Computer-assisted palletizing method

Abstract

The invention relates to a computer-assisted palletizing method (10) for equipping at least one transport aid (12) with workpieces (16, 18) produced by a processing machine (14), in particular a cutting machine, by removing the workpieces (16, 18) from a removal region (22) of the processing machine (14) and arranging the workpieces (16, 18) on the at least one transport aid (12) in an unloading region (24) of the processing machine (14) by means of a removal device (20), comprising the following method steps: b) providing (26) at least one loading condition of a loading device (28) for loading at least one subsequent processing machine (30), which follows the processing machine (14) in the process, with at least one of the workpieces (16, 18) arranged on the at least one transport aid (12), wherein the loading condition comprises information for receiving the at least one workpiece (16, 18) from the transport aid (12) by means of the loading device (28); c) creating (38) a palletizing plan (40) for the removal device (20) according to the at least one loading condition, wherein the palletizing plan (40) comprises at least one palletizing condition for arranging the workpieces (16, 18) to be palletized on the at least one transport aid (12); d) transmitting (42) the palletizing plan (40) to the removal device (20).

Description

[0001] Computer-aided palletizing process

[0002] Background of the invention

[0003] The invention relates to a computer-aided palletizing method for loading at least one transport aid with workpieces.

[0004] Such processes are carried out in the prior art on machine tools that separate workpieces from a blank or sheet metal panel. The workpieces are then, preferably automatically, sorted out of a machining area of ​​the machine tool by an unloading device. Sorting typically takes place onto provided transport aids, for example, pallets, which facilitate the removal of the workpieces.

[0005] To maximize the utilization of available transport equipment, workpieces are often arranged in stacks. These stacks are typically placed as close together as possible on the transport equipment.

[0006] EP 3 514 639 A1 describes a common method for palletizing parts manufactured in a machine tool. Each part is gripped by a gripping device after machining and transported to an unloading area. Before or during this transport, the available storage space in the unloading area is recorded and transmitted to a data processing unit. Using this data, a palletizing algorithm determines the storage location for the part to enable space-saving and optimized utilization of the transport equipment.

[0007] To enable the densest possible arrangement of workpieces on the transport device and to avoid collisions with already palletized workpieces, conventional palletizing methods require the gripper dimensions of the gripping device to be taken into account during palletizing. This allows the stacking on the transport device to be achieved with just the right density to allow palletizing of the workpieces without the gripper colliding with already palletized workpieces. This is particularly advantageous for parts whose dimensions are smaller than those of the gripper.

[0008] The known methods optimize the palletizing of parts with respect to the gripping unit of the removal device on the processing device. Subsequent processes are not considered, or only insufficiently. This can lead to the automated removal of parts arranged on the transport aid by a loading device of a subsequent process being impaired or even impossible. This necessitates operator intervention and / or the time-consuming re-sorting of parts on the transport aid, thereby reducing the degree of automation and increasing process duration and costs.

[0009] Object of the invention

[0010] It is an object of the invention to provide a method for palletizing workpieces on a transport aid in which automated removal of the workpieces can be ensured by a subsequent process.

[0011] Description of the invention

[0012] This problem is solved according to the invention by a computer-aided palletizing process with the features of claim 1. The dependent claims describe preferred embodiments of the invention.

[0013] According to the invention, a computer-aided palletizing process is provided. In other words, the palletizing process is carried out using at least one computer, in particular at least one data processing system.

[0014] The palletizing process comprises steps for loading workpieces onto at least one transport device. The palletizing process can involve loading two or more transport devices.

[0015] The creation or production of workpieces is typically carried out using a processing machine. This machine can be a cutting machine, such as a laser cutting machine, or a punching machine. To produce the workpieces, the processing machine usually uses one or more tools to work on a provided workpiece blank, such as a sheet of metal. In the case of a cutting machine, a workpiece is separated from the workpiece blank using laser cutting or punching processes, with or without movement of the blank along a cutting contour.

