correctly positioned preliminary product or good part has long been known to the person skilled in the art and is also available on the market today in different designs. A device according to the invention is thus composed of quite simple and reliably working parts and technical components.

• 1: eine Seitenansicht eines ersten Ausführungsbeispiels einer Vorrichtung;
• 2: eine Draufsicht auf das Ausführungsbeispiel von 1 unter Abwandlung für einen Einsatz mehrerer Vorratsspeicher in einer linearen Anordnung;
• 3: eine Draufsicht auf ein weiteres Ausführungsbeispiel unter Einsatz mehrerer Vorratsspeicher.
• 4: eine Draufsicht auf ein weiteres Ausführungsbeispiel unter Einsatz mehrerer Sortierlinien mit je einem Vorratsspeicher zur Andienung diverser verschiedenartiger Vorprodukte jeweils in größerer Stückzahl und
• 5: eine Draufsicht auf ein weiteres Ausführungsbeispiel unter Abwandlung des Ausführungsbeispiels von 4 unter Rückgriff auf das Ausführungsbeispiel von 1.

Further features and advantages of embodiments according to the invention are explained in more detail below with reference to an exemplary embodiment using the drawing. It shows in a schematic representation:

• 1 : a side view of a first embodiment of a device;
• 2 : a plan view of the embodiment of FIG 1 with modification for the use of several reservoirs in a linear arrangement;
• 3 1: a plan view of a further exemplary embodiment using a plurality of reservoirs.
• 4 : a top view of a further embodiment using several sorting lines, each with a storage facility for supplying various different types of preliminary products, each in larger numbers and
• 5 : a plan view of a further exemplary embodiment with a modification of the exemplary embodiment from FIG 4 using the embodiment of 1 .

The same reference numbers are always used for the same elements and method steps throughout the various figures. In the following, without restricting the invention, only an adaptation of a method according to the invention to pourable preliminary products is shown and described, whereby these can be in one part, but also in several parts.

1 shows a side view of a first exemplary embodiment of a device 1 for separating and sorting primary products (not shown) from a store 2, as is required in particular for delivery for subsequent installation in a more complex unit as part of an automated manufacturing process.

1. 1. Greifen in den Vorratsbehälter 2 und Entnahme mindestens eines Vorproduktes mittels eines in mindestens zwei Achsen beweglichen Greifers 3;
2. 2. Vereinzeln gegriffener Vorprodukte über einem vorbestimmten Bereich 4 als Abwurfbereich hinweg;
3. 3. Bildauswertung eines Ausschnitts 5 aus dem vorbestimmten Bereich 4 mittels einer an eine Kamera 6 angeschlossenen Bildauswertung;
4. 4. Ansteuerung eines Greifers 7 zur Entnahme eines Gutteiles mit dessen definierter Übergabe in eine Übergabeposition 8;
5. 5. Entleeren des vorbestimmten Bereichs 4 mit Rückführung etwaig in dem vorbestimmten Bereich verbliebener Vorprodukte direkt in den Vorratsbehälter 2 zurück.

The device 1 described below implements a method comprising the following steps:

1. 1. Reaching into the reservoir 2 and removing at least one preliminary product by means a gripper 3 movable in at least two axes;
2. 2. Separation of gripped preliminary products over a predetermined area 4 as a dropping area;
3. 3. Image evaluation of a section 5 from the predetermined area 4 by means of an image evaluation connected to a camera 6;
4. 4. Control of a gripper 7 for removing a good part with its defined transfer to a transfer position 8;
5. 5. Emptying of the predetermined area 4 with recirculation of any primary products remaining in the predetermined area directly back into the storage container 2 .

After step 5, step 1 restarts the process.

The process described above is now extended by repeating step 4 so that, among other things, a specified number of required good parts is reached. Even if more than 90% of the primary products dropped in the predetermined area 4 are not positioned as good parts, these primary products are also moved against each other with sufficient force in the course of being returned to the storage store 2, so that these primary products are also untangled from one another within the scope of renewed removal and unhooked come to rest in the predetermined area 4 as a good part, can be recognized and removed.

2 1 shows a top view of an embodiment of the first exemplary embodiment, modified for sequential use of a plurality of reservoirs 2, 2a, 2b and enables different preliminary products to be served in one and the same device 1 according to FIG 1 . This plurality of reservoirs 2, 2a, 2b can be positioned on a rail 9 in a linear arrangement so as to be displaceable at a removal position 10. A respective positioning of one of the reservoirs 2, 2a, 2b at the removal position 10 takes place according to the specification of a higher-level not shown

Control according to which of the various pre-products is required at least once in a next production step or is to be stored in a targeted manner in the transfer position 8. Accordingly, after step 5 with an emptying of the predetermined area 4 with return of any remaining precursors in the predetermined region 4 into the storage container 2 used here in the method, a displacement of the storage containers 2, 2a, 2b is carried out until a predetermined precursor within the scope of a Reboots of the procedure described can be found.

