WO2023148358A1

WO2023148358A1 - Robot-controlled feed apparatus

Info

Publication number: WO2023148358A1
Application number: PCT/EP2023/052744
Authority: WO
Inventors: Henrik KLAG
Original assignee: Klag Henrik
Priority date: 2022-02-04
Filing date: 2023-02-03
Publication date: 2023-08-10
Also published as: DE102022102720A1

Abstract

The invention relates to a method for controlling a device for providing workpieces, in which the sequence of workpieces to be picked up by a robot from a workpiece support of the device is determined in order to enable efficient feeding of workpieces. The invention also relates to a device for feeding workpieces, which can in particular be controlled by the method.

Description

Robot-controlled feeding device

The present invention relates to a method for controlling a device for providing workpieces with a workpiece support, in particular a workpiece support of a transport device with a driven transport track, at least one conveyor device for placing workpieces on the workpiece support, at least one data acquisition device that is set up to record data in a detection area, at least one robot which has a pick-up device and is set up to pick up at least one of the workpieces from the workpiece support and place it in a storage area for the workpiece that is separate from the workpiece support. The present invention also relates to a device for feeding workpieces, which can be controlled in particular with the method.

If workpieces such as screws are fed into a manufacturing process, it is often necessary for them to be fed in a specific position and orientation. In many processes, the workpieces are first provided in random order in crates or lattice boxes and then fed into the production process with the help of a robot. However, the directed feeding of workpieces provided in this way with an automated device such as a robot is very complex. For this reason, special feeding devices are required, with which the unordered workpieces can be separated, optionally brought into a specific position and location, and then deposited in a storage area. In particular for production with large quantities, it is necessary for the workpieces to be fed in at high speed, with damage to the workpieces being to be avoided as far as possible.

Automated feeding devices are known in which workpieces are placed on a circulating transport path, for example a conveyor belt, and then picked up from there by a robot and deposited in a storage area for the production process. At least a part of the transport track runs close to the deposit area, so that if the workpieces are close to the deposit area of the transport track are picked up, the distance that the robot has to cover to pick up and set down the workpieces is comparatively short.

DE 198 82 978 TI discloses an oscillating feed device with a robot, which comprises a feed tray, with which parts or workpieces are transported on an inner spiral track by vibrating the tray. A rotatable feed ring is arranged in the upper edge area of the feed tray, to which the parts or workpieces transported on the inner spiral track are delivered. The parts or workpieces are then moved via the rotating feed ring into the field of view of a camera, which recognizes the position and alignment of workpieces on the feed ring. If the camera detects workpieces that can be picked up by the robot, the feed ring is stopped so that the workpieces can be picked up by the robot. After the workpiece has been picked up, the feed ring is rotated again, with the workpieces that have not been picked up not remaining on the feed ring but being brought back into the interior of the feed bowl by a sweeping rod provided for this purpose at the latest after one revolution.

DE 10 2018 116 855 A1 discloses a feeding device with a robot and a rotating table, onto which screw bolts are applied in a refilling area. In addition, the feeding device has a plate-shaped member that moves bolts placed on the table and another plate-shaped member that discharges bolts placed on the table to the outside of the table. In a first peripheral area of the table, the refill area in which bolts are filled is defined. A discharge area, in which screw bolts are discharged, is defined in a second peripheral area. A plate-shaped member is formed to move bolts from the first peripheral portion to the second peripheral portion. The position and the attitude of the bolts on the table is picked up by an image pick-up device and detected by a control device. Based on their position and location, a robot removes the bolts from the table. Bolts that have passed all the perimeters and have not been picked up by the robot discharged from the table and re-applied to the table via a conveyor.

The object of the present invention is to provide a method for controlling a device that enables workpieces to be fed in efficiently. Furthermore, the object is to provide a device for the efficient feeding of workpieces, which can be controlled in particular with the method.

This object is achieved with a method according to claim 1. The object is also achieved by a device with the features according to claim 5.

A device that can be controlled using the method according to claim 1 comprises a workpiece support, onto which workpieces can be placed, in particular piled up, by a conveyor device. The workpiece support is typically part of a transport device with a driven transport path, the transport path being set up to move workpieces along a straight and/or curved path. The transport track can in particular be formed by a one-piece or multi-part transport belt.

The workpieces are picked up from the workpiece support by a robot belonging to the device and brought to a storage area. The workpieces can be picked up by the robot while the transport path is running and/or stopped. In particular, the transport track can be circumferential, and in the case of a substantially circular transport track, it can also be formed, for example, by a single-part or multi-part ring disk. The transport path can also be linear in the manner of a simple conveyor belt. However, the workpiece support does not have to be part of a driven transport track; in principle, it can also be designed to be essentially static and, for example, be part of a vibrating table or a vibrating plate, which distributes the workpieces on the workpiece support by occasionally vibrating or shaking. The method according to the invention is not limited to a specific type of robot. Instead, different types of robots can be considered for a corresponding method. For example, the robot can be a linear robot or a delta robot, or a robot that has a main axis of rotation and preferably at least one articulated arm.

"Main axis of rotation" means a rotary axis of a robot, which is arranged directly after a base frame of the robot and all other axes of the robot are downstream.

In the method according to the invention, a pick-up sequence is determined for the workpieces lying on the workpiece support, in order to pick them up from the workpiece support with a pick-up device of the robot and bring them to a storage position in a storage area. The recording sequence is formed in such a way that the shortest possible cumulative recording time is achieved, with not all workpieces having to be gripped in the sequence in which they were placed on the workpiece support.

For this purpose, the position and, if necessary, the position of all workpieces are recorded by a data recording device, which are located in a recording area associated with the data recording device. As a result, the position and possibly the location of all workpieces on the workpiece support at a point in time t0 that are in the detection area or have at least partially passed through it are known. In addition, when the workpieces have been transported through the workpiece support, their position and possibly their position at a later point in time t _x can be calculated with knowledge of the transport route (for example via the transport speed and transport duration). The calculation can take place at the time the position and attitude are recorded or also later. It is also possible that other objects that are not to be recorded are also recorded. The detection of these objects can be useful since they can impair the recording of workpieces that are actually to be recorded by the recording device due to their position on the workpiece support. In principle, it is optimal in terms of time if a first workpiece is selected whose distance from a vertical reference plane is the smallest at time t _x . In this case, t _x is the point in time at which the workpiece would be picked up by the pick-up device from the workpiece support. If the robot has a main axis of rotation, the reference plane passes through the delivery position and the main axis of rotation of the robot. The distance between the workpieces is determined by determining a minimum angle α between the reference plane and another vertical plane that runs through the respective workpiece and the main axis of rotation. In this case, the workpiece has the smallest distance to the reference plane, the angle o of which is the smallest.

If the robot has no main axis of rotation and the workpieces are picked up by a curved transport section of the workpiece support, the vertical reference plane runs through the release position and a center of curvature of the curved transport section. As already described above, the workpiece has the smallest distance to the reference plane whose angle θ between the reference plane and another vertical plane that runs through the respective workpiece and the center of curvature is smallest.

If the robot does not have a main axis of rotation and/or the workpieces are picked up by a linear section of the workpiece support, the vertical reference plane passes through the placement position and is orthogonal to the direction of transport of the workpieces, provided that the workpiece support is part of a transport device with a powered transport track. If the workpiece support is designed to be essentially static, the vertical reference plane runs through the storage position and a reference point of the workpiece support that is to be determined arbitrarily. The distance between the workpieces and the reference plane is determined by means of a line that connects the respective workpiece to the reference plane and is directed orthogonally to the reference plane. The workpiece is selected for which the distance is the smallest. The selected first workpiece should only be lifted with a short lifting movement so that it no longer rests on the workpiece support or is taken along by it, and then brought to its storage position in a straight line. In this case, the storage position can be arranged essentially at the level of a plane of the workpiece support on which the workpieces lie. Likewise, depending on the type of pick-up device of the robot, the storage position can be arranged higher, for example at half the height of the workpiece. This can be advantageous, for example, when the pick-up device can pick up a workpiece only starting from a certain height above the workpiece support with a vertical lifting movement and is at least partially below the workpiece height when picking up the workpiece. In contrast, the workpiece can be deposited at the deposition position by a lateral and essentially horizontal movement of the receiving device. In order to pick up the next workpiece, the pick-up device would now have to be moved again to the specific height above the workpiece support. If the storage position is above the workpiece support, this vertical movement can already be carried out partly on the way to the storage position and partly on the way to pick up the next workpiece. In this way, unnecessary expenditure of time for raising and lowering workpieces and the receiving device are minimized in the method according to the invention. Irrespective of this, it is of course also possible for the storage position to be lower than the workpiece support. A further lifting of the workpiece on the way to the storage position can also be carried out if the workpiece is to be lifted over an edge of the workpiece support. It is essential that the workpiece is lifted in the direction of the storage position immediately after the short lifting movement.

