Apparatus and method for automatically bending a workpiece

Abstract

The present invention relates to an automated bending apparatus for workpieces (10), which includes a storage (2) for workpieces (10), a robotic device (3) for handling the workpieces (10), and a bending machine (5) by which the robotic device (3) deforms at least some of the workpieces (10) to be processed through a bending process, and the apparatus (1) also includes an image capture device (7) for capturing image data (ID) relating to the workpieces (10) in the storage (2), and a control device (6) for controlling the robotic device (3) using the image data (ID). The image acquisition device (7) can be moved via an actuator system (8) to different positions (CP1, CP2) to acquire image data (ID) from different storage compartments (201, 202, 203, 204) of the storage unit (2) associated with each position (CP1, CP2), and a plurality of markings (M1, M2, ..., M10) are provided on the storage unit (2), and the positions (PO1, PO2, ..., PO10) of the markings relative to a reference coordinate system (RC) are stored in the control device (6) and are stored in the associated storage compartments (201, 202, 203, 204). Each individual position (CP1, CP2) of the image acquisition device (7) in the storage compartment (201, 202, 203, 204) comprises at least two markings (M1, M2, ..., M10), and the control device (6) is configured to perform an evaluation of the image data (ID) in the associated storage compartment (201, 202, 203, 204), and the storage locations (PO1, PO2, ..., PO10) of the markings (M1, M2, ..., M10) automatically determine the position (CL) of the image acquisition device (7) and / or the position (WL) of the workpiece (10) relative to the reference coordinate system (RC).

Description

[Technical Field]

[0001] The present invention relates to an apparatus and method for automatically bending a workpiece. [Background technology]

[0002] Systems for automatically bending workpieces using a robotic device for handling the workpieces are known in the prior art. The workpieces to be processed are automatically removed from a storage unit by the robotic device and fed to a bending machine, which deforms the workpieces by bending. Image data from an image capture device is used to identify the location of the workpieces to be processed in the storage unit so that the robotic device can properly remove the corresponding workpieces from the storage unit. The image data is then used to appropriately control the robotic device based on the identified location.

[0003] WO 2020 / 250761A1 discloses an automatic workpiece bending device, in which images of workpiece layers in a storage facility are captured by a monocular camera and evaluated by pattern recognition. The position of the workpiece placed on top of the workpiece layer is detected using multiple models.

[0004] The document WO 2021 / 079802A1 describes a method for automatically bending a workpiece, in which the position of the workpiece is determined using an image taken by a camera above the position of the workpiece, and a robot device that transports the workpiece is appropriately controlled based on this.

[0005] Conventional devices for automatically bending workpieces have a disadvantage in that the image capture device used to detect the workpieces to be processed placed in a storage facility is located in a fixed position, so the field of view of the image capture device is fixed and only a limited spatial area of ​​the workpiece to be processed can be captured.

[0006] US Patent Application Publication No. 2020 / 023521A1 discloses a method for controlling a robot system. During a calibration process, a hand camera attached to a robot hand captures images of reference markers. Based on the captured images, configuration data between the robot coordinate system and the marker coordinate system is determined. For the robot to operate normally, the hand camera is removed from the robot hand so that the robot can process a workpiece. During normal operation, a fixed camera captures images of the corresponding workpiece and the reference markers, and an image processing device calculates the relative position of the workpiece and the robot based on the captured images and calibration data.

[0007] German Patent No. 102017123877A1 discloses a robot system for a forming machine, which includes a manipulator for manipulating a workpiece. A camera coupled to the manipulator captures the relative position of at least one marker and the manipulator. A calculation unit connected to the camera calculates from the relative position at least one correction value for controlling the movement of the manipulator.