After step 5, step 6 follows: displacing the storage containers 2, 2a, 2b linearly in a row until a specified preliminary product that is now requested can be removed in a predetermined number of pieces. With a “new” storage container 2a or 2b, a corresponding reloading of the recognition pattern in the image or pattern recognition system connected to the camera 6 and a new specification of a number of good parts also takes place.

The removal of at least one preliminary product from the store 2 is carried out using a gripper 3, which is designed here as a mechanical gripper, whereby depending on the nature of the preliminary products, magnetic grippers or suction grippers can also be used without further explanation at the discretion of the person skilled in the art. In all of the exemplary embodiments illustrated and described here, the ejection of primary products removed from the store 2 is controlled at least over the specific area 4 with the aim of scattering the primary products removed. This can easily be done, for example, by progressively opening or releasing the gripper 3.

The predetermined area 4 for the scattered discharge of precursors taken from the hopper 2 is used as an area lying in a flat and horizontally oriented surface. Already in 1 the predetermined area 4 is designed as an upper section of an endless conveyor 11 in the form of a conveyor belt. Here - with the conveyor belt stationary - only the section 5 from the predetermined area 4 is examined by the camera 6 with connected image evaluation for a preliminary product that is present and in the correct position, which is then removed as a good part by the gripper 7 and brought to the transfer position 8 and transferred there in a defined way. The figure from shows this 1 that the predetermined area 4 is significantly larger than the section 5 evaluated by the camera 6 . In a further exemplary embodiment, step 4a is inserted after step 4: moving the conveyor belt of endless conveyor 11 to evaluate at least one further section 5a of the predetermined area and subsequent evaluation with possible removal of at least one good part. If there is no good part in the section 5a, a further displacement takes place until the predetermined area 4 has been used up, so to speak, and all the pre-products that were not used as good parts have been conveyed back to the store 2.

The conveyor belt used in the endless conveyor 11 is characterized by a surface which, due to its nature and in particular its color, forms the greatest possible contrast with the preliminary products lying in the section 5 evaluated by the camera 6 . For this purpose, this section 5 is also appropriately illuminated in coordination with a camera 6 used in each case. For this purpose, light from a non-visible range of the spectrum is used in this exemplary embodiment to increase the contrast.

The illustration of 3 shows a plan view of a further embodiment using a plurality of reservoirs 2, 2a, 2b. In contrast to the previous exemplary embodiments, however, the camera 6 is limited to a section 5 of the predetermined area 4 on the endless conveyor 11, with this section 5 directly adjoining a drop 12 of preliminary products into the relevant storage store 2, 2a, 2b at the removal position 10 is arranged back, which is a protruding end of the endless conveyor 11 here, but can also be a passive chute, etc. By moving the conveyor belt 11, several sections - here, for example, three partially overlapping sections 5, 5a, 5b - can be set up on the endless conveyor 11 after a single loading of the predetermined discharge area 4, as indicated by the three differently dashed arrows in 3 implied. After no more good parts are detected, or a predetermined number of good parts of a relevant preliminary product has been reached, any preliminary products remaining in each of the sections 5, 5a, 5b are transported via the drop 12 over a short distance and directly into the relevant storage facility 2, 2a , 2b poured back into it. From there, these pre-products are available again for another removal with the chance of a correspondingly predetermined positioning as a good part in one of the sections 5, 5a, 5b within the predetermined area 4 on the endless conveyor 11.

The embodiment of 3 also shows the use of only one gripper 13 for the function of gripper 3 for removing preliminary products from a store as well as the tasks of gripper 7 for gripping and delivering a good part from section 5 to transfer position 8 in a defined manner. Transfer position 8 cannot go any further shown manner each include a pre-product adapted receptacles in which a respective pre-product is held in a defined orientation for further processing by a gripper not shown in more detail a subsequent processing unit can be easily removed.

Furthermore, the embodiment of 3 by shifting the position of this one gripper 13 next to the endless conveyor 11. From this new position, the reservoir 2, 2a, 2b, which is currently waiting for a removal at the removal position 10, the section 5 and also the transfer positions 8, 8a, 8b of a respective good part from the various preliminary products can be optimally reached with short distances, as by the positions of a gripper arm of the gripper 13 shown in different dashed lines in 3 implied. Furthermore, only in 3 a protective wall 14 is indicated over an area of the removal position 10, through which an operating area of the gripper 3 is separated from an outside area. In this way, the active reservoir 2 can also be safely filled up for operating personnel from the outside during operation. The arrangement of the individual devices, such as the transfer positions 8, 8a, 8b, is also in 3 owed more to the clarity in the illustration and to the space available than to an optimization of process time, etc., as immediately recognizable to the person skilled in the art.

