Discharging method and mechanical discharging device for discharging machined products from workpiece machining, and manufacturing method and mechanical manufacturing device

Abstract

In the context of a discharge method for discharging a machined product of workpiece machining, a digital discharge controller (14) of a discharge device (9) is calibrated before the machined product is discharged from a supply device (8). For this purpose, a reference object (15) is used to adjust the coordinate system of the digital discharge controller (14) when needed, said reference object being provided with a marking (16) reflecting the coordinate system of the provision device (8). After the calibration of the digital unloading controller (14), the orientation and orientation of the processed product provided for unloading in the adjusted coordinate system of the digital unloading controller (14) are derived from the orientation and orientation of the processed product provided for unloading in the coordinate system of the providing device (8). The aforementioned unloading method is used in the field of manufacturing methods. The mechanical unloading system and the mechanical manufacturing system are designed to carry out the aforementioned method.

Description

Field of the Invention

[0001] The present invention relates to a method for unloading a processed product for workpiece processing, in particular for unloading a processed product produced on a sheet metal processing machine,

[0002] · wherein the processed product is unloaded from a supply device by means of an unloading device,

[0003] · wherein the unloading of the processed product is controlled by a programmable digital controller, which includes a programmable digital unloading controller of the unloading device, and in which the coordinate system of the supply device and a similar coordinate system of the digital unloading controller are stored,

[0004] · wherein the processed product is provided for unloading on the supply device in an orientation and position defined in the coordinate system of the supply device,

[0005] · wherein the orientation and position of the processed product provided for unloading in the coordinate system of the digital unloading controller are derived from the orientation and position of the processed product provided for unloading in the coordinate system of the supply device,

[0006] · wherein the unloading mechanism of the unloading device is moved to a receiving position on the processed product provided for unloading on the supply device by a receiving movement,

[0007] · wherein the receiving movement of the unloading mechanism is controlled by the digital unloading controller according to the orientation and position of the processed product provided for unloading in the coordinate system of the digital unloading controller, and

[0008] · wherein the processed product provided for unloading on the supply device is received by the unloading mechanism moved to the receiving position, and the processed product received by the unloading mechanism is unloaded from the supply device by the unloading movement of the unloading mechanism.

[0009] The present invention also relates to a mechanical unloading device for performing the aforementioned unloading method, and to a manufacturing method within the scope of which the aforementioned unloading method is performed, and to a mechanical manufacturing device for performing this manufacturing method. Background Art

[0010] The prior art of the type under discussion is known from DE 10 2016 115 987 A1.

[0011] In the case of the prior art, the objects are unloaded from the conveyor in an automated manner with the aid of a robot. For this purpose, a three-dimensional Cartesian coordinate system for the conveyor and a three-dimensional Cartesian coordinate system for the robot (and therefore homogeneous coordinate systems) are stored in a digital controller. The position and orientation of the object to be unloaded from the conveyor in the coordinate system of the conveyor are acquired with the aid of image processing. Based on the position and orientation of the object to be unloaded in the coordinate system of the conveyor, the position and orientation of the object to be unloaded in the coordinate system of the robot are determined. Based on the position and orientation of the object to be unloaded in the coordinate system of the robot, a robot gripper is moved digitally controlled to the object to be unloaded on the conveyor to pick up the object to be unloaded. Summary of the invention

[0012] The object of the invention is to enable workpieces to be unloaded from a supply device reliably and permanently with the least possible effort.

[0013] This object is achieved by an unloading method according to patent claim 1, a manufacturing method according to patent claim 5, a mechanical unloading device according to patent claim 15 and a mechanical manufacturing device according to patent claim 17.

[0014] In the case of the present invention, before unloading the processed products from the providing device, the digital unloading controller of the unloading device for unloading the processed products is first calibrated. Here, the coordinate system of the digital unloading controller is adapted to the coordinate system of the providing device set as the dominant coordinate system in the manner specified in patent claim 1. The adjustment of the coordinate system of the digital unloading controller based on the present invention ensures that: when unloading the processed products after the calibration of the digital unloading controller, the position and orientation of the processed products to be unloaded in the coordinate system of the digital unloading controller, which is the basis for controlling the receiving movement of the unloading mechanism, accurately reflects the actual position and actual orientation of the processed products to be unloaded in the coordinate system of the digital unloading controller.

[0015] When the position and orientation of the workpiece to be processed in the coordinate system of the digital unloading controller is derived from the coordinate system of the provision device, it is usually assumed that the provision device and the unloading device are positioned and oriented in a specific manner relative to each other. In this case, based on the calibration of the digital unloading controller according to the invention, the installation of the unloading device according to the invention and / or the manufacturing device according to the invention is simplified to the extent that possible inaccuracies in the arrangement of the provision device and the unloading device relative to each other can be compensated by coordinating the coordinate system of the digital unloading controller to the coordinate system of the provision device, which coordination is performed before the unloading device and / or the manufacturing device is put into operation.