A check is made as to whether it is possible to pick up and move the first workpiece to the desired storage position without colliding. If this is the case, the first workpiece is picked up and taken directly to the storage position. Is a transport of the first workpiece on the direct route to storage position is not possible because the workpiece would collide with one or more other workpieces on its direct way to the storage position, it is checked whether there is a time advantage if the colliding workpiece or workpieces are picked up first before the first workpiece. It is also checked whether there is a time advantage if the first workpiece is brought to the storage position on a path in which a collision with other workpieces is avoided, with the colliding workpiece being picked up afterwards. There is a time advantage if both workpieces are picked up faster with one of the aforementioned sequences than with the other sequence.

When checking whether there is a time advantage if the colliding workpiece is picked up before the first workpiece, it is also advantageous if the colliding workpiece, as described above, is also only lifted with a short lifting movement and straight on the direct path to its Storage position is brought. But here, too, it would have to be checked whether the colliding workpiece would collide with other workpieces along this path. If this were the case, the recording sequence would also be determined for these workpieces, as described above. This would result in a recording sequence that could consist of a large number of workpieces, which would lead to the shortest cumulative recording time for all workpieces in the recording sequence.

It can be advantageous if the path of the first workpiece, with which a collision with other workpieces can be avoided, is determined in such a way that the path of the first workpiece is adapted in one or more of the following ways:

- The lifting movement with which the first workpiece is picked up by the workpiece support is lengthened, the workpiece being lifted in particular so far that it is above the workpiece height of at least one other workpiece lying on the workpiece support.

The first workpiece is guided on a path that consists of several curved and/or kinked sections, with the the first workpiece is in particular at least partially guided laterally around other workpieces.

- The speed of the cradle is adjusted, in particular reducing the speed or stopping the movement, to allow a workpiece colliding at the normal transport speed of the cradle to pass, provided that the workpieces are moved by a powered conveyor track, thereby avoiding a collision.

A collision can be avoided by adapting the path depending on the position and location of other workpieces in one or more of the aforementioned ways. The path can be adapted in such a way that unnecessary paths are avoided and the workpiece can be picked up by the workpiece support and brought to its storage position as quickly as possible.

In order to reduce the number of workpieces that cannot be picked up by the robot, it can be advantageous if the data acquisition device detects workpieces that are in an unfavorable position. In this way, a guide element, a repositioning device and/or a removal device of the device can be controlled in order to change the position and/or position of one or more of these workpieces or to remove them from the workpiece support. In this case, unfavorably positioned workpieces are, for example, those workpieces which lie partially or completely on another workpiece or are in a position in which they cannot be picked up by the robot. In particular, the data acquisition device can also detect workpieces that are not to be picked up, with the removal device being controlled in such a way that these workpieces are removed from the workpiece support.

The method according to the invention can be set up to feed in one, two or more different types of workpieces, which are deposited in one or more different storage areas, in particular when requested by the downstream production process. The device according to the invention according to claim 5, which can be controlled in particular with the method according to the invention, has a robot with a main axis of rotation which intersects a horizontal plane running through the transport path in an area enclosed by the inner edge of the circulating transport path, the angle between of the plane and the main axis of rotation is in a range of in particular 45° and 90°, preferably 70° or 80° and 90° or particularly preferably 85° and 90°.

The transport track can be formed in particular by a one-piece or multi-part conveyor belt, but also in the case of a substantially circular transport track by a single-part or multi-part ring disk.

It was surprisingly found that the number of supplied workpieces per unit of time can be significantly increased if the rotation of the main axis of rotation of a robot belonging to the device, which picks up workpieces from a workpiece support of the transport track and brings them to a storage area, is reduced. The main axis of rotation moves the highest mass of all axes in the robot and therefore has the lowest acceleration and speed.

The rotation can be reduced if workpieces on the workpiece support of a driven, circulating transport path of a transport device at least partially pass through a curved transport section and are picked up in this transport section by a pick-up device of the robot. An arcuate transport section is to be understood as meaning a section in which the workpieces are moved along an arcuate path. The curved transport section can be a circular section, for example. The arcuate transport section has at least one center of curvature that lies on a vertical axis that intersects a horizontal plane passing through the transport path. The vertical axis intersects the horizontal plane in an area that is enclosed by the inner edge of the circulating transport track. Further the main axis of rotation also intersects the horizontal plane in the area enclosed by the inner edge of the transport track. Thus, the main axis of rotation of the robot and the center or centers of curvature of the curved transport section lie on the same side of the transport track.

At least one storage area for the workpieces is preferably arranged in such a way that the workpieces can be picked up with the pick-up device of the robot in an area of the workpiece support and, in the best possible case, are guided along a line that connects the main axis of rotation and a storage position in the storage area , whereby the main axis of rotation performs almost no or no rotation at all. The rotation of the main axis of rotation and the distance from the main axis of rotation to the position at which a workpiece is picked up by the workpiece support depend, among other things, on how close the center of curvature of the curved transport section is to the main axis of rotation. The center of curvature is ideally on the main axis of rotation.

In addition, the distances between the workpieces in the curved transport section and the main axis of rotation are smaller than in a transport section that runs in a straight line. Thus, the center of mass of the robot when picking up a workpiece with the pick-up device is close to the main axis of rotation, as a result of which the torque required for a rotation can be reduced. In addition, the movement distances of the robot members are shortened when the pickup device has to follow the workpiece to be picked up while the transport path is moving.

In addition, the described arrangement of the main axis of rotation leads to a particularly compact design of the device according to the invention.

The device according to the invention can also be set up to feed two or more different types of workpieces, which are placed on one or more different storage areas, in particular when requested by the downstream manufacturing process.

The device according to the invention, but also any other device to be controlled with the method according to the invention, can preferably have at least one peripheral area which is at least temporarily, preferably permanently, free of barriers or guide elements during operation of the device such that the peripheral area can be repeatedly traversed by workpieces on the workpiece support. It is possible that the robot will not pick up a workpiece from the workpiece support within a certain number of revolutions. In the case of previously known devices, such workpieces are then inevitably removed from the workpiece support by means of a barrier or a guide element and fed back to it again, as a result of which the workpieces can be damaged. However, if workpieces can remain on the workpiece support until they are picked up by the robot, as is preferred here, the workpieces do not have to be returned. This reduces the risk of workpiece damage.

It is possible that the workpieces are applied or dumped onto the workpiece support by a conveyor device in a disorderly manner. It can happen that workpieces lying on the workpiece support touch one another or that they lie at least partially on top of one another, with the result that they cannot be picked up by the pick-up device. It is therefore advantageous if the device has at least two different circumferential areas through which the workpieces on the workpiece support can pass. At least one guide element can then be provided with which the workpieces can be brought from one circumferential area to the other. The guide element can, for example, be immovable or movable as a rotating element or designed in the manner of a belt or belt drive, with each workpiece passing the guide element being brought to a different area. The guide element can also be controllable, so that individual workpieces can be moved in a targeted manner. The separation of workpieces can be improved by the guiding element. This means that the distances between workpieces can be increased and workpieces that are on top of each other can be separated. This increases the number of workpieces that can be picked up by the robot from the workpiece support. Also, the guide element set up in such a way that it is part of a device that prevents workpieces from falling down when heaped up.

The peripheral areas are advantageously at least one inner peripheral area and one outer peripheral area. For example, workpieces can be placed on the workpiece support by the conveying device in the outer peripheral area and moved into the inner area by means of the guide element if they have not been picked up by the robot. In this way, a continuous application of workpieces is possible. Preferably, at least one intermediate central area is arranged between the inner and the outer area. The separation of workpieces can be improved with an increasing number of peripheral areas. In addition, the total number of workpieces lying on the workpiece support can be increased, so that the operation of the device can continue for some time even if the conveyor device malfunctions.

