Holding system, holding force adjustment method, computer program, and data processing device

Abstract

The invention relates to a holding system, a holding force adjustment method, a computer program, and a data processing device. Holding system (1) for temporarily holding a workpiece, comprising a holding device (10) having at least one or more existing holding units (11... 14) for holding a workpiece with a holding force of a particular holding unit (11... 14), a detection device (20) designed to quantify a change in the holding force of the existing holding units (11... 14) and an adjustment device (30) designed to adjust the holding force of the other holding unit (15) on the basis of the quantized change.

Description

Technical Field

[0001] The invention relates to a holding system for temporarily holding a workpiece, a method for adjusting a holding force for a holding device and a computer program and a data processing device for carrying out such a method. Background Art

[0002] Holding systems including holding devices are known in principle from the prior art. For example, DE 10 2021 002 418 B3 describes a method for creating a clamping series program. Summary of the invention

[0003] The object of the present invention is to provide an improved holding system for temporarily holding workpieces and an improved method for adjusting the holding force for a holding device.

[0004] Further features and details of the invention are derived from the description and the drawings. Features and details described in conjunction with the inventive retention system naturally also apply to the inventive method, the inventive device and the inventive computer program, and vice versa, so that reference is always made to each other or can be made to each other with respect to the disclosure of the individual aspects of the invention.

[0005] According to a first aspect, a holding system for temporarily holding a workpiece is provided.

[0006] The holding system comprises a holding device, in particular in the form of a holding arrangement, having at least one or more existing holding units, in particular holding devices, for holding a workpiece with a holding force (also referred to as a retaining force) of a specific holding unit. In addition, the holding system may comprise a detection device, which is designed to quantify changes and / or differences in the holding force of an existing holding unit. In addition, the holding system may comprise an adjustment device, which is designed to adjust the holding force of another holding unit, in particular a new holding unit, based on the quantified changes / differences. This allows in particular a dynamic control of the holding force so that it is adapted to the existing conditions of the holding system. The advantage can therefore be achieved that a more uniform and consistent holding force is applied by all holding units, thereby improving the reliability and processing quality during the operation of the holding system and during the maintenance and repair of the holding system. The change can be, for example, a change in the holding force compared to a reference holding force, for example a holding force in an original state, such as an installed state of an existing holding unit.

[0007] The holding system according to the invention is used in particular to adapt the holding force of a new holding unit (in particular provided for replacement) to the holding force of one or more existing holding units in order to exert a uniform holding force on the workpiece during the holding process. A holding unit, in particular a defective holding unit, can be replaced by a new holding unit.

[0008] A holding system, which can also be referred to as a holding device, a retaining device and / or a retaining system, advantageously first comprises a holding device having one or more holding units for holding the workpiece with a retaining force. These holding units can also be referred to as existing or existing holding units.

[0009] The holding unit has, in particular, a holding device which is designed to fix, clamp and / or hold a workpiece and which can also be referred to as a clamp or a clamping device.

[0010] The holding unit may be designed to hold the workpiece temporarily or for a predetermined period of time with a certain holding force (also called retention force).

[0011] Such a holding can be used in particular to hold a workpiece for one or more processing or treatment steps in a production line so that a processing device can carry out these steps on the workpiece.

[0012] The holding system may also comprise a detection device designed to determine and in particular quantify changes and / or differences in the holding force of existing holding devices.

[0013] The change may in particular be a deterioration and / or reduction of the holding force, which may also be referred to as a reference holding force, for example, compared to an initially preset and / or predetermined holding force. A change in the holding force may occur in particular due to aging and / or wear.

[0014] The quantification of the change can in particular be determined in an absolute or relative manner, for example with respect to a reference holding force which is provided to or taken from the detection device.

[0015] The holding system may further comprise an adjusting device designed to adjust a holding force of the further holding unit based on the quantified change.

[0016] The further holding unit may in particular be a holding unit which is different from the existing holding unit, but it may in particular be from the same manufacturer or of the same type or model as the existing holding unit.

[0017] In particular, the further holding unit may be a holding unit which has not undergone modifications and / or has not undergone the same modifications as the existing holding unit.

[0018] For example, the other holding unit may be a new and / or unused holding unit, or it may at least be used less than the existing holding unit. In particular, the holding force of the other holding unit may have no or only a slight change, deterioration and / or reduction compared to the reference holding force.

[0019] It is also possible to imagine that another holding unit is different from the existing holding unit by type and / or design and / or technical specifications. In this case, adjustment can also be used to minimize the holding force differences caused by this difference.