[0016] The specific embodiments of the unloading method according to claim 1 of the patent, the manufacturing method according to claim 5 of the patent, the mechanical unloading device according to claim 15 of the patent, and the mechanical manufacturing device according to claim 17 of the patent can be obtained from dependent patent claims 2 to 4, 6 to 14, 16, 18, and 19.

[0017] In a preferred embodiment of the present invention, a two-axis or three-axis Cartesian coordinate system is provided as the coordinate system for the providing device and the digital unloading controller (claim 2 of the patent).

[0018] When calibrating the digital unloading controller, a reference metal sheet is used as the reference object (claim 3 of the patent).

[0019] In particular, marks can be provided for the reference metal sheet by means of segmented machining, and the marks reflect the coordinate system of the providing device (claims 4 and 16 of the patent).

[0020] In a preferred embodiment of the manufacturing method and the manufacturing device according to the present invention, a processing device is used to generate marks for the reference object, and the processing device is used for workpiece processing in the context of the manufacturing process after the calibration of the digital unloading controller (claims 7, 8, and 18 of the patent).

[0021] In a further configuration of the manufacturing method according to the present invention, the coordinate system of the providing device or the workpiece carrier is formed by the coordinate system of the digital processing controller of the processing device provided for workpiece processing (claim 6 of the patent).

[0022] In the context of another preferred variant of the manufacturing method according to the present invention, the workpiece is supported by the workpiece carrier during its processing, and the processed product generated by the workpiece processing is supported by the workpiece carrier set as the providing device. After the workpiece processing, the processed product moves from the starting position to the target position by means of the transfer movement of the workpiece carrier, and is provided at the target position in the orientation and orientation defined in the coordinate system of the workpiece carrier set as the providing device for unloading by means of the unloading device (claim 9 of the patent).

[0023] Here, the transfer movement of the workpiece carrier is preferably carried out by means of a carrier drive, which has a digital drive controller, the coordinate system of which is set to the coordinate system of the workpiece carrier of the providing device. In order to arrange the processed product moving together with the workpiece carrier at the target position (where it is provided for unloading) in the coordinate system of the digital drive controller and thus in the coordinate system of the workpiece carrier of the providing device in an orientation and alignment corresponding to the actual orientation and alignment of the processed product, the digital carrier drive controller is first calibrated before moving the processed product from the starting position to the target position (patent claim 10). For this purpose, the digital carrier drive controller of the manufacturing device according to the invention is constructed according to the digital unloading controller of the unloading device according to the invention and accordingly includes a computing unit, a detection device, a comparison unit and an evaluation unit.

[0024] In a preferred embodiment of the invention, the same computing unit and / or the same detection device and / or the same comparison unit and / or the same evaluation unit is used to calibrate the digital carrier drive controller and to calibrate the digital unloading controller.

[0025] In a further development of the invention, the digital carrier drive controller is formed by the digital processing controller of the processing device of the manufacturing device according to the invention (patent claim 11).

[0026] Preferably, the reference object for calibrating the digital drive controller of the workpiece carrier is also used to calibrate the digital unloading controller (patent claim 12).

[0027] In another preferred embodiment of the manufacturing method according to the invention, the processed product is stored at the storage location in an orientation and alignment defined in the coordinate system of the unloading controller after being unloaded from the workpiece carrier by means of the unloading device (patent claim 13). Since the processed product has been received by the unloading device in a defined orientation and alignment, the processed product can also be stored at the storage location in a defined orientation and alignment.

[0028] According to patent claims 14 and 19, the manufacturing method according to the invention and the manufacturing device according to the invention are in particular constructed for sheet metal processing of coils, for example sectional sheet metal processing. Description of the Drawings

[0029] The invention will be explained in more detail below on the basis of schematic illustrations. In the drawings:

[0030] Figure 1 : shows a numerically controlled machine tool for sheet metal manufacturing with a laser profiling machine and a mechanical unloading device,

[0031] Figure 2 : shows a schematic top view of the height of the workpiece carrier of a mechanical device during calibration of a digital controller of the mechanical device according to Figure 1 of the mechanical device,

[0032] Figure 3 and Figure 4 : shows a diagram for visually showing the process during calibration of the digital controller of a mechanical device according to Figure 1 of the mechanical device,

[0033] Figure 5 and Figure 6 : shows an exemplary possibility for detecting a mark on a reference metal sheet during calibration of the digital controller of a mechanical device according to Figure 1 of the mechanical device, and

[0034] Figure 7 : shows a numerically controlled mechanical device for manufacturing metal sheets for coils. Detailed Description

[0035] According to Figure 1 , the machine manufacturing device 1 includes a laser flatbed machine 2 as a processing device and also includes a mechanical unloading device 3.

