Computer-supported manufacturing method, manufacturing system, computer program and computer-readable medium
Patent Information
- Application Number
- EP2023754225
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-08-18
- Filing Date
- 2023-08-04
- Publication Date
- 2025-06-25
AI Technical Summary
Automated sheet metal processing machines face production stoppages and increased manufacturing costs due to damaged or worn vacuum suction cups, which prevent successful removal of workpieces, leading to decreased autonomy and additional labor requirements.
A computer-aided manufacturing method that determines the suction status of multiple suction cups and predicts the success of workpiece removal based on geometry and suction cup conditions, ensuring that production orders are only executed if successful removal is guaranteed, thereby preventing production stoppages and reducing costs.
This approach prevents production stoppages by ensuring that only workpieces with suitable suction cups are manufactured, maintaining high autonomy and reducing manufacturing costs by avoiding unnecessary labor and equipment redundancy.
Smart Images
Figure 1.1
Abstract
Description
[0001] Computer-aided manufacturing process, manufacturing system, computer program and computer-readable medium
[0002] Background of the invention
[0003] The invention relates to a computer-aided manufacturing method for producing a workpiece using a processing device and for removing the finished workpiece from the processing device using a removal device with multiple suction cups. The invention further relates to a manufacturing system, a computer program, and a computer-readable medium.
[0004] Particularly in automated sheet metal processing machines, removal devices are used to remove finished workpieces from a removal area of the sheet metal processing machine and place them in a designated storage area of the removal device, such as a pallet. This allows for a high degree of autonomy in the sheet metal processing machine and allows for less personnel to be required.
[0005] Such removal devices typically feature vacuum suction cups designed to pick up a workpiece to be removed. If the vacuum suction cups are damaged and / or worn, removal of the workpieces may be impossible, which can lead to machine downtime or production stoppage.
[0006] DE 10 2010 040 686 B3 discloses a method for operating a suction gripper with an electronic control device for a suction frame with multiple suction cups. The control device checks whether the suction frame, based on its current state, is suitable for processing removal orders. The state includes the number and position of the suction grippers, as well as their wear levels and performance characteristics. Furthermore, a match between the suction gripper arrangement and the part geometry to be removed can be taken into account. The control device of the suction gripper issues an error message or rejects the removal order as soon as the suction frame reaches a state that is unsuitable for processing.
[0007] However, the prior art method only prevents incorrect removal of the already manufactured part. To remove manufactured parts, an additional removal device or operator must be provided, which increases production costs. If the pending removal order cannot be performed by an additional removal device or operator, a production stoppage occurs due to a non-absorbed removal area of the processing device. Furthermore, the degree of autonomy of the manufacturing process decreases, making production less automated.
[0008] Object of the invention
[0009] The invention is based on the object of providing a method for operating a processing device with which high manufacturing costs due to redundant removal means and costly delays can be reduced while maintaining a high degree of autonomy. Furthermore, the object is to provide a corresponding manufacturing system, a computer program, and a computer-readable medium.
[0010] Description of the invention
[0011] This object is achieved according to the invention by a computer-aided method according to claim 1. The object is further achieved by a manufacturing system according to claim 11, a computer program according to claim 12, and a computer-readable medium according to claim 13. According to the invention, a computer-aided manufacturing method is provided. The manufacturing method is suitable for manufacturing at least one workpiece according to a production order using a processing device.
[0012] The manufacturing process is also suitable for removing the finished workpiece from the processing device using a removal device. The removal device has several, in particular a plurality of, suction cups. With an increasing number of suction cups, the manufacturing process can be carried out particularly effectively.
[0013] The manufacturing process includes at least the following steps:
[0014] Determining a suction cup state for several, in particular each, suction cup; Determining suction cups that can be used to remove the workpiece based on a provided workpiece geometry of the workpiece to be removed;
[0015] Predicting the success of the workpiece removal depending on the suction cup condition of the suction cups that can be used for removal.
[0016] According to the invention, the production order is executed by the processing device if the finished workpiece can be successfully removed by the removal device.
[0017] In other words, the method according to the invention provides for the production of workpieces by the machining device only if subsequent removal by the removal device can be ensured. This prevents potential production downtime caused by workpieces that cannot be removed, for example, blocking the removal area of the machining device. This is particularly advantageous during so-called unmanned shifts, in which operator intervention is difficult or even impossible.
