Design of a gripper for laser cutting machines to select parts

Abstract

To provide an approach with which gripping tools can be used in a process-reliable manner for different applications.SOLUTION: A design unit (KO) and a computer-implemented method for calculating a design data set (kds) for designing a part-specific gripping tool (W) for gripping parts (P) that have to be transported from or to a processing machine (L) is disclosed. The method includes the steps of: providing part parameters (pp) for at least one part (P) which is to be gripped with the part-specific gripping tool (W) (S1); and executing a design algorithm (KA) which designs the part-specific gripping tool (W) from the part parameters (pp) provided and thereby outputs a gripping tool data set (gds) as a result (S3).SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to the design of a gripper for gripping a cut or processed piece or part, for example, cut or processed by a laser cutting machine. The gripper that is designed needs to be specifically sized for the cut part. [Background technology]

[0002] The parts machined by the laser machine are usually presented on a device, for example in the form of a table (for example a shuttle table), for picking or removal by a robot.

[0003] For this purpose, two types of grippers are known in the prior art: dedicated grippers designed specifically for the respective transport task or for the part to be transported, and multifunctional grippers that can be used for different transport tasks or for different parts (e.g. parts of different weights, shapes and / or sizes).

[0004] Although dedicated grippers have a high process reliability, they have the disadvantage that complex processes must be carried out to develop the gripper using known systems of the prior art.

[0005] Multifunctional grippers can be used in many different applications, but have the drawback that they do not function in a process-reliable manner for certain parts. US Patent Application Publication No. 2016 / 288194 (A1) describes a method and device for robotically positioning a workpiece-specific component that is manually attached to a support in an automated press. US Patent Application Publication No. 2016 / 082660 (A1) describes a method for designing and manufacturing customer-specific components for clamping and / or gripping objects within an internet-based access portal. Proceedings of the 2009 International Forum on Computer Science Technology and Applications (IFCSTA 2009): "Intelligent Design Approach for Vacuum Suction Cup Units in Aircraft Flexible Assembly" describes the structure and properties of vacuum suction cups used in flexible aircraft assemblies by using a parametric 3D semantic model that is adopted in a so-called flexible fixture mechanism based on CAD. Summary of the Invention [Means for solving the problem]

[0006] This is where the present invention comes in. The aim of the present invention is to provide an approach that allows the gripper to be used for different applications (e.g. for different handling tasks and / or pieces or parts) in a process-reliable manner.

[0007] According to a first aspect of the invention, this object is achieved by a computer-implemented method for calculating a design data set for designing a part-specific gripping tool, in particular a modular gripping tool (consisting of modular components), for fully automatic, in particular robot-based gripping of parts (i.e. components that need to be carried by a robot). The part can for example be a processed or to-be-processed piece of a processing system, for example a laser processing system (e.g. a laser cutting system), or a bent piece of a bending machine. The method comprises the following method steps: - providing part parameters of at least one part to be gripped by the gripping tool, the gripping being for sorting or separation, for transport, for addition and / or removal and / or separation or may be performed within the scope of the aforementioned processes. - executing or using a design algorithm (KA) that results in a gripping tool data set (gds) by designing a part-specific gripping tool (W) from the provided part parameters (pp).

[0008] The solution presented here has the advantage that grippers can be provided more quickly, with higher process reliability or with improved fit accuracy for the respective gripping task. Thus, the robot (gripping robot) can be loaded and operated quickly. Thus, the overall processing time can be reduced. Thanks to the knowledge-based design, grippers can also be designed better, avoiding errors caused by imprecise manual design. The design algorithm calculates the optimal gripper shape for the respective gripping task (part, movement). The design algorithm can result in automatic creation of a design drawing (CAD, etc.) of the gripper, especially if the optimal gripper shape is not available or cannot be assembled locally on the processing machine. In this case, a parts list of the necessary components (suction cups, magnets, connectors, etc.) can also be created automatically.