Likewise, at least one limiting device can advantageously be provided in order to increase the number of workpieces that can be picked up by the robot from the workpiece support. Workpieces can only pass the limiting device below a certain height, so that a workpiece lying on another workpiece is pushed down by the limiting device. Workpieces lying in an undesirable, upright position on the workpiece support are also knocked over by the limiting device. In this case, the limiting device can be adjusted in particular in terms of its height and can therefore be adapted to different workpiece dimensions.

Expediently, the device to be controlled with the method or the device according to the invention has a data acquisition device which acquires at least the position and possibly the position of workpieces lying on the workpiece support. Likewise, the data acquisition device can be set up to recognize different workpiece types and to differentiate them from one another. In addition, the data acquisition device can be set up to detect defective workpieces and/or foreign parts and their position and/or orientation. Foreign parts can, for example, be incorrect workpiece types or production waste, such as the sprue during injection molding of the workpieces from a previous production process, which should not be picked up by the receiving device. It is also possible that other objects such as defective workpieces that should not be recorded are recorded. The detection of these objects can be useful since they can impair the recording of workpieces that are actually to be recorded by the recording device. With the position and possibly the location, the data acquisition device acquires information that is used at least for picking up the workpieces by the robot. The information can also be used for further controllable devices of the device to be controlled with the method according to the invention or of the device according to the invention. The position of a workpiece is to be understood as meaning the respective location at which it lies on the workpiece support. The position means the orientation of a workpiece on the workpiece support, with workpieces being able to lie on the workpiece support with different angles of rotation, for example. The detection preferably, but not necessarily, takes place in an area that is at least partially upstream of the area in which the workpieces are picked up by the workpiece support in a direction of rotation of the transport track, in particular when the transport track rotates continuously. However, the transport track can also circulate intermittently, albeit much less preferred.

In this case in particular, the detection area and the area in which the workpieces are picked up by the workpiece support can essentially match.

In order to further increase the number of workpieces supplied per unit of time, workpieces that are faulty or whose position is unsuitable for being picked up by the pick-up device can be repositioned in at least one area or removed from the workpiece support. To this end, it is advantageous if the device has at least two data acquisition devices. A first data acquisition device is then required set up to detect faulty workpieces, foreign parts and workpieces whose position is unsuitable for picking up with the robot's pick-up device. In addition, the first data acquisition device can also acquire the position and, if necessary, the location of the workpieces. In this case, the first data acquisition device is preferably, but again not necessarily, arranged in front of an area in which workpieces are removed or repositioned, in the direction of circulation of the transport path. The detection of the workpieces by the first data detection device serves, for example, to control devices with which workpieces can be removed from the workpiece support or repositioned on it.

As described above, both data acquisition devices can also be suitable for recognizing different workpiece types and distinguishing them from one another. Both data acquisition devices can also be used to acquire unoccupied sections of the workpiece support, so that workpieces can be brought from the conveyor device to the workpiece support in a targeted manner.

The second data acquisition device is set up to acquire the position and, if necessary, the position of at least workpieces in order to enable workpieces to be picked up with the pick-up device. For this purpose, the second data acquisition device is preferably arranged downstream of the area in which workpieces are removed and/or repositioned in the direction of rotation and upstream of the area in which workpieces are picked up by the workpiece support in the direction of rotation. By means of the second data acquisition device, the position and, if necessary, the position of workpieces can be acquired again after the area in which workpieces are removed and/or repositioned, in order to determine possible changes relevant to the recording.

In addition, it is advantageous if defective workpieces or foreign parts can be removed from the workpiece support by means of at least one controllable removal device without having to interrupt the operation of the device. The removal device is preferably at least the at least one data acquisition device in the direction of rotation partially subordinate. In addition, the removal device is preferably arranged in front of the area in which workpieces are picked up by the workpiece support in the direction of rotation. Thus, the picking up of workpieces from the workpiece support is not affected by foreign parts or workpieces that are faulty and should not be fed.

The controllable discharge device advantageously has a compressed air nozzle or a lever in order to be able to discharge individual workpieces in a targeted manner. The lever can preferably be pivoted in the direction of the inner edge and/or the outer edge of the transport path. In this way, workpieces can be removed, for example, over the entire width of the workpiece support. The controllable removal device can also have a movable pushing element, which removes the workpieces from the workpiece support, for example by moving them along a linear guide. Of course, the removal device can also be designed differently or have additional elements, provided that it is suitable for removing individual workpieces in a targeted manner when activated.

Furthermore, it is advantageous if the device to be controlled with the method or the device according to the invention has at least one controllable repositioning device with which the position and/or location of workpieces whose position is unsuitable for being picked up by the pick-up device can be changed . The distance between workpieces can also be increased by means of the repositioning device. The repositioning device is preferably arranged at least partially downstream of the first data acquisition device in the direction of circulation of the transport track. In addition, the repositioning device is preferably arranged in front of the area in which workpieces are picked up by the workpiece support in the direction of rotation. In this way, the number of workpieces on the workpiece support that can be picked up by the pick-up device can be increased, as a result of which more workpieces can be fed in per unit of time.

In a further embodiment of the invention, the

Repositioning at least one workpiece guide and at least a controllable device, the controllable device being set up to shoot workpieces against the workpiece guide, as a result of which the workpieces change their position and/or location on the workpiece support. For this purpose, the controllable repositioning device can preferably have a compressed air nozzle or a lever, the lever preferably being pivotable in the direction of the inner edge and/or outer edge of the transport track. The cross-section of the workpiece guide can, for example, have the shape of a C standing on the transport path, open towards the workpiece, or the shape of a quarter pipe (halved C) standing on the transport path and serve to at least partially turn the workpiece over during repositioning. The workpiece guide can also be an incline, along which the workpieces are shot up and change their position and/or location when they subsequently slide down through interaction with an edge formed on the incline. Likewise, the workpieces can be shot against the workpiece guide by a movable sliding element that is guided, for example, in a linear manner. The repositioning device can also be designed in a different way, care being taken to ensure that the workpieces remain undamaged during the repositioning.

Furthermore, it is advantageous if the transport path is designed as a circular ring, so that the workpieces are moved on a circular path around the main axis of rotation. The annulus can advantageously be formed, for example, from a translucent material, for example polycarbonate or laminated glass. In this way, a homogeneous light distribution can be realized by means of the corresponding arrangement of one or more light sources, for example below or along an outer edge of the circular ring, whereby the quality of the detection of workpieces by a data detection device can be improved.

It is also advantageous if the transport track is supported in an angular section of at most 120°, preferably at most 60° or particularly preferably at most 45°. Thus, a large area below the transport path is free and can be used as space for other devices. In a further embodiment according to the invention, the transport track is driven by a drive which is set up to ensure a cycle time for a complete cycle of the transport track of at most 45 seconds, preferably at most 30 seconds or particularly preferably at most 15 seconds. A workpiece lying on the workpiece support thus arrives at the starting point again when the transport track is driven after the corresponding period of circulation, provided that its position on the workpiece support has not been changed.

In one embodiment, the robot has at least one articulated arm, preferably with at least 3 axes. In a further embodiment, the articulated arm of the robot has at least 4, 5, 6 or more axes. In a further embodiment, the joints of the at least one articulated arm are connected in series, so that the robot has serial kinematics. The articulated arm is thus characterized by an open kinematic chain, with the articulated arm being connected to the base frame or base of the robot and the receiving device being arranged on the end effector, ie the end of the kinematic chain. In particular, the robot has exactly one articulated arm. In particular, the robot is an articulated arm robot or a SCA RA robot.

The pick-up device of the robot can have a gripper or a magnet, for example.

In addition, it is advantageous if an outer boundary of the transport path is designed in such a way that it is lower than the workpiece height of at least one other workpiece lying on the workpiece support. The outer boundary is preferably designed to be level with a plane of the workpiece support on which the workpieces lie, so that the workpiece does not have to be lifted over the boundary when it is fed in. As a result, a minimal stroke is basically sufficient to pick up workpieces from the workpiece support, so that more workpieces can also be fed in per unit of time.

