Unloading method and mechanical unloading assembly for unloading a processed product of a workpiece processing method, manufacturing method, and mechanical manufacturing assembly

Abstract

As part of an unloading method for unloading a processed product of a workpiece processing method, a numerical unloading control (14) of an unloading device (9) is calibrated prior to unloading a processed product from a preparation device (8). For this purpose, a coordinate system of the numerical unloading control (14) is adjusted using a reference object (15) if required, said reference object being provided with a marking (16) which maps a coordinate system of the preparation device (8). After the numerical unloading control (14) is calibrated, the position and the orientation of the processed product prepared for unloading in the adjusted coordinate system of the numerical unloading control (14) is derived from the position and the orientation of the processed product prepared for unloading in the coordinate system of the preparation device (8). The aforementioned unloading method is used as part of a manufacturing method. A mechanical unloading assembly and a mechanical manufacturing assembly are designed to carry out the aforementioned method.

Description

[0001] Unloading method and mechanical unloading arrangement for unloading a machining product of a workpiece machining as well as manufacturing method and mechanical manufacturing arrangement

[0002] The invention relates to an unloading method for unloading a machining product of a workpiece machining, in particular for unloading a sheet metal machining product produced on a sheet metal machining machine,

[0003] • wherein the processing product is unloaded from a supply device by means of an unloading device,

[0004] • wherein the unloading of the processing product is controlled by means of a programmable numerical control, which comprises a programmable numerical unloading control of the unloading device and in which a coordinate system of the supply device and a similar coordinate system of the numerical unloading control are stored,

[0005] • wherein the processing product is provided to the supply device for unloading with a position and an orientation defined in the coordinate system of the supply device,

[0006] • wherein a position and an orientation of the processing product provided for unloading in the coordinate system of the numerical unloading control are derived from the position and the orientation of the processing product provided for unloading in the coordinate system of the provision device,

[0007] • wherein an unloading member of the unloading device is moved with a takeover movement into a takeover position on the processing product provided on the provision device for unloading,

[0008] • wherein the takeover movement of the unloading device is controlled by the numerical unloading control as a function of the position and orientation of the processing product provided for unloading in the coordinate system of the numerical unloading control and

[0009] • wherein the processing product provided on the provision device for unloading is taken over by the unloading member moved into the takeover position and the processing product taken over by the unloading member is unloaded from the provision device with an unloading movement of the unloading member.

[0010] The invention also relates to a mechanical unloading arrangement for carrying out the aforementioned unloading method as well as to a manufacturing method in the context of which the aforementioned unloading method is carried out and to a mechanical manufacturing arrangement for carrying out this manufacturing method.

[0011] The prior art in this field is known from DE 10 2016 115 987 Al.

[0012] In the prior art, an article is automatically unloaded from a conveyor by a robot. For this purpose, a three-dimensional Cartesian coordinate system for the conveyor and a three-dimensional Cartesian, and thus identical, coordinate system for the robot are stored in a numerical control system. The position and orientation of an article to be unloaded from the conveyor in the coordinate system for the conveyor are recorded using image processing. Based on the position and orientation of the article to be unloaded in the coordinate system for the conveyor, the position and orientation of the article to be unloaded in the coordinate system for the robot are determined.Based on the position and orientation of the item to be unloaded in the coordinate system for the robot, a gripper of the robot is moved numerically controlled to the item to be unloaded on the conveyor in order to pick up the item to be unloaded.

[0013] The object of the present invention is to enable a permanently functionally reliable unloading of workpieces from a supply device with as little effort as possible.

[0014] According to the invention, this object is achieved by the unloading method according to patent claim 1, the manufacturing method according to patent claim 5, the mechanical unloading arrangement according to patent claim 15 and the mechanical manufacturing arrangement according to patent claim 17.

[0015] In the case of the invention, before unloading a processed product from a supply device, the numerical unloading control of the unloading device used to unload processed products is first calibrated. In this case, the coordinate system of the numerical unloading control is aligned with the coordinate system of the supply device, which is provided as the leading coordinate system, in the manner specified in claim 1.Due to the inventive adjustment of the coordinate system of the numerical unloading control, it is ensured that during the unloading of processing products following the calibration of the numerical unloading control, the position and orientation of the processing product to be unloaded in the coordinate system of the numerical unloading control, which serves as the basis for controlling the takeover movement of the unloading element, exactly reflects the actual position and the actual orientation of the processing product to be unloaded in the coordinate system of the numerical unloading control.

