Sorting method and apparatus for automatic sorting

Abstract

The present invention relates to a sorting method (38) for automatically sorting workpieces (32) placed in an unloading area (16) of a flatbed machine tool (12), in particular a laser cutting or punching machine, into a depositing area according to a sorting sequence, in which at least one actual representation (42) describing the actual state of the unloading area (16) is created and analyzed for the identification (50) of process disturbances and, upon identification of a process disturbance, measures for the adjustment of the sorting sequence are automatically initiated.

Description

[Technical field]

[0001] The present invention relates to a method and an apparatus for automatically sorting workpieces arranged in an unloading area of ​​a flatbed machine tool, in particular a laser cutting or punching machine, into a loading area according to a sorting sequence. [Background technology]

[0002] Such a sorting method and such a sorting apparatus are typically used following the production of workpieces on a flatbed machine tool, where the workpieces are placed in an unloading area of ​​the flatbed machine tool. For example, the production table of the flatbed machine tool, which is used for placement of the workpieces during production, is moved to the unloading area. However, during the subsequent sorting of the workpieces, process disturbances may occur that prevent or make impossible the intended sorting sequence.

[0003] Such process disturbances can be caused by misaligned and / or overlapping workpieces, which can, for example, prevent the pick-up of the workpieces by the gripper. Furthermore, process disturbances can occur, especially when using production tables with so-called support webs, in the form of part tilting between the support webs or in the form of contamination of the support webs, for example production residues trapped between the support webs.

[0004] Such process disturbances are not recognized in conventional sorting methods, which may result in prolonged sorting of the workpiece due to failure of the gripper to pick it up. Furthermore, the gripper and / or the workpiece may be damaged as a result of the process disturbance, for example because a collision may occur between the gripper and the workpiece. This has a detrimental effect on the process reliability and process speed of the sorting process. Furthermore, conventional sorting processes require skilled intervention to properly respond to the process disturbance, which further detrimentally reduces the level of automation.

[0005] From DE 10 200 03 133 A1 a method for palletizing parts processed on a processing machine is known, in which the parts processed on the processing machine are moved by a gripping device to an unloading area and therein placed at locations on a placement surface, the placement surface available in the unloading area and the placement locations of the parts being determined by a detection device and a data evaluation device directed towards the unloading area.

[0006] From US 2007 / 0139993 a method is known for assisting an operator in a manual sorting process of workpieces arranged on a sorting table, in which a sorting signal is generated from a sorting image data set, the sorting signal comprising information including the type, the orientation and / or the shape of at least one removed workpiece, in particular the exploitation of the sorting image data set to determine the absolute position and / or the contour and / or the plate condition of the parts. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] European Patent Application Publication No. 3514639 [Patent Document 2] DE 102016120131 A1 Summary of the Invention [Problem to be solved by the invention]

[0008] The object of the present invention is to increase the process reliability, the process speed and the level of automation of automatic sorting. [Means for solving the problem]

[0009] This problem is solved according to the invention by a sorting method and a sorting device of the type mentioned at the beginning with the further characterizing features according to claims 1 and 10.

[0010] In other words, this problem is solved by a sorting method for automatically sorting workpieces arranged in a take-up area of ​​a flatbed machine tool, in particular a laser cutting or punching machine, into a deposit area according to a sorting sequence, the sorting method being characterized by the following steps: creating at least one actual representation depicting an actual condition of the removal area; and analyzing the actual profile for identification of process disturbances, and automatically initiating action for adjustment of the sorting sequence if a process disturbance is identified.

[0011] The real representation represents the actual state of the take-out area of ​​the flatbed machine tool. In other words, the real representation captures the characteristics of the take-out area. The real representation is preferably a two-dimensional representation of the take-out area. For example, the real representation can represent the surface of the take-out area as it can be viewed from a given viewing angle, whereby the captured features, such as changes in the contour of the surface, can be depicted in the real representation.