In a further preferred embodiment of the invention

Device or other device with the invention Process can be controlled, the transport track has at least one means that is used to detect the position of the transport track in the direction of rotation. The at least one means preferably has at least one marking for the transport path, which can be recorded by a data recording device. In particular, optical markings are preferred if the device according to the invention is already equipped with a camera for detecting the position of workpieces. Alternatively, however, magnetic elements can also be provided on the circulating transport track, which interact with one or more fixed sensors on the edge of the transport track to detect the position of the transport track. The marking can be glued to the transport track, for example. However, the marking can just as easily be implemented in another way. Also, the marking does not necessarily have to be part of the transport track, but can be formed by a further rotating element that is coupled to the transport track in such a way that it is driven at the same speed. In particular, the marking is provided in an area of the inner edge on the transport track. It is also conceivable to provide the marking in an area of the outer edge, on the inner edge, on the outer edge or at several points of the transport path at the same time. Furthermore, the marking is particularly circumferential. For this purpose, the marking can be formed by a large number of marking elements, in particular arcs of a circle, the marking elements having different sizes and/or shapes and in their entirety forming a visual pattern that varies in the circumferential direction of the transport path. Due to the different size and/or shape of the marking elements, the position of the transport path can be clearly determined at any time by a data acquisition device.

By the transport path position detecting means, the position of workpieces on the workpiece rest can be determined based on the actual position of the transport path, thereby improving the accuracy in picking up workpieces by the robot. A possible embodiment of the method according to the invention and the device according to the invention is explained in more detail below with reference to figures.

Show it

1 shows an oblique view of the device according to the invention, which can be controlled in particular with the method according to the invention;

FIG. 2 shows an oblique view of the device according to the invention shown in FIG. 1, without showing the robot;

3 shows a sectional view of the device according to the invention shown in FIG. 1 in plan view, without showing the robot;

4a shows a sectional view of the device according to the invention shown in FIG. 1 in plan view with levers pivoted out, without showing the robot;

4b shows a further sectional view of the device according to the invention shown in FIG. 1 in a plan view with the levers pivoted out, without showing the robot;

5 shows a plan view of a further embodiment of the device according to the invention illustrated in FIGS. 1 to 4 with marking on the transport path;

6 shows a plan view of a further device that can be controlled using the method according to the invention, the robot being a linear robot and the workpiece support being designed in a straight line and/or essentially statically;

7 shows a flowchart for a method according to the invention for controlling the devices shown in FIGS. 1 to 6 for preparing workpieces. FIG. 1 shows an oblique view of a device 1 according to the invention, which has a workpiece support of a transport device 2 with a circular transport path 3 in the present exemplary embodiment with a workpiece support for preparing workpieces 4 . The transport track 3 is guided around a central space 5 which is delimited by an inner edge 6 of the transport track 3 . Of course, the transport path 3 can also be designed in some other way, for example as a transport belt and/or with partially non-curved transport sections. The transport path 3 is mounted in such a way that it is largely free-standing and is only held in an angular section of 100°.

A robot 7 having a main axis of rotation H is arranged in the central space 5 . The main axis of rotation H runs through the central space 5 and intersects a horizontal plane running through the transport path 3 in an area delimited by the inner edge 6 . In the present embodiment, the main axis of rotation H is guided through a center of curvature M of the circular ring.

The robot 7 has an articulated arm with six axes and a receiving device 8 . The receiving device 8 is set up to remove workpieces 4 from the workpiece support of the transport path 3 and to bring them to a storage position A, which is arranged in a storage area 9 . If different workpiece types are supplied, the receiving device 8 is set up to receive the different workpiece types and/or the robot 7 has further receiving devices 8 between which it is possible to switch while the device 1 is in operation. The storage position A and the storage area 9 are only shown as an example and can be part of a conveyor system or a production plant, for example. There can also be a large number of storage areas 9 . The storage position A can be different for each workpiece 4 or each type of workpiece. If there are several storage positions A, a sensor can be used, for example, to check whether a storage position A is free or is occupied by a workpiece 4 . The storage position A can essentially be at the height of the workpieces 4 lying on the workpiece support of the transport path 3 or above this be arranged. In addition, the transport track 3 has an outer boundary 10, the height of which is only slightly above the level on which the workpieces rest on the workpiece support of the transport track 3. As a result, workpieces 4 can only be picked up by the workpiece support with a short lifting movement and deposited at the storage position A, as a result of which unnecessary movement sequences of the robot 7 are reduced.

The transport path 3 can be rotated by means of a drive, not shown. The drive can be a servo motor or a stepping motor, for example. A servo or stepper motor is preferred insofar as the rotational position of the transport track 3 can always be precisely determined with it. However, other, simpler motors can also be used for the device according to the invention. The drive enables the rotation of the transport path 3 via a toothed belt drive, with the drive also being able to be designed in some other way, for example as a toothed wheel drive or a worm drive. The direction of rotation of the transport track 3 resulting from the rotation is shown with an arrow 11 . Of course, the transport path 3 can also be rotated in the other direction.

FIG. 2 shows the same device 1, but only its main axis of rotation H is shown, not the robot 7. A controllable conveying device 12 is arranged above the transport track 3 and is set up to apply workpieces 4 to the workpiece support of the transport track 3 . The conveyor device 12 has a bunker 13 in which the workpieces 4 are kept. The conveyor device 12 can also be designed in such a way that it can apply different types of workpieces to the workpiece support of the transport track 3 . The different types of workpieces can be mixed up in the bunker 13, for example, and can be applied essentially randomly. Likewise, the bunker 13 can be divided, for example, and enable the targeted application of individual workpiece types to specific areas of the transport path 3 .

A controllable lever 14 is provided on the conveyor device 12, with which the application of the workpieces 4 to the workpiece support of the transport path 3 is adjustable and workpieces 4 can be applied individually to the workpiece support. The lever 14 is driven by a drive 15. The conveyor device 12 can be controlled in such a way that there is always a certain number of workpieces 4 on the workpiece support. Furthermore, workpieces 4 can be applied to certain positions of the workpiece support of the transport track 3 in order to place them in gaps between workpieces 4, for example.

FIG. 3 shows a sectional representation of the device 1 in a plan view. The workpieces 4 can be picked up with the pick-up device 8 in a pick-up area 16 , 17 which is delimited by the line 16 and the line 17 . The receiving area 16, 17 is only shown as an example and can also be larger or smaller.

The workpieces 4 are placed on the workpiece support of the transport track 3 by means of a guide device 18 in such a way that they run through an outer peripheral area 19 . The guide device 18 is open on one side, so that the workpieces 4 are moved out of the guide device 18 in the direction of rotation. In this case, workpieces 4 that are received in the receiving area 16 , 17 from the outer area 19 have a shorter path to the storage position A than workpieces 4 that are received from an inner area 20 . Thus, more workpieces 4 per unit of time can be provided by recording from the outer area 19 .

The side of the guide device 18 facing away from the open side has a guide element 21 arranged at an angle. Workpieces 4 are brought along the guide element 21 after a circulation through the outer peripheral area 19 into the inner peripheral area 20 . Because the workpieces are guided along the guide element 21, the distance between workpieces 22a, 22b that are in contact is increased, for example. Of course, the guide element 21 can also be designed differently. For example, the guide element 21 can be controllable and have a lever, a movable, flat element or a compressed air nozzle, so that workpieces 4 can pass through the outer area 19 as often as desired and/or individual workpieces 4 can be brought into the inner peripheral area 20 in a targeted manner. Likewise, the guide element 21 can be designed in such a way that workpieces 4 can be brought from the inner area 20 into the outer area 19 and vice versa. Further circumferential areas can also be arranged between the areas 19, 20 for improved separation of the workpieces 4.