[0016] When deriving the position and orientation of a workpiece to be machined in the coordinate system of the numerical unloading control from the coordinate system of the supply device, a specific mutual positioning and orientation of the supply device and the unloading device is often assumed. In such cases, the inventive calibration of the numerical unloading control simplifies the installation of the unloading arrangement according to the invention and / or the inventive production arrangement in that any inaccuracies in the mutual arrangement of the supply device and the unloading device can be compensated for by adjusting the coordinate system of the numerical unloading control to the coordinate system of the supply device prior to commissioning of the unloading arrangement and / or the production arrangement.

[0017] Particular embodiments of the unloading method according to patent claim 1, the manufacturing method according to patent claim 5, the mechanical unloading arrangement according to patent claim 15 and the mechanical manufacturing arrangement according to patent claim 17 result from the dependent patent claims 2 to 4, 6 to 14, 16, 18 and 19.

[0018] In a preferred embodiment of the invention, two- or three-axis Cartesian coordinate systems are provided as coordinate systems of the provision device and the numerical unloading control (patent claim 2).

[0019] A reference sheet is preferably used as a reference object in the calibration of the numerical unloading control (patent claim 3).

[0020] In particular, a reference sheet can be provided with the marking by separating processing, which represents the coordinate system of the supply device (claims 4, 16).

[0021] In a preferred embodiment of the manufacturing method and the manufacturing arrangement according to the invention, the machining device is used to produce the marking of the reference object, which, following the calibration of the numerical unloading control, serves for machining the workpiece within the framework of a manufacturing process (patent claims 7, 8, 18).

[0022] In a further embodiment of the manufacturing method according to the invention, the coordinate system of the provision device or the workpiece support is formed by a coordinate system of a numerical processing control of the machining device provided for workpiece processing (patent claim 6). Within the scope of a further preferred variant of the manufacturing method according to the invention, the workpiece during its processing and the machining product produced during workpiece processing are supported by a workpiece support provided as a provision device.After the workpiece machining, the machining product is moved from a starting position to a target position by means of a transfer movement of the workpiece support and is provided there for unloading by means of the unloading device with a position and an orientation which are defined in the coordinate system of the workpiece support provided as a provision device (patent claim 9).

[0023] The transfer movement of the workpiece support is preferably carried out by means of a support drive having a numerical drive control with a coordinate system that is provided as the coordinate system of the workpiece support provided as the provision device. To ensure that the processed product, which is moved jointly with the workpiece support, is positioned in the target position in which it is provided for unloading, in the coordinate system of the numerical drive control and thus in the coordinate system of the workpiece support provided as the provision device with a position and orientation that correspond to the actual position and orientation of the processed product, the numerical support drive control is first calibrated before the movement of a processed product from the starting position to the target position (patent claim 10).For this purpose, the numerical support drive control of the production arrangement according to the invention is constructed correspondingly to the numerical unloading control of the unloading arrangement according to the invention and accordingly comprises a calculation unit, a detection device, a comparison unit and an evaluation unit.

[0024] In a preferred embodiment of the invention, one and the same calculation unit and / or one and the same detection device and / or one and the same comparison unit and / or one and the same evaluation unit are used for the calibration of the numerical support drive control and for the calibration of the numerical unloading control. In a further development of the invention, the numerical support drive control is formed by the numerical processing control of the processing device of the production arrangement according to the invention (claim 11).

[0025] Preferably, the reference object used to calibrate the numerical drive control of the workpiece support is also used to calibrate the numerical unloading control (patent claim 12).

[0026] In a further preferred embodiment of the manufacturing method according to the invention, the processed product, after being unloaded from the workpiece support by means of the unloading device, is deposited at a deposit location with a position and orientation defined in the coordinate system of the unloading control (patent claim 13). After the processed product has been taken over by the unloading device with a defined position and orientation, the processed product can also be deposited at the deposit location with a defined position and orientation.

[0027] As is evident from patent claims 14 and 19, the manufacturing method according to the invention and the manufacturing arrangement according to the invention are designed in particular for sheet metal processing, for example for separating sheet metal processing, from the coil.