[0012] The analysis of the real representation may include the recognition of features captured in the real representation. Preferably, the features are recognized by image processing of the real representation. The features recognized in the real representation can be used to detect certain components (in particular workpieces, workpiece supports). Preferably, for this purpose, features specific to the component to be detected are provided. For example, by recognition of a cross-sectional contour, a workpiece with this contour can be detected in the real representation.

[0013] According to the invention, a process disturbance can be identified by analysis of the actual depiction, whereby a characteristic is determined for the detected component and a comparison with a predefined reference characteristic can be provided. If a difference is identified between the determined characteristic of the detected component and the reference characteristic, the process disturbance is considered to be identified. Preferably, the process disturbance is identified only after a predefined degree of difference is identified.

[0014] A process disturbance is understood here and below as a disturbance in the sorting method, in which sorting is significantly disturbed or even impossible. Although by no means exhaustive, process disturbances can occur, for example, as the following listed events:

[0015] "Defective part": If the process fault is "defective part", the workpiece to be removed by the gripper cannot be identified in the removal area, which results in a fruitless removal of the workpiece by the gripper, which in turn prolongs the sorting of the workpiece.

[0016] "Misaligned workpiece": This may result in a change in the removal position of one or more workpieces, which leads to the gripper moving to an incorrect position when removing the workpieces. Residual material may be considered here and below as a workpiece. Furthermore, the workpiece to be removed may overlap another workpiece. Access by the gripper may then be uncertain or insufficient in all cases, which may damage the workpieces and / or the gripper.

[0017] Tilted Workpiece: A tilted workpiece may be in the correct position for picking but may be oriented in a way that prevents access by the gripper, thus preventing picking of the workpiece and thereby prolonging sorting of the workpiece.

[0018] "Contaminated workpiece support": If production residues remain on and / or in the workpiece support, the correct positioning of the workpieces to be removed further is hindered, which also makes sorting according to the sorting sequence more difficult. This is particularly problematic when using workpiece supports with so-called web supports. Furthermore, wear and / or contamination can result in contaminated workpiece supports, which make it difficult to properly support the workpieces and, as a result, make sorting more difficult.

[0019] "Stuck and / or pinched workpieces": Workpieces that are stuck and / or pinched by other workpieces and / or workpiece supports make removal by the gripper difficult, thereby prolonging sorting of the workpieces.

[0020] "Welded and / or badly cut workpieces": In this case, the workpieces may be fixed to other workpieces, especially to scrap material, even after production, in such a way that removal by the gripper is not possible. This may result in damage and / or displacement of the workpieces and damage to the grippers. In any case, the sorting of the workpieces is prolonged.

[0021] Improper positioning of workpiece support: Improper positioning of the workpiece support by the workpiece prevents removal of the workpieces according to the prescribed sort sequence, thereby significantly prolonging or preventing sorting.

[0022] According to the invention, when a process disturbance is identified, measures for adjusting the sorting sequence are automatically initiated, in other words, reacting automatically to the process disturbance. Measures for adjusting the sorting sequence can be to avoid the process disturbance, for example by skipping the removal of a defective part, or to eliminate the process disturbance, for example by cleaning a dirty workpiece support. Exemplary measures can also be a change in the removal sequence of the workpieces, an attempt to remove with modified access settings, and / or a command transmission.

[0023] Preferably, the instructions relate to a change in the position of the workpiece support, reworking of defective or badly cut workpieces and / or intervention by a skilled person, so that process disturbances having causes other than possible intervention by the sorting method can be counteracted and thus further process disturbances can be prevented.

[0024] The method according to the invention is, in summary, arranged to monitor the unloading area and identify existing and / or emerging process disturbances, whereby the sorting method reacts automatically if a process disturbance is identified, thereby increasing the process reliability, the process speed and the level of automation of the sorting method.

[0025] In a preferred embodiment of the sorting method, provision is made for the generation of the actual description and the identification of process disturbances to take place in particular immediately before and / or after a sorting of one of the workpieces. The creation of a real picture and the identification of process disturbances, particularly immediately before the removal of one of the workpieces, makes it possible to identify process disturbances that occur, for example suddenly, thereby making it possible, in particular, to further increase the reliability of the process.