[0016] The palletizing process is suitable for the planned removal of workpieces from a removal area of ​​the machine tool and for the subsequent arrangement of the removed workpieces on at least one transport aid in an unloading area of ​​the machine tool. The palletizing process typically involves the removal and arrangement of the workpieces using a removal device.

[0017] A transport aid can be understood as a carrying device for workpieces, designed for receiving, storing, and / or transporting workpieces. Preferably, the transport aid is designed as a pallet.

[0018] In other words, "palletizing" can be understood as a process in which workpieces, separated from the workpiece blank, are moved from the picking area to the unloading area of ​​the processing machine. Typically, the workpieces are arranged in stacks in the unloading area. This arrangement can be achieved by placing and / or dropping the workpieces into the unloading area.

[0019] Palletizing can take place after all workpieces to be produced from a single workpiece blank by the machining center have been completed. Alternatively or additionally, it can be stipulated that the workpieces are palletized immediately after each individual workpiece has been completed by the machining center.

[0020] The palletizing process includes at least the following steps:

[0021] In process step b) of the palletizing process, at least one loading condition is provided for a loading device. The loading device is designed to load at least one subsequent processing machine that follows the processing machine in the process. Loading is understood to mean the feeding of at least one of the workpieces arranged on the at least one transport aid.

[0022] Preferably, two or more loading conditions are provided. This allows for the inclusion of further loading criteria, thereby making the palletizing process more reliable.

[0023] The loading condition typically includes information on how the loading device picks up at least one workpiece from the transport aid. For example, but not limited to, the loading condition may include information on the workpiece to be picked up by the loading device, its type, one or more workpiece dimensions, its position, and / or its orientation. Alternatively or additionally, a loading condition may include information on the machining sequence of the workpieces in the subsequent machining center. This allows for consideration of a loading sequence, or a picking-up sequence of the workpieces by the transport aid.

[0024] A further process step c) of the palletizing process involves creating a palletizing plan for the unloading device based on at least one loading condition. This palletizing plan includes at least one palletizing condition for arranging the workpieces to be palletized on the at least one transport aid. In other words, a palletizing plan, or unloading plan, is created for the workpieces to be removed from the unloading area of ​​the processing machine and arranged on the transport aid, taking into account their placement by a loading device of the subsequent process.

[0025] The palletizing condition typically includes information on removing at least one of the workpieces from the removal area and / or arranging at least one of the workpieces on the transport device. For example, but not limited to, the palletizing conditions may include information on the workpiece to be removed, the removal sequence of the workpieces, the position of the workpiece on the transport device, the orientation of the workpiece on the transport device, and / or the formation of a stack.

[0026] In a further process step d) of the palletizing process, the palletizing plan is transmitted to the removal device. Preferably, the manufactured workpieces are palletized taking into account at least the palletizing plan, and in particular, taking it into account completely.

[0027] In summary, the invention relates to a palletizing method for placing workpieces onto a transport aid, wherein a palletizing plan is created for the unloading device for placing the workpieces. This plan takes into account the boundary conditions, or loading conditions, of a subsequent machining process before the workpieces are palletized. This ensures the reliable picking up of the workpieces arranged on the transport aid by the loading device of the subsequent machining machine. The proposed method thus increases the degree of automation of linked machining devices and their process speed, while reducing the susceptibility to errors and the need for operator intervention, and consequently, process costs.