[0036] The laser flatbed machine 2 serves as a splitting device for the splitting processing of metal sheets (Blech), and for this purpose has a working space 4 in which a laser cutting unit 5 of a conventional structural form is arranged. The laser cutting unit 5 includes a gantry structure 6 which can move along the x-axis inside the working space 4 and which in turn guides the laser cutting head 7 movably along the y-axis extending perpendicular to the x-axis.

[0037] During the splitting processing by means of the laser cutting head 7, the metal sheet to be processed (not shown) is supported on a workpiece tray 8 which serves as a workpiece carrier. Before the splitting metal sheet processing, the workpiece tray 8 is loaded with metal sheets outside the working space 4 of the laser flatbed machine 2 and then moved into the working space 4 together with the metal sheets along the x-axis. After the metal sheet processing is completed, the workpiece tray 8 together with the metal sheet processing products produced in the splitting metal sheet processing and the remaining grids additionally produced in the metal sheet processing is moved back in the x-direction from the working space 4 of the laser flatbed machine 2 to the initial position of the workpiece tray outside the working space 4. The workpiece tray 8 is shown in Figure 1 as being outside the working space 4. The moving movement of the workpiece tray 8 is implemented by means of a motorized tray or carrier drive controlled by a processing controller.

[0038] The workpiece pallet 8 is also part of the mechanical unloading device 3. In this function, the workpiece pallet 8 arranged outside the working space 4 of the laser profiling machine 2 forms a providing device on which the sheet metal processing products arranged on the workpiece pallet 8 are provided for unloading by means of the unloading robot 9 provided as the unloading device of the mechanical unloading device 3.

[0039] The unloading robot 9 stands next to the laser profiling machine 2 in a defined spatial assignment relationship with respect to the laser profiling machine 2 and thus also in a defined spatial assignment relationship with respect to the workpiece pallet 8. As an unloading mechanism, the unloading robot 9 has a gripper head 10 which is mounted on the cantilever 11 of the unloading robot 9 and can be moved into the receiving position on the sheet metal processing product provided on the workpiece carrier 8 by means of a receiving movement.

[0040] All the main processes on the machining equipment 1 are controlled by a programmable digital device controller 12 which itself includes a digital processing controller 13 of the laser profiling machine 2 and a digital unloading controller 14 of the unloading robot 9. The digital processing controller 13 also controls the movement of the workpiece pallet 8 along the x-axis.

[0041] In both the digital processing controller 13 and the digital unloading controller 14, a coordinate system in the form of a Cartesian coordinate system is stored, which has coordinate axes extending in the x-direction and the y-direction.

[0042] The orientation and alignment of the sheet metal processing product arranged in the starting position after the segmented sheet metal processing is completed inside the working space 4 of the laser profiling machine 2 are defined in the coordinate system of the digital processing controller 13. Starting from the starting position, the sheet metal processing product moves to the target position by means of a transfer movement implemented by the workpiece pallet 8 over a defined route length in the x-direction, at which target position the sheet metal processing product is arranged outside the working space 4 of the laser profiling machine 2 together with the workpiece pallet 8 and is ready for unloading by means of the unloading robot 9. The transfer movement of the workpiece pallet 8 is implemented by means of a motorized carrier or pallet drive, where the motorized carrier or pallet drive is controlled by the processing controller 13, more precisely by the digital carrier drive controller of the processing controller 13.

[0043] Since the orientation and alignment of the sheet metal processing product in the starting position are defined in the coordinate system of the digital processing controller 13 based on the corresponding programming of the processing controller and the direction and route length of the movement of the sheet metal processing product from the starting position to the target position are also determined in the coordinate system of the digital processing controller 13 by the programming of the processing controller 13, the orientation and alignment of the sheet metal processing product provided for unloading outside the working space 4 are also defined in the coordinate system of the digital processing controller 13.

[0044] Based on the defined spatial assignment relationship of the laser panel machine 2 on the one hand and the unloading robot 9 on the other hand relative to each other, the orientation and alignment of the sheet metal processed product provided for unloading on the laser panel machine 2 in the coordinate system of the digital processing controller 13 can be used to derive the orientation and alignment of the sheet metal processed product in the coordinate system of the digital unloading controller 14.

[0045] Based on the orientation and alignment of the sheet metal processed product in the coordinate system of the digital unloading controller 14, the gripper head 10 of the unloading robot 9 is moved in a numerically controlled manner to the receiving position on the sheet metal processed product provided for unloading by means of a receiving movement. The gripper head 10 moved to the receiving position receives the sheet metal processed product and then unloads it from the workpiece pallet 8 with an unloading movement.