[0018] The manufacturing process requires that a production order is transmitted to the processing device. The production order is typically provided to the processing device in a digital format that is readable by the processing device. The production order contains the manufacturing information required to manufacture the workpiece. Manufacturing information can be in the form of workpiece parameters, such as a workpiece geometry, a position specification, and / or a workpiece contour, and / or in the form of processing parameters, such as a feed rate and / or laser power. This list is not intended to be exhaustive.
[0019] Before the production order is executed or accepted by the processing device, the suction cup status of several suction cups, in particular each suction cup, of the removal device is determined. For example, the suction cup status can be determined by measuring the generated negative pressure and / or by measuring wear on the sealing lip of the suction cup that comes into contact with the workpiece.
[0020] The suction status of each suction device is typically recorded, particularly electronically stored. Preferably, the suction status is added to other suction device information. Suction device information can include, for example, performance characteristics of the suction device, particularly a holding force, and / or position information of the suction device. The suction device information can be provided by the removal device.
[0021] The method according to the invention also provides that the workpiece geometry is used to determine the usable suction cups. In other words, the workpiece geometry of the workpiece to be manufactured is compared with the available suction cups of the removal device. For example, the available suction cups that can be arranged within the workpiece geometry of the workpiece to be removed for removing the workpiece can be determined as usable suction cups. This can further be achieved, for example, by a geometric comparison of the suction cup positions with the workpiece geometry of the workpiece to be removed. According to the invention, it is then provided to predict the removal success for the workpiece depending on the suction cup state of the suction cups that can be used for removal.In other words, the success of the removal can be predicted by checking whether the suction condition of the available suction cups is sufficient to successfully remove the workpiece. For example, the condition-dependent holding force of the available suction cups can be accumulated, whereby the accumulated holding force must be sufficient to lift the workpiece against the weight of the workpiece.
[0022] If successful removal of the workpiece by the removal device is predicted, the production order is scheduled to be executed by the processing device. In other words, the workpiece to be manufactured according to the production order is only manufactured after confirmation of subsequent successful removal by the removal device. In cases where removal of the manufactured workpiece by the removal device is predicted to be impossible, it can be scheduled, for example, that the production order is rejected by the processing device. In these cases, the processing device is available to manufacture workpieces according to other production orders that can be successfully removed by the removal device.
[0023] In a preferred embodiment of the computer-aided manufacturing process, the removal success is predicted by analyzing the workpiece geometry of the workpiece to be removed. By analyzing the workpiece geometry, advantageous workpiece information for the removal of the workpiece can be determined, which cannot be directly derived from the workpiece geometry. In particular, an uneven material distribution can be determined, which can lead, for example, to tilting moments on the suction cups during removal. A tilting moment can, for example, lead to the workpiece being peeled off the suction cups, which can prevent removal by the removal device from being successful. Furthermore, an analysis of the workpiece geometry can identify a recess and / or an unevenness on the workpiece.Recesses and / or uneven surfaces can make access with a vacuum cleaner difficult or impossible, rendering it unusable even if the vacuum cleaner is in optimal condition. This can prevent incorrect or unsuccessful removal.
[0024] Further preferred is an embodiment of the computer-aided manufacturing process in which the workpiece geometry is provided with the production order. This allows the process to be kept particularly fast and simple.
[0025] Particularly preferred is an embodiment of the computer-aided manufacturing process in which the removal success is predicted depending on workpiece parameters, such as the weight, material, surface finish, and / or center of gravity of the workpiece to be removed. This allows the performance of a suction device during workpiece removal, and thus the removal probability, to be predicted even more accurately.
[0026] Further preferred is an embodiment of the computer-aided manufacturing method in which a minimum number of suction points required for removing the workpiece is determined. In other words, the suction points on the workpiece that are at least required for successful removal of the workpiece can be determined. Successful removal can be predicted if a corresponding minimum number of suction cups with sufficient suction condition can be assigned. In other words, at least one suction cup is assigned to each required suction point. Preferably, required performance characteristics, for example a holding force, which an assigned suction cup must have, are determined at a required suction point. As a result, an inadequate suction condition of a suction cup can be disregarded during removal of the workpiece if it exceeds the minimum number of required suction cups.This can further improve the probability of removal.
[0027] In a preferred embodiment of the computer-aided manufacturing method, at least one suction point arrangement distributed across the workpiece geometry of suction points required for removing the workpiece is determined. Successful removal can be predicted if suction cups with sufficient suction condition can be assigned to the suction points of a suction point arrangement. In other words, a suction cup arrangement corresponding to the determined suction point arrangement must be assignable by the removal device. Furthermore, it can be provided that several, in particular a multiplicity of, suction point arrangements are determined. This allows the removal of the workpiece to occur through various possible combinations of the suction cups in suction cup arrangements, thereby increasing removal flexibility.