[0020] By using the holding system according to the invention, in particular the holding force of a new holding unit provided for replacement can be adapted to the holding force of one or more existing holding units in order to exert a uniform holding force on the workpiece during the holding process.

[0021] The holding system may further comprise an identification device, which is designed to identify the setting of another holding unit, preferably to replace the holding unit to be replaced with another holding unit, wherein the adjustment device may be designed to set the holding force of the other holding unit in response to the identified setting. The identification device may be particularly designed to identify the replacement of an existing holding unit to be replaced with another holding unit, for example because the existing holding unit has experienced a change in holding force exceeding a predetermined threshold, in particular to zero, in particular a deterioration, because the existing holding unit to be replaced has failed and / or encountered a defect or damage, and / or because the existing holding unit to be replaced has reached or used a predetermined maximum working age, a predetermined maximum number of holding operations performed and / or a predetermined maximum sum of applied holding forces. Alternatively or additionally, the other holding unit may comprise an information element indicating age and / or status, in particular that it is new and / or unused, and the information element may be read by the identification device. The adjustment device may be designed to set the holding force of the other holding unit in response to the setting of the identified other holding unit. In particular, the setting of the other holding unit triggers the setting of the holding force of the other holding unit by the adjustment device. This allows the holding force of the further holding unit to be set, in particular in an automatic manner and without manual intervention.

[0022] The detection device can also be designed to quantify the change by determining the age of the existing holding unit in order to determine the age-related reduction in the holding force based on the determined age. The age of the existing holding unit can thus be determined. This can be done, for example, by means of a date function and / or a clock function, which is triggered in particular when the holding unit is set up as a new or another holding unit. Alternatively or additionally, the age can be determined by means of an operating hour counter. In particular, an independent value can be determined for each existing holding unit. This is particularly advantageous when the existing holding units have different ages. The change can thus be quantified in a particularly cost-effective manner, since no direct force sensor is required.

[0023] The detection device can also be designed to quantify the change by determining the number of holding operations performed by the existing holding units, so as to determine the reduction in holding force associated with the operation based on the determined holding operations. In particular, each holding operation of each existing holding unit can be counted or summed to determine the number of holding operations performed. An independent value can be determined in particular for each existing holding unit. This is particularly advantageous when the existing holding units have a different number of holding operations performed. This also allows the change to be quantified in a particularly cost-effective manner, since no direct force sensor is required.

[0024] The detection device can also be designed to quantify the change by determining the sum of the holding forces applied by the existing holding unit in the past operation of the existing holding unit, so as to determine the load-related holding force reduction based on the determined sum. The sum of the applied holding forces can be determined using a force detection device, as described in more detail in conjunction with the following embodiments, or it can also be determined by multiplying the initial holding force by the number of holding operations performed. For example, as a basis, a correction factor that takes into account or at least estimates the change in holding force can be used, and / or the sum of the calculated holding forces applied without the correction factor can be used, but the sum is proportional to the actual holding force change. In particular, an independent value can be determined for each existing holding unit. This is particularly advantageous when the existing holding unit has applied various holding force sums or has different numbers of holding operations performed. By using this embodiment, the change can be quantified in a specific and precise manner, rather than just an estimate.

[0025] The detection device can preferably perform a holding force detection at the holding unit by a clamp driven by a motor, in particular the detection of the force applied to the workpiece, for example by measuring the applied force. For this purpose, a pressure sensor or a load sensor can be used. The detection device is designed as, for example, an electronic device such as a control device, a force measuring device or a sensor. In addition, it can be provided that the calculation performed automatically, in particular the electronic calculation, is quantified based on the measurement determination result to quantify the holding force change. The adjustment device can have a communication link with the detection device and / or can be designed to adjust the holding force of another holding unit based on the quantified change. For this purpose, for example, the controller in the automation device can be parameterized and / or configured and / or reprogrammed. Therefore, for example, it can be influenced how the controller starts the motor that moves the holding unit to clamp the workpiece. The adjustment device is designed at least in part as, for example, a computer program that determines the quantitative change of the holding force of the holding unit and adjusts the holding force of another holding unit based on this information. The computer program can be integrated into the automation device and can communicate with the detection device through an interface. Due to the adjustment of the holding force, for example, the clamping force of the workpiece can be optimized to ensure reliable and effective processing.