[0028] In a preferred embodiment of the computer-aided palletizing process, at least one loading condition includes information about a disturbance contour of the loading device. A disturbance contour can be understood as the contour or partial contour of the loading device that is moved to receive the workpieces into a loading area of ​​the downstream processing machine. Typically, the disturbance contour of the loading device is formed by a movable gripping device of the loading device. The disturbance contour can, in particular, include multidimensional gripper dimensions. Typically, the palletizing process provides that the disturbance contour is taken into account to prevent collisions between the loading device and the workpieces arranged on the transport aid.The palletizing plan preferably includes palletizing conditions for arranging the workpieces on the at least one transport device. These conditions prevent the presence of other workpieces on the transport device within the interference contour of the loading device when one workpiece is picked up by the loading device. In other words, it is ensured that no other workpiece is located on the transport device within the interference contour of the loading device when one workpiece is picked up by the loading device. This allows the palletizing process to further improve the reliable picking of workpieces by the loading device. A preferred embodiment of the computer-aided palletizing process includes at least one loading condition encompassing a movement area of ​​the loading device.The movement range of the loading device is typically defined by the travel path of its gripper above the transport aid. The palletizing plan typically stipulates that when arranging the workpieces on at least one transport aid, the travel path of the loading device is taken into account when picking up a workpiece from the transport aid. In other words, it is ensured that when the loading device picks up one of the workpieces, none of the workpieces on the transport aid are within the movement range of the loading device. This prevents collisions between the loading device and the workpieces after a workpiece has been picked up. Considering the movement range of the loading device is particularly advantageous for progressive machining centers whose loading devices do not have flexible travel paths to avoid collisions.This enables even more reliable loading of workpieces by the loading device.

[0029] A further preferred embodiment of the computer-aided palletizing process is one in which at least one loading condition includes freedom of movement for the loading device. This freedom of movement can, for example, relate to vertical movement, horizontal movement, and / or rotational movement of the loading device, particularly the gripping device. Knowing the freedom of movement of the loading device allows the palletizing plan to be flexibly adapted to the loading device. Typically, when arranging the workpieces on the at least one transport aid, the palletizing plan stipulates that the workpieces can be removed by the loading device, particularly without collision. This further improves the reliable handling of the workpieces.

[0030] In a preferred embodiment of the computer-aided palletizing method, the at least one loading condition comprises a loading sequence for the downstream machining center. In other words, the loading condition defines the sequence of workpieces to be picked up by the loading device. Typically, when creating the palletizing plan, the loading sequence is considered as a palletizing condition, determining both a picking sequence for the workpieces from the picking area and an arrangement of the workpieces on the at least one transport device. This enables loading and picking of the workpieces according to the loading sequence. As a result, the downstream machining process can be carried out without rearranging the palletized workpieces, thus reducing the process time and increasing the degree of automation.

[0031] In a particularly preferred embodiment of the computer-aided palletizing process, the palletizing plan provides for a removal sequence of the workpieces from the removal area that is reversed to the loading sequence.

[0032] A further development of the computer-aided palletizing process is preferred, comprising the additional process step e), which provides for the transmission of the palletizing plan to the processing device. Preferably, the palletizing plan is partially, and in particular completely, taken into account by the processing device. Particularly preferred is the production plan of the processing device for manufacturing the workpieces to be removed, according to the removal sequence. This enables particularly fast and reliable palletizing of the workpieces.

[0033] In a preferred embodiment, the computer-aided palletizing process includes the additional process step a), which provides for the provision of at least one removal condition for the removal device. Preferably, two or more removal conditions are provided. This allows for the inclusion of further removal criteria, thereby making the palletizing process more reliable. The removal condition typically includes information for removing at least one of the workpieces from the removal area by the removal device. For example, but not limited to, the removal condition can include information about the workpiece to be picked up by the removal device, a workpiece type, one or more workpiece dimensions, a workpiece position, and / or a workpiece orientation.

[0034] A removal condition can alternatively or additionally include information on the processing sequence of the workpieces in the machine. This allows for consideration of a removal sequence or palletizing sequence of the workpieces on the transport device.

[0035] The palletizing process stipulates that the palletizing plan is created based on at least one removal condition. In other words, the palletizing plan is created based on at least one loading condition and at least one removal condition. This ensures that loading by the loading device of the downstream processing machine and removal from the removal area, or unloading onto the transport equipment, can be carried out reliably.