[0026] It is particularly advantageous if the creation of a real picture and the identification of process disturbances, especially immediately after the removal of the workpiece, allows the identification of process disturbances which occur, for example, after removal, and then measures can be initiated during the placement of the workpiece, whereby, in particular, the process speed can be further increased. Proper removal of the workpiece can be monitored by producing a real depiction, in particular immediately before and after removal, and by identifying process disturbances, whereby the reliability of the process can be advantageously further increased, in particular by adjusting the gripper removal strategy.

[0027] In a preferred embodiment of the sorting method, the actual representation is created by photography. Preferably, a camera is used for the photographic creation of the actual representation. The photographic actual representation is preferably converted into an image format that can be analyzed using image evaluation. This allows the sorting method to use reliable methods for graphic image evaluation at low cost.

[0028] It may further be provided that the real representation is created by a sensor. Preferably, in this case, a laser scanner is used. The creation of the real representation by a sensor is particularly advantageous in the case of take-out areas where, for example, optical blocking by dust and / or objects prevents a particularly continuous detection of the entire take-out area. The real representation by the sensor may be created, for example, by surface scanning. Preferably, the surface representation is then converted into an image format, whereby an analysis of the real representation can be performed by graphic image evaluation.

[0029] In a further preferred embodiment of the sorting method, at least two real representations are created and process disturbances are identified by analysis of the two real representations. Preferably, the real representations are created using two different representation devices, for example two cameras, and / or from different directions, so that identification of process disturbances can be performed with redundancy by analysis of the two real representations.

[0030] In a preferred embodiment of the sorting process, the spatial position and / or spatial orientation of the workpieces is detected and evaluated from the real representation, in other words, the individual workpieces are identified in the real representation and then each workpiece is assigned a position and / or a spatial orientation, whereby the sorting process is adjusted, whereby the approach of the workpieces by the gripper can be performed particularly quickly and reliably, and thus the removal of the workpieces can be performed particularly quickly. The position of the workpiece may for example be understood as the geometric center of the workpiece. Advantageously, an ideal access position for the gripper can be determined from the position of the workpiece, whereby access to the position of the workpiece by the gripper can be particularly easily performed. The orientation of the workpiece may be taken as an orientation with respect to the coordinate system of the removal area. The workpiece may have, for example, an inclined and / or twisted orientation with respect to the removal area. In case of an inclined and / or twisted orientation, adjustments of the sorting sequence may be provided, for example adapting the grippers to the workpiece orientation to enable removal.

[0031] In a further preferred embodiment of the sorting method, the process disturbance is identified by a distance determined by a comparison of the spatial positions of the two workpieces in the real representation. In other words, the positions of the two workpieces are first determined, and then the distance between the two workpieces is determined. This makes it possible to identify process disturbances caused, for example, by an overlap of the two workpieces. Preferably, the distance is determined from the real representation by taking into account the contours of the workpieces. This makes it possible to identify process disturbances more reliably.

[0032] Furthermore, in a further preferred form of the sorting method, a target representation representing an expected state of the removal area is provided and a process disturbance is identified from a predetermined difference in the spatial position of the workpiece between the actual representation and the target representation and / or from a predetermined difference in the spatial orientation of the workpiece between the actual representation and the target representation.

[0033] The "expected state" may include, for example, the expected position and / or orientation of the workpiece and / or the expected state of the removal area. In other words, the target representation has the expected characteristics of the removal area. The target representation may be provided, for example, as a manufacturing plan for the workpiece on a flatbed machine tool and / or as a reference representation from which the expected characteristics are ascertained. In the latter case, the actual representation of the first comparison may be used as a reference representation for subsequent comparisons. This is preferably automatically saved.

[0034] In a preferred embodiment of the sorting method of the present invention, process disturbances are identified by comparing conditions sensed from an actual depiction of the sorted take-out area with appropriate conditions sensed from a target depiction of the sorted take-out area.