4 shows a plan view of a further embodiment. Here, a good part gripper 13 is used over several sorting lines L0, L1, L2, ... each with its own storage facility 2, in order to handle different primary products in larger numbers compared to the embodiment of 3 to be able to serve with little additional space. Compared to the embodiments of 2 and 3 this device 1 is designed to serve various different types of preliminary products in larger quantities in that each preliminary product has its own line L0, L1, L2, ..., each consisting of a storage device 2, a camera 6 with a trained image evaluation system and its own endless conveyor 11 with predetermined areas 4 for receiving a large number of the respective preliminary products and a respective transfer area 8 is available. Furthermore, a gripper 13 is used for separating the respective preliminary products from the respective reservoirs 2 in the predetermined areas 4 on the endless conveyors 11 - again with the above-described formation of sections 5, 5a, 5b of the predetermined area 4 - and a removal respective good parts under the control of a respective camera 6 with a connected image evaluation system limited to an area 5 constructed. Compared to the embodiment of 3 When changing a preliminary product, emptying the endless conveyor 11 and moving the reservoir 2 and reprogramming the image recognition connected to the camera 6 in coordination with a respective preliminary product with a corresponding upgrade of the device 1 saves time.

Finally puts 5 a plan view of a further embodiment, modifying the embodiment of FIG 4 using the embodiment of 1 . In accordance with the embodiment of FIG 4 several sorting lines L0, L1, L2, ... are also provided here, each with its own store 2. As in the embodiment of 1 but here is a separate, simply constructed, 2-axis gripper 3 for each of the sorting lines L0, L1, L2, ... provided. This ensures that the respective predetermined areas 4 on the sorting lines L0, L1, L2, be able. A multi-axis gripper 7' is provided for the selection and removal of respective good parts from the sorting lines L0, L1, L2, ... towards a transfer position 8 on each of the sorting lines L0, L1, L2, ... Claw 7 from 1 has been extended by being able to move across the sorting lines L0, L1, L2, .... In 4 the gripper 7' sketches the robot arm for the line L2 in two positions: gripping a good part and its subsequent storage at an associated transfer point 8 compared to the execution of FIG 4 shortened paths. Shifting along the indicated double arrow, this process is then repeated on any of the sorting lines L0, L1, L2, . Optimizations known to the person skilled in the art, for example in accordance with “just in time” or needs-based stocking of good parts, then have an influence on the methods described above.

Viewed across all components of a device 1, a gripper 7, 7' is the most expensive individual element. These multi-axis grippers 7, 7' work very precisely and at high speed. This is a device 1 according to the embodiment of 5 a pure parallel connection of a corresponding number of devices 1 according to the embodiment of FIG 1 superior to the cost of set-up, operation and maintenance with regard to the cost of setting up, operating and maintaining a wide variety of pre-products with little loss of time.

Mixtures of the exemplary embodiments described above are of course also possible depending on the application, the type of the respective preliminary products and the required quantities of the different preliminary products. In any case, even more complex pre-products, which e.g. have a metal or plastic part with a strip section fixed thereto, are reliably processed by devices according to the invention for a defined supply for subsequent steps of an automated processing process. Such products of a multi-stage pre-process are particularly problematic in their automated handling for delivery, since precisely these pre-products not only get caught in one another, but can also become tangled, intertwined or even knotted. In each of the above-described exemplary embodiments according to the present invention, the handling of the removal from a storage facility, as well as a separation with scattered ejection and a return to the relevant storage facility, even without further active aids, have proven to be helpful in the disentanglement and/or other separation of similar preliminary products . This property also makes the exemplary embodiments described clearly superior to known devices for separating and sorting of preliminary products, beyond their flexible adaptation to a wide variety of preliminary products.

reference list

1

contraption

2

Store 2a, 2b store with different precursors

3

gripper

4

predetermined area / dropping area

5

Section from the predetermined area 4 5a, 5b subsequent sections of the predetermined area 4

6

Camera with connected image evaluation or image recognition

7

Gripper for a good part 7 'additionally parallel displaceable gripper

8th

Transfer position 8a, 8b transfer positions each other precursors

9

Rail for moving the stores 2, 2a, 2b

10

Removal position of the reservoir 2, 2a, 2b

11

Endless conveyor / conveyor belt

12

Discarding / chute of preliminary products from the endless conveyor 11 back into the relevant store 2,2a,2b

13

Gripper as a replacement for grippers 3 and 7

14

Protective wall as a safety device for safe refilling of a reservoir 2, 2a, 2b, also in the area of the removal position 10 during operation

L0, L1, L2, L3

Line with storage 2, endless conveyor 11, camera 6 with connected image recognition for a section 5 and transfer position 8 for each of the various preliminary products.