[0008] The document US Patent No. 8,798,794 B2 discloses a method for accurately positioning at least one object at an end position in space by an industrial robot. The method uses a 3D image recording device including an angle measurement unit. The position of the object is determined based on the position of the 3D image recording device, the angle measurement unit, the 3D images recorded by the 3D image recording device, and knowledge of the object's features. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] International Publication No. 2020 / 250761A1 [Patent Document 2] International Publication No. 2021 / 079802A1 [Patent Document 3] US Patent Application Publication No. 2020 / 023521A1 [Patent Document 4] German Patent No. 102017123877A1 [Patent Document 5] U.S. Patent No. 8,798,794 B2 Summary of the Invention [Problem to be solved by the invention]

[0010] The object of the present invention is to create an apparatus and a method for the automated bending of workpieces, which apparatus allows for a larger spatial area of ​​access to the workpiece to be machined. [Means for solving the problem]

[0011] This object is achieved by a device according to claim 1 and a method according to claim 15. Further developments of the invention are defined in the dependent claims.

[0012] The apparatus according to the present invention is used for automated bending of workpieces, preferably metal workpieces such as metal sheets. The apparatus includes a storage of corresponding workpieces, a robotic device for handling the workpieces, and a bending machine, preferably a press brake, for bending at least some of the workpieces handled by the robotic device.

[0013] The apparatus according to the present invention also includes an image capture device that captures image data relating to the workpieces to be processed in the storage facility, and a control device that uses the image data to control the robotic device.

[0014] In the apparatus according to the present invention, the image capture device can be moved to different positions via an actuator system, preferably controllable via the control device described above, to capture image data from different sections of the repository associated with each position.

[0015] Furthermore, a plurality of markings are provided on the storage unit, and the positions of the markings relative to a reference coordinate system are stored in the control device, i.e., the positions of the markings are known. Preferably, the positions of the markings are three-dimensional spatial positions. However, if necessary, the positions may be two-dimensional positions, for example, if the height position of the workpiece to be processed is obtained from a source other than image data. The reference coordinate system is a coordinate system that is stationary with respect to the device according to the present invention and does not follow the relative movements of elements within the device, such as the movement of a robotic device.

[0016] According to the present invention, at least two of the plurality of markings are included at distinct positions of the image acquisition device within the associated storage compartment, and the control device is configured to perform an evaluation of image data of the associated storage compartment, and the stored positions of the markings within the associated storage compartment are used to automatically determine the orientation of the image acquisition device and / or automatically determine the orientation of the workpiece to be machined relative to a reference coordinate system. The orientation of the image acquisition device or the workpiece to be machined describes the position and orientation of the image acquisition device or the workpiece to be machined, where the position is preferably a three-dimensional spatial position and the orientation is preferably a three-dimensional spatial direction.

[0017] The markings used in the method according to the invention may be passive and / or active markings. Positional information cannot be read from passive markings. For this reason, before the method according to the invention is carried out, the position of the individual passive markings relative to a reference coordinate system is determined using appropriate measurements and stored in the control device. In contrast, positional information is stored in active markings. Before the method according to the invention is carried out, this information is read from the active markings and then assigned to a reference coordinate system in the control device and stored.

[0018] The device according to the invention allows for a wider field of view of the corresponding workpiece storage by positioning the image acquisition device at different positions. At the same time, external calibration of the image acquisition device at its current position is possible, using appropriate markings on the storage for this purpose. The external calibration ensures that for each position of the image acquisition device, its spatial location is known. Therefore, by moving the image acquisition device, a wider spatial area of ​​the workpiece can be acquired.

[0019] In a preferred embodiment of the apparatus according to the invention, the position of the workpiece to be processed in the associated storage relative to a reference coordinate system is determined from the position of the image acquisition device. This position can then be used to address the corresponding workpiece. The position of the workpiece to be processed describes its position and orientation, where the position is preferably a three-dimensional spatial position and the orientation is preferably a three-dimensional spatial direction.

[0020] In a particularly preferred embodiment, the image acquisition device is a 3D image acquisition device, i.e., an image acquisition device that acquires three-dimensional image data. The 3D image acquisition device is preferably a 3D camera device. If necessary, 2D image acquisition devices can also be used in the device according to the invention. This is the case, for example, if the height position of the workpiece is obtained from a source other than image data.