[0036] In a preferred further development of the computer-aided palletizing process, at least one removal condition includes information about a disturbance contour of the removal device. A disturbance contour can be understood as the contour of the removal device, which is moved to arrange the workpieces on the transport aid in an unloading area of ​​the processing machine. Typically, the disturbance contour of the removal device is formed by a movable gripping element of the removal device. The disturbance contour can, in particular, include multidimensional gripper dimensions. The palletizing process typically provides that the disturbance contour is taken into account to prevent collisions between the removal device and the workpieces arranged on the transport aid.The palletizing plan preferably includes palletizing conditions for arranging the workpieces on the at least one transport device. These conditions prevent the presence of other workpieces on the transport device within the interference contour of the loading device when one workpiece is being placed by the unloading device. In other words, it is ensured that no other workpiece is located on the transport device within the interference contour of the unloading device when a workpiece is unloaded by the loading device. This allows the palletizing process to ensure the reliable removal of workpieces.

[0037] A preferred embodiment of the computer-aided palletizing process includes at least one removal condition encompassing a movement area of ​​the removal device. This movement area is typically defined by the travel path of the removal device's gripper above the transport aid. The palletizing plan typically provides that, when arranging the workpieces on the at least one transport aid, the travel path of the loading device is taken into account when unloading a workpiece onto the transport aid. In other words, it is ensured that when the unloading device arranges one of the workpieces, none of the workpieces on the transport aid are within the movement area of ​​the removal device. This, in particular, prevents collisions between the removal device and the workpieces when approaching the placement position of one of the workpieces.Considering the movement range of the unloading device is particularly advantageous for machine tools whose unloading devices do not have flexible travel paths. This enables even more reliable workpiece positioning by the unloading device.

[0038] A further preferred embodiment of the computer-aided palletizing process is one in which at least one removal condition includes freedom of movement for the removal device. This freedom of movement can, for example, relate to vertical movement, horizontal movement, and / or rotational movement of the removal device, particularly the gripping device. Knowing the freedom of movement of the removal device allows the palletizing plan to be flexibly adapted to it. Typically, when arranging the workpieces on the at least one transport aid, the palletizing plan stipulates that the workpieces can be removed by the removal device, particularly without collision. This further improves the reliable handling of the workpieces.

[0039] In a preferred embodiment of the computer-aided palletizing method, a palletizing condition includes workpiece positioning, workpiece orientation, stacking of the workpieces, stack number, stack height, stack spacing, and / or a number of transport aids. In other words, the palletizing plan includes the precise positioning and orientation of the workpieces on the transport aid(s).

[0040] Furthermore, a preferred embodiment of the computer-aided palletizing process is one in which at least one loading condition is provided by loading devices of two or more subsequent machining centers. Preferably, the loading conditions, in particular the loading sequence, of the two or more subsequent machining centers are taken into account when creating the palletizing plan. This allows the palletizing process to consider further subsequent processes, which, especially in conjunction with multi-stage, linked machining processes, increases the degree of automation.

[0041] Further advantages of the invention will become apparent from the description, the claims, and the drawing. Likewise, the features mentioned above and those described in more detail below can each be used individually or in combination in any suitable way according to the invention. The embodiments shown and described are not to be understood as an exhaustive list, but rather serve as examples for illustrating the invention.

[0042] Detailed the and

[0043] Fig. 1 schematically shows a computer-aided method for palletizing manufactured workpieces with a removal device,

[0044] Fig. 2 schematically shows a first removal area of ​​a processing machine with workpieces to be palletized by a removal device,

[0045] Fig. 3 schematically shows a first loading area of ​​a progressive machining center with workpieces to be picked up by a loading device.

[0046] Fig. 4 schematically shows a second unloading area of ​​a machine tool with workpieces arranged on a transport aid and a removal device,

[0047] Fig. 5 schematically shows a second loading area with workpieces arranged on a transport aid and a loading device,

[0048] Fig. 6 schematically shows the discharge area from Fig. 4 with the

[0049] Loading device from Fig. 5.

[0050] Fig. 7 schematically shows a palletizing plan with a modified arrangement of the workpieces on the transport aid.