[0046] In industrial practice, it is conceivable that the orientation and alignment of the sheet metal processed product provided for unloading, derived from the orientation and alignment of the sheet metal processed product in the coordinate system of the digital processing controller 13 after completion of the segmented sheet metal processing, do not reflect the actual situation in the coordinate system of the digital processing controller 13. The reason for this deviation between the derived situation and the actual situation may lie in particular in: an undesired / unexpected inclination of the movement axes of the motor drives of the workpiece pallet 8 for the movement of the sheet metal processed product from the starting position to the target position; and / or an undesired change in orientation of the sheet metal processed product during the movement from the starting position to the target position.

[0047] Additionally or alternatively, there is the possibility that the orientation and alignment of the sheet metal processed product in the coordinate system of the digital unloading controller 14, derived from the orientation and alignment of the sheet metal processed product provided for unloading in the coordinate system of the digital processing controller 13, do not correctly reflect the actual situation in the coordinate system of the digital unloading controller 14. This deviation between the derived situation and the actual situation may be caused, for example, by the fact that the mutual spatial assignment relationship of the unloading robot 9 and the laser panel machine 2 deviates from the following assignment relationship: on which the derivation of the orientation and alignment of the sheet metal processed product in the coordinate system of the unloading controller 14 from the orientation and alignment of the sheet metal processed product provided for unloading on the workpiece pallet 8 in the coordinate system of the processing controller 13 is based.

[0048] In order to compensate for deviations of the above type in control technology, the digital device controller 12 is calibrated before the start of the manufacturing process.

[0049] The digital device controller 12 is calibrated using a reference metal sheet 15 set as a reference object. The reference metal sheet 15 is manufactured in the following manner: By means of a laser cutting head 7, markings 16 are set on a reference metal sheet blank arranged on a workpiece tray 8 by segmented machining, and these markings reflect the coordinate system of the digital machining controller 13. Accordingly, the markings 16 have an X side and a Y side, where the X side extends in the x direction and the Y side extends in the y direction.

[0050] After the markings 16 are made, the reference metal sheet 15 is in the starting position inside the working space 4 of the laser flatbed machine 2 (see Figure 2 sub - view (1)). The orientation and alignment of the markings 16 on the reference metal sheet 15 arranged in the starting position are defined in the coordinate system of the digital machining controller 13.

[0051] From the orientation and alignment of the markings 16 on the reference metal sheet 15 arranged in the starting position in the coordinate system of the digital machining controller 13, by means of the calculation unit 17 of the digital machining controller 13, the following orientation and alignment of the markings 16 in the coordinate system of the digital machining controller 13 are derived: The orientation and alignment are the expected orientation and alignment of the markings 16 after the reference metal sheet 15 is moved from the starting position by the motor drive of the workpiece tray 8 with a defined movement in the x direction outside the working space 4 of the laser flatbed machine.

[0052] After the reference metal sheet 15 is moved to the target position (see Figure 2 sub - view (2)), the actual orientation and actual alignment of the markings 16 on the reference metal sheet 15 arranged in the target position are detected in the coordinate system of the digital machining controller 13. For this purpose, an optical sensor 18, for example, constructed as a camera device or a laser sensor and set as a detection device, can be used, which is mounted on the unloading robot 9 ( Figure 5 ), or a corresponding detection device in the form of an optical sensor 19 on the housing of the laser flatbed machine 2 ( Figure 6 ) can be used.

[0053] In the comparison unit 20 of the digital machining controller 13, the actual orientation and actual alignment of the markings 16 on the reference metal sheet 15 arranged in the target position detected by means of the optical sensor 18 or the optical sensor 19 are compared with the derived orientation and derived alignment of the markings 16 in the coordinate system of the digital machining controller 13.

[0054] Figure 3 An exemplary result of this comparison is shown. Figure 3The dotted line between two points on the reference metal sheet 15 reflects the actual orientation of the X side of the marker 16 extending along the x-axis of the coordinate system of the machining controller 13 in the coordinate system of the digital machining controller 13. Since the Y side of the marker 16 extends at a right angle to the X side, the orientation of the Y side and thus the orientation of the marker 16 are also known based on the orientation of the X side. The orientation of the marker 16 is defined by the position of the common origin of the X side and the Y side.

[0055] The dotted lines show the orientation of the X side and the Y side of the marker 16 on the reference metal sheet 15 during movement to the target position, derived from the starting position of the reference metal sheet 15 in the coordinate system of the digital machining controller 13. The origin of the derived X side and Y side coincides with the origin of the X side and Y side detected by means of the sensors 18 and 19.