[0026] The detection device can also be designed to determine the holding force of an existing holding unit and to quantify changes based on the determined holding force, wherein the holding force can be detected by a force detection device and provided to the detection device. It is therefore possible that the holding force is not merely estimated or determined based on other information, but is actually measured. This is achieved by using one or more force detection devices. In particular, an independent force detection device can be provided for each existing holding unit. In particular, according to this embodiment, at least and in particular only the holding force of the existing holding unit to be replaced is determined, in particular because it has reached or used up a predetermined maximum age of use, a predetermined maximum number of performed holding operations and / or a predetermined maximum sum of applied holding forces. Therefore, changes can also be quantified here in a specific and precise manner, rather than just estimated.

[0027] The detection device can also be designed to determine a specific holding force of a plurality of holding units and to determine an average value therefrom, wherein the regulating device can be designed to set the holding force of the further holding unit to this average value. It is thus possible to determine and form an average value, in particular by using the average value of all holding forces detected by the force detection device, and to set the holding force of the further holding unit to this average value. This can allow a particularly robust quantification of the change to be determined.

[0028] The detection device can also be designed to determine the change of the holding force of the existing holding unit and the other holding unit, wherein the adjustment device can be designed to set the holding force of the other holding unit based on the determined holding force. Therefore, in particular, not only the existing holding unit can be equipped with a force detection device, but also the other holding unit can be equipped with a force detection device. In particular, in a test run or a trial run, the holding force of all holding units and in particular the other holding unit can be detected, and then the holding force of the other holding unit can be set to the holding force of the existing holding unit, in particular the average value. Therefore, a more accurate quantification or setting can be performed. In particular, the holding force of the other holding unit can therefore not only be assumed or estimated, but it can also be accurately quantified and therefore set very accurately.

[0029] A clamping frame may also be provided to fix the workpiece for machining, wherein a plurality of holding units, in particular in the form of clamps, may be located at the clamping frame in order to hold the workpiece at different positions with a uniform holding force, wherein each holding unit may comprise an electric motor for providing a holding force to control a clamping movement of a clamping device for holding the workpiece and a gear for transmitting the provided holding force from the electric motor to the clamping device in order to perform a clamping movement on the workpiece. The electric motor may be connected to an automation device for power and / or signal transmission, in particular for transmitting data signals and / or control signals, wherein the detection device and the regulating device and preferably the recognition device may optionally be part of the automation device, in particular part of a computer program of the automation device. The connection between the automation device and the electric motor may be provided by a cable suitable for data and power transmission.

[0030] In addition, for example, at least 5 or at least 10 holding units (also referred to as clamps) can be located at the clamping frame and fastened thereto by screws, bolts or other fastening elements. The exact number and placement of the holding units depends in particular on the size and properties of the workpiece to be fixed. The movement of the holding units can be achieved by, for example, driving them by a motor, in particular an electric motor connected to the holding unit by a mechanical connection. Alternatively, the holding unit can also be operated pneumatically or hydraulically by applying pressure by a suitable pressure device. Another option is to use an electromagnetic field, which moves the holding unit by acting on a magnetic material in the holding unit. The clamping frame can be made of aluminum or steel. In particular, a manual clamping device can also be provided, which is designed to manually fix the workpiece to the clamping frame.

[0031] The adjusting device can also be designed to reduce the holding force of the other holding unit compared to the holding force of a specific existing holding unit, preferably by adjusting the power and / or signal transmission from the automation device to the other holding unit, so that the holding force is evenly distributed on the workpiece. Thus, a particularly fast and simple adjustment of the holding force can be achieved.

[0032] According to a further aspect, a method for adjusting a holding force for a holding device is provided, wherein at least one further holding unit is provided for at least one or more existing holding units in order to hold a workpiece with a uniform holding force of the specific holding unit.

[0033] The method comprises the steps of determining a change indication to quantify a change in the holding force, in particular of an existing holding unit, and initiating an adjustment of the holding force of another holding unit based on the change indication to compensate for the quantified change.

[0034] The method can in particular be carried out partially or completely using the above-described holding system or the method can be adapted for use in a holding system and partially or completely implement the features thereof.

[0035] The change indication may be specific to changes caused by wear of a particular existing holding unit, in particular wear of a gear of the holding unit. Thus, the changes can be quantified in a particularly precise manner.

[0036] The adjustment can also be initiated by adjusting the signal transmission from the automation device to the motor of the other holding device, preferably by adjusting the control command and / or control signal, so that the holding force, preferably the pulling force, of the other holding device is reduced compared to the holding force, preferably the pulling force, of the specific existing holding device. Thus, a particularly integrated and user-friendly adjustment can be performed.