[0051] Fig. 1 schematically shows the process of a computer-aided palletizing procedure 10. The palletizing procedure 10 is explained in more detail below with reference to the other figures of the drawing.

[0052] The computer-aided palletizing process 10 is suitable for loading at least one transport aid 12 (see Figs. 2-7). Palletizing typically involves loading the transport aid 12 with workpieces 16, 18 (see Figs. 2-7) manufactured by a processing machine 14 (see Figs. 2, 3). Loading is carried out by means of a removal device 20 (see Fig. 2), which is designed to remove the workpieces 16, 18 from a removal area 22 (see Figs. 2, 4, 6) of the processing machine 14 and to arrange the workpieces 16, 18 on the at least one transport aid 12 in an unloading area 24 (see Fig. 2) of the processing machine 14.

[0053] The palletizing process 10 includes at least the following process steps:

[0054] In process step 26 of the computer-aided palletizing process 10, at least one loading condition is provided for a loading device 28 (see Fig. 3) of a subsequent processing machine 30 (see Fig. 3). The subsequent processing machine 30 is arranged or designed downstream of the processing machine 14. In other words, the subsequent processing machine 30 is designed for processing or further processing workpieces 16, 18 produced by the processing machine 14.

[0055] The loading device 28 is designed for loading the progressive machining center 30 with at least one of the workpieces 16, 18 arranged on the at least one transport aid 12. Typically, the loading device 28 picks up at least one workpiece 16, 18 from the transport aid 12 by gripping the workpiece 16, 18. The transport aid 12 is positioned in a loading area 32 (see Fig. 3) of the progressive machining center 30, thus enabling access for the loading device 28. The workpiece 16, 18 picked up by the loading device 28 is then placed by the loading device 28 in a machining area 34 (see Fig. 3) of the progressive machining center 30. The loading condition typically includes information on how to pick up the at least one workpiece 16, 18 to be arranged on the transport aid 12 by the removal device 20 by the loading device 28.

[0056] The at least one loading condition can, for example, include dimensions of a gripper 36 (see Figs. 5-7) of the loading device 28. Furthermore, the at least one loading constraint can, for example, include a freedom of movement, in particular a degree of rotational freedom, of the gripper 36.

[0057] A further process step 38 of the palletizing process 10 involves creating a palletizing plan 40 (see Fig. 7) for the removal device 20. The creation of the palletizing plan 40 depends on at least one loading condition. Preferably, the creation of the palletizing plan 40 depends on several, in particular a plurality of, loading conditions, which makes the loading process more reliable.

[0058] The palletizing plan 40 includes at least one palletizing condition for arranging the workpieces 16, 18 to be palletized on the at least one transport aid 12. In other words, the palletizing plan 40 includes conditions for the removal device 20 that arrange the workpieces 16, 18 on the transport aid 12 in such a way that removal by the subsequent loading device 28 is facilitated.

[0059] In a subsequent process step 42 of the palletizing process 10, the palletizing plan 40 is transmitted to the picking device 20. In other words, the palletizing plan 40 is provided to the picking device 20. Typically, the picking device 20 picks the workpieces 16, 18 according to the palletizing plan 40 and positions them on the transport aid 12, also according to the palletizing plan 40. As shown, the computer-aided palletizing process 10 can include an additional process step 44 in which the palletizing plan 40 is transmitted to the processing device 14. This allows the palletizing process 10 to be further improved, for example, by changing a production sequence according to a production plan of the processing machine 14 for the workpieces 16, 18.

[0060] Alternatively or additionally, the computer-aided palletizing process 10 can include the additional process step 46, in which at least one removal condition of the removal device 20 is provided.

[0061] The at least one removal condition preferably includes information on removing the workpieces 16, 18 from the removal area 22.

[0062] The at least one removal condition can, for example, include dimensions of a gripper 48 (see Figs. 4, 6, 7) of the removal device 20. Furthermore, the at least one removal condition can, for example, include freedom of movement, in particular a degree of rotational freedom, of the gripper 48.