[0028] The invention is explained in more detail below using exemplary schematic representations. They show:

[0029] Figure 1 : a numerically controlled machine arrangement for sheet metal production with a laser flatbed machine and with a mechanical unloading arrangement,

[0030] Figure 2: a highly schematic plan view of the workpiece support of the machine arrangement according to Figure 1 during the calibration of the numerical control of the machine arrangement,

[0031] Figures 3 and 4: illustrate the processes involved in the calibration of the numerical control of the machine arrangement according to Figure 1, Figures 5 and 6: show exemplary possibilities for detecting a marking of a reference sheet during the calibration of the numerical control of the machine arrangement according to Figure 1 and

[0032] Figure 7: a numerically controlled machine arrangement for sheet metal production from coil.

[0033] According to Figure 1, a mechanical production arrangement 1 comprises a laser flatbed machine 2 as a processing device and also a mechanical unloading arrangement 3.

[0034] The laser flatbed machine 2 serves as a cutting device for the separation of sheet metal and, for this purpose, has a workspace 4 in which a laser cutting unit 5 of conventional design is arranged. The laser cutting unit 5 comprises a gantry structure 6, which is movable along an x-axis within the workspace 4 and, in turn, guides a laser cutting head 7 along a y-axis perpendicular to the x-axis.

[0035] A sheet metal to be processed (not shown) is stored on a workpiece pallet 8 serving as a workpiece support during separating processing by means of the laser cutting head 7. Before the separating sheet metal processing, the workpiece pallet 8 is loaded with the sheet metal outside the working space 4 of the laser flatbed machine 2 and then moved together with the sheet metal along the x-axis into the working space 4. After the sheet metal processing is completed, the workpiece pallet 8, with the sheet metal processing product produced during the separating sheet metal processing and with any residual skeleton also generated during the sheet metal processing, is moved from the working space 4 of the laser flatbed machine 2 in the x-direction back to its starting position outside the working space 4. The workpiece pallet 8 is shown outside the working space 4 in Figure 1.The movements of the workpiece pallet 8 are carried out by means of a motorized pallet or support drive controlled by the processing control system. The workpiece pallet 8 is also part of the mechanical unloading arrangement 3. In this function, the workpiece pallet 8, located outside the work area 4 of the laser flatbed machine 2, forms a provision device to which the sheet metal processing product arranged on the workpiece pallet 8 is provided for unloading by means of an unloading robot 9 provided as the unloading device of the mechanical unloading arrangement 3.

[0036] The unloading robot 9 is positioned next to the laser flatbed machine 2 with a defined spatial relationship to the laser flatbed machine 2 and thus also with a defined spatial relationship to the workpiece pallet 8. As an unloading device, the unloading robot 9 has a gripper head 10, which is mounted on a boom 11 of the unloading robot 9 and which can be moved with a takeover movement into a takeover position on the sheet metal processing product provided on the workpiece support 8.

[0037] All essential processes on the machine production assembly 1 are controlled by a programmable numerical assembly control 12, which in turn includes a numerical processing control 13 of the laser flatbed machine 2 and a numerical unloading control 14 of the unloading robot 9. The numerical processing control 13 also controls the movements of the workpiece plate 8 along the x-axis.

[0038] Both in the numerical machining control 13 and in the numerical unloading control 14, a coordinate system in the form of a Cartesian coordinate system with coordinate axes running in the x-direction and in the y-direction is stored.

[0039] The position and orientation in which a sheet metal processing product is arranged in a starting position after completion of the separating sheet metal processing inside the work space 4 of the laser flatbed machine 2 are defined in the coordinate system of the numerical processing control 13. Starting from the starting position, the sheet metal processing product is moved by a transfer movement of the workpiece pallet 8 over a defined path length in the x-direction to a target position in which the sheet metal processing product is arranged together with the workpiece pallet 8 outside the work space 4 of the laser flatbed machine 2 and is ready for unloading by the unloading robot 9. The transfer movement of the workpiece pallet 8 is carried out by means of the motorized support or pallet drive, which is controlled by the processing control 13, specifically by a numerical support drive control of the processing control 13.

[0040] After the position and orientation of the sheet metal processing product in the starting position are defined in the coordinate system of the numerical processing control 13 based on appropriate programming of the processing control and after the direction and path length of the movement of the sheet metal processing product from the starting position to the target position are also defined in the coordinate system of the numerical processing control 13 by programming of the processing control 13, the position and orientation of the sheet metal processing product provided outside the work space 4 for unloading are also defined in the coordinate system of the numerical processing control 13.

[0041] Due to the defined mutual spatial assignment of the laser flatbed machine 2 on the one hand and the unloading robot 9 on the other hand, a position and orientation of the sheet metal processing product in the coordinate system of the numerical unloading control 14 can be derived from the position and orientation of the sheet metal processing product provided for unloading on the laser flatbed machine 2 in the coordinate system of the numerical processing control 13.