[0009] In a preferred embodiment of the invention, the part parameters can include all parameters related to the design of the gripping tool to grip the part. The part parameters can be selected from the group including weight, center of gravity of the part, cutouts or protrusions in the part, bending-related parameters, and parameters based on the design and material of the part. In order to plan the method specifically for the respective application, it is advantageously possible to set the part parameters in a setting phase of the method. This means that the part parameters that will be taken into account in the design calculations can be set. In an advantageous development of the invention, the part parameters can be calculated from the recorded cutting plan. Only the cutting plan is provided, and then the parameters are calculated from the provided cutting plan and imported for the design algorithm. This allows the computer-implemented method to be planned and adapted even more accurately.

[0010] In a further preferred embodiment of the invention, the gripper may have a modular structure made from a certain number of gripper components. Availability data may be kept in a database, representing which grippers and / or which gripper components (e.g. suction cups, magnets, arms, etc.) are currently available locally. For this purpose, an availability file may be maintained and continuously updated, so that grippers in the form of modular construction kits are "selectable" or combinable from a number of components. The database and / or the availability file are accessed using the provided gripper data set. The assembly instructions may automatically comprise selection commands for selecting the components to assemble into the gripper.

[0011] By "available gripper" is meant either a fully designed gripper or a gripper that can be designed from available components (e.g., suction cups, base plates, magnets, hoses, connection elements). If a gripper or its components are locally available, a corresponding availability message can be output on the user interface (e.g., in the form of a report).

[0012] If the gripping tool is not available locally or if all required components are not available locally on the machine tool, the gripping tool data set is used to create a design data set, which is then used to design the gripping tool. The design data set may include, for example, a parts list. The design data set may also include assembly instructions.

[0013] Thus, in this advantageous embodiment of the invention, a design data set can be created from the gripping tool data set, for example in the form of a STEP file. STEP stands for STandard for the Exchange of Product model data and is a standard for describing product data. This includes the physical aspects of the gripping tool as well as its functional aspects. STEP is formally defined in ISO 10303. A design data set is preferably only generated if the designed gripping tool is not locally available. "Locally available" here means availability on or at the processing machine. For this purpose, a storage module can be provided in which a certain number of gripping tools are stored together with their components. This has the advantage that a design data set is only created if necessary, and thus the gripping tool cannot be used for a subsequent transport task.

[0014] The term "gripping tool dataset" in this application relates to an electronic dataset used to specify and / or identify a gripping tool and / or to determine and / or select it from a number of different gripping tools. A gripping tool dataset includes at least the following three parameters: 1. Grip type (pneumatic, magnetic, etc.), 2. Grip size, and 3. The number of gripping parts is included.

[0015] In other embodiments of the present invention, further specifications may be made.

[0016] The design data set, which is preferably created only if no grippers are already locally available, may contain a parts list. The design data set preferably contains design data for producing a gripper holder, onto which the different and at least the required grippers can be mounted.

[0017] For example, all gripping tools available in the local warehouse or storage module of the laser processing machine are represented in the availability file. If the gripping tool data set now specifies that a certain number of gripping tools A, B, and C (with fully assembled components A1, A2, B1, B3, B5, and C) are required for each transport or gripping task, a simple access to the availability file or a simple read function can be used to check whether all gripping tools are available locally and whether the grippers can be loaded and operated. In this case, there is no need to further calculate the design data set, saving computational load. Otherwise, the gripping task cannot be performed with the locally available gripping tools and the design data set needs to be calculated.

[0018] In a preferred embodiment of the present invention, the design algorithm has access to a database with stored part and gripping tool data, which may store, for example, the assignment of gripping tools and their components, each of which is required for a gripping task.

[0019] The design algorithm can be designed in two parts. The design algorithm comprises a gripper determination function that determines the type, size and minimum required number of grippers, and a position calculation function that determines the position of each gripper. These two functions can be executed in different time phases, preferably consecutively. The gripper determination function is preferably executed before the position calculation function and imports the part parameters as input variables. The position calculation function can import the results of the gripper determination function. The position calculation function can also import acceleration values ​​for moving the part or other movement parameters characterizing the part transportation task and / or can import data from a physical model of the part, for example determining the center of gravity of the part based on the part parameters.