[0035] In a preferred embodiment of the sorting method, the sorting sequence is adjusted by pausing the sorting process, changing the pick order of the work pieces, issuing an alarm, notifying an operator, cleaning the pick area, and / or changing the gripper pick strategy. In other words, the process disturbance is removed or avoided, allowing automatic sorting to continue. This increases the reliability and speed of the process and reduces the need for skilled intervention.

[0036] The underlying problem is further solved by a sorting device for automatically removing workpieces from an unloading area of ​​a flatbed machine tool and depositing the workpieces in a depositing area according to a sorting sequence. The sorting device is preferably configured to perform the above-mentioned sorting method. The sorting device comprises a control device for controlling a gripper of the sorting device, the gripper being configured for gripping the workpieces. Furthermore, the sorting apparatus comprises at least one representation means configured to create a real representation of the removal area. Furthermore, the sorting device comprises an evaluation unit configured to identify process disturbances by analysis of the actual depiction of the removal area. The sorting device control device is, according to the invention, configured to automatically initiate measures to adjust the sorting sequence if a process disturbance is identified.

[0037] In a preferred embodiment of the sorting device, the at least one image capture means is configured as a camera, a laser scanner and / or a light section sensor, which allows a fast and comprehensive image of the removal area to be generated, with a process-appropriate evaluation being able to be carried out by means of an image evaluation unit.

[0038] In a further preferred embodiment of the sorting device, the at least one imager is arranged in a fixed manner above the removal area. A suitable arrangement allows an image of the entire removal area from a fixed position and at a fixed angle. This facilitates the analysis of the actual image by the evaluation unit.

[0039] Furthermore, in a preferred embodiment of the sorting device, the sorting device comprises at least two image-drawing means, whereby at least one of the image-drawing means is fixed to the gripper. The further image-drawing means allows for a redundant image-drawing of the removal area, in particular from further image-drawing directions, so that, for example, if one image-drawing means is partially blocked, the analysis can be carried out using the actual image of the other image-drawing means.

[0040] In a further aspect of the invention, it can be provided that at least one representation means fixed to the gripper is configured to create an actual representation of the placement area. It can further be provided that by analysis of the actual representation of the placement area process disturbances in the placement area, such as an overturned placement stack, are identified. For said identification, it can be provided that the actual representation of the placement area is compared with a provided target representation of the placement area. This can further increase the reliability of the process.

[0041] Further features and advantages of the invention are apparent from the description, the claims and the drawings. According to the invention, the features mentioned above and those described in more detail can be used individually or in any suitable combination. The presented and described embodiments are not to be taken as a final enumeration, but rather have exemplary features for the explanation of the invention. [Brief description of the drawings]

[0042] [Figure 1] 1 is a perspective view showing an arrangement of a flatbed machine tool and a sorting device according to the present invention; [Diagram 2] 1 is a schematic flow chart illustrating a method according to the present invention; [Diagram 3] FIG. 13 is a schematic representation of an actual depiction of a removal area with a plurality of workpieces, including a displaced workpiece, disposed on a workpiece support; [Figure 4] FIG. 3 shows a target depiction of the removal area according to FIG. 2 together with the expected position of the workpiece. [Diagram 5] FIG. 2 is a schematic cross-sectional view of a first removal area after initiation of a first measure for adjusting a sorting sequence; [Figure 6] FIG. 13 is a schematic cross-sectional view of the second removal area after initiation of a second measure for adjusting the sorting sequence. [Figure 7] FIG. 11 is a schematic cross-sectional view of a third removal area after initiation of a third measure for adjusting the sorting sequence. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0043] 1 shows an arrangement 10 having a flatbed machine tool 12 as a laser cutting machine, a sorting device 14, a removal area 16 and a placement area 18. The sorting device 14 formed as an example has a gripper 20, which is arranged on an arm 22 via a rail guide 24 and is thereby movable along an axis 26 between the removal area 16 and the placement area 18. Furthermore, the gripper 20 is movable in a translational and rotational direction relative to the arm 22.