Claims (15)

Method for separating and sorting preliminary products from a storage facility, e.g. for subsequent installation in a more complex unit, characterized in that • at least one preliminary product is removed from a storage facility (2, 2a, 2b) and dropped over a predetermined area (4). • this predetermined area (4) is monitored by a camera system (6) using image recognition for a correctly positioned preliminary product as a good part, • a good part is removed by a gripper (7) and • as soon as there is no good part in the predetermined area (4) can be recognized and/or upon a corresponding request, any remaining preliminary products are conveyed back to the storage facility (2, 2a, 2b), • whereupon at least one preliminary product is again removed from a storage facility (2, 2a, 2b) and above the predetermined area (4) is dropped, especially directly. Method according to the preceding claim, characterized in that the ejection of primary products is controlled with the aim of scattering the primary products removed at least over the specific area (4). Method according to one of the preceding claims, characterized in that the removal of at least one preliminary product from the store (2, 2a, 2b) is carried out using a gripper (3, 13), preferably a mechanical or magnetic gripper or a suction gripper . Method according to one of the preceding claims, characterized in that a predetermined area (4) in a flat and horizontally lying surface is used. Method according to one of the preceding claims, characterized in that as soon as no good part can be detected in the predetermined area (4) or an area (5) or a predetermined number of good parts has been reached, any remaining preliminary products are removed by an over the predetermined area (4 ) or area (5) moved slide, or lifting and/or tilting of the predetermined area (4) or area (5) to a sufficiently inclined plane in the storage (2, 2a, 2b) are conveyed back, preferably with an endless conveyor (11) is used, on the conveyor belt of which an area is used as the predetermined area (4). Method according to the preceding claim, characterized in that a predetermined area (4) is used which is larger than a section (5) which is recorded and evaluated by the camera (6) and the conveyor belt of the endless conveyor (11) for evaluation of at least one further section (5a) of the predetermined area (4) and subsequent evaluation with possible removal of at least one good part, preferably to a discharge area (12) from the endless conveyor (11) into the storage facility (2, 2a, 2b). Method according to one of the preceding claims, characterized in that a gripper (7, 13) with an at least two-axis arm is used to remove a good part from the predetermined area (4), which transfers the good part to a transfer position (8) in a defined manner. Method according to one of the preceding claims, characterized in that a line (L0, L1, L2, ...) is used for each preliminary product from a number of different preliminary products, in which an endless conveyor (11) with a predetermined area (4) below Evaluation of an area (5) is used by a camera (6) with image recognition that has been trained for the respective preliminary product. Device for implementing a method according to one of the preceding claims, characterized in that the device (1) comprises: a removal device for removing at least one preliminary product from a store (2, 2a, 2b), which is designed to drop or scatter over a predetermined area (4), a camera system (6) with image recognition, which is designed for this purpose is to examine the predetermined area (4) or a section (5, 5a, 5b) thereof for the presence of a correctly positioned preliminary product as a good part, a selection means for selectively removing a correctly positioned preliminary product or good part from the predetermined area (4 ) or section (5, 5a, 5b) and a return conveyor device which is designed to return any preliminary products remaining in the predetermined area (4) to the store (2, 2a, 2b) upon request. Device according to the preceding claim, characterized in that the removal device is designed as a mechanical gripper (3, 13), in particular as a gripper on a 2-axis arm. Device according to one of the preceding claims 9 - 10 , characterized in that an area on an endless conveyor (11) is formed as a predetermined area (4), in particular an area on a conveyor belt. Device according to the preceding claim, characterized in that the endless conveyor (11) also forms the return device. Device according to one of the preceding claims 9 - 11 , characterized in that the removal device and the selection means are designed as an at least three-axis gripper (7, 7', 13). Device according to one of the preceding claims 9 - 13 , characterized in that a number of reservoirs (2, 2a, 2b) are provided, which are designed to be movable by being controlled to a removal position (10). Device according to one of the preceding claims 9 - 14 , characterized in that a separate line (L0, L1, L2, ...) is provided for each preliminary product from a number of different preliminary products, each line (L0, L1, L2, ...) an endless conveyor (11) with a predetermined area (4) and a camera (6) with image recognition adapted to the respective preliminary product for evaluating an area (5) and a transfer area (8), wherein the lines (L0, L1, L2, ...) have a gripper ( 7', 13) which is designed to be movable over the lines (L0, L1, L2, ...).

Images