[0042] Based on the position and orientation of the sheet metal processing product in the coordinate system of the numerical unloading controller 14, the gripper head 10 of the unloading robot 9 is moved numerically with a takeover movement into a takeover position on the sheet metal processing product prepared for unloading. The gripper head 10, moved into the takeover position, takes over the sheet metal processing product and then unloads it from the workpiece pallet 8 with an unloading movement. In operational practice, it is conceivable that the position and orientation of the sheet metal processing product prepared for unloading in the coordinate system of the numerical processing controller 13, derived from the position and orientation of the sheet metal processing product after completion of the separating sheet metal processing, may not reflect the actual conditions in the coordinate system of the numerical processing controller 13.The reason for such a deviation of the derived from the actual conditions can be, in particular, an undesirable inclination of the movement axis of the motor drive of the workpiece pallet 8 used for moving the sheet metal processing product from the start position to the target position and / or an undesirable reorientation of the sheet metal processing product during the movement from the start position to the target position.

[0043] Additionally or alternatively, there is the possibility that the position and orientation of the sheet metal processing product in the coordinate system of the numerical processing control 13 derived from the position and orientation of the sheet metal processing product provided for unloading in the coordinate system of the numerical unloading control 14 does not correctly reflect the actual conditions in the coordinate system of the numerical unloading control 14.Such a deviation of the derived from the actual conditions can be caused, for example, by the fact that the mutual spatial assignment of the unloading robot 9 and the laser flatbed machine 2 deviates from the assignment that was used as a basis for deriving the position and orientation of the sheet metal processing product in the coordinate system of the unloading control 14 from the position and orientation of the sheet metal processing product provided on the workpiece pallet 8 for unloading in the coordinate system of the processing control 13.

[0044] In order to compensate for deviations of the type mentioned, the numerical arrangement control 12 is calibrated before the start of a manufacturing process.

[0045] To calibrate the numerical arrangement control 12, a reference sheet 15 provided as a reference object is used. The reference sheet 15 is manufactured by using the laser cutting head 7 to provide a reference sheet blank arranged on the workpiece pallet 8 with a marking 16 by separating machining, which represents the coordinate system of the numerical processing control 13. Accordingly, the marking 16 has an X-leg and a Y-leg, with the X-leg running in the x-direction and the Y-leg running in the y-direction.

[0046] After the creation of the marking 16, the reference sheet 15 is in a starting position inside the working area 4 of the laser flatbed machine 2 (partial view (1) of Figure 2). The position and orientation of the marking

[0047] 16 on the reference sheet 15 arranged in the starting position are defined in the coordinate system of the numerical machining control 13.

[0048] From the position and orientation of the marking 16 on the reference sheet 15 arranged in the start position in the coordinate system of the numerical processing control 13, the position and orientation of the marking 16 in the coordinate system of the numerical processing control 13 are derived by means of a calculation unit 17 of the numerical processing control 13, which are to be expected for the marking 16 after the reference sheet 15 has been moved by means of the motor drive of the workpiece pallet 8 from the start position with a defined movement in the x-direction into a target position outside the working space 4 of the laser flatbed machine.

[0049] After the reference sheet 15 has been moved into the target position (partial view (2) of Figure 2), the actual position and the actual orientation of the marking 16 in the coordinate system of the numerical processing control 13 are detected on the reference sheet 15 arranged in the target position. For this purpose, an optical sensor 18, designed, for example, as a camera or laser sensor and provided as a detection device, can be used. This optical sensor 18 is attached to the unloading robot 9 (Figure 5) or a corresponding detection device in the form of an optical sensor 19 is attached to the housing of the laser flatbed machine 2 (Figure 6).The actual position and actual orientation of the marking 16 on the reference sheet 15 arranged in the target position, detected by means of the optical sensor 18 or the optical sensor 19, is compared in a comparison unit 20 of the numerical processing control 13 with the derived position and the derived orientation of the marking 16 in the coordinate system of the numerical processing control 13.

[0050] An example result of this comparison is shown in Figure 3. The dotted line between the two points on the reference sheet 15 in Figure 3 represents the actual course of the X-leg of the marking 16, which runs along the x-axis of the coordinate system of the machining control 13, in the coordinate system of the numerical machining control 13. Since the Y-leg of the marking 16 runs at a right angle to the X-leg, the course of the Y-leg and thus the orientation of the marking 16 are known along with the course of the X-leg. The position of the marking 16 is defined by the position of the common origin of the X-leg and the Y-leg.