[0021] In a further preferred embodiment of the device according to the invention, separate storage areas for the workpieces are assigned to storage compartments, with each individual storage compartment completely covering the assigned storage area vertically in plan view. Separate storage areas are understood to be spatially separated storage areas. In contrast, the storage compartments containing the markings defined above may not be spatially discontinuous, i.e. the storage compartments may be larger than the storage areas and the same marking may belong to several storage compartments.

[0022] In a preferred variant of the just described embodiment, the storage areas are transport devices for storing the workpieces, the transport devices preferably being pallets. Furthermore, the workpieces may preferably be stacked in the corresponding storage areas.

[0023] In a further preferred embodiment of the device according to the invention, the storage compartments containing the markings are arranged adjacent to one another in a predetermined direction.

[0024] In a further variant, the image capture device is linearly movable by an actuator system, so that the position of the image capture device can be easily changed. The linear movement preferably occurs in a predetermined direction as defined above, and the storage compartments are arranged adjacent to each other.

[0025] In a further particularly preferred embodiment of the device according to the invention, all markings of the plurality of markings are located within 500 mm above the floor and / or floor surface of the storage unit, and the image acquisition device can be moved above the storage unit. As a result, the acquisition of the markings by the image acquisition device can be particularly reliably guaranteed. The markings do not all have to be at the same level. Rather, the markings can be located in several different planes. This improves vertical accuracy.

[0026] The number of storage compartments provided in the device according to the invention can be selected differently. The greater the number, the larger the spatial area in which the stored workpieces can be obtained. In a preferred variant, at least three storage compartments are provided, preferably 3 to 10 storage compartments, particularly preferably 4 storage compartments.

[0027] In a further preferred variant, the at least two markings of the individual storage compartments represent a subset of the markings of at least some of the storage compartments, preferably of each storage compartment, and the markings therefore differ at least in part from one storage compartment to another.

[0028] In a further preferred variant, the at least two markings in an individual storage compartment are at least part of a plurality of storage sections, preferably each storage compartment being provided with at least three markings, more preferably four markings. The use of more than two markings improves the accuracy of determining the position of the image capture device.

[0029] In a further preferred embodiment of the device according to the invention, one or more markings, preferably two markings, of an individual storage compartment belong to at least some of the storage compartments, preferably also to storage compartments other than the particular storage compartment in each storage compartment, so that the number of markings can be reduced by using at least some of the markings simultaneously for several storage compartments.

[0030] In a further preferred embodiment, at least some individual storage compartments of the storage compartments, and preferably each storage compartment, have a polygonal, in particular rectangular, outline in plan view. Due to this outline, the evaluation of the image data for determining the position of the image acquisition device is simplified and, if necessary, the position of the workpiece to be processed can be directly determined. The markings are preferably provided at one or more corners, in particular at each corner, of the polygonal outline.

[0031] In a further preferred embodiment, the markings have an optically different design so as to be distinguishable by the control device. The markings preferably comprise an optical code. As a result, the evaluation of the image data can be simplified and the accuracy of the position determination of the image acquisition device can be improved. The optically different markings can, for example, have different colors. If the markings comprise an optical code, the markings are preferably binary codes that can be very easily processed by the control device of the device according to the invention.

[0032] In a further preferred variant, the individual markings comprise at least some of a plurality of markings, in particular each marking comprising at least two circular arcs with a common center. By using such markings, the positions of the markings can be extracted very accurately from the image data and compared with the positions stored in the control device, thereby further improving the accuracy of the position determination of the image acquisition device.

[0033] The present invention also relates to a method for the automated bending of workpieces by means of an apparatus according to the invention or one or more preferred variants of said apparatus. In other words, the apparatus according to the invention used in the method comprises a storeroom for workpieces, a robotic device for handling the workpieces, and a bending machine for deforming at least some of the workpieces handled by the robotic device through bending, said apparatus also comprising an image acquisition device for acquiring image data relating to the workpieces to be processed in the storeroom, and a control device for controlling the robotic device using the image data.