[0020] Essentially, a design algorithm is used to calculate the optimal size of the gripper (e.g., suction cup) depending on the geometry, material, material thickness, and / or cycle time, and also the minimum number of grippers required to ensure a clean removal. This information (which suction cups and how many of them) as a function of the acceleration value is used as input to calculate the optimal position of the gripper head (position calculation function). For example, if only one suction cup is needed, the gripper head position is placed as close as possible to the axis of gravity (a physical model is used to calculate the center of gravity) to ensure that the part is lifted accurately. If two or more suction cups are needed, they are placed as far away from each other as possible.

[0021] A position specification for each component of the gripper can be set to perform the position calculation function. The position calculation function can perform a brute force algorithm, a randomized algorithm, and / or a mixed format. These approaches are explained in more detail in the detailed description of the figures.

[0022] In another preferred embodiment of the invention, the gripper can be operated by a robot that is part of a pick-and-place application.

[0023] In another preferred embodiment of the present invention, the design data set can include a parts list (e.g., as a STEP file) of the designed gripper. The design data set can also include position specifications for the gripper components (such as suction cups).

[0024] In further developments, this position specification can be configurable. For example, in the configuration phase, the position specification can be set so that the suction cup essentially engages the center of gravity of the part. This has the advantage that the user can incorporate certain empirical values ​​into the calculation (e.g. "Component X, which always had gripper A at its tip, was never gripped reliably, so it is better to use gripper A'").

[0025] In a further advantageous embodiment of the invention, the design algorithm can import an electronic cutting plan for a cutting machine (e.g., a laser cutting machine) and / or a bending plan for a bending machine, either cumulatively or as a substitute for the part parameters. For example, the shape and size of the grips and other parameters can be calculated from the cutting plan. It is also possible to import only the cutting plan and calculate the part parameters from that plan.

[0026] In a further advantageous embodiment of the present invention, if the design algorithm is unable to calculate the outcome of a pending gripping task or is unable to design a gripping tool for the part to be gripped, an error message (or report) can be generated and output.

[0027] In a further advantageous embodiment of the invention, an interface of the automated handling system and / or the laser system and / or the ordering application to the storage for the grippers and their components can be formed. Appropriate instructions are provided for instructing the respective storage. For example, in response to an instruction signal, an automatic ordering process can be triggered for the gripper designed according to the design data set. Similarly, based on the assembly instructions provided by the design unit, the storage can be instructed to select the required components taking into account the positions of the grippers calculated by the position calculation function and load them into the carrier or gripper holder.

[0028] In a further aspect, the present invention relates to a design unit for calculating a design data set for designing a gripping tool for a processing system, the processing system comprising: - an import interface for importing part parameters of at least one part to be accessed on, at or by the machine tool; - a processing unit responsive to the imported part parameters for executing a design algorithm for designing a part-specific gripper using the imported part parameters and outputting a resultant gripper data set.

[0029] In a further aspect, the invention relates to a processing machine, for example a cutting or bending machine, equipped with such a design.

[0030] The processing machine is preferably a metal processing machine, in particular a laser system such as a laser cutting or bending machine. The pieces processed by the processing machine, referred to herein as parts, need to be transported. To do this, they need to be individually grasped according to their size, shape, weight, material and / or other parameters.

[0031] A laser cutting system can perform separate or corresponding cutting plans on different sheet metal pieces in sequence. The cutting results in cut parts, which always need to be transported and in particular discarded. Using the design algorithm proposed herein, it is advantageously possible to design and devise a gripper in such a way that it is suitable for multiple cutting plans and thus multiple sequences of cut parts. For example, if a first cutting plan is used to cut a first sheet and then a second cutting plan is used to cut a second sheet (thus involving another cut part), the gripper can be advantageously designed for multiple cutting plans of the cutting machine, which are performed one after the other on the cutting machine. This means that the setup time for loading the gripper can be avoided and the overall process time can be reduced.

[0032] A part is a part or component that is processed or is already in a processed form by a processing machine, for example a cut-out part that is cut from a workpiece or scrap skeleton by a laser cutting machine and needs to be removed from the scrap skeleton. The part can have a substantially two-dimensional shape (cut sheet metal part) or a three-dimensional shape (bent part). The shape of the part can be symmetrical or asymmetrical. It is clear that a small flat piece or part can be gripped with a different gripper than a large thick metal part, which may require multiple grippers for the gripping task. In a preferred embodiment of the invention, the part is made of metal and is defined by a cutting plan. The parts can have different shapes, sizes, and / or weights. The material and / or density of the parts can also be different.