A limiting device in the form of a rod 25 extends through the walls 23, 24 of the guide device 18 at a certain height above the transport path 3, which extends over the entire width of the transport path 3 and is preferably adjustable in height. In this way it is ensured that workpieces 4 can only pass the bar 25 in certain positions by having to pass underneath the bar 25 . Workpieces 4 which are in an unsuitable position collide with the rod 25 and are overturned thereby. Workpieces lying on top of other workpieces also slide off them by colliding with the rod 25 . The rod 25 can be adapted to different workpiece dimensions in that the distance from the transport track 3 can be adjusted, for example manually or by means of a drive. Furthermore, the walls 23, 24 can run towards one another towards the open end of the guide device 18 in such a way that the guide device 18 is tapered at this end. Due to the taper, the workpieces 4 are aligned on the workpiece support of the transport track 3. This prevents a substantially upright workpiece 4, which is leaning against the wall 24, from tipping over when leaving the guide device 18 and falling from the workpiece support of the transport track 3.

A first detection area 26 is arranged at least partially downstream of the guide device 18 in the direction of rotation, which extends over the entire width of the workpiece support of the transport path 3 . In the first detection area 26, defective workpieces 4 and foreign parts that are not to be provided are detected by means of a first data detection device, which is not shown, and their position and/or location is detected. Workpieces 4 whose position is unsuitable for being picked up by the pick-up device 8 are also recognized. In addition, the position and location of workpieces 4 detected. The first detection area 26 is set up to detect information that is required to remove defective workpieces 4 and foreign parts from the workpiece support of the transport path 3 and to reposition workpieces 4 with an unsuitable position or workpieces 22a, 22b that are too close together. For this purpose, the data acquisition device can be equipped in particular with optical means such as a camera. However, the detection can also be carried out by other means that have the same effect, such as, for example, ultrasonic sensors or the like. The data acquisition device also has an evaluation device with which the acquired data is evaluated and used to control the removal device 27, 28a, 28b and repositioning device 29, 30 described below.

A controllable removal device 27, 28a, 28b is arranged downstream of the first detection area 26 in the direction of rotation and is set up to remove faulty workpieces and foreign parts from the workpiece support of the transport path 3 during operation of the device 1. The discharge device 27, 28a, 28b has a lever 27. The lever 27 can be pivoted in the direction of the inner edge 6 and the outer edge 31 of the transport path 3, as a result of which individual workpieces 4 or foreign parts are shot into one of the channels 28a, 28b. Workpieces 4 and foreign parts can thus be removed both from the inner area 20 and from the outer area 19 . The channels 28a, 28b lead, for example, into a container from which the removed workpieces and foreign parts can be removed during operation. If the lever 27 is swiveled out before a workpiece 4 has reached its circulation height, it can also have a function as a guide element and move a workpiece 4, for example, from the inner area 20 to the outer area 19 or vice versa.

However, the controllable removal device 27, 28a, 28b is not limited to a lever 27, but can have one or more other elements for removing defective workpieces or foreign parts. For example, in a further embodiment, a compressed air nozzle can also be used. A controllable repositioning device 29, 30 is arranged downstream of the discharge device 27, 28a, 28b in the direction of rotation. The repositioning device 29, 30 is set up to change the position and/or location of workpieces whose location is unsuitable for being picked up by the pick-up device 8. For this purpose, the repositioning device 29, 30 has a lever 29 which shoots workpieces 4 against a workpiece guide 30 with a pivoting movement. As can be seen in FIG. 2, the workpiece guide 30 has a concave inner surface 32 along which the workpieces 4 are guided in such a way that their position and/or location is changed when they hit the workpiece support of the transport path 3 again.

The repositioning device 29, 30 can also be designed differently and, for example, have a compressed air nozzle instead of the lever 29. Another workpiece guide 30 can also be arranged on the outer edge 31 so that the position and/or location of workpieces 4 in the inner area 20 and the outer area 19 can be changed. It is crucial that the position and/or location of workpieces 4 is changed as carefully as possible, so that damage is avoided. It is also possible for the lever 29 to be set up to shoot workpieces 4 against the workpiece guide 30 on one side and to remove them from the transport path 3 on the other side.

The removal device 27, 28a, 28b and the repositioning device 29, 30 can in principle also be arranged in reverse order.

Figures 4a and 4b show the levers 27, 29 in a pivoted state. FIG. 4a shows how the lever 27 carries a defective workpiece 33 to the outer edge 31 into the channel 28a. The lever 29 shoots a workpiece 34, the upper side of which is lying on the workpiece support conveyor 3, against the workpiece guide 30. FIG. 4b shows how the lever 27 carries a defective workpiece 33 to the inner edge 6 into the channel 28b.

Because, with renewed reference to FIG Foreign parts that affect the recording of other workpieces 4 by the recording device 8 is reduced. The number of workpieces 4 provided by the device 1 per unit of time can thus be increased.

The repositioning device 29, 30 also makes it possible to reduce the risk of workpieces 4 being damaged. Workpieces 4 that cannot be picked up by the pick-up device 8 do not have to be removed from the workpiece support of the transport path 3 and put on again, but can be repositioned and picked up during the next run through the pick-up area 16, 17. The decisive factor here is that the workpieces 4 can pass through the inner region 20 as often as desired during operation of the device 1 without being forced to be carried away from the workpiece support of the transport path 3 by barriers or guide elements. As described above, it is also conceivable that the workpieces 4 pass through the outer area 19 or intermediate areas multiple times.

In front of the receiving area 16, 17 and after the repositioning device 29, 30, a second detection area 35 is set up, which extends over the entire width of the workpiece support of the transport track 3. In the second detection area 35, the position and location of workpieces 4 is detected by means of a second data detection device, which is not shown, and is transmitted to a control unit of the robot 7 for the workpieces 4 to be picked up. It is possible that not all defective workpieces 33 or foreign parts have been removed before the workpieces 4 are picked up by the robot 7 . Therefore, it makes sense if the position and location of the defective workpieces 33 and foreign parts are also recorded, so that possible disruptive influences when controlling the recording of the workpieces 4 are known. If it is subsequently stated that other workpieces 4 must be taken into account when picking up, applying, removing or repositioning workpieces, the other workpieces 4 also include all other objects, such as defective workpieces 33 or foreign parts that are not from the Recording device 8 are to be included, meant. With the arrangement of the second detection area 35 is ensures that changes in position and / or location are recorded by the removal or repositioning of individual workpieces 4 and foreign parts. The control unit is set up to control the picking up of workpieces 4 by the robot 7 in such a way that as many workpieces 4 as possible are provided per unit of time. Here, too, the data acquisition device can be equipped in particular with optical means such as a camera. However, the detection can also be carried out by other means that have the same effect, such as, for example, ultrasonic sensors or the like. This data acquisition device also has an evaluation device with which the acquired data is evaluated and used to control the robot 7 .

Both data acquisition devices can also be set up to acquire gaps between workpieces 4 and foreign parts on the workpiece support of the transport path 3, so that workpieces 4 can be placed in a targeted manner from the conveyor device 12 into the latter.

Figure 5 shows a further embodiment of the device 1 according to the invention. In this embodiment, the device 1 to improve the positional accuracy when the workpieces 4 are picked up by the pick-up device 8 includes a means for detecting the position of the transport path 3. The means has a marking 42, which is applied to the transport track 3 in an area of the inner edge 6 . The marking 42 is made up of several individual marking elements 43.1-43. n formed in the form of circular arcs, which are of different sizes, i.e. have different lengths. The marking 42 can just as well be formed by dots, individual lines or characters such as letters or numbers. A marking can also be produced by working it into the transport path 3, e.g. by milling, or by light signals.

The marking 42 is recorded by means of a data recording device, in particular with the second data recording device in the second recording area 35, whereby the rotational position or the rotational angle of the transport path 3 can be determined. The position of the workpieces 4 on the workpiece support of the transport track 3 can thus be determined by the marking 42 independently of the drive of the transport track 3 . The detection of the markings is also possible with the first camera.

FIG. 6 shows a further embodiment of a device for preparing workpieces, which can be controlled using the method according to the invention, but is not a device according to the invention. The device differs from the device according to the invention described in FIGS. 1 to 4 essentially in that the robot 40 is a linear robot. On the other hand, the workpiece support 41 of this embodiment is part of a straight transport path and/or is designed to be essentially static. However, such a workpiece support is not limited to the use of a linear robot. Likewise, for example, a robot can be used which has a main axis of rotation.

Analogously to the device according to the invention shown in FIG. 5, this device can, but does not have to, also have a marking 42 for the transport path with a plurality of individual marking elements 43.1-43. have n.