[0044] In the unloading area 16, a workpiece support 28 is arranged. The workpiece support 28 has a web support 30. A number of workpieces 32 (for the sake of clarity, only one workpiece 32 is referenced) previously manufactured on the flatbed machine tool 12 are arranged on the workpiece support 28. A depiction means 34 of the sorting device 14 formed as a camera is fixed above the unloading area 16. The depiction means 34 is directed vertically downwards towards the unloading area 16 and is configured to provide an overall view of the latter.

[0045] A loading pallet 36 is disposed in the loading area 18 and is used to load and transport the work pieces 32 .

[0046] For sorting the workpieces 32, the gripper 20 is moved according to a sorting sequence stored in the controller 37 of the sorting device 14 until the workpieces 32 are removed from the unloading area 16 and deposited in the depositing area 18. The gripper 20, for example, moves along the axis 26 over the unloading area 16 and is redirected vertically up to the workpieces 32. The gripper 20 then grips, for example, one of the workpieces 32 and is then moved vertically upwards. The gripper 20 is then moved along the axis 26 to the depositing area 18 and is similarly redirected there to deposit the picked-up workpiece 32.

[0047] FIG. 2 shows diagrammatically a sorting method 38 according to the invention and is illustratively described with reference to FIGS.

[0048] In the first method step "Create actual representation" 40, an actual representation 42 (see FIG. 3) of the unloading area 16 is created. The actual representation 42 is created, for example, by a representation means 34 (see FIG. 1) in the form of a camera and can be a two-dimensional photograph. The actual representation 42 can capture the entire unloading area 16 and represents the web support 30 and the workpiece support 28 with the workpiece 32, as shown in FIG. 3.

[0049] In the subsequent method step "Analysis of the real representation" 44, the real representation 42 is analyzed or evaluated, whereby representation regions shown in the real representation 42 are assigned to predefined components based on their characteristics, which may be, for example, brightness, structure and / or shape.

[0050] For example, the removal area 16 in the actual depiction 42 according to Fig. 3 can be distinguished from the workpiece 32 by its surface structure. Furthermore, for example, the workpieces 32 can be distinguished from each other by cut edges that stand out from the depicted area of ​​the workpiece 32.

[0051] The analysis may include identifying predetermined characteristics of the sensed components based on which a process fault may be identified.

[0052] For example, the predetermined characteristic of the detected component may be a minimum distance to another component. According to the actual depiction 42, all workpieces 32 except for the defective part 46 and the remnant 48 have a minimum distance to each of the other workpieces 32. Preferably, based on the characteristics of the other workpieces 32, it is determined that the remnant 48 is properly positioned and only the defective part 46 is misaligned with respect to the other workpieces 32.

[0053] In method step "IDENTIFY PROCESS FAULT" 50, a deviation of a characteristic of the part determined in the actual representation 42 from a predetermined characteristic can be identified as a process fault. For example, a process fault can be identified by a defective part 46 not having a required minimum distance to the remnant 48.

[0054] If a process disturbance is identified, measures for adjusting the sorting sequence are automatically initiated in method step "Automatic Initiation of Measures" 52. For this purpose, at least one measure to be initiated for each occurring process disturbance is stored in the control device 37 of the sorting device 14.

[0055] For example, the sorting sequence can be adjusted in the case of a defective part 46 by changing the pick-up access by the gripper 20. In this case, for example, the defective part 46 can be first rotated and then picked by the gripper 20. Alternatively or additionally, the defective part 46 can be picked only after the other workpieces 32 have been picked.

[0056] In a preferred embodiment of the sorting method 38, in the method step "Analysis of the actual representation" 44, the actual representation 42 can be compared with a target representation 54 (as shown in FIG. 4). The target representation 54 preferably represents the same part of the unloading area 16 as the actual representation 42. The target representation 54 then represents the expected state of the unloading area 16. By comparing the actual representation 42 with the target representation 54, any discrepancies in the actual representation can also be detected particularly easily by means of an image evaluation. This allows process disturbances to be identified particularly quickly and reliably.