[0063] The at least one withdrawal condition is preferably taken into account when creating the palletizing plan 40. In other words, the creation of the palletizing plan 40 depends on the at least one withdrawal condition.

[0064] Fig. 2 shows a schematic representation of a processing machine 14. The processing machine 14 can be configured as a cutting machine. A cutting machine can be, for example, but by no means exclusively, a laser cutting machine or a punching machine.

[0065] Typically, the processing machine 14 is designed to manufacture the workpieces 16, 18 from a workpiece blank 50, which is provided to the processing machine 14. The workpiece blank 50 can be in the form of a sheet or a panel.

[0066] The workpieces 16, 18 are typically manufactured in a predetermined machining sequence, which is provided to the machining center 14 by means of a stored production plan. Alternatively or additionally, it can be provided that several workpieces 16, 18 are manufactured simultaneously by several machining tools (not shown) of the machining center 14.

[0067] The workpieces 16, 18 produced by the processing machine 14 are positioned in the removal area 22 of the processing machine 14 after their production. In a special embodiment, it can be provided that the removal area 22 and a loading area 32 of the subsequent processing machine 30 coincide.

[0068] Basically, workpieces 16 and 18 are processed according to one of the

[0069] Removal device 20 provided sorting plan from the

[0070] Removal area 22 was removed. The sorting plan may stipulate that workpieces 16 and 18 are removed after all workpieces 16 and 18 have been completed. Alternatively, it may be stipulated that workpieces 16 and 18 are removed immediately after completion while another workpiece 16 and 18 is being manufactured by the processing machine.

[0071] During sorting, the workpieces 16, 18 are transferred from the picking area 22 to the unloading area 24 and arranged on the transport aid 12, for example, a pallet. The sorting plan generally stipulates that the workpieces 16, 18 are arranged on the transport aid 12 in such a way as to achieve the highest possible utilization of the provided transport aid. Preferably, the workpieces 16, 18 are positioned on the transport aid 12 by the picking device 20 without collision with workpieces 16, 18 already arranged on the transport aid 12. During sorting or palletizing, the workpieces 16, 18 can be arranged in stacks, as shown. According to the illustration, the workpieces 16 and the workpieces 18 are arranged in separate stacks on the transport aid 12.This facilitates both the palletizing and the removal of the workpieces 16, 18 from the transport aid 12.

[0072] The transport aid 12 can then be moved to the subsequent machining center 30 (see Fig. 3) for further processing of the workpieces 16, 18. In a particular embodiment, the loading area 32 of the subsequent machining center 34 and the unloading area 24 of the machining center 14 can coincide. Moving the transport aid 12 is therefore unnecessary.

[0073] Fig. 3 shows the transport aid 12 from Fig. 2 within the loading area 32 of the subsequent processing machine 30.

[0074] The loading device 28 of the subsequent machining center 30 removes the workpieces 16, 18 according to a predetermined loading sequence of the subsequent machining center 30. The loading sequence is usually adapted to the machining sequence of the subsequent machining center 30. This allows loading to be carried out according to the production orders to be processed.

[0075] Following machining of the workpieces 16, 18 by the subsequent machining center 30, the processed workpieces 16, 18 can be removed and palletized again. In other words, the palletizing process 10 (see Fig. 1) can include several machining centers 14, 30 arranged sequentially. The palletizing process 10 can take into account one or more loading conditions for each machining center 14, 30. This makes the palletizing process 10 particularly reliable and process-safe. Fig. 4 schematically shows the unloading area 24 of the machining center 14 from Fig. 2 in a top view.

[0076] The workpieces 16, 18 are arranged in separate stacks on the transport aid 12 as shown in the illustration. In addition, the gripper 48 of the removal device 20 is shown in Fig. 4 as one, here two, interference contours 52.