[0051] The courses of the X-leg and the Y-leg of the marking 16 on the reference sheet 15 moved to the target position in the coordinate system of the numerical processing control 13, derived from the conditions in the starting position of the reference sheet 15, are shown in dashed lines. The origin of the derived X- and Y-legs coincides with the origin of the X- and Y-legs detected by means of the sensors 18 and 19.

[0052] According to Figure 3, the actual orientation of the marking 16 on the reference sheet 15 arranged in the target position in the coordinate system of the numerical machining control 13 deviates from the derived orientation of the marking 16 in the coordinate system of the numerical machining control 13. The deviation of the actual from the derived orientation of the marking 16 is illustrated in Figure 3 by a double arrow.

[0053] Based on the deviation, an evaluation unit 21 of the numerical processing control 13 generates a correction value for the numerical processing control 13. This correction value is used for the future derivation of the position and orientation of the sheet metal processing product arranged in the target position from the position and orientation of the sheet metal processing product arranged in the start position. Consequently, in future machining processes, the derived position and derived orientation of the sheet metal processing product prepared for unloading correctly reflect the actual conditions in the coordinate system of the numerical processing control 13.

[0054] The derived position and orientation of the marking 16 can also be imaged on the reference sheet 15 using a light-emitting transmitter with the X and Y limbs shown in Figure 3. The deviation of the actual from the derived orientation of the marking 16, illustrated by the double arrow in Figure 3, can then be measured on the reference sheet 15, and the correction value for the numerical processing control 13 can be generated based on the measurement result.

[0055] The calibration of the numerical machining control 13 is followed by the calibration of the numerical unloading control 14.

[0056] From the position and orientation of the marking 16 on the reference sheet 15 arranged in the target position and prepared for unloading in the coordinate system of the numerical processing control 13, which corresponds to the actual conditions, a calculation unit 22 of the numerical arrangement control 12 provided for this purpose derives a position and an orientation of the marking 16 on the reference sheet 15 arranged in the target position in the coordinate system of the numerical unloading control 14.

[0057] Subsequently or simultaneously, the marking 16 on the reference sheet 15 provided for unloading is imaged in the coordinate system of the numerical unloading control 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 flatbed machine 2. Using a comparison unit 23 of the numerical unloading control 14, the position and orientation of the image of the marking 16 of the reference sheet 15 in the coordinate system of the numerical unloading control 14 are compared with the derived position and derived orientation of the marking 16 of the reference sheet 15 in the coordinate system of the numerical unloading control 14. The procedure for comparing the actual and derived relationships in the coordinate system of the numerical processing control 13 is followed.

[0058] An exemplary result of such a comparison is shown in Figure 4.

[0059] In the example shown, the actual orientation of the marking 16 in the coordinate system of the numerical unloading control 14 and the derived orientation of the marking 16 in the coordinate system of the numerical unloading control 14 differ from each other. The deviation is represented in Figure 4 by a double arrow.

[0060] Due to the determined deviation of the actual conditions in the coordinate system of the numerical unloading control 14 from the derived conditions, the coordinate system of the numerical unloading control 14 is adjusted by using an evaluation unit 24 of the numerical unloading control 14 to align the derived orientation of the marking 16 of the reference sheet 15 in the coordinate system of the numerical unloading control 14 with the orientation of the image of the marking 16 of the reference sheet 15 in the coordinate system of the numerical unloading control 14.

[0061] In subsequent machining processes, the position and orientation of the sheet metal processing product prepared for unloading in the adjusted coordinate system of the numerical unloading control 14 are derived from the position and orientation of the sheet metal processing product prepared for unloading in the coordinate system of the numerical processing control 13.

[0062] A light-emitting transmitter can also be used to display the derived conditions during calibration of the numerical unloading control 14. The light-emitting transmitter can image the derived position and orientation of the marking 16 with the dashed X and Y limbs in Figure 4 on the reference sheet 15. The deviation between the actual and derived orientation of the marking 16, illustrated by the double arrow in Figure 4, can be measured, and a correction value for the numerical unloading control 14 can be generated based on the measurement result.

[0063] Due to the calibration of the numerical arrangement control 12, sheet metal processing products are unloaded in subsequent production processes by means of the unloading robot 9 with a position and orientation in the coordinate system of the numerical unloading control 14 that corresponds to the actual conditions. This makes it possible, for example, to deposit a sheet metal processing product unloaded from the workpiece pallet 8 in a defined position and with a defined orientation at a storage location 25, which is shown highly schematically in Figure 1.