[0056] According to Figure 3 , there is a deviation between the actual orientation of the marker 16 on the reference metal sheet 15 arranged at the target position and the derived orientation of the marker 16 in the coordinate system of the digital machining controller 13. Figure 3 The deviation between the actual orientation and the derived orientation of the marker 16 is visually shown by a double-headed arrow in

[0057] Based on this deviation, the evaluation unit 21 of the digital machining controller 13 generates a correction variable for the digital machining controller 13. This correction variable is used when deriving the orientation and position of the metal sheet processed product arranged at the target position from the orientation and position of the metal sheet processed product arranged at the starting position in the future. Thus, for future machining processes, the derived orientation and the derived position of the metal sheet processed product provided for unloading correctly reflect the actual situation in the coordinate system of the digital machining controller 13.

[0058] The derived orientation and position of the marker 16 can also be reflected by the X side and the Y side shown as dotted lines in Figure 3 on the reference metal sheet 15 by a light-emitting transmitter. Then, the deviation between the actual orientation and the derived orientation of the marker 16 visually shown by a double-headed arrow in Figure 3 can be measured on the reference metal sheet 15, and a correction variable for the digital machining controller 13 can be generated based on the measurement result.

[0059] The calibration of the digital unloading controller 14 is carried out after the calibration of the digital machining controller 13.

[0060] The computing unit 22 provided for this purpose in the digital device controller 12 derives the orientation and alignment in the coordinate system of the digital unloading controller 14 of the markings 16 on the reference metal sheet 15 arranged at the target position and provided for unloading from the orientation and alignment corresponding to the actual situation in the coordinate system of the digital processing controller 13 of the markings 16 on the reference metal sheet 15 arranged at the target position.

[0061] Subsequently or simultaneously, the markings 16 on the reference metal sheet 15 provided for unloading are imaged in the coordinate system of the digital unloading controller 14 by means of the optical sensor 18 on the unloading robot 9 or by means of the optical sensor 19 on the housing of the laser plane 2. The orientation and alignment of the imaging of the markings 16 of the reference metal sheet 15 in the coordinate system of the digital unloading controller 14 are compared with the derived orientation and the derived alignment of the markings 16 of the reference metal sheet 15 in the coordinate system of the digital unloading controller 14. The method used here corresponds to the method when comparing the actual situation in the coordinate system of the digital processing controller 13 with the derived situation.

[0062] Figure 4 An exemplary result of such a comparison is shown in.

[0063] In the example shown, there is a deviation between the actual orientation of the markings 16 in the coordinate system of the digital unloading controller 14 and the derived orientation of the markings 16 in the coordinate system of the digital unloading controller 14. Figure 4 The deviation is shown by a double-headed arrow in.

[0064] Based on the determined deviation between the actual situation and the derived situation in the coordinate system of the digital unloading controller 14, the coordinate system of the digital unloading controller 14 is adjusted in such a way that, by means of the evaluation unit 24 of the digital unloading controller 14, the derived orientation of the markings 16 of the reference metal sheet 15 in the coordinate system of the digital unloading controller 14 is made to coincide with the orientation of the imaging of the markings 16 of the reference metal sheet 15 in the coordinate system of the digital unloading controller 14.

[0065] During the subsequent processing, the orientation and alignment in the coordinate system of the digital unloading controller 14 of the metal sheet processing product provided for unloading are derived from the orientation and alignment in the coordinate system of the digital processing controller 13 of the metal sheet processing product provided for unloading.

[0066] When calibrating the digital unloading controller 14, an emitter emitting light can also be used to display the derived situation. The emitter emitting light can display the derived orientation and alignment of the markings 16 in Figure 4The X and Y sides shown as dashed lines are reflected on the reference metal sheet 15. The deviation between the actual orientation of the marker 16 and the derived orientation, which is intuitively shown by the double-headed arrow in Figure 4 can be measured, and a correction variable for the digital unloading controller 14 can be generated based on the measurement result.

[0067] Based on the calibration of the digital device controller 12, during subsequent manufacturing processes, the metal sheet processed product is unloaded by the unloading robot 9 in an orientation and position corresponding to the actual situation in the coordinate system of the digital unloading controller 14. Thus, for example, it is possible to store the metal sheet processed product unloaded from the workpiece tray 8 at the storage location 25 in a defined position and a defined orientation, and the storage location is Figure 1 shown in a highly schematic manner in.

[0068] Figure 7 A machining apparatus 100 for split machining of a metal sheet strip 27 unrolled from a coil 26 is shown.