[0033] The gripper is used to grab one or more parts and transport them to, for example, sort parts from a shuttle table or a cutting table, or transport scrap skeletons from a shuttle table, or for other transports, to separate, remove, add, stack, bend, etc. The gripping task can be performed, for example, using a robot in the context of a Cartesian coordinate system in pick-and-place applications. A gripper can be designed to grip exactly one part, for example using a pneumatic or magnetic suction cup. However, a gripper can also be designed to grip several parts simultaneously, for example using a gripper to decouple adjacent parts from each other. For complex parts, it may be necessary to provide several grippers for one part in order to transport the part. This can be important, for example, if the part is very heavy and / or large and / or if the gripping or transporting task has special requirements or prerequisites, such as the part can only be moved completely horizontally.

[0034] The gripping tool can have a modular structure. It can comprise at least one pneumatic, mechanical, magnetic and / or adhesive gripping component. It can comprise a connection element for connecting (mechanically and electronically) with an actuator / drive element, for example in the form of a robot arm. On the connection element (for example a bracket) further mechanical components can be arranged which can serve to receive a base plate or a holder. At least one gripping component is (preferably detachably) attached to the base plate. Depending on the embodiment and configuration of the invention, several different or identical gripping components can also be attached to the base plate. Depending on the gripping task and the part, the gripping components can be calculated and the calculated gripping components can be loaded into the gripping tool.

[0035] The term "part parameters" relates to a number of parameters characterizing the part to be gripped with regard to physical, mechanical and / or other technical properties, such as size, shape, weight, material, etc. In a preferred further development of the invention, at least one part parameter can be calculated from other part parameters and / or other characteristic values.

[0036] The design algorithm is a computational specification that designs a part-specific gripper from imported part parameters and outputs a resulting gripper data set.

[0037] In the following detailed description of the drawings, non-limiting exemplary embodiments, together with features and further advantages thereof, are described with reference to the drawings. [Brief description of the drawings]

[0038] [Figure 1] FIG. 1 is a diagram of a laser cutting machine with a shuttle table on which cut parts are placed and need to be sorted by a robotic gripping device. [Diagram 2] FIG. 1 is a schematic diagram of a computer part that is designed as a design part KO and is determined based on part parameters for calculating a design data set. [Diagram 3] 2 is a flow chart of a method according to a preferred embodiment of the present invention. [Figure 4a] FIG. 2 is a side view of a gripping device with a two-element gripper according to a preferred embodiment of the present invention. [Figure 4b] FIG. 2 is a side view of a gripping device with a one-piece gripper according to a preferred embodiment of the present invention. [Diagram 5] 1 is an example of a sheet metal part with cutouts for calculating gripper placement. [Figure 6] 13 is a further example of a sheet metal part with cutouts for calculating the placement of grippers. [Figure 7] 13 is a further example of a sheet metal part with cutouts for calculating the placement of grippers. [Figure 8] 1 is an alternative form of gripper holder in the form of a U-rail according to a preferred embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0039] 1 shows an exemplary diagram of a shuttle table WT of a laser processing machine, in particular of a laser cutting system L, on which the cut parts P are placed. The cut parts P have to be picked up and transported therefrom by a robotic gripping device, in particular they have to be removed from a scrap skeleton and stacked, for example, on a pallet. Depending on the cutting plan, different types (shapes, sizes) of parts P can be transported and therefore also picked up.

[0040] Depending on the size, shape and other parameters of the parts P, different gripping tools W are required to be able to perform the gripping task. For example, a large and heavy part P requires a stronger gripping tool W with correspondingly stronger gripper components (e.g. mechanical, magnetic or pneumatic suction cups) compared to a small and light part. According to the invention, the design of the gripping tool W is advantageously part-specific. Thus, a first number of parts P1 is gripped by a first gripping tool W1, while a second number of parts P2 is gripped by a second gripping tool W2. The numbers are characterized by respective part parameters P. The part parameters P can be calculated partially or completely from the cutting plan of the laser processing machine.