[0034] As part of the method according to the invention, the image capture device is moved to different positions, preferably via an actuator system controlled via the above-mentioned control device, to capture image data from different sections of the storage unit associated with each position, a plurality of markings are provided on the storage unit, the positions of the storage unit relative to a reference coordinate system are stored in the control device, at least two of the plurality of markings are included at distinct positions of the image capture device within the associated storage section, and the control device of the method according to the invention also performs an evaluation of the image data of the associated storage section and determines the position of the image capture device relative to the reference coordinate system using the stored positions of the markings within the associated storage section.

[0035] All additional terms mentioned above in connection with the description of the apparatus according to the invention also apply to the method according to the invention. In particular, the configuration of the image acquisition device describes the position and orientation of the image acquisition device, the position preferably being a three-dimensional spatial position and the orientation preferably being a three-dimensional spatial direction. Furthermore, the configuration of the workpiece to be machined in the associated storage relative to a reference coordinate system is preferably determined from the configuration of the image acquisition device. This configuration can then be used to machine the corresponding workpiece. The configuration of the workpiece to be machined describes the position and orientation of the workpiece, the position preferably being a three-dimensional spatial position and the orientation preferably being a three-dimensional spatial direction.

[0036] Exemplary embodiments of the present invention are described in detail below with reference to the accompanying figures. [Brief explanation of the drawings]

[0037] [Figure 1] 1 is a schematic diagram of the structure of a variant of the device according to the invention; [Figure 2] 1 is a schematic side view of a workpiece storehouse with an image capture device located above it, according to a preferred embodiment of the apparatus according to the present invention; [Figure 3] FIG. 3 is a plan view of the storage facility of FIG. 2. [Figure 4] 2 is a flow diagram illustrating steps performed by one embodiment of an apparatus according to the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0038] 1 shows a schematic diagram of an embodiment of an apparatus according to the invention for the automated bending of workpieces. The apparatus is designated by the reference numeral 1 and, as is known, comprises a storeroom 2 which, in the embodiment shown, comprises two storage compartments 201, 202. The storage compartments are provided with corresponding pallets on which workpieces in the form of metal plates can be loaded. Above the storeroom 2, a movable image acquisition device 7 is arranged in the form of a 3D camera, which can be moved along a linear suspension by means of an actuator system 8. In other words, the suspension comprises a corresponding actuator system 8, by means of which the image acquisition device 7 can be moved along the suspension.

[0039] A robotic device 3, movable along guides 4, is provided for automatically handling corresponding workpieces in the storehouse 2. The robotic device 3, shown here only diagrammatically, can automatically remove workpieces from the storehouse via an articulated assembly (not shown), for example by means of a gripper or via a suction cup. The removed workpieces are then transported by the robotic device 3 to a bending machine 5, which is known per se and is therefore only diagrammatically shown in FIG. 1 . The robotic device 3 delivers the workpiece to be processed to the bending machine 5, which deforms the workpiece by applying a force via a bending beam. The deformed workpiece can then be placed in a corresponding storehouse, which can also be accommodated in the storehouse 2.

[0040] To ensure automatic processing of the workpieces by the robotic device 3, a control device 6 is provided which evaluates the image data ID acquired by the image acquisition device 7. It should be noted that a number of markings are provided in the storehouse 2 at known three-dimensional positions, and the image data ID is taken into account when processed by the control device 6. For clarity, the markings are not visible in the schematic diagram of Figure 1. However, the markings are obtained from an embodiment of the device according to the invention which is described in more detail below (see in particular Figure 3).

[0041] By evaluating the image data ID containing the markings, the current three-dimensional position CL of the image acquisition device 7 relative to the stationary reference frame RC can be determined by comparing the markings contained in the image data with their known positions. Known methods can be used for this. In this way, an external calibration can be performed for any position of the image acquisition device 7. Using the determined position CL of the image acquisition device 7, the three-dimensional position WL of the corresponding workpiece in the stationary reference frame RC to be grasped by the robotic device 3 can again be determined using known methods by further evaluating the acquired image data ID. Using this position information, the control device 6 can appropriately control the robotic device 3 to retrieve the corresponding workpiece from the storage 2 and feed it to the bending machine 5 for deformation.