Depending on the type of functionality and equipment of the device, one of the two detection areas can be dispensed with, for example if, due to the type of workpieces to be provided, it is not to be expected that defective workpieces will have to be removed. The first and second detection areas also do not have to be spatially separated from one another; they can also partially or completely overlap.

Both the device according to the invention shown and described in FIGS. 1 to 5 and the device for preparing workpieces shown and described in FIG. 6 are possible devices that can be controlled using the method according to the invention. However, the method according to the invention is equally suitable for devices with other solutions for workpiece transport. For example, the workpiece support of the device can be static and, for example, Be part of a vibrating table or vibrating plate. In this case it would be possible, for example, for the detection area 35 for detecting the position and location of workpieces to extend completely over the entire workpiece support.

Figure 8 shows a flow chart for a method according to the invention for controlling the device 1 according to the invention shown in Figures 1 to 4 or a comparable device for the preparation of workpieces 4.

According to step 101, the position and location of the workpieces 4 and foreign parts located in the second detection area 35 are detected by a data detection unit (not shown in detail), in particular a computer, and transmitted to the control unit. It is irrelevant for the detection whether the workpieces 4 pass through the detection area 35 or lie in it. Since the speed at which the transport track 35 is moving is known, the position and location of all workpieces 4 and foreign parts on the workpiece support of the transport track 3 that are or have been at least temporarily in the detection area 35 are known.

The subsequent method steps are carried out by the control unit or by the robot 7 controlled by the control unit.

According to step 102, a time interval is determined for each detected workpiece 4, within which it is to be picked up by the pick-up device 8 from the workpiece support of the transport path 3. The earliest point in time for receiving is the entry into the receiving area 16, 17 in the direction of rotation and the latest point in time is the exit from the receiving area 16, 17 in the direction of rotation. Picking up a workpiece 4 at a point in time outside of the specific time interval is ruled out. If the device 1 has a static workpiece support, the determination of a time interval can be omitted.

Next, according to step 103, a first workpiece is selected whose

Distance to a vertical reference plane 36 of the storage position A in the Storage area 9 at the time t _x , the recording by the recording device 8, is lowest. In this case, it is calculated how long the pick-up device 8 needs to reach the workpieces 4 at a point in time to, starting from a starting position, so that they can be picked up by the workpiece support of the transport track 3 . During operation of the device 1, the starting position can be arranged at a storage position A, for example. In this case, to can be, for example, the point in time immediately after depositing a previously picked up workpiece 4 . However, the point in time to and the starting position can also be chosen differently (arbitrarily). In the event of an interruption in operation or a longer waiting time for the robot 7, the starting position can also be a rest position to be determined. Other starting positions are also conceivable.

Since the workpieces 4 are in different positions on the workpiece support of the transport path 3 and the receiving device 8 therefore requires different lengths of time to reach each workpiece 4 starting from the starting position, the point in time t _x can be different for each workpiece 4 . In this case, the workpiece is selected which has the smallest distance at the time of recording by the recording device 8, it being possible for the distances to have been determined on the basis of different points in time. Likewise, the storage position A can be different for each workpiece 4, so that the distance can be determined in relation to the respective storage position A of a workpiece 4.

_If the robot 7 has a main axis of rotation H, the distance is determined with reference to FIG , an angle o is determined. The angle α is between a vertical reference plane 36 passing through the center 37 of the placement position A and the main axis of rotation H, and a vertical plane 38 passing through the center 39 of a workpiece 4 (or alternatively to any point detected by the data acquisition unit of the workpiece) and the main axis of rotation H runs. The workpiece 4 is selected, whose Angle a is smallest, with angle o being a minimum angle between reference plane 36 and plane 38. Workpieces 4 that are located both in front of and behind the reference plane 36 in the direction of rotation are taken into account. It is also irrelevant whether the workpiece is in the outer area 19 or the inner area 20 . Workpieces 4 that are lying on the workpiece support of the transport path 3 and for which a pick-up time has already been calculated in a previous process run are not taken into account again. In the best possible case, a workpiece 4 lies with its center 39 directly in the reference plane 36. In this case, for example, almost no or no rotation of the main axis of rotation H is required to pick up the workpiece 4 from the workpiece support of the transport path 3 and to its storage position A bring.

If the robot does not have a main axis of rotation, the workpiece is selected in the same way as described in the previous paragraph, with the difference that the vertical reference plane 36 and the vertical plane 38 do not pass through the main axis of rotation H, but through the center of curvature M.

If the robot 40, with reference to FIG. 6, is a linear robot and the workpiece support is designed in a straight line and/or is essentially static, the vertical reference plane 36 runs through the center point 37 of the storage position A (or another arbitrary point to be determined). If the workpiece support is part of a transport device with a driven transport path, the reference plane 36 is also orthogonal to the transport direction of the workpieces 4. If the workpiece support is designed to be essentially static, the reference plane 36 runs through an arbitrary reference point of the workpiece support. A distance S is calculated for each workpiece 4 whose position and attitude was recorded and whose time t _x lies within the respective time interval, which connects the respective workpiece 4 to the reference plane 36, the distance S being orthogonal to the reference plane 36 . The workpiece 4 is selected whose distance S is the smallest. Referring again to Figure 8, according to step 104, a first path for the receiving device 8 is determined for the first workpiece, starting from a starting position, along which the first workpiece is picked up at the time t _x from the workpiece support of the transport path 3 and to its Storage position A is to be brought.

The first path is determined in such a way that the first workpiece is lifted with a short lifting movement only so far that it is contactless above the workpiece support of the transport path 3, above the outer boundary 10 and at least partially below the height of at least one other workpiece on the workpiece support Transport path 3 lying workpiece 4 is. The subsequent first path from the position where the first workpiece is picked up to the storage position A is straight. Depending on the height of the outer boundary 10, the workpiece can be raised further along the straight path. Thus, superfluous movement sequences by lifting a workpiece 4 from the workpiece support of the transport track 3 and a movement during the lifting above the workpiece support without already transporting the workpiece 4 directly to the storage position, as well as a lowering at a storage position A are minimized.

In the subsequent step 105 it is checked or calculated whether the first workpiece would collide with at least one other workpiece 4 lying on the workpiece support of the transport path 3 on its way along the first path. A collision could occur, for example, but not exclusively, if a workpiece 4 lying in front of the first workpiece in the direction of rotation were to run onto the first workpiece during the lifting movement. The first workpiece could also cross a workpiece 4 lying further to the outer edge 31 on the straight path. Furthermore, it can be checked, for example, whether the first workpiece would collide with other objects such as foreign parts.

If the first workpiece can be guided along the first path without collision, according to step 114 it is removed from the workpiece support with the receiving device 8 of the transport path 3 and brought to its storage position A along the first path.

If the first workpiece cannot be guided along the first path without colliding, a recording sequence is formed that includes at least the first workpiece and the colliding workpiece. Either the colliding workpiece can be picked up first and then the first workpiece, or vice versa. If the first workpiece were to collide with a plurality of workpieces, it is irrelevant which of these workpieces is used to determine the sequence of recording the respective colliding workpiece and the first workpiece first. The sequence is preferably determined first with the colliding workpiece whose distance from the inner edge 6 of the transport path 3 is the smallest.

The sequence in which the two potentially colliding workpieces are picked up depends on which of the two sequences leads to a time advantage. A sequence leads to a time advantage if the recording of both workpieces has a shorter cumulative recording time than that of the other sequence. The sequence of recordings is then formed from the comparison of the cumulative recording times.

It is possible that the colliding workpiece would collide with another workpiece when it was picked up. In this case, a sequence between these two workpieces is determined so that the further colliding workpiece also becomes part of the recording sequence, which then includes the first workpiece, the colliding workpiece and the further colliding workpiece. This also applies to any other colliding workpieces. In this way, a recording sequence is formed that can include a large number of workpieces colliding with one another, the recording sequence being formed in such a way that all workpieces are recorded without collision and with the shortest cumulative recording time.

The formation of the recording sequence for two workpieces that would collide with each other is described below using the example of the first workpiece and the colliding workpiece. The same applies in the event that a colliding workpiece would in turn collide with another workpiece. Then, the colliding workpiece is the workpiece, hereinafter referred to as the "first workpiece", and the other workpiece is the workpiece, hereinafter referred to as the "colliding workpiece".