[0028] Furthermore, an embodiment of the computer-aided manufacturing method is preferred in which multiple workpieces are manufactured according to the production order. In other words, a production order involves the production of several, in particular a large number, workpieces. The production order can be executed by the processing machine if the removal of each workpiece to be manufactured can be carried out by the removal device. In other words, the removal probability is determined for each workpiece to be manufactured. This can further reduce production downtimes.
[0029] In a preferred embodiment of the computer-aided manufacturing process, the production order is provided from a backlog of multiple production orders. The backlog preferably comprises several, in particular a large number of, production orders. The production order can be automatically selected from the backlog depending on the workpieces that can be removed by the removal device. This allows the provision of the production orders to be adapted to the removal capabilities of the removal device.
[0030] Further preferred is an embodiment of the computer-aided manufacturing method with at least two processing devices and at least two removal devices, in which a production order that cannot be executed by the first processing device is assigned to the second processing device. In this case, removal of the workpieces to be manufactured by the first removal device can be predicted as impossible, whereas removal of the workpieces to be manufactured by the second removal device is possible. In this case, the production order can be redistributed to ensure the fastest and most timely production of the workpieces.
[0031] Further preferred is an embodiment of the machine management method in which successful removal is predicted by a self-learning algorithm, in particular a neural network. This allows for the inclusion of a multitude of influencing factors in the removal probability to be predicted, thereby making the prediction even more accurate.
[0032] In addition to the influencing factors already mentioned, such as the suction cup condition and the workpiece geometry, the removal probability can be influenced, for example, by a suction cup position, a suction cup arrangement, a suction point arrangement, a number of suction points, a workpiece material to be used, a workpiece thickness, a workpiece geometry, a number of workpieces to be removed, a number of different workpiece geometries to be removed, a material and / or workpiece surface, a general machine condition of the processing device and / or the removal device, and / or a position of the workpiece in the removal area. Furthermore, the inclusion of further influencing factors that affect the removal probability of the workpiece can be provided.The self-learning algorithm is preferably trained using a large number of determined influencing variables whose effect on a predetermined removal probability is known. Typically, the determined influencing variables are available as a data set for each production order whose removal result is known. The influencing variables can be provided manually by an operator or automatically by the machine. For example, it can be provided that one or more influencing variables are determined during the processing or execution of a production order and recorded or saved together in a data set. The removal result of the production order - or the successful or unsuccessful removal by the removal device - can be assigned to the data set. The removal result can be determined manually by an operator and / or automatically by the removal device.For example, it can be provided that if the removal is aborted by the removal device, a negative removal result is automatically added to the data set and / or if the removal is successful, a positive removal result is automatically added to the data set. Furthermore, it can be provided, for example, that the operator determines that the removal was successful by the removal device and manually assigns the removal result to the corresponding data set.
[0033] Preferably, the influencing variables are collected for a large number of production orders to improve the accuracy of the prediction. The influencing variables are preferably transmitted from a large number of machines and / or operators via known data transmission to a central data storage device, which serves as the basis for the self-learning algorithm.
[0034] The underlying problem is further solved by a manufacturing system comprising a production control system configured to carry out the method described above. The manufacturing system has at least one processing device and at least one removal device. The at least one processing device is preferably designed as a sheet metal processing device, in particular a laser cutting machine. The removal device is preferably designed as a suction gripper device with multiple suction cups.
[0035] The production control system can be configured to distribute production orders. The production control system can be integrated into a control system of the processing device and / or the removal device. Preferably, the production control system is designed as a separate component of the production system, which allows the production process to be particularly easily expanded to include additional processing and removal devices.
[0036] The suction cups can be arranged individually and / or in a suction cup assembly, for example, in a suction frame. The removal device can comprise multiple suction cup assemblies. The suction cups and / or suction cup assemblies can be used individually or together to remove a workpiece. The suction cups can be movable individually and / or as a group, particularly relative to one another.
[0037] In addition, the underlying problem is solved by a computer program on a data carrier for carrying out the method described above.
[0038] Furthermore, the underlying problem is solved by a computer-readable medium comprising the previously described computer program for carrying out the previously described method.