[0077] The interference contours 52 of the gripper 48 of the removal device 20 can be determined by the dimensions of the gripper 48. As shown, the individual workpieces 16, 18 can be positioned on the transport aid 12 without the interference contours 52 colliding with workpieces 16, 18 already arranged on the transport aid 12. In other words, the arrangement of the workpieces 16, 18 can be such that both the stack of workpieces 16 and the stack of workpieces 18 can be formed completely independently of each other and without collision.

[0078] Providing the interference contours 52 of the gripper 48 of the removal device 20 as a removal condition for creating the palletizing plan 40 (see Fig. 7) can thus ensure collision-free palletizing of the workpieces 16, 18 on the transport aid 12.

[0079] Fig. 5 schematically shows the loading area 32 of the subsequent processing machine 30 with the positioned transport aid 12 from Fig. 3 in a top view.

[0080] As shown in Fig. 3, the stacked workpieces 16, 18 and the interference contour 54 of the gripper 36 of the loading device 28 are depicted. The interference contour 54 of the gripper 36 overlaps both the stack formed by the workpieces 16 and the stack formed by the workpieces 18. This can lead to a collision between the gripper 36 and the workpieces 18, for example, when picking up a workpiece 16. Therefore, by providing and considering the loading condition – here the interference contour 54 – when creating the palletizing plan, a subsequent pick-up by the loading device 28 can be taken into account as early as the palletizing of the workpieces 16, 18 on the transport aid 12. This allows the subsequent process by the downstream processing machine 30 to be designed more reliably.

[0081] Another loading condition can, for example, stipulate that a degree of freedom of movement of the loading device 28, in particular of the gripper 36, is taken into account. In the illustrated embodiment, for example, rotating the gripper 36 by 90° can prevent collisions when picking up the workpieces 16, 18. The loading condition can also consider, when creating the palletizing plan 40, the possible position detection of the workpieces 16, 18 by the loading device 28 in conjunction with an adjustment of the picking angle by the gripper 36.

[0082] Fig. 6 schematically shows the unloading area 24 of the processing machine 14 (see Fig. 2) from Fig. 4 in a top view. In addition to the interference contours 52 formed by the gripper 48 of the removal device 20, the interference contour 54 of the gripper 48 of the loading device 28 (see Fig. 3) of the subsequent processing machine 30 (see Fig. 3) is shown.

[0083] The palletizing process 10 can provide that both the loading condition – here the interference contour 54 of the gripper 36 – and the unloading condition – here the interference contours 52 of the gripper 48 – are taken into account when creating the palletizing plan 40 (see Fig. 7). This ensures a reliable arrangement of the workpieces 16, 18 on the transport aid 12 as well as a reliable picking up of the workpieces 16, 18 from the transport aid 12 using the available unloading device 20 or loading device 28.

[0084] Fig. 7 schematically shows a palletizing plan 40. The palletizing plan 40 is created taking into account the removal conditions - here the interference contours 52 of the gripper 48 of the removal device 20 (see Fig. 2) and the loading constraints - here the interference contour 54 of the gripper 36 of the loading device 28 (see Fig. 3).

[0085] As shown, palletizing plan 40 provides for an increased stacking distance 56 between the stack formed from workpieces 16 and the stack formed from workpieces 18. By increasing the stacking distance 56, a reliable arrangement and picking of workpieces 16 and 18 onto and / or from the transport aid 12 can be ensured without affecting the picking and / or loading conditions.

[0086]

[0087] 10 palletizing processes;

[0088] 12 Transport aids;

[0089] 14 processing machine;

[0090] 16 workpieces;

[0091] 18 workpieces;

[0092] 20 Extraction device;

[0093] 22 Extraction area;

[0094] 24 Unloading area;

[0095] 26th procedural step;

[0096] 28 Loading device;

[0097] 30 Subsequent processing machines;

[0098] 32 Loading area;

[0099] 34 processing area;

[0100] 36 grippers of the loading device;

[0101] 38th procedural step;

[0102] 40 Palletizing plan;

[0103] 42nd procedural step;

[0104] 44th procedural step;

[0105] 46th procedural step;

[0106] 