[0057] FIG. 5 shows the unloading area 16 after the initiation of measures to regulate the sorting sequence.

[0058] 5, the removal area 16 has a defective part 46, which rests on one of the workpieces 32 and on the other side on the web support 30 of the workpiece support 28. The defective part 46 has a position that is altered by a translational deflection 56 and an orientation that is altered by an angle 58, which may prevent the gripper 20 from gripping the defective part 46 during the action according to the originally intended sorting sequence.

[0059] In the method step "Analyze Actual Representation" 44 (see FIG. 2) a defective part 46 is detected. Since the position and orientation of the defective part 46 deviates from the expected position and orientation, in the method step "Identify Process Disturbance" 50 (see FIG. 2) a process disturbance "tilted workpiece" is identified.

[0060] To allow removal by gripper 20, the sort sequence is automatically altered by aligning the gripper with the position and orientation of defective part 46.

[0061] FIG. 6 shows the unloading area 16 after further measures have been initiated to adjust the sorting sequence.

[0062] 6, the removal area 16 has a defective part 46, which is located between the workpiece 32 and the web support 30 on the one hand and rests on the web support 30 on the other hand. In other words, the defective part 46 is offset below the workpiece 32 by a deflection 56. Removal of the defective part 46 by the gripper 20 would then result in a significant displacement of the workpiece 32, which could result in damage or tilting of the workpiece 32.

[0063] In the method step "Analyzing the actual depiction" 44 (see FIG. 2), defective parts 46 are detected. In the method step "Identifying process disturbances" 50 (see FIG. 2), process disturbances "stuck and / or pinched workpieces" are identified.

[0064] In order to prevent the defective part 46 from being displaced or damaged, or to other workpieces 32, when it is removed by the gripper 20, the sorting sequence is automatically modified, on the one hand, by the use of the holding means 60 and, on the other hand, by adjusting the removal strategy of the gripper 20. After gripping the defective part 46, the gripper 20 first makes a return movement against the bias 56, while the holding means 60 applies a vertical holding force to the workpiece 32 to prevent the workpiece 32 from being lifted and displaced. This allows the defective part 46 to be removed without any displacement of the workpiece 32.

[0065] FIG. 7 shows unloading area 16 in a sorted state without work pieces 32 (see FIGS. 1-6) after initiating a third measure for adjusting the sort sequence.

[0066] According to the exemplary illustration of Figure 7, the unloading area 16 has manufacturing residues 62, in particular cutting debris, and contaminants 64, in particular slag, which are present in the web support 30 and may interfere with the positioning of the workpiece 32 or may adversely affect the manufacturing of the workpiece 32 in the flatbed machine tool 12 (see Figure 1).

[0067] In the method step "Analyzing the actual depiction" 44 (see FIG. 2) manufacturing residues 62 and contaminants 64 are detected. In the method step "Identifying process disturbances" 50 (see FIG. 2), for example a process disturbance "soiled workpiece support" is identified.

[0068] To allow the workpieces 32 to be properly finished and positioned on the workpiece support 28, and thus to allow rapid sorting of the workpieces 32, the sorting sequence is automatically modified by using a cleaning means 66 in the form of a brush. While the gripper 20 is in a stationary position, the cleaning means 66 is inserted into the web support 30 and moved horizontally through the web support 30. Thereby, both manufacturing residues 62 and contaminants 64 are effectively removed. [Explanation of symbols]