[0041] The gripper W can be attached to the robot arm via a connecting element such as a so-called gripper holder or gripper plate. The robot arm with the gripper W movable in three spatial axes forms a gripping device.

[0042] In a preferred embodiment of the invention, if a standard part (e.g. suction cup 80) is not available or cannot be used for the pending gripping task, a gripper plate 30 (Fig. 4a) or gripper holder (rail) 40 (Fig. 4b), 10 (Fig. 8) is automatically designed. The gripper plate 30, 40 is designed in such a way that the required part K can be attached in a calculated position (by the position calculation function PBF).

[0043] Essentially, end users of laser cutting systems manufacture sheet metal parts in a wide and unpredictable variation. The cut parts P are removed from the sorting device by (e.g. vacuum and / or magnetic) grippers and placed on a pallet. For this purpose, in known systems, it is possible to provide a limited number of prepared grippers. A problem with this system known in the prior art is that these grippers do not fit all possible parts (e.g. because the suction cups can be positioned to cover holes or because the gripper does not cover the part shape). Another problem is that the necessary design knowledge is often not available for the design of new suitable grippers. This is where the invention comes to the rescue, providing a method (as a method of use or application) and a design part KO to automatically design a suitable gripper and finally output it as a 3D file together with a parts list. An electronic description of the sheet metal part (e.g. a STEP file) is loaded into the application. The application checks whether existing grippers are available or provided on site. If an existing gripper does not fit, a suitable gripper G is designed automatically. The method makes use of a database of components, notably based on the modular principle, to automatically design the gripper. For example, different suction cups, magnets, hoses, base plates, etc. are stored. In the design algorithm, factors such as piece dimensions, weight, center of gravity, cut-outs and / or bending problems are calculated and taken into account. After the gripper has been designed, the completed assembly is output as an electronic description (e.g. a STEP file) including a parts list.

[0044] Advantageously, multiple parts P of one cutting plan sp or even multiple cutting plans are taken into account in the design of the gripper. The method can therefore be carried out very efficiently in that, if possible, only one gripper has to be calculated and provided from time to time for a certain number of different cutting plans. Thus, the gripping robot does not have to be modified, and the same gripper can also perform gripping tasks for different parts P and / or different cutting plans.

[0045] To this end, the present invention executes a design algorithm KA on a computer part CPU (eg, a computer, a computer network, a processor, a microprocessor, or an embedded device).

[0046] FIG. 2 shows in the form of a block diagram a design part KO intended as an electronic unit for carrying out the method. The design part KO comprises an import interface ES for importing part parameters pp of at least one part P to be gripped, which is to be processed by a processing machine L, and a processing unit (CPU) for executing a design algorithm KA capable of designing a part-specific gripping tool W from the imported part parameters pp according to the imported part parameters pp and for providing a gripping tool data set gds as a result (in particular on a user interface UI) or for carrying out further calculation steps. If it is not possible to design a gripping tool for the required gripping task, an error message can be output on the user interface UI. As shown diagrammatically in FIG. 2, the calculated gripping tool data set gds can be further processed in the design part KO. For this purpose, availability data or availability data set vds can also be imported from a database DB, which represent the local availability of the gripping tool W and its components K on or at or for the laser L. These two data sets, namely the gripping tool data set gds and the availability data set vds, are calculated using further algorithms to generate a result in the form of a design data set kds. The design data set kds specifies the necessary specifications for designing the gripping tool W. For this purpose, the design data set kds contains the design instructions and the selected necessary gripping components K as well as the arrangement information of the necessary gripping components K. This has the advantage that the design data set kds only has to be calculated if the necessary specifications of the gripping tool W are not available. Thus, computational resources can be saved.

[0047] The cutting plan sp can also be imported, as shown diagrammatically in Figure 2. The part parameters pp can be calculated from the cutting plan sp using further algorithms. Both the part parameters pp and the cutting plan sp can be imported, for example to verify the accuracy of the imported part parameters pp using data from the cutting plan sp. Alternatively, only the cutting plan sp or the part parameters pp can be imported. The imported data (part parameters pp and / or cutting plan sp) can also be imported as a STEP file.