[0039] Further features and advantages of the invention will become apparent from the description, the claims, and the drawings. According to the invention, the above-mentioned and further-described features can be used individually or in combination in any convenient way. The embodiments shown and described are not intended to be exhaustive, but rather are exemplary in nature for describing the invention.
[0040] Detailed description of the invention and drawing
[0041] Fig. 1 shows a manufacturing system with a processing device, a removal device and a production control in a schematic representation.
[0042] Fig. 2 shows a computer-aided manufacturing process for producing a workpiece according to a production plan in a schematic representation.
[0043] Fig. 3 shows a suction cup test image after determining the suction cup status of several suction cups.
[0044] Fig. 4 shows a workpiece with an L-shaped workpiece contour and several required suction points.
[0045] Fig. 5 shows another workpiece with an I-shaped workpiece contour, having different suction point arrangements.
[0046] Fig. 6 graphically represents a forecast of the removal probabilities for the workpieces from Figs. 5 and 6.
[0047] Fig. 7 graphically represents a further forecast of the removal probabilities for the workpiece from Fig. 4.
[0048] Fig. 1 shows schematically a manufacturing system 10 comprising a processing device 12 - for example in the form of a
[0049] Laser cutting machine - a removal device 14, a prediction unit 16, and a production controller 18. The production controller 18 is configured to communicate with the processing device 12 and the removal device 14. The manufacturing system 10 may have multiple processing devices 12 and / or multiple removal devices 14, which preferably all communicate with the production controller 18. The production controller 18 is typically configured to organize production orders 20. A production order 20 typically contains production information about one or more workpieces 22 to be manufactured. Production information can be, for example, information about a workpiece geometry (such as a contour to be manufactured), the workpiece position, and / or the production quality.The production control 18 can be designed as part of the processing device 12 and / or the removal device 14 and / or as shown as an independent component.
[0050] The processing device 12 is designed to manufacture workpieces 22 according to a production order 20. For this purpose, it can be provided that the production control system 18 transmits one or more production orders 20 to the processing device 12. For example, it can be provided that a laser cutting machine receives a production order 20 for cutting a workpiece 22 from a flat raw material.
[0051] The at least one manufactured workpiece 22 is usually removed from a removal area 24 of the processing device 12 by the preferably automated removal device 14 and placed in a corresponding storage area (not shown in detail) for further processing.
[0052] For this purpose, the removal device 14 has a plurality of suction cups 26. The suction cups 26, in conjunction with the workpiece 22 to be removed, are designed to generate a negative pressure at a contact point with the workpiece 22, which allows the workpiece 22 to adhere to one or more suction cups 26. While the workpiece 22 is held on the one or more suction cups 26, it follows a suction cup movement and can thus be transported to the depositing area. To deposit the workpiece 22, the negative pressure generated at the contact point is removed and the connection between the workpiece 22 and the one or more suction cups 26 is released. The removal device 14 comprises measuring means (not shown in detail) for determining the suction cup state of a plurality of, in particular of each, suction cups 26. The suction cup state can then be transmitted in the form of an influencing variable 28 to the prognostic unit 16, which stores the influencing variable 28 related to the suction cup states.In addition to the suction cup states, the influencing variable 28 can include further suction cup information, in particular the position and / or the holding force of each suction cup 26. Furthermore, the prediction unit 16 is configured to store the workpiece geometry of the workpiece 22 to be manufactured in the form of an influencing variable 30. The workpiece geometry can be manually provided to the prediction unit 16. Preferably, the workpiece geometry is transmitted automatically by the production control system 18, the processing device 12, and / or the removal device 14.
[0053] Fig. 2 shows the manufacturing method 32 according to the invention in a schematic representation. For a better explanation, reference is made to the components of the manufacturing system 10 shown in Fig. 1.
[0054] In a first method step 34, the suction status of several suction cups 26 of the removal device 14 is determined. The suction cup statuses are then recorded, preferably stored in the prediction unit 16.
[0055] In a further method step 36, the suction cups 26 of the removal device 14 that can be used to remove the workpiece 22 to be manufactured are determined. The provided workpiece geometry of the workpiece 22 to be manufactured is used as a basis for this. For example, those suction cups 26 of the removal device 14 that can be moved across the workpiece geometry for arrangement on the workpiece 22 to be removed can be determined as usable suction cups 26.
[0056] In a further method step 38, the probability of removal of the workpiece 22 to be removed is predicted using the insertable suction cups 26. For example, a prediction of the probability of removal can be based on the fact that, in order to lift the workpiece 22 to be removed, the cumulative holding force of the suction cups 26 that can be used for removal, which depends on the suction cup state, exceeds the opposing weight force of the workpiece 22.