[0037] The subject of the invention also relates to a data processing device comprising means for carrying out the steps of the method according to the invention. The device according to the invention thus produces the same advantages as described above in detail with respect to the method according to the invention.

[0038] The subject of the present invention also relates to a computer program, in particular a computer program product, which comprises instructions which, when the computer program is run by a computer, cause the computer to perform the method of the present invention. Therefore, the computer program of the present invention produces the same advantages as described above in detail with respect to the method of the present invention.

[0039] A data processing device for executing a computer program such as the device according to the invention can be provided as a computer. The computer can include at least one processor for executing the computer program. In addition, a non-volatile data memory can be provided in which the computer program is stored and from which the processor can read the computer program for execution.

[0040] It is also conceivable that the computer includes at least one integrated circuit such as a microprocessor or an application specific integrated circuit (ASIC) or an application specific standard product (ASSP) or a digital signal processor (DSP) or a field programmable gate array (FPGA) or the like. The computer may also include at least one interface for data exchange such as an Ethernet interface or an interface for a local area network (LAN) or a wireless local area network (WLAN) or a system on a chip (SoC) or some other wireless interfaces such as Bluetooth or near field communication (NFC). In addition, the computer may be designed as one or more control devices, that is, it may also be designed as a system consisting of control devices. The computer may also be arranged in the cloud and / or as a server, for example, so as to provide data processing for local applications via an interface. The computer may also be designed as a mobile device such as a smart phone.

[0041] The subject matter of the present invention may also relate to a computer-readable storage medium comprising a computer program according to the present invention. The storage medium is designed, for example, as a data storage such as a hard disk and / or a non-volatile memory and / or a memory card. For example, the storage medium can be integrated into a computer.

[0042] Furthermore, the method according to the present invention can also be designed as a computer-implemented method.

[0043] The invention also includes combinations of features of the described embodiments. Therefore, the invention also includes implementations, each of which has a combination of features of several of the described embodiments, if the embodiments are not described as mutually exclusive. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The following describes an embodiment of the present invention. In the figure:

[0045] Figure 1 A schematic side view showing one embodiment of a holding system for temporarily holding a workpiece;

[0046] Figure 2 A schematic flow chart showing an embodiment of a method for adjusting a holding force for a holding device;

[0047] Figure 3 A data processing device is shown;

[0048] Figure 4 showing a computer program;

[0049] Figure 5 shows further details of a retention system according to one embodiment of the present invention;

[0050] Figure 6 shows further details of a retention system according to one embodiment of the present invention; and

[0051] Figure 7 Other parts of a retention system according to one embodiment of the present invention are shown.

[0052] Reference numerals list

[0053] 1. Keep the system

[0054] 10. Keep the device

[0055] 11-14 Existing holding unit

[0056] 15 Another holding unit

[0057] 20 Detection device

[0058] 30 Adjustment device

[0059] 40 Identification device

[0060] 51-54 force detection device

[0061] 60 clamping frame

[0062] 70 workpieces

[0063] 80 electric motor

[0064] 85 Gear

[0065] 90 clamping device

[0066] 100 Methods

[0067] 110 Methods and Steps

[0068] 120 Methods and Steps

[0069] 200 Automation Equipment

[0070] 210 Data cable

[0071] 220 Power Cable

[0072] 1000 Devices

[0073] 2000 Computer Programs DETAILED DESCRIPTION

[0074] Figure 1 A schematic side view of an embodiment of a holding system 1 for temporarily holding workpieces is shown, which is not depicted in greater detail here.

[0075] The holding system 1 comprises a holding device 10 having at least one or more existing holding units 11 to 14, wherein four existing holding units 11 to 14 are shown here by way of example. The holding units 11 to 14 are designed to hold workpieces using the holding force of the respective holding units 11 to 14.

[0076] The holding system 1 may also include a detection device 20, which is designed to quantify the change in the holding force of the existing holding units 11 to 14. In the present example, it is assumed, for example, that the existing holding unit 11 is defective and is to be replaced by a new further holding unit 15. To this end, the holding system 1 may include an adjustment device 30, which is designed to adjust the holding force of the further holding unit 15 based on the quantified change.

[0077] The holding system 1 may further comprise an identification device 40 designed to identify the setting of another holding unit 15, preferably to replace the holding unit 11 to be replaced with another holding unit 15, the adjustment device 40 being configured to set the holding force of the other holding unit 15 in response to the identified setting.