[0042] Figure 2 shows a side view of a storage 2 in a variant of the device according to the invention. In contrast to the device in Figure 1, the storage 2 includes a total of four storage compartments 201, 202, 203, and 204. As also shown in Figure 3 below, according to the Cartesian coordinate system of x, y, and z axes shown in Figure 2, the storage compartments are arranged adjacent to one another in the y direction of the coordinate system. Each storage compartment includes a corresponding storage area 9 in the form of a pallet, which can hold corresponding workpieces 10 in the form of sheet metal. As an example, two layers of workpieces 10 are shown in the third storage area from the left.

[0043] The linear actuator system 8 already mentioned above is arranged vertically above the storage cabinet 2 (i.e., in the z direction of the illustrated coordinate system), allowing the image acquisition device 7 to be moved linearly in the y direction. The direction of movement of the image acquisition device is indicated by the arrow P. In FIG. 2, the image acquisition device 7 is located at position CP1 above the left pallet, while at position CP2 it is located above the third pallet from the left. The detection area DE of the image acquisition device 7 is shown as an example of position CP2. The planar coverage of the detection area in plan view correlates with the corresponding storage compartments 201-204, as can be seen in FIG. 3, which will be described in more detail below.

[0044] 2, the workpieces 10 can be acquired in each of the storage compartments 201-204 by appropriately positioning the image acquisition device 7 above each storage compartment. Therefore, the robot device 3 can handle the workpieces in an area extending in the y direction using the corresponding image data of the storage compartment.

[0045] FIG. 3 again shows a plan view of the four storage compartments 201, 202, 203, and 204 from above. As can be seen, the storage compartments have rectangular outlines. Storage compartment 203, which corresponds to the plan view of the detection area DE in FIG. 2, is shown in dashed lines. The other storage compartments are shown in dotted lines. Each storage compartment is correlated with the location of the image capture device 7 above the center of the corresponding storage compartment. As can be seen from FIG. 3, each of storage compartments 201-204 includes a storage area 9 in the shape of a rectangular pallet, and each pallet is uniquely assigned to a storage compartment. Also, markings M1, M2, ..., M10 of known three-dimensional spatial positions PO1, PO2, ..., PO10 are provided at the corners of storage compartments 201-204. The markings and their positions are stored as digital data in control device 6.

[0046] Each of the markings M1-M10 is formed by two opposing black circle segments with a common center. This optical structure allows for highly accurate identification of the markings in the image data ID acquired by the image acquisition device 7. Each of the storage compartments 201-204 includes four markings at the corners of its rectangular outline. The storage compartments overlap each other so that two markings in each storage compartment also belong to adjacent storage compartments. Specifically, storage compartment 201 includes markings M1, M2, M3, and M4. Storage compartment 202 includes markings M3, M4, M5, and M6, with markings M3 and M4 also belonging to storage compartment 201. Storage compartment 203 includes markings M5, M6, M7, and M8, with markings M5 and M6 also belonging to storage compartment 202. Storage compartment 204 includes markings M7, M8, M9, and M10, with markings M7 and M8 also belonging to storage compartment 203.

[0047] To handle a workpiece in the storage compartment 203, for example, the image acquisition device 7 is moved by the linear actuator system 8 to the position CP2 shown in FIG. 2 . Image data ID is then acquired via the image acquisition device 7. The image data includes markings M5, M6, M7, and M8. By comparing the positions of the known markings with their positions in the image data, the exact three-dimensional position of the image acquisition device 7 at its position CP2 can be determined in a known manner. In other words, an external calibration of the image acquisition device 7 can be performed instantaneously. By means of this external calibration, i.e., using the position of the image acquisition device 7, the three-dimensional position of the workpiece to be processed above the corresponding layer can be determined by the control device 6 by evaluating the known image data ID, and the robot device for handling the workpiece can be appropriately controlled.

[0048] In the embodiment described herein, multiple markings are used simultaneously for adjacent storage compartments, thereby reducing the number of markings required. Furthermore, the shape of the markings ensures accurate identification of the image data ID, improving the accuracy of the placement determination of the image capture device 7.