[0048] The database DB can be connected to the design part KO as an external separate entity via a suitable data connection (LAN, WLAN) as in the example shown in Fig. 2, or can be provided, for example, centrally. However, the database DB can also be designed locally inside the design part KO. The same applies to the user interface UI. The user interface UI can be formed locally on the design part KO or on another electronic entity, for example a mobile unit (such as a smartphone) with a corresponding data connection.

[0049] As shown in Fig. 2, the design part KO can interact with the model M. The model M contains electronic data sets characterizing the mechanical properties of the respective part P, such as center of gravity, weight, length, width, and / or other part-specific parameters specifying a particular gripping tool for a particular gripping task. The model M can be designed to be self-learning and can be fed with the calculated gripping tool data set gds and / or the design data set kds as feedback variables. Furthermore, other feedback variables can be taken into account, such as a user's assessment of the quality of the automatic design.

[0050] FIG. 3 shows the sequence of the method according to a preferred embodiment of the invention. After the start of the method, in step S1, the part parameters are imported via the import interface ES. Additionally or alternatively, in step S2, the cutting plan sp can be imported. It is also possible that the cutting plan or at least a part of the cutting plan is included in the part parameters, so that only the cutting plan sp is imported in step S1, possibly together with selected part parameters pp. In step S3, the design algorithm KA is executed with the imported data, providing a gripping tool data set gds. In the simplest case, the gripping tool data set gds can consist of a certain number of standard parts in stock for the robot arm. The robot then only has to select these standard parts from the warehouse and place them in the correct position, which is done on the basis of the calculated positions. In step S4, the local availability of the designed gripping tool W and its components K is checked. If this is available for the respective gripping task of the gripping tool W of the part P to be gripped, there is no need to create a design data set kds. In step S5, for example, a robot or another actuator simply generates a command to select and retrieve the gripper W or its part or component K from a warehouse. If instead the required component K is not in stock and a gripper W needs to be specially designed, then in step S6 a design data set kds can be calculated and output on a user interface UI and / or sent as a file (specifically a STEP file) to other electronic entities. It may also be that a gripper for the respective part P cannot be designed for the gripping task (e.g. too heavy, too big, etc.). In this case, an error message is output (e.g. on a UI) or made available to other entities in step S7.

[0051] 4a and 4b show the structure of a gripping device. It includes a robotic actuator (e.g. a robot arm, not shown) connected to the gripping device via a coupling 50. The gripping device includes a gripper W, here designed as a suction cup 80. The gripping device also includes a flange 20, a pneumatic distributor 100, a pneumatic connection 90 and a spring plunger 70. The gripping device includes a gripper plate or a gripper holder of different shapes (e.g. a U-shaped rail) on which the (two in this example) suction cups 80 are placed and fastened. FIG. 4b shows a gripping device with a U-shaped mounting bracket 40, which in this case is designed as a gripper holder and serves to receive and mount the suction cups. The mounting bracket 40 can be connected to the coupling 50 via a washer 110 and a ring 120. In this example, the gripping device includes the stopper 10, the screw 160, and further washers 130 and nuts 140 for fastening a part-specific suction cup to the bottom of the mounting bracket 40. Further connection modules can be used to hold modular gripping components K (e.g. suction cups 80). The gripping components K can essentially include different types of suction cups 80 (pneumatic, magnetic, adhesive, etc.) and / or other (e.g. mechanical) gripping components K. The components K are selected specifically for the respective gripping task for the part P to be gripped.

[0052] In summary, a method (and corresponding apparatus) is provided that uses an input design (e.g., a STEP of a part or sheet metal part) to determine which of the existing gripping components (e.g., gripper heads) will fit the part. If the existing components do not fit, the software uses a database of the provided pieces to automatically design a suitable gripper head. This means that the method outputs the completed assembly as a result (e.g., as a STEP file with a parts list). When calculating using the design algorithm, factors such as piece dimensions, weight, and / or bending specific parameters and problems are taken into account. This procedure also communicates why an automatic design is not possible in certain cases.

[0053] The design algorithm KA consists of at least two functions: 1.Grip determination function GBF, and 2. Position calculation function PBF.

[0054] The position calculation function PBF can be implemented using a brute force algorithm, which is based on the following aspects described with reference to the schematic diagram of FIG.