[0069] Instead of the workpiece tray 8 of the manufacturing apparatus 1, the manufacturing apparatus 100 has an endless rotating carrier belt 28 as a supply device. The movement of the metal sheet strip 27 in the feed direction 29 is caused by a feed drive 30, which is formed by the drive of the carrier belt 28 and the feed roller pair 31. The section of the metal sheet strip 27 that is in front in the feed direction 29 and is provided with the marker 16 is used as a reference metal sheet for calibrating the digital device controller 12 of the manufacturing apparatus 100.

[0070] On the manufacturing apparatus 100, the marker 16 is also made by split machining of a reference object blank, in this case by split machining of the relevant section of the metal sheet strip 27, by means of the laser cutting head 7, and the laser cutting head 7 is also used for metal sheet machining in the context of the manufacturing process following the calibration of the device controller 12.

[0071] In the case of the manufacturing apparatus 100, an unloading robot with a gripper head 10 controlled by an unloading controller is also provided for unloading the reference metal sheet and the metal sheet processed product produced by means of the laser cutting head 7.

[0072] The digital device controller 12 of the manufacturing apparatus 100 is calibrated using the same method as in the case of calibrating the manufacturing apparatus 1.

Claims

1. A method for unloading, which is used to unload the processed products of workpiece processing, especially for unloading the sheet metal processed products generated on a sheet metal processing machine, · wherein the processed product is unloaded from the providing device (8) by means of an unloading device (9), · wherein, the unloading of the processed product is controlled by means of a programmable digital controller (12), the programmable digital controller includes a programmable digital unloading controller (14) of the unloading device (9), and the coordinate system of the providing device (8) and the same type of coordinate system of the digital unloading controller (14) are stored in the programmable digital controller, · wherein the processed product is provided on the providing device (8) with an orientation and an orientation defined in the coordinate system of the providing device (8) for unloading, · wherein the orientation and the orientation of the processed product provided for unloading in the coordinate system of the digital unloading controller (14) are derived from the orientation and the orientation of the processed product provided for unloading in the coordinate system of the providing device (8), · wherein the unloading mechanism (10) of the unloading device (9) is moved to a receiving position on the processed product provided for unloading on the providing device (8) by a receiving movement, · wherein the receiving movement of the unloading mechanism (10) is controlled by the digital unloading controller (14) according to the orientation and the orientation of the processed product provided for unloading in the coordinate system of the digital unloading controller (14), and · wherein the processed product provided for unloading on the providing device (8) is moved to the receiving position and received by the unloading mechanism (10), and the processed product received by the unloading mechanism (10) is unloaded from the providing device (8) by the unloading movement of the unloading mechanism (10), characterized in that before the processed product is unloaded from the providing device (8), the digital unloading controller (14) of the unloading device (9) is calibrated in the following manner: · A reference object (15) is provided on the providing device, the reference object has a mark (16), the mark reflects the coordinate system of the providing device (8) and the orientation and the orientation of the mark are defined in the coordinate system of the providing device (8), · The orientation and the orientation of the mark (16) of the reference object (15) provided for unloading in the coordinate system of the digital unloading controller (14) are derived from the orientation and the orientation of the mark (16) of the reference object (15) provided for unloading in the coordinate system of the providing device (8) as the derived orientation and the derived orientation, · The mark (16) of the reference object (15) provided for unloading on the providing device (8) is imaged in the coordinate system of the digital unloading controller (14), · Compare the imaged orientation and orientation of the marker (16) of the reference object (15) in the coordinate system of the digital unloading controller (14) with the derived orientation and the derived orientation of the marker (16) of the reference object (15) in the coordinate system of the digital unloading controller (14), and · In the case where the imaged orientation and / or orientation of the marker (16) of the reference object (15) deviates from the derived orientation and / or the derived orientation of the marker (16) of the reference object (15) in the coordinate system of the digital unloading controller (14), adjust the coordinate system of the digital unloading controller (14) in such a way that the derived orientation and / or the derived orientation of the marker (16) of the reference object (15) coincides with the imaged orientation and / or orientation of the marker (16) of the reference object (15), and After calibrating the digital unloading controller (14) of the unloading device (9), derive the orientation and orientation of the processed product provided for unloading in the adjusted coordinate system of the digital unloading controller (14) from the orientation and orientation of the processed product provided for unloading in the coordinate system of the providing device (8).

2. The unloading method according to claim 1, characterized in that · The coordinate system of the providing device (8) and the coordinate system of the digital unloading controller (14) are Cartesian coordinate systems, and · The markers (16) of the reference object (15) provided on the providing device (8) form two lines that extend at right angles to each other in the following plane: the plane extends parallel to the coordinate plane of the coordinate system of the providing device (8) and parallel to the coordinate plane of the coordinate system of the digital unloading controller (14).

3. The unloading method according to any one of the preceding claims, characterized in that A reference metal sheet provided with the marker (16) is used as the reference object (15).