[0064] Figure 7 shows a mechanical production arrangement 100 for the separating processing of a sheet metal strip 27 unwound from a coil 26.

[0065] Instead of the workpiece pallet 8 of the production assembly 1, the production assembly 100 has a continuously rotating support belt 28 as a supply device. The movement of the sheet metal strip 27 in a feed direction 29 is effected by a feed drive 30, which is formed by the drive of the support belt 28 and a pair of feed rollers 31. A section of the sheet metal strip 27 leading in the feed direction 29 and provided with the marking 16 serves as the reference sheet for calibrating the numerical assembly control 12 of the production assembly 100.

[0066] The marking 16 is also created on the production arrangement 100 by means of a laser cutting head 7 by separating a reference object blank, in this case by separating the relevant section of the sheet metal strip 27, wherein the laser cutting head 7 is also used for sheet metal processing as part of a production process following the calibration of the arrangement control 12.

[0067] For unloading the reference sheet and the sheet metal processing products produced by the laser cutting head 7, an unloading robot with a gripper head 10 controlled by an unloading controller is also provided in the case of the production arrangement 100. The procedure for calibrating the numerical assembly control 12 of the production arrangement 100 is the same as for calibrating the production arrangement 1.

Claims

Patent claims Unloading method for unloading a processing product of a workpiece processing, in particular for unloading a sheet metal processing product produced on a sheet metal processing machine, • wherein the processing product is unloaded from a supply device (8) by means of an unloading device (9), • wherein the unloading of the processing product is controlled by means of a programmable numerical control (12) which comprises a programmable numerical unloading control (14) of the unloading device (9) and in which a coordinate system of the supply device (8) and a similar coordinate system of the numerical unloading control (14) are stored, • wherein the processing product is provided to the supply device (8) for unloading with a position and an orientation defined in the coordinate system of the supply device (8), • wherein a position and an orientation of the processing product provided for unloading in the coordinate system of the numerical unloading control (14) are derived from the position and the orientation of the processing product provided for unloading in the coordinate system of the provision device (8), • wherein an unloading member (10) of the unloading device (9) is moved with a takeover movement into a takeover position on the processing product provided on the provision device (8) for unloading, • wherein the transfer movement of the unloading member (10) is controlled by the numerical unloading control (14) depending on the position and orientation of the processing product provided for unloading in the coordinate system of the numerical unloading control (14) and • wherein the processing product provided on the provision device (8) for unloading is moved into the takeover position by the unloading device (10) and the processing product taken over by the unloading device (10) is unloaded from the supply device (8) with an unloading movement of the unloading device (10), characterized in that before unloading a processing product from the supply device (8), the numerical unloading control (14) of the unloading device (9) is calibrated, • by providing a reference object (15) on the provision device, which has a marking (16) which depicts the coordinate system of the provision device (8) and whose position and orientation are defined in the coordinate system of the provision device (8), • by deriving a position and an orientation of the marking (16) of the reference object (15) provided for unloading in the coordinate system of the numerical unloading control (14) as a derived position and derived orientation from the position and orientation of the marking (16) of the reference object (15) provided for unloading in the coordinate system of the provision device (8), • by mapping the marking (16) of the reference object (15) provided on the provision device (8) for unloading in the coordinate system of the numerical unloading control (14), • by comparing the position and orientation of the image of the marking (16) of the reference object (15) in the coordinate system of the numerical unloading control (14) with the derived position and the derived orientation of the marking (16) of the reference object (15) in the coordinate system of the numerical unloading control (14) and • in the event of a deviation of the position and / or orientation of the image of the marking (16) of the reference object (15) from the derived position or the derived orientation of the marking (16) of the reference object (15) in the coordinate system of the numerical unloading control (14), the coordinate system of the numerical unloading control (14) is adjusted by the derived position and / or the derived orientation of the marking (16) of the reference object (15) is brought into line with the position or the orientation of the image of the marking (16) of the reference object (15), and that after the calibration of the numerical unloading control (14) of the unloading device (9), the position and the orientation of the processing product provided for unloading in the adjusted coordinate system of the numerical unloading control (14) is derived from the position and the orientation of the processing product provided for unloading in the coordinate system of the provision device (8).