[0055] 1. Continuously check the possible positions of the vacuum gripper to calculate the optimal position of the gripper head on the sheet metal part. Figure 5 shows a simulation of the search for the vacuum gripper position.

[0056] 2. The distance between the circles when searching for possible locations can be parameterized. For example, in Figure 5, the two circles in the top left are spaced farther apart than the following circles on the right. The greater the distance between the circles, the faster the search will be, but the lower the chance of finding a good answer.

[0057] 3. If no solution or no good solution is found (e.g., in Figure 5, the top row of circles is represented by a dashed line), the process can be repeated over shorter distances to find more possible positions.

[0058] 4. After possible positions are obtained (see dotted circle in Figure 5, 3 positions in this example), search for a head base that matches the found vacuum gripper position.

[0059] 5. If there is no existing gripper head, the system will select the best solution and generate a new gripper head.

[0060] A further second option for implementing the position calculation function consists of a randomized algorithm, which is described below with reference to FIG.

[0061] In this second proposal (see Figure 6), the suction cup positions are generated according to a random principle (any circle). Similar to Monte Carlo simulation, a large number of random values ​​are generated and compared to see if they are possible candidates.

[0062] 1. Generate a large number of random values ​​for possible suction cup positions. In Figure 6, the thin dashed circles represent positions that do not meet the requirements. The bold dashed circles are positions that meet the requirements (three positions in this example).

[0063] 2. After the possible positions are obtained (see bold dash-dotted circle in FIG. 6), the gripper head is searched for to match one of the found vacuum positions.

[0064] 3. If there are no possible solutions, the best solution is selected and this becomes the new gripper head.

[0065] A further third option for implementing the position calculation function consists of a hybrid algorithm, which is described below with reference to FIG.

[0066] One of the main drawbacks of the above algorithm is that to obtain a (near) optimal solution, the system needs to determine a very large number of possible positions. Therefore, the system has a certain percentage of inaccuracy. The third version is a mix of the two above versions, trying to take the advantages of both of them.

[0067] The process starts with the second proposed version (Position calculation - Random principle). First, a random search for possible positions of the vacuum gripper (as explained above) is performed. From the found possible positions, a brute force algorithm calculates possible positions in the vicinity of the found point to find the best possible position for lifting the sheet metal part. This not only increases the chances of finding a better position, but also speeds up the process significantly.

[0068] In addition, there are other implementation options for the position calculation function in the application of methods such as artificial intelligence, deep learning, etc. Furthermore, using physical models, the deflection and standard equations of the part can be calculated and the suction cups can be positioned so that no or very little deflection occurs upon removal.

[0069] Figure 8 shows a further example of a gripper holder in the form of an interchangeable frame, identified here with the reference numeral 10. Bores 50 may be formed in the interchangeable frame for receiving further connecting elements as explained above with respect to Figures 4a and 4b.

[0070] Finally, it should be noted that the description and exemplary embodiments of the present invention should not be understood as being limiting with respect to a specific physical realization of the present invention. All the features described and illustrated with respect to the individual embodiments of the present invention can be provided in different combinations in the subject matter according to the present invention in order to simultaneously realize their advantageous effects.

[0071] The scope of protection of the invention is given by the claims and is not limited by the features shown in this specification or illustrated in the drawings.

[0072] It will be particularly apparent to those skilled in the art that the present invention can be used not only in laser cutting systems, but also in other machines and systems in production that require gripping of parts or components. Furthermore, components of a device or design can be manufactured to be distributed across multiple physical products. [Explanation of symbols]

[0073] L Processing machines (especially laser cutting machines) P Part or component WT Shuttle Table W gripper K. Components of the gripping tool KO Design Department CPU Computer section KA Design Algorithm ES Import Interface pp Part parameters gds Grasping tool dataset kds design dataset vds Availability Dataset fn Error Message UI User Interface S1 Provide part parameters S2 Import from cutting plan S3 Run the design algorithm to calculate the gripper data S4 Check local availability of all components K / grippers W S5 Generate assembly instructions Generate S6 design dataset Generate S7 error message