4. The unloading method according to any one of the preceding claims, characterized in that The marker (16) of the reference object (15) is produced by performing segmented machining on a reference object blank.

5. A manufacturing method, within the scope of the manufacturing method: · Process a workpiece by means of a processing device (2), · After the workpiece is processed, provide the processed product produced by processing the workpiece on a workpiece carrier set as a providing device (8) for unloading, and · Unload the processed product provided for unloading on the workpiece carrier from the workpiece carrier by means of an unloading device (9) by performing an unloading method, characterized in that The processed product provided for unloading on the workpiece carrier is unloaded from the workpiece carrier by performing the unloading method according to any one of the preceding claims.

6. The manufacturing method according to claim 5, characterized in that The coordinate system of the workpiece carrier is formed by the coordinate system of the digital processing controller (13) of the processing device (2).

7. The manufacturing method according to claim 5 or claim 6, characterized in that the reference object (15) is produced by means of the processing device (2) in such a way that the marking (16) is set for the reference object blank by means of the processing device (2).

8. The manufacturing method according to claim 7, characterized in that · a dividing device, preferably a laser dividing device, is provided as the processing device (2), and the workpiece is processed in a dividing manner by means of the dividing device, and · the processed product provided for unloading on the workpiece carrier is unloaded from the workpiece carrier by performing the unloading method according to claim 4, wherein the marking (16) of the reference object (15) is produced by processing the reference object blank in a dividing manner by means of the dividing device provided as the processing device (2).

9. The manufacturing method according to any one of claims 5 to 8, characterized in that · during processing, the workpiece is supported by the workpiece carrier, and after the workpiece has been processed, the processed product is supported by the workpiece carrier, and · after the workpiece has been processed, the processed product is moved from the starting position to the target position by means of the transfer movement of the workpiece carrier, at which target position the processed product is provided for unloading on the workpiece carrier, wherein the processed product is arranged in the starting position and the target position in an orientation and alignment defined in the coordinate system of the workpiece carrier.

10. The manufacturing method according to claim 9, characterized in that · the transfer movement of the workpiece carrier is performed by means of a carrier drive having a digital carrier drive controller, the digital carrier drive controller having a coordinate system which forms the coordinate system of the workpiece carrier, · the processed product is arranged in the starting position in an orientation and alignment defined in the coordinate system of the digital carrier drive controller, · the orientation and alignment of the processed product arranged in the target position in the coordinate system of the digital carrier drive controller are derived from the orientation and alignment of the processed product arranged in the starting position in the coordinate system of the digital carrier drive controller, · before the processed product is moved from the starting position to the target position, the digital carrier drive controller is calibrated by - arranging a reference object (15) with a marking (16) reflecting the coordinate system of the digital carrier drive controller and the orientation and alignment of the marking being defined in the coordinate system of the digital carrier drive controller on the workpiece carrier in the starting position, - from the marking (16) of the reference object (15) arranged in the starting position The following orientation and orientation of the mark (16) are derived as the derived orientation and the derived orientation in the coordinate system of the digital carrier drive controller: the mark has this orientation and orientation in the coordinate system of the digital carrier drive controller when the reference object (15) is arranged at the target position, - moving the reference object (15) provided with the mark (16) from the starting position to the target position, - detecting the orientation and orientation of the mark (16) in the coordinate system of the digital carrier drive controller when the reference object (15) is arranged at the target position as the actual orientation and the actual orientation of the mark, - comparing the actual orientation and the actual orientation of the mark in the coordinate system of the digital carrier drive controller with the derived orientation and the derived orientation of the mark in the coordinate system of the digital carrier drive controller, and - generating a correction variable for the digital carrier drive controller in the case where there is a deviation between the actual orientation and the actual orientation of the mark (16) and the derived orientation and the derived orientation of the mark (16), for application when deriving the orientation and orientation of the processed product arranged at the target position in the coordinate system of the digital carrier drive controller from the orientation and orientation of the processed product arranged at the starting position in the coordinate system of the digital carrier drive controller.

11. The manufacturing method according to claims 10 and 6, characterized in that, the digital carrier drive controller is formed by the digital processing controller (13) of the processing device (2).

12. The manufacturing method according to any one of claims 5 to 11, characterized in that, the reference object for calibrating the digital carrier drive controller is used as the reference object for calibrating the digital unloading controller (14).

13. The manufacturing method according to any one of claims 5 to 12, characterized in that, the processed product is stored at the storage location (25) with the orientation and orientation defined in the coordinate system of the unloading controller (14) after being unloaded from the workpiece carrier by means of the unloading device (9).

14. The manufacturing method according to any one of claims 5 to 13, characterized in that, a section of the metal strip (27) unwound from the coil (26) is processed as the workpiece.