[0049] 4 shows again the essential steps performed by the device described above in connection with the automated bending of workpieces. According to step S1, the image acquisition device 7 is first moved to the location of the storage compartment where the workpiece is to be gripped by the robot device 3 (e.g., position CP2 in FIG. 2). In step S2, three-dimensional image information ID of the storage compartment is acquired by the image acquisition device 7. This image information includes, in addition to the gripped workpiece, four corresponding markings. When the image acquisition device 7 is at position CP2, these are markings M5, M6, M7, and M8. Then, in step S3, the three-dimensional position CL of the image acquisition device 7 relative to the aforementioned stationary reference frame RC is determined using known methods. This step thus realizes an external calibration of the image acquisition device at the associated position.

[0050] Finally, in step S4, the three-dimensional position WL of the workpiece to be grasped relative to the reference coordinate system RC is determined using the three-dimensional position CL of the image capture device 7, and the robot device 3 is controlled based on the position WL. In other words, the robot device moves into the storage 2 by its articulated assembly and picks up the workpiece to be grasped from the corresponding stack, for example, via a suction cup. The robot device 3 then supplies the picked workpiece to the bending machine 5 for performing the bending process.

[0051] The above-described embodiment of the present invention has many advantages. In particular, the movable image capture device allows for a significantly increased field of view of stored workpieces, allowing for the use of workpiece stores with significantly larger areas without the need for multiple image capture devices for automated workpiece handling. In this way, it is also ensured that the image capture device is correctly calibrated after being moved, which is achieved by external calibration via appropriate markings.

[0052] The markings may be designed differently depending on the embodiment. They must be distinguishable from the corresponding image data from the image acquisition device. The markings do not necessarily have to be distinguishable from one another. However, the markings may be designed to be optically distinguishable from one another, which can be achieved, for example, by optical coding. In a preferred embodiment, the markings can be used simultaneously by different storage compartments to reduce their number. [Explanation of symbols]

[0053] 1. Automatic workpiece bending equipment 2 Storage 201, 202, 203, 204 Storage Area 3. Robotic Devices 4 Guide 5. Bending machines 6. Control device 7. Image acquisition device (camera) 8 Actuator System 9 Storage area (transport equipment) 10 Workpiece (metal plate) RC reference frame ID image data Positioning of CL image acquisition device WL Placement of workpiece to be processed / held CP1, CP2 positions (camera positions) DE Image capture device detection area P Prescribed direction (direction of movement of image acquisition device) M1,M2,...,M10 markings (passive or active) PO1,PO2,...,PO10 marking positions S1, S2, S3, S4 steps

Claims

1. An automatic bending apparatus for workpieces (10), comprising: a storage (2) for workpieces (10); a robotic device (3) for handling the workpieces (10); and a bending machine (5) for deforming at least some of the workpieces (10) handled by the robotic device (3) through a bending process, wherein the apparatus (1) also comprises an image acquisition device (7) for acquiring image data (ID) relating to the workpieces (10) in the storage (2) that it handles; and a control device (6) for controlling the robotic device (3) using the image data (ID), The image capture device (7) is movable via an actuator system (8) to different positions (CP1, CP2) to capture image data (ID) from different storage compartments (201, 202, 203, 204) of the storage vault (2) associated with each of the positions (CP1, CP2), a plurality of markings (M1, M2, ..., M10) are provided on the storage vault (2), positions (PO1, PO2, ..., PO10) of the markings relative to a reference coordinate system (RC) are stored in the control device (6), and the positions (CP1, CP2) of the image capture device (7) in the associated storage compartments (201, 202, 203, 204) are stored in the plurality of markings.

1. The apparatus according to claim 1, wherein the apparatus comprises at least two markings (M1, M2, ..., M10) of the associated storage compartments (201, 202, 203, 204), the control device (6) being configured to perform an evaluation of the image data (ID) of the associated storage compartments (201, 202, 203, 204), and wherein the stored positions (PO1, PO2, ..., PO10) of the markings (M1, M2, ..., M10) in the associated storage compartments (201, 202, 203, 204) automatically determine a position (CL) of the image acquisition device (7) and / or a position (WL) of a workpiece (10) to be machined relative to the reference coordinate system (RC).