Claims

1. 1. A computer-implemented method for designing a part-specific gripper (W) for gripping a part (P) that needs to be transported to or from a processing machine (L), comprising: A step (S1) of providing part parameters (pp) of at least one part (P) to be gripped by the part-specific gripper (W); executing (S3) a design algorithm (KA) based on the provided part parameters (pp) to result in a gripper data set (gds) representative of characteristics of the part-specific gripper (W), including at least one of a gripper type, a gripper size, or a number of grippers of the part-specific gripper (W); Identifying components (K) required for the part-specific gripper (W) represented by the gripper data set (gds) in response to an instruction from a user; Including, When the components (K) constituting the part-specific gripper (W) indicated by the gripper data set (gds) are in stock, the part-specific gripper (W) is assembled, and when the components (K) constituting the part-specific gripper (W) indicated by the gripper data set (gds) are not in stock, a design data set (kds) indicating specifications necessary to design the part-specific gripper (W), including a parts list for the part-specific gripper (W), is output on a user interface (S6). A method comprising:

2. The part parameter (pp) is the weight and / or centre of gravity of said part (P), cut-outs or protrusions in said parts; and / or Bending related parameters, and / or Other design parameters, and / or including a parameter based on the material of the part (P), 2. The method of claim 1 .

3. said design algorithm (KA) being divided into two parts, including a gripper determination function (GBF) for determining the type, size and / or minimum number of grippers required, and a position calculation function (PBF) for determining the position of each gripper; 3. The method according to claim 1 or 2.

4. The position specification of the component (K) of the part-specific gripper (W) can be configured in the position calculation function (PBF); 4. The method according to claim 3 .

5. At least one acceleration value is processed as an input variable in said Position Calculation Function (PBF); 5. The method according to claim 3 or 4.

6. The position calculation function (PBF) performs a brute force algorithm, a randomized algorithm, and / or a hybrid format.

5. The method according to claim 3 or 4.

7. A design data set (kds) indicating specifications necessary to design the part-specific gripping tool (W) available for the part (P) includes a parts list for the designed part-specific gripping tool (W) together with the components (K) and connecting parts. The method according to any one of claims 1 to 6.

8. The part-specific gripper (W) has a modular structure consisting of a certain number of the components (K); The method according to any one of claims 1 to 7.

9. The part-specific gripper (W) is operated by a robot that is part of a pick-and-place application. The method according to any one of claims 1 to 7.

10. To execute said design algorithm (KA), in addition to said part parameters (pp), an electronic cutting plan (sp) of said processing machine (L), designed as a cutting machine, is provided; The method according to any one of claims 1 to 9.

11. If the design algorithm (KA) is unable to provide the gripping tool data set (gds), an error message is generated and output. The method according to any one of claims 1 to 10.

12. An interface to an ordering application is formed so that an automatic ordering process of the part-specific gripper (W) can be triggered in response to an instruction signal. The method according to any one of claims 1 to 11.

13. A computer-readable recording medium having recorded thereon a program for causing a computer to execute the method according to any one of claims 1 to 11.

14. A design unit (KO) for designing a part-specific gripping tool (W) for gripping a part (P) that needs to be transported from or to a processing machine (L), an import interface (ES) for providing part parameters (pp) of at least one part (P) to be gripped and processed by the processing machine (L); a processing unit (CPU) intended to execute a design algorithm (KA) in response to the provided part parameters (pp), the processing unit (CPU) resulting in a gripper data set (gds) representative of characteristics of the part-specific gripper (W), including at least one of a gripper type, a gripper size, or a number of grippers of the part-specific gripper (W), based on the imported part parameters (pp); In response to an instruction from a user, components (K) required for the part-specific gripper (W) represented by the gripper data set (gds) are identified, and if the components (K) constituting the part-specific gripper (W) indicated by the gripper data set (gds) are in stock, assembly instructions for assembling the part-specific gripper (W) are output, and if the components (K) constituting the part-specific gripper (W) indicated by the gripper data set (gds) are not in stock, a design data set (kds) indicating specifications required for designing the part-specific gripper (W) usable for the part (P), including a parts list of the part-specific gripper (W), is output on a user interface. A design department (KO) characterized by:

15. The device has a design department (KO) according to claim 14. A processing machine (L).

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