2. Unloading method according to claim 1, characterized in that • that the coordinate system of the supply device (8) and the coordinate system of the numerical unloading control (14) are Cartesian coordinate systems and • that the marking (16) of the reference object (15) provided on the provision device (8) forms two lines which run at a right angle to one another in a plane which extends parallel to a coordinate plane of the coordinate system of the provision device (8) and parallel to a coordinate plane of the coordinate system of the numerical unloading control (14).

3. Unloading method according to one of the preceding claims, characterized in that a reference sheet provided with the marking (16) is used as the reference object (15).

4. Unloading method according to one of the preceding claims, characterized in that the marking (16) of the reference object (15) is produced by separating a reference object blank.

5. Manufacturing process in which • a workpiece is machined by means of a machining device (2), • after machining the workpiece, a machining product produced by machining the workpiece is provided for unloading on a workpiece support provided as a provision device (8), and • the machining product provided on the workpiece support for unloading is unloaded from the workpiece support by means of an unloading device (9) by carrying out an unloading method, characterized in that the machining product provided on the workpiece support for unloading is unloaded from the workpiece support by carrying out the unloading method according to one of the preceding claims.

6. Manufacturing method according to claim 5, characterized in that the coordinate system of the workpiece support is formed by a coordinate system of a numerical machining control (13) of the machining device (2).

7. 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 that a reference object blank is provided with the marking (16) by means of the processing device (2).

8. Manufacturing method according to claim 7, characterized in that • that a cutting device, preferably a laser cutting device, is provided as the processing device (2), by means of which the workpiece is cut and machined, and • that the processing product provided on the workpiece support for unloading is unloaded from the workpiece support by carrying out the unloading method according to claim 4, wherein the marking (16) of the reference object (15) is produced by separating the reference object blank by means of the separating device provided as the processing device (2).