[0078] The detection device 20 can be designed to quantify this change by determining the age of use of the existing holding units 11 to 14 in order to determine an age-related reduction in the holding force based on the determined age of use.

[0079] Alternatively or additionally, the detection device 20 may be designed to quantify the change by determining the number of holding operations performed by the existing holding units 11 to 14 in order to determine an age-related reduction in the holding force based on the determined holding operations.

[0080] Likewise, alternatively or additionally, the detection device 20 can be designed to quantify the change by determining the sum of the holding forces applied by the existing holding units 11 to 14 during past operation of the existing holding units 11 to 14 in order to determine a load-dependent holding force reduction based on the determined sum.

[0081] Likewise, alternatively or additionally, the detection device 20 can be designed to determine the holding force of the existing holding units 11 to 14 and quantify the change based on the determined holding force, wherein the holding force is detected by at least one force detection device and provided to the detection device. As shown in the present example, a respective force detection device 51 to 54 capable of detecting the holding force of each existing holding unit is provided for each existing holding unit 11 to 14.

[0082] Likewise, alternatively or additionally, the detection device 20 may be designed to quantify the change by evaluating a manual user input. To this end, the detection device 20 may provide an input interface for the user.

[0083] The detection device 20 can also be designed to determine the respective holding forces of a plurality of holding units 11 to 14 and to determine an average value therefrom, wherein the regulating device 30 is designed to set the holding force of a further holding unit 15 to this average value.

[0084] The detection device 20 can also be designed to determine changes in the holding forces of the existing holding units 11 to 14 and of the further holding unit 15 , wherein the adjustment device 30 is designed to set the holding force of the further holding unit 15 based on the determined holding forces.

[0085] Figure 7 The clamping frame 60 shown can also be provided for the holding system 1 to fix a workpiece (here indicated by reference numeral 70) for machining, and a plurality of holding units 11 to 14 are located at the clamping frame 60 in order to hold the workpiece in different positions with a preferably uniform holding force. The holding units 11 to 14 and optionally also the holding unit 15 can each include a Figure 5The motor 80 is schematically shown in the figure, which is designed to provide a holding force to control a clamping movement of a clamping device 90 for holding the workpiece. The holding units 11 to 14 and optionally also the holding unit 15 can also include a gear 85, which is also only schematically shown, for transmitting the provided holding force from the motor 80 to the clamping device 90 in order to perform a clamping movement at the workpiece. For power and / or signal transmission, the motor 80 is connected to the automation device 200, in particular via a suitable data cable 210 and / or power cable 220, in order to provide power (see Figure 6 ), wherein the detection device 20 and the adjustment device 30 and preferably the identification device 40 can all be designed as part of the automation device 200 or separate from the automation device 200, and in particular as part of the computer program.

[0086] The adjustment device 30 can be designed to reduce the holding force of the other holding unit 15 compared to the holding force of the respective existing holding units 11 to 14 (preferably by adjusting the power and / or signal transmission from the automation device 200 to the other holding unit 15) so as to evenly distribute the holding force on the workpiece.

[0087] Figure 2 A schematic flow chart of an embodiment of a method 100 for adjusting a holding force for holding a device is shown. The method 100 shown is used to adjust a holding force for holding a device, in particular in combination with Figure 1 The holding force of the holding device 10 shown or of the holding system 1 shown therein, in this case at least one further holding unit is provided for at least one or more existing holding units in order to hold the workpiece with a uniform holding force of the specific holding unit.

[0088] In a first step 110 of method 100 , a change indicator is determined to quantify the change in holding force.

[0089] In a further step 120 of the method 100 , an adjustment of the holding force of a further holding unit is initiated based on the change indication to compensate for the quantified change.

[0090] The changed indication of change may be specific to the wear of a particular existing holding unit, in particular the wear of a gearwheel of the holding unit.

[0091] In particular, the adjustment can be initiated by adjusting the signal transmission from the automation device to the electric motor of the other holding device, preferably by adjusting the control command and / or control signal, so as to reduce the holding force (preferably tensile force) of the other holding device compared to the holding force (preferably tensile force) of a specific existing holding device or as compensation therefor.

[0092] Figure 3 A data processing apparatus 1000 is shown, which includes a device for performing the above-mentioned Figure 2An apparatus for a method for adjusting a holding force for holding a device is described.

[0093] Figure 4 A computer program 2000 is shown, which can be designed in particular as a computer program product and comprises instructions which, when a computer runs the computer program, cause the computer to execute the following steps: Figure 2 A method for adjusting a holding force for holding a device is described.