Assuming that the colliding workpiece is to be picked up first, a path is determined for this in step 106, analogously to step 104, in order to bring it from the workpiece support of the transport path 3 to its storage position A. In addition, a new path is calculated for the first workpiece in step 107, analogously to step 104, since the first workpiece, if it has been moved in the meantime, has a changed position. If the first workpiece is not moving, such as with a static workpiece support, the new trajectory may match the original first trajectory. Then, in step 108, the cumulative exposure time for the exposure of the colliding workpiece and the subsequent exposure of the first workpiece is calculated.

Assuming that the first workpiece is to be picked up first, a new path is determined for this in step 109, which deviates from the first path determined in step 104. The path is formed by adjusting the lifting movement and/or by one or more curved and/or kinked sections and/or by adjusting the speed of the receiving device 8 . The path is determined in such a way that a collision with the colliding workpiece and other workpieces 4 lying on the workpiece support of the transport path 3 is avoided. Then, in step 110, analogously to step 104, a path is determined for the colliding workpiece in order to bring it from the workpiece support of the transport path 3 to its storage position A. In step 111, the cumulative pick-up time for picking up the first workpiece, following the path determined in step 109, and then picking up the colliding workpiece is calculated.

In step 112, the shooting order is determined by selecting the sequence that is the shortest of those in steps 108 and 111 certain cumulative recording times. If a recording sequence already exists, for example because a number of workpieces 4 would collide with one another, the recording sequence is formed taking all of these workpieces 4 into account.

Then, in step 113, analogously to step 105, it is checked whether the colliding workpiece can be guided along its path without collision. If the colliding workpiece cannot be guided without collision, the method is continued with steps 106 and 109 and it is determined whether the colliding workpiece is to be removed first and then the workpiece colliding with this workpiece, or vice versa. In this way, the recording sequence is supplemented by at least one additional workpiece. In order to prevent an endless chain of colliding workpieces from being created in the event of an unfavorable constellation of the workpieces 4 lying on the workpiece support of the transport track 3 and as a result an endless number of calculation loops being run through in the method, it can be provided, for example, that at most a certain number of colliding workpieces is calculated. As soon as the certain number is reached, not all calculated colliding workpieces are picked up, for example, but only the first workpiece, whereby it is guided along a path, for example, in such a way that a collision with other workpieces is avoided, even if this would not be time-optimal. The method would then run through again from the beginning and the calculations already carried out for the colliding workpieces would be discarded. Furthermore, an endless number of calculation loops can also be prevented, for example, by the fact that the first workpiece can no longer be picked up within its time interval with an increasing number of workpieces to be picked up before it, and consequently another workpiece 4 is selected as the first workpiece becomes. Instead of only recording the first workpiece or selecting another first workpiece, the procedure can also be such that all workpieces of the last calculated, executable recording sequence are recorded, even if this is with regard to the recording of the on the Workpiece support of the transport path 3 remaining workpieces 4 is not time-optimal.

All workpieces in the pick-up sequence are picked up in step 114 by the robot 7 with the pick-up device 8 from the workpiece support of the transport path 3 and brought to their respective storage position A, provided that picking up within the time interval determined in step 102 is possible. Otherwise, in step 103a, the workpiece is selected whose distance from the reference plane 36 of the storage position A subsequent to the distance of the first workpiece is lowest, and the method is continued with step 104.

After the process run has ended, the process can be run through again, it not being necessary for all the workpieces in a recording sequence to have been recorded. Workpieces whose recording has already been determined or that are already part of a recording sequence are not considered again in a new process run.

The trajectory determined in step 109 can, for example, be calculated in such a way that the following trajectory types result:

1) The workpiece is lifted with a lifting movement and, as soon as it is no longer carried along by the transport path 3, brought along a straight path towards its storage position A, whereby the workpiece can be further lifted. The speed of the receiving device 8 is adjusted in such a way that a collision with other workpieces 4 on the workpiece support of the transport track 3 is avoided until the distance between the workpiece and the workpiece support is so great that it can be guided above other workpieces 4. If a collision with all other workpieces 4 is already avoided by an initial adjustment of the speed, a further lifting of the workpiece is not absolutely necessary. As soon as a collision is ruled out, the recording device is accelerated again to the greatest possible speed. 2) The workpiece is lifted with a lifting movement so that it is no longer carried along by the transport path 3 and then brought in the direction of its storage position A. In this case, the web is guided around other workpieces 4 laterally, so that a collision is avoided. The workpiece is basically not raised any further in order to be guided over other workpieces 4 . However, a further lifting can take place if this makes sense because of the height of the storage position A or because of an edge of the transport path 3 .

3) The workpiece is lifted with a lifting movement so that it is no longer being carried along by the transport path 3 and is then brought in the direction of its storage position A, with the workpiece being lifted further in the process. The track is guided around other workpieces 4 laterally until the distance between the workpiece and the workpiece support of the transport track 3 is so great that it can be guided above other workpieces 4 .

4) The workpiece is raised with a lifting movement in such a way that it can be brought to its storage position A in a straight line above other workpieces 4 . If another rotating workpiece runs up against the workpiece during the lifting movement and both workpieces would collide, the picked-up workpiece is guided above its original path in the direction of rotation of the transport path 3 and is thereby lifted until it can be guided above the other workpieces 4. Otherwise the workpiece is only lifted in one lifting movement.

Of course, other track types are also possible.

If several different workpiece types are lying on the workpiece support at the same time, such a workpiece can be picked up by the workpiece support according to the selection criteria described above, for example due to a request from a downstream manufacturing process for which a workpiece of a certain type is to be provided. The requirement may also include in which Storage area the workpiece is to be stored in order to feed it to the manufacturing process. It can be provided within the framework of the data acquisition that not only the position of a workpiece and possibly also its location, but also the type of the respective workpiece is recognized. As an alternative to identifying the workpiece type, it is also possible, for example, for workpieces of different types to be placed on the workpiece support in different circumferential areas. The workpieces of different types can be placed on the workpiece support, if necessary, by one conveyor device, but also by a plurality of conveyor devices, in particular by one conveyor device for each workpiece type.

Reference sign

Device 31 outer edge

Transport device 32 concave inner surface

Transport line 33 faulty workpiece

workpiece 34 workpiece central space 35 second detection area inner edge 36 reference plane

Robot 37 center

Recording device 38 level

Storage area 39 center point outer boundary 40 robot arrow 41 workpiece support

Conveyor 42 mark

Bunker 43.1-43. n marker element

Lever A storage position

Drive H main axis of rotation

Line M center of curvature

Line S route

Guiding device o angle outer area inner area

Guide element a Workpiece in contact b Workpiece in contact Wall

wall

Staff first detection area

Lever a channel b channel

lever

workpiece guidance

Claims

Claims Method for controlling a device (1) for the provision of workpieces (4).

- a workpiece support, in particular a workpiece support of a transport device (2) with a driven transport track (3),

- at least one conveyor device (12) for applying workpieces (4) to the workpiece support,

- at least one data acquisition device which is set up to acquire data in an acquisition area (26, 35),