9. Manufacturing method according to one of claims 5 to 8, characterized • that the workpiece during processing and the processing product after processing of the workpiece are stored by the workpiece support and • that the processing product, after machining the workpiece, is moved by means of a transfer movement of the workpiece support from a starting position to a target position, in which the processing product is provided on the workpiece support for unloading, wherein the processing product is arranged in the starting position and in the target position with a position and an orientation that are defined in the coordinate system of the workpiece support. Manufacturing method according to claim 9, characterized in • that the transfer movement of the workpiece support is carried out by means of a support drive which has a numerical support drive control with a coordinate system which forms the coordinate system of the workpiece support, • that the machining product is arranged in the starting position with a position and an orientation that are defined in the coordinate system of the numerical support drive control, • that a position and an orientation of the processing product arranged in the target position in the coordinate system of the numerical support drive control are derived from the position and the orientation of the processing product arranged in the start position in the coordinate system of the numerical support drive control, • that the numerical control of the support drive is calibrated before moving a product from the start position to the target position, - by arranging a reference object (15) on the workpiece support in a starting position, which reference object has a marking (16) which represents the coordinate system of the numerical support drive control and whose position and orientation are defined in the coordinate system of the numerical support drive control, - by deriving from the position and orientation of the marking (16) of the reference object (15) arranged in the starting position in the coordinate system of the numerical support drive control Position and derived orientation a position and an orientation of the marking (16) are derived, which the marking has when the reference object (15) is arranged in a target position in the coordinate system of the numerical support drive control, - by moving the reference object (15) provided with the marking (16) from the starting position to the target position, - by detecting the position and orientation of the marking (16) in the coordinate system of the numerical support drive control as the actual position and actual orientation of the marking when the reference object (15) is arranged in the target position, - by comparing the actual position and the actual orientation of the marking in the coordinate system of the numerical support drive control with the derived position and the derived orientation of the marking in the coordinate system of the numerical support drive control and - in the event of a deviation of the actual position and the actual orientation of the marking (16) from the derived position and the derived orientation of the marking (16), a correction value is generated for the numerical support drive control for use in deriving the position and orientation of the machining product arranged in the target position in the coordinate system of the numerical support drive control from the position and orientation of the machining product arranged in the start position in the coordinate system of the numerical support drive control. Manufacturing method according to claim 10 and claim 6, characterized in that the numerical support drive control is formed by the numerical machining control (13) of the machining device (2).Manufacturing method according to one of claims 5 to 11, characterized in that the reference object for calibrating the numerical support drive control is used as a reference object for calibrating the numerical unloading control (14). Manufacturing method according to one of claims 5 to 12, characterized in that, after being unloaded from the workpiece support by means of the unloading device (9), the processed product is deposited at a deposit location (25) with a position and orientation defined in the coordinate system of the unloading control (14). Manufacturing method according to one of claims 5 to 13, characterized in that, as the workpiece, a section of a sheet metal strip (27) unwound from a coil (26) is processed. Mechanical unloading arrangement for unloading a processed product of a workpiece processing, in particular for unloading a sheet metal processing product produced on a sheet metal processing machine, • with a supply device (8) and with an unloading device (9), wherein the processing product can be provided at the supply device (8) for unloading and can be unloaded from the supply device (8) by means of the unloading device (9), • with a programmable numerical control (12) which comprises a programmable numerical unloading control (14) of the unloading device (9) and in which a coordinate system of the provision device (8) and a similar coordinate system of the numerical unloading control (14) are stored, - wherein the processing product can be provided on the provision device (8) for unloading with a position and an orientation which are defined in the coordinate system of the provision device (8) and - wherein a position and an orientation of the processing product provided for unloading in the coordinate system of the numerical unloading control (14) can be derived from the position and the orientation of the processing product provided for unloading in the coordinate system of the provision device (8) by means of a calculation unit (22) of the numerical control (12), and • with an unloading member (10) of the unloading device (9), which can be moved with a transfer movement into a transfer position on the processing product provided on the supply device (8) for unloading, - wherein the transfer movement of the unloading member (10) is controllable by the numerical unloading control (14) depending on the position and orientation of the processing product provided for unloading in the coordinate system of the numerical unloading control (14) and - wherein the processing product provided on the provision device (8) for unloading can be taken over by the unloading member (10) moved into the takeover position, and the processing product taken over by the unloading member (10) can be unloaded from the provision device (8) with an unloading movement of the unloading member (10), characterized in that before unloading a processing product from the provision device (8), the numerical unloading control (14) of the unloading device (9) can be calibrated, • by providing a reference object (15) on the provision device (8) which has a marking (16) which depicts the coordinate system of the provision device (8) and whose position and orientation are defined in the coordinate system of the provision device (8), • by using the calculation unit (22) of the numerical control (12) to derive a position and an orientation of the marking (16) of the reference object (15) provided for unloading in the coordinate system of the provision device (8) as a derived position and derived orientation, • by means of a detection device (18, 19) the marking (16) of the object provided on the provision device (8) for unloading reference object (15) is mapped in the coordinate system of the numerical unloading control (14), • by comparing the position and orientation of the image of the marking (16) of the reference object (15) in the coordinate system of the numerical unloading control (14) with the derived position and the derived orientation of the marking (16) of the reference object (15) in the coordinate system of the numerical unloading control (14) by means of a comparison unit (23) of the numerical unloading control (14) and • in the event of a deviation of the position and / or orientation of the image of the marking (16) of the reference object (15) from the derived position or the derived orientation of the marking (16) of the reference object (15) in the coordinate system of the numerical unloading control (14), the coordinate system of the numerical unloading control (14) is adjusted,by means of an evaluation unit (24) of the numerical unloading control (14), the derived position and / or the derived orientation of the marking (16) of the reference object (15) are brought into line with the position or orientation of the image of the marking (16) of the reference object (15), and that after calibrating the numerical unloading control (14) of the unloading device (9), the position and orientation of the processed product prepared for unloading in the adjusted coordinate system of the numerical unloading control (14) can be derived from the position and orientation of the processed product prepared for unloading in the coordinate system of the preparation device (8) by means of the calculation unit (22) of the numerical control (12). Mechanical unloading arrangement according to claim 15, characterized in that a separating device is provided,by means of which the marking (16) of the reference object (15) can be produced by separating a reference object blank., Mechanical production arrangement • with a processing device (2) by means of which a workpiece can be processed and thereby a processing product can be produced, and • with a mechanical unloading arrangement (3) by means of which the machining product of the workpiece machining can be unloaded, characterized in that the mechanical unloading arrangement (3) according to claim 15 or claim 16 is provided as the mechanical unloading arrangement (3), with a workpiece support as a provision device. Mechanical production arrangement according to claim 17, characterized in • that a cutting device, preferably a laser cutting device, is provided as the processing device (2), by means of which the workpiece can be cut to produce the processing product and • that the reference object (15) can be produced by means of the separating device, in that the marking (16) of the reference object (15) can be produced on a reference object blank by means of the separating device. Mechanical production arrangement according to claim 17 or claim 18, characterized in that the mechanical production arrangement is designed for the separating processing of a section of a sheet metal strip (27) unwound from a coil (26).

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