15. A mechanical unloading device for unloading processed products of workpiece processing, in particular for unloading processed metal sheet products produced on a metal sheet processing machine, · The mechanical unloading device has a providing device (8) and an unloading device (9), wherein, the processed product can be provided on the providing device (8) for unloading and can be unloaded from the providing device (8) by means of the unloading device (9), · The mechanical unloading device has a programmable digital controller (12), the programmable digital controller includes a programmable digital unloading controller (14) of the unloading device (9), and the coordinate system of the providing device (8) and the coordinate system of the same type of the digital unloading controller (14) are stored in the programmable digital controller. - Wherein, the processed product can be provided for unloading on the providing device (8) in an orientation and an orientation defined in the coordinate system of the providing device (8), and - Wherein, the orientation and the orientation of the processed product provided for unloading in the coordinate system of the digital unloading controller (14) can be derived by means of the calculation unit (22) of the digital controller (12) from the orientation and the orientation of the processed product provided for unloading in the coordinate system of the providing device (8). And · The mechanical unloading device has a unloading mechanism (10) of the unloading device (9), and the unloading mechanism can be moved to a receiving position on the processed product provided for unloading on the providing device (8) by a receiving movement. - Wherein, the receiving movement of the unloading mechanism (10) can be controlled by the digital unloading controller (14) according to the orientation and the orientation of the processed product provided for unloading in the coordinate system of the digital unloading controller (14), and - Wherein, the processed product provided for unloading on the providing device (8) can be received by the unloading mechanism (10) moved to the receiving position, and the processed product received by the unloading mechanism (10) can be unloaded from the providing device (8) by the unloading movement of the unloading mechanism (10). It is characterized in that, before the processed product is unloaded from the providing device (8), the digital unloading controller (14) of the unloading device (9) can be calibrated in the following manner: · A reference object (15) is provided on the providing device (8), the reference object has a mark (16), the mark reflects the coordinate system of the providing device (8), and the orientation of the mark and the orientation of the mark are defined in the coordinate system of the providing device (8). · By means of the calculation unit (22) of the digital controller (12), the orientation and the orientation of the mark (16) of the reference object (15) provided for unloading in the coordinate system of the digital unloading controller (14) are derived from the orientation and the orientation of the mark (16) of the reference object (15) provided for unloading in the coordinate system of the providing device (8) as the derived orientation and the derived orientation. · The mark (16) of the reference object (15) provided for unloading on the providing device (8) is imaged in the coordinate system of the digital unloading controller (14) by means of a detection device (18, 19). ·The orientation and orientation of the imaging of the mark (16) of the reference object (15) in the coordinate system of the digital unloading controller (14) are compared with the derived orientation and the derived orientation of the mark (16) of the reference object (15) in the coordinate system of the digital unloading controller (14), and ·In the case where the orientation and / or orientation of the imaging of the mark (16) of the reference object (15) deviate from the derived orientation and / or the derived orientation of the mark (16) of the reference object (15) in the coordinate system of the digital unloading controller (14), the coordinate system of the digital unloading controller (14) is adjusted by causing the derived orientation and / or the derived orientation of the mark (16) of the reference object (15) to coincide with the orientation and / or orientation of the imaging of the mark (16) of the reference object (15) by means of the evaluation unit (24) of the digital unloading controller (14), and After calibrating the digital unloading controller (14) of the unloading device (9), the orientation and orientation of the processed product provided for unloading in the adjusted coordinate system of the digital unloading controller (14) can be derived from the orientation and orientation of the processed product provided for unloading in the coordinate system of the providing device (8) by means of the calculation unit (22) of the digital controller (12).

16. The mechanical unloading device according to claim 15, characterized in that a dividing device is provided, by means of which the mark (16) of the reference object (15) can be produced by performing a dividing process on a reference object blank.

17. A mechanical manufacturing device having ·a processing device (2) by means of which a workpiece can be processed and a processed product can thereby be produced, and ·a mechanical unloading device (3) by means of which the processed product of the workpiece processing can be unloaded, characterized in that as the mechanical unloading device (3), the mechanical unloading device according to claim 15 or claim 16 is provided, and the mechanical unloading device has a workpiece support as a providing device.

18. The mechanical manufacturing device according to claim 17, characterized in that ·a dividing device, preferably a laser dividing device, is provided as the processing device (2), by means of which the workpiece can be divided to produce the processed product, and ·the reference object (15) can be manufactured by means of the dividing device by producing the mark (16) of the reference object (15) on a reference object blank by means of the dividing device.

19. The mechanical manufacturing device according to claim 17 or claim 18, characterized in that the mechanical manufacturing device is configured to perform a dividing process on a section of a metal strip (27) unwound from a coil (26).

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