- at least one robot (7) which has a pick-up device (8) and is set up to pick up at least one of the workpieces (4) from the workpiece support and place it in a storage area (9) for the workpiece (4) that is separate from the workpiece support by the following method steps: a) detecting the position and, if applicable, the position of at least each workpiece (4) located in the detection area (26, 35) over at least part of the width of the workpiece support by at least one data detection device; b) selecting a first workpiece whose distance from a vertical reference plane is the smallest at a specific point in time t _x ; c) determining a first path of the pick-up device (8) of the robot (7) in order to pick up the first workpiece at time t _x , starting from a starting position of the pick-up device (8), with a lifting movement from the workpiece support and then in a straight-line movement to bring the workpiece to the depositing position (A), the lifting movement being so short that the first workpiece is at least partially below the workpiece height of at least one other workpiece (4) lying on the workpiece support, at least during a section of the rectilinear movement; d) checking whether the first workpiece would collide with at least one other workpiece (4) on the workpiece support on its way along the first path; e) if the first workpiece can be guided along the first path without collision, picking up the first workpiece with the pick-up device (8) from the workpiece support and moving the pick-up device (8) along the first path to the depositing position (A) of the first workpiece; f) if the first workpiece cannot be guided along the first path without colliding and at least one other workpiece is identified as colliding, i. check whether a time advantage is achieved if the colliding workpiece is picked up by the pick-up device (8) from the workpiece support before the first workpiece and brought to its storage position (A); ii. when a time advantage is achieved, picking up the colliding workpiece in front of the first workpiece with the pick-up device (8) from the workpiece support and moving the pick-up device (8) along a predetermined path to the depositing position (A) of the colliding workpiece; or iii. if a time advantage is not achieved, picking up the first workpiece in front of the colliding workpiece with the pick-up device (8) from the workpiece support and moving the pick-up device (8) along a path to its storage position (A) which is adjusted in such a way that a collision with a workpiece is avoided. Method according to Claim 1, characterized in that a path is determined for a colliding workpiece after step c) and it is checked whether the workpiece would collide with other workpieces (4) along this path and, if the colliding workpiece cannot be guided along this path without collision is, a recording order is determined after step f), wherein the recording sequence can include a large number of colliding workpieces and is formed in such a way that the shortest cumulative recording time can be achieved for all workpieces in the recording sequence.

3. The method according to claim 1 or claim 2, characterized in that according to step f) iii) a collision of the first workpiece with other workpieces (4) is avoided by adapting a path of the first workpiece in one or more of the following ways: a. Extension of the lifting movement, in particular by lifting a workpiece above the workpiece height of at least one other workpiece (4) lying on the workpiece support; b. Guiding the web along one or more curved and/or kinked sections, in particular so that other workpieces (4) can be bypassed at least partially on the side; or c. Adjusting the speed of the recording device (8), in particular temporarily reducing the speed or temporarily stopping the movement.

4. The method according to any one of the preceding claims, characterized in that in step a) the data acquisition device detects whether one, two or more workpieces are unfavorably positioned on the workpiece support and a guide element, a repositioning device and/or a discharge device of the device are controlled to change the position and/or position of one or more of these workpieces or to remove them from the workpiece support.

5. Device (1) for feeding workpieces (4), in particular for controlling with the method according to any one of claims 1 to 4, with

- a transport device (2) with a driven, revolving transport track (3),

- at least one conveyor device (12) for applying workpieces (4) to a workpiece support of the transport track (3), - At least one robot (7) which is set up to move at least one of the workpieces (4) with at least one receiving device (8) in at least one curved transport section, the at least one center of curvature of which lies on a vertical axis which passes through the circulating transport path ( 3) running horizontal plane in an area enclosed by the inner edge (6) of the circulating transport track (3), is picked up by the workpiece support and deposited in a storage area (9) for the workpiece (4) that is separate from the workpiece support, characterized in that the robot (7) has a main axis of rotation (H) which intersects a horizontal plane running through the transport path (3) in an area enclosed by the inner edge (6) of the circulating transport path (3), the angle between the plane and the main axis of rotation (H) is in a range of in particular 45° and 90°, preferably 70° or 80° and 90° or particularly preferably 85° and 90°.

6. Device (1) according to claim 5, characterized by at least one peripheral area (20) which is at least temporarily, preferably permanently, free of barriers or guide elements during operation of the device (1) such that the peripheral area (20) of Workpieces (4) can be run through many times on the workpiece support.

7. Device (1) according to claim 5 or 6, characterized by at least two different circumferential areas (19, 20) through which workpieces (4) can be traversed on the workpiece support, wherein at least one guide element (21) is provided to workpieces (4) to bring from a peripheral area (19) to another area (20).

8. Device (1) according to claim 7, characterized in that the areas (19, 20) are at least an inner area (20) and an outer area (19), wherein between the inner area (20) and the outer region (19) preferably at least one intermediate central region is provided.

9. Device (1) according to one of Claims 5 to 8, characterized by at least one data acquisition device for acquiring the position and, if necessary, the location of at least workpieces (4) on the workpiece support, which is preferably an area (16, 17) in which Workpieces (4) are picked up by the workpiece support, is arranged at least partially in front of the transport path (3) in a direction of rotation (11).

10. Device (1) according to Claim 9, characterized by at least two data acquisition devices, of which a first data acquisition device is set up to detect defective workpieces (33) or workpieces whose position is unsuitable for being picked up by the pick-up device (8), and to record the position and, if applicable, the location of the workpieces on the workpiece support, with the first data acquisition device preferably being at least partially arranged in front of at least one area in which workpieces are removed and/or repositioned in the direction of circulation (11) of the transport path (3), and of which the second data acquisition device is set up to acquire the position and, if necessary, the location of workpieces (4) and preferably downstream of the area in which workpieces are removed and/or repositioned in the direction of circulation (11) of the transport path (3) and the Area (16, 17), in which the workpieces (4) are picked up by the workpiece support, is arranged upstream of the transport path (3) in the direction of circulation (11).

11. Device (1) according to Claim 9 or 10, characterized by at least one controllable removal device (27, 28a, 28b) for removing defective workpieces (33) or foreign parts, which preferably follow the data acquisition device in the direction of circulation (11) of the transport path (3) is at least partially downstream, the discharge device (27, 28a, 28b) preferably being in the region (16, 17) in the workpieces (4) are picked up by the workpiece support, is arranged in front of the transport path (3) in the direction of circulation (11). Device (1) according to Claim 11, characterized in that the discharge device (27, 28a, 28b) is a compressed air nozzle, a movable sliding element or a pivotable lever (27) which is preferably directed in the direction of the inner edge (6) and/or the outer edge ( 31) of the transport track (3) is pivotable. Device (1) according to Claim 9 or one of the claims dependent thereon, characterized by at least one controllable repositioning device (29, 30), which is preferably at least partially downstream of the data acquisition device in the direction of circulation (11) of the transport path (3), and with which the position and/or the position of workpieces whose position is unsuitable for being picked up by the pick-up device (8) can be changed, the repositioning device (29, 30) preferably being in the area (16, 17) in which the workpieces (4) are Workpiece support are recorded, in the direction of rotation (11) of the transport path is arranged upstream. Device (1) according to Claim 13, characterized in that the repositioning device (29, 30) has at least one workpiece guide (30) and at least one controllable device, the controllable repositioning device (29, 30) preferably being a compressed air nozzle, a movable sliding element or a Lever (29) which can be pivoted in the direction of the inner edge (6) and/or the outer edge (31) of the transport path (3). Device (1) according to one of Claims 5 to 14, characterized in that the transport path (3) is a circular ring. Device (1) according to one of Claims 5 to 15, characterized in that the transport track (3) is supported in an angular section of at most 120°, preferably at most 60° or particularly preferably at most 45°.

17. Device (1) according to any one of claims 5 to 16, characterized in that the transport track (3) is driven by a drive which is set up, a rotation time for a complete rotation of the transport track (3) of at most 45 seconds, preferably at most 30 seconds or more preferably at most 15 seconds.

18. Device (1) according to one of claims 5 to 17, characterized in that the robot (7) comprises at least one articulated arm, the articulated arm preferably having at least 3 axes.

19. Device (1) according to claim 18, characterized in that the joints of at least one articulated arm of the robot (7) are connected in series and the robot (7) is in particular a SCARA robot or an articulated arm robot.

20. Device (1) according to one of claims 5 to 19, characterized in that an outer boundary (10) of the transport track (3) is designed such that it is below the workpiece height of at least one other workpiece (4) lying on the workpiece support , wherein the outer boundary (10) preferably does not protrude beyond the plane of the workpiece support.

21. Device (1) according to one of claims 5 to 20, characterized in that the transport track (3) has at least one means which is used to detect the position of the transport track (3) in the direction of rotation.

22. Device (1) according to claim 21, characterized in that the at least one means has at least one marking (40) for the transport path (3), which can be detected by a data acquisition device and in particular in a region of the inner edge (6) on the Transport track (3) is arranged. Device (1) according to Claim 22, characterized in that the at least one marking (42) is formed from a large number of marking elements (43.1-43.n), in particular from circular arcs, with at least some, preferably all of the marking elements (43.1-43 n) have different sizes and/or shapes.