2. 2. Apparatus according to claim 1, characterized in that the image acquisition device (7) is a 3D image acquisition device, preferably a 3D camera device, for acquiring three-dimensional image data (ID).

3. 3. The device according to claim 1 or 2, characterized in that separate storage areas (9) for the workpieces (10) are assigned to storage compartments (201, 202, 203, 204), the individual storage compartments (201, 202, 203, 204) completely covering the assigned storage areas (9) in a plan view, and the individual storage areas (9) are preferably transport devices for storing the workpieces (10).

4. Device according to any one of claims 1 to 3, characterized in that the storage compartments (201, 202, . . . , 204) are arranged adjacent to one another in a predetermined direction (P).

5. Apparatus according to any one of claims 1 to 4, characterized in that the image acquisition device (7) is linearly movable by an actuator system (8).

6. 7. The device according to claim 1, wherein all markings (M1, M2, ..., M10) of the plurality of markings (M1, M2, ..., M10) are arranged on the floor of the storage cabinet (2) and / or at a height of up to 500 mm from the floor, and wherein the image acquisition device (7) is movable above the storage cabinet (2).

7. 7. The device according to claim 1, wherein at least three storage compartments (201, 202, 203, 204) are provided, preferably 3 to 10 storage compartments (201, 202, 203, 204), particularly preferably 4 storage compartments (201, 202, 203, 204).

8. 8. The device according to claim 1, wherein at least two markings (M1, M2, ..., M10) in individual storage compartments (201, 202, 203, 204) of at least some of the storage compartments (201, 202, 203, 204), preferably in each storage compartment (201, 202, 203, 204), represent a subset of the plurality of markings (201, 202, 203, 204).

9. 9. The device according to claim 1, wherein the at least two markings (M1, M2, ..., M10) in individual storage compartments (201, 202, 203, 204) of at least some of the storage compartments (201, 202, 203, 204), preferably in each storage compartment (201, 202, 203, 204), are at least three markings (M1, M2, ..., M10), preferably at least four markings (M1, M2, ..., M10).

10. 10. The device according to claim 1, wherein one or more markings (M1, M2, ..., M10) in individual storage compartments (201, 202, 203, 204) of at least some of the storage compartments (201, 202, 203, 204), preferably in each storage compartment (201, 202, 203, 204), preferably two markings (M1, M2, ..., M10), also belong to storage compartments (201, 202, 203, 204) other than the individual storage compartment (201, 202, 203, 204).

11. 11. The device according to claim 1, wherein individual storage compartments (201, 202, 203, 204) of at least some of the storage compartments (201, 202, 203, 204), preferably each storage compartment (201, 202, 203, 204), have a polygonal, in particular rectangular, outer shape in plan view.

12. 12. Device according to claim 11, characterized in that markings (M1, M2, . . . , M10) are provided at one or more corners, preferably at each corner, of the polygonal contour.

13. 13. Device according to any one of claims 1 to 12, characterized in that the markings (M1, M2, ..., M10) have different optical designs to be distinguishable by the control device (6), in particular they comprise optical codes.

14. 14. The device according to claim 1, wherein an individual marking (M1, M2, ..., M10) of at least some of the plurality of markings (M1, M2, ..., M10), in particular each marking (M1, M2, ..., M10), comprises at least two circular arcs having a common center.

15. A method for automatic bending of workpieces using the device (1) according to any one of claims 1 to 14, comprising the steps of: the image capture device (7) is moved via the actuator system (8) to different positions (CP1, CP2) to capture the image data (ID) from the different storage compartments (201, 202, 203, 204) of the storage (2) associated with each position (CP1, CP2); A method characterized in that the control device (6) performs an evaluation of the image data (ID) of the associated storage compartments (201, 202, 203, 204).

Images