[0057] If the successful removal of the workpiece 22 is predicted or predetermined, the workpiece 22 to be manufactured is manufactured by the processing device 12 according to a further method step 40. In other words, the production order 20 directed to the processing device 12 is executed by the processing device 12.
[0058] If the workpiece 22 to be manufactured cannot be removed by the removal device 14, the workpiece 22 to be manufactured is not manufactured by the processing device 12. In other words, the production order 20 is rejected by the processing device 12. This can prevent a production stoppage resulting from the blockage of the removal area 24 of the processing device 12 as a consequence of incorrect and / or impossible removal of the manufactured workpiece 22.
[0059] Fig. 3 shows a suction cup test image 42 of the removal device 14 with a plurality of suction cups 26 in a schematic representation (for reasons of clarity, only one suction cup 26 is provided with a reference symbol). The suction cup test image 42 can be understood as a graphical representation of the suction cup status determination. The arrangement of the suction cups 26 according to the suction cup test image 42 can correspond to the actual arrangement of the suction cups 26 on the removal device 12. The suction cups 26 can have fixed coordinates that enable the determination of the suction cup position on the removal device 14 or a positioning above the workpiece 22 to be removed (see Fig. 1).
[0060] As shown, determining the suction cup condition using suitable testing equipment may reveal that the removal device 14 has one or more defective suction cups 44 (shown here in black). Defective suction cups 44 may, for example, have only a reduced holding force, resulting, for example, from a leak in the suction cup or a valve defect.
[0061] Fig. 4 and Fig. 5 each show a possible workpiece 22a, 22b to be manufactured in a schematic representation.
[0062] The workpieces 22a and 22b differ from each other in their workpiece geometry. For example, the workpiece 22a has an L-shaped contour, while the workpiece 22b has a rectangular contour.
[0063] Both the workpiece 22a and the workpiece 22b each have a plurality of suction points 46. According to the example shown, the workpiece 22a has eighteen suction points 46 and the workpiece 22b has twelve suction points 46.
[0064] An analysis of the workpiece geometry 22a may reveal, for example, that not all suction points 46 are required to lift the workpiece 22a. The required suction points 48a-c may be significantly fewer, as shown (hatched). In the example shown, the workpiece 22a has three required suction points 48a-c. The number of required suction points 48a-c may depend on the position of the required suction points 48a.
[0065] The workpiece 22b has a first suction point arrangement 50a with three required suction points 52a-c. Analysis of the workpiece geometry can result in a second suction point arrangement 50b with required suction points 54a, b. The second suction point arrangement 50b can have a smaller number of required suction points 54a, b due to the arrangement of the required suction points 54a, b. Fig. 6 graphically illustrates the prediction of the removal success of the workpieces 22a, 22b depending on the suction cup states on the suction cup test image 42.
[0066] The workpieces 22a, 22b can be transmitted to the processing device 12 for production in one or two separate production orders 20. The production orders 20 can have workpiece positions and / or predetermined suction cup positions for removing the workpieces 22a, b.
[0067] As shown, the suction cups 26 that can be used for removal can be determined depending on the workpiece geometry. The suction cups 26 that can be used can, for example, be the suction cups 26 of the removal device 14 that can be arranged on the workpiece geometry (see Fig. 1). In the example shown, several defective suction cups 44 are located within the workpiece geometry of the workpiece 22a. Due to the reduced holding force of the defective suction cups 44, the cumulative holding force for lifting the workpiece 22 may be insufficient. The removal probability for the workpiece 22a can be predicted to be low in this case. As a result of the low removal probability, it can be provided that the production order 20 for the workpiece 22a is rejected by the processing device 12. A production downtime due to a failed removal can thus be prevented.
[0068] As shown, the suction cup test pattern 42 shows only intact suction cups 26 within the workpiece geometry 22b. The removal probability for the workpiece 22b can be predicted to be high. As a result of the high expected removal success, it can be provided that the production order 20 for the workpiece 22b is executed by the processing device 12.
[0069] Fig. 7 illustrates a further development of the prediction method for the workpiece 22a from Fig. 6. The further development can provide for an increase in the removal probability by removing the workpiece 22a using different suction cups 26 of the removal device 12. In other words, the predetermined relative removal position of the removal device 12 to the workpiece 22a is changed so that intact suction cups 26 can be arranged on the workpiece geometry. In other words, defective suction cups 44 are bypassed during removal. This can increase the cumulative holding force, thereby enabling successful removal. In the illustrated case, it can be provided that the production order 20 for manufacturing the workpiece 22a is executed by the processing device 12.