Claims

1. A holding system (1) for temporarily holding a workpiece, the holding system (1) comprising: - a holding device (10) having at least one or more existing holding units (11 . . . 14) for holding a workpiece with a holding force of a specific holding unit (11 . . . 14); - a detection device (20) designed to quantify the variation of the holding force of the existing holding unit (11 . . . 14); and - an adjusting device (30) designed to adjust the holding force of the further holding unit (15) based on the quantified change.

2. The holding system (1) according to claim 1, characterized in that The retaining system (2) also includes - an identification device (40) designed to identify the setting of the further holding unit (15), preferably to replace the holding unit (11) to be replaced with the further holding unit (15), Therein, the adjustment device (30) is designed to set the holding force of the further holding unit (15) in response to the identified setting.

3. Holding system according to any one of the preceding claims, characterized in that The detection device (20) is designed to quantify the change by determining the operating age of the existing holding unit (11 . . . 14) in order to determine an age-related reduction in the holding force based on the determined operating age.

4. Holding system according to any one of the preceding claims, characterized in that The detection device (20) is designed to quantify the change by determining the number of holding operations performed by the existing holding unit (11 . . . 14) in order to determine the reduction of the holding force associated with the operation based on the determined holding operations.

5. Holding system according to any one of the preceding claims, characterized in that The detection device (20) is designed to quantify the change by determining the sum of the holding forces applied by the existing holding units (11...14) during past operation of the existing holding units (11...14), so as to determine a load-dependent reduction in the holding force based on the determined sum.

6. Holding system according to any one of the preceding claims, characterized in that The detection device (20) is designed to determine the holding force of the existing holding unit (11...14) and to quantify the change based on the determined holding force, wherein the holding force is detected by a force detection device (51...54) and provided to the detection device (20).

7. Holding system according to any one of the preceding claims, characterized in that The detection device (20) is designed to determine the specific holding force of a plurality of the holding units (11 . . . 14) and to determine an average value therefrom, wherein the regulating device (30) is designed to set the holding force of the further holding unit (15) to the average value.

8. Holding system according to any one of the preceding claims, characterized in that The detection device (20) is designed to determine changes in the holding force of the existing holding unit (11...14) and the other holding unit (15), wherein the adjustment device (30) is designed to set the holding force of the other holding unit (15) based on the determined holding force.

9. Holding system according to any one of the preceding claims, characterized in that A clamping frame is provided to fix a workpiece for machining, wherein a plurality of holding units are located at the clamping frame in order to hold the workpiece at different positions with a preferably uniform holding force, wherein each holding unit (11 . . . 14) comprises: - an electric motor for providing said holding force to control a clamping movement of a clamping device for holding said workpiece, - a gear for transmitting the holding force provided from the electric motor to the clamping device in order to perform a clamping movement on the workpiece, Therein, the electric motor is connected to an automation device for power and / or signal transmission, wherein the detection device and the regulating device and preferably the identification device are part of the automation device and in particular part of a computer program of the automation device.

10. Holding system according to any one of the preceding claims, characterized in that The adjustment device (30) is designed to reduce the holding force of the other holding unit (15) compared to the holding force of the specific existing holding unit (11...14), preferably by adjusting the power and / or signal transmission from the automation device to the other holding unit, so as to evenly distribute the holding force on the workpiece.

11. A method (100) for adjusting a holding force for holding a device (10), wherein: Providing at least one further holding unit (15) to at least one or more existing holding units (11 . . . 14) in order to hold the workpiece with a uniform holding force of the specific holding unit, the method comprising: - determining (110) a change indicator to quantify the change in said holding force, - initiating (120) an adjustment of the holding force of the further holding unit (15) based on the change indication to compensate for the quantified change.

12. The method according to claim 11, characterized in that The change indication is specific to changes caused by wear of the specific existing holding unit (11 . . . 14), in particular wear of the gears of the holding unit.

13. The method according to claim 11 or 12, characterized in that: The adjustment is initiated by adjusting the signal transmission from the automation device to the electric motor of the other holding device, preferably by adjusting the control command and / or control signal, so that the holding force, preferably tensile force, used for the other holding device is reduced compared to the holding force, preferably tensile force, of the specific existing holding device and / or as compensation for the holding force, preferably tensile force of the specific existing holding device.

14. A data processing device comprising means for performing the method according to any one of claims 11 to 13. 15 . A computer program, in particular a computer program product, comprising commands which, when the computer program is run by a computer, cause the computer to execute the method according to claim 11 .

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