[0069] 10 Arrangement structure 12 Flatbed machine tools 14 Sorting equipment 16 Extraction Area 18 Loading area 20 Gripper of sorting device 14 22 Arm of sorting device 14 24 Rail guide of sorting device 14 26 Rail guide 24 shaft 28 Workpiece support 30 Web support of workpiece support 28 32 Workpieces 34 Means for depicting sorting device 14 36 Pallet placement 37 Control device for sorting device 14 38 Sorting Method 40 Method Step "Creating a Realistic Description" 42 Actual depiction 44 Method Step: "Analysis of Actual Descriptions" 46 Defective Parts 48 Leftover material 50 Method Step "Identifying Process Faults" 52 Method step "Automatic initiation of action" 54 Goal description 56 Deflection 58 angle 60 Retention means 62 Manufacturing residue 64 Contaminants 66 Cleaning means

Claims

1. A method (38) for automatically sorting workpieces (32) placed in an unloading area (16) of a flatbed machine (12), in particular a laser cutting or punching machine, into a loading area (18) according to a sorting sequence, the method comprising the steps of: creating (40) at least one actual representation (42) depicting an actual state of said removal area (16); and analyzing (44) said actual depiction (42) for identifying (50) process disturbances; A method (38) for sorting, characterized in that if a process disturbance is identified, measures for adjusting the sorting sequence are automatically initiated.

2. 2. The method (38) of claim 1, wherein the generating (40) of the actual representation (42) and the identifying (50) of the process disturbances occur before and / or after sorting one of the workpieces (32).

3. 3. A method (38) according to claim 1 or 2, characterized in that the actual representation (42) is produced as a photograph, in particular by means of a camera and / or by means of a sensor, in particular by means of a laser scanner.

4. A method (38) according to any one of claims 1 to 3, comprising creating at least two actual representations (42) and identifying said process disturbances by analysis (44) of said two actual representations (42).

5. A method (38) according to any one of the preceding claims, wherein a spatial position and / or a spatial orientation of the workpieces (32) is detected and evaluated from the actual representation (42).

6. 6. The method (38) of claim 5, wherein the process disturbance is identified by a distance determined by a comparison of the spatial positions of two workpieces (32) in the actual representation (42).

7. providing a target representation (54) having an expected state of said extraction region (16); The process disturbance, from a predetermined difference in the spatial position of the workpiece (32) between the actual representation (42) and the target representation (54); and / or 7. The method (38) of claim 5 or 6, further comprising determining from a predetermined difference in the spatial orientation of the workpiece (32) between the actual representation (42) and the target representation (54).

8. providing a target representation (54) having an expected state of said extraction region (16); The process disturbance, the state of the sorted take-out area (16) detected from said actual representation (42); A method (38) according to any one of claims 1 to 7, further comprising identifying the sorted take-out area (16) by comparing the appropriate state detected from the target representation (54).

9. A method (38) according to any one of the preceding claims, further comprising adjusting the sorting sequence by pausing the sorting process, changing the removal order of the work pieces (32), issuing a warning, notifying an operator, cleaning the removal area (16) and / or changing access by grippers (20).

10. A sorting device (14) for automatically removing workpieces (32) from an unloading area (16) of a flatbed machine tool (12) and depositing said workpieces (32) in a depositing area (18) according to a sorting sequence, the sorting device (14) being configured in particular for carrying out a sorting method (38) according to any one of claims 1 to 9, a control device (37) for controlling a gripper (20) of said sorting device (14) which is designed for gripping a workpiece (32); at least one representation means (34) configured to create an actual representation (42) of said removal area (16); an evaluation unit for identifying (50) process disturbances by analysis (44) of the actual representation (42) of the withdrawal area (16), The sorting apparatus (14), wherein the controller (37) is configured to automatically initiate (52) measures for adjusting the sorting sequence if a process disturbance is identified.

11. 11. The sorting device (14) according to claim 10, wherein the at least one image-drawing means (34) is formed as a camera, a laser scanner and / or a light section sensor.

12. 12. The sorting device (14) according to claim 10 or 11, wherein the at least one depicting means (34) is arranged in a fixed manner above the removal area (16).

13. The sorting device (14) comprises at least two depiction means (34); A sorting device (14) according to any one of claims 10 to 12, wherein at least one of the depicting means (34) is fixed to the gripper (20).

Images