[0070] List of reference symbols
[0071] Manufacturing system 10;
[0072] Processing device 12;
[0073] removal device 14;
[0074] Forecast Unit 16;
[0075] Production control 18;
[0076] Production order 20;
[0077] Workpiece 22;
[0078] Withdrawal area 24;
[0079] Suction cup 26;
[0080] Influencing factor 28;
[0081] Influencing factor 30;
[0082] Manufacturing process 32;
[0083] Process step 34;
[0084] Process step 36;
[0085] Process step 38;
[0086] Process step 40;
[0087] Suction frame 42;
[0088] Defective suction cup 44;
[0089] Suction point 46; required suction point 48a-c of the first workpiece 22a; first suction point arrangement 50a of the workpiece 22b; required suction point 52a-c of the first suction point arrangement 50a; second suction point arrangement 50b of the workpiece 22b; required suction point 54a, b of the second suction point arrangement 50b.
Claims
Computer-aided manufacturing method (34) for manufacturing at least one workpiece (22; 22a; 22b) according to a production order (20) by a processing device (12) and for removing the manufactured workpiece (22; 22a; 22b) from the processing device (12) by a removal device (14) with a plurality of suction cups (26), comprising the steps: - determining (34) a suction cup state for a plurality of suction cups (26); - determining (36) suction cups (26) that can be used to remove the workpiece (22; 22a; 22b) on the basis of a provided workpiece geometry of the workpiece (22; 22a; 22b) to be removed; - predicting (38) the success of the removal of the workpiece (22; 22a; 22b) as a function of the suction cup state of the suction cups (26) that can be used for removal; wherein the production order (20) is executed by the processing device (12) if the finished workpiece (22; 22a; 22b) can be successfully removed by the removal device (14). The computer-aided manufacturing method (34) according to claim 1, wherein the success of the removal is predicted by analyzing the workpiece geometry of the workpiece (22; 22a; 22b) to be removed. The computer-aided manufacturing method (34) according to claim 1 or 2, wherein the workpiece geometry is provided with the production order (20). Computer-aided manufacturing method (34) according to one of the preceding claims, wherein the removal success is predicted as a function of workpiece characteristics of the workpiece (22; 22a; 22b) to be removed. Computer-aided manufacturing method (34) according to one of the preceding claims, wherein a minimum number of suction points (46, 48a-c; 52a-c, 54a, b) required for removing the workpiece (22; 22a; 22b) is determined; and wherein successful removal is predicted if a corresponding minimum number of suction cups (26) with a sufficient suction cup condition can be assigned. Computer-aided manufacturing method (34) according to one of the preceding claims, wherein at least one suction point arrangement (50a, b) distributed over the workpiece geometry of suction points (46, 48a-c; 52a-c, 54a, b) required for removing the workpiece (22; 22a; 22b) is determined; and wherein a successful removal is predicted if suction cups (26) with sufficient suction condition can be assigned to the suction points (46, 48a-c; 52a-c, 54a, b).Computer-aided manufacturing method (34) according to one of the preceding claims, wherein a plurality of workpieces (22; 22a; 22b) are manufactured according to the production order (20); and wherein the production order (20) is executed by the processing machine (12) when the removal of each workpiece (22; 22a; 22b) to be manufactured can be carried out by the removal device (12). Computer-aided manufacturing method (34) according to one of the preceding claims, wherein the production order (20) is provided from an order pool comprising a plurality of production orders (20); wherein the production order (20) is automatically selected from the order pool depending on the workpieces (22; 22a; 22b) that can be removed by the removal device (12).Computer-aided manufacturing method (34) according to one of the preceding claims, having at least two processing devices (12) and at least two removal devices (14), wherein a production order (20) that cannot be carried out by the first processing device (12) is assigned to the second processing device (12). Computer-aided manufacturing method (34) according to one of the preceding claims, wherein successful removal is predicted by a self-learning algorithm. A manufacturing system (10) comprising a manufacturing controller (18) configured to execute the manufacturing method (34) according to one of the preceding claims. A computer program on a data carrier for implementing the manufacturing method (34) according to one of claims 1 to 10. A computer-readable medium comprising the computer program according to claim 12 for implementing the manufacturing method (34) according to one of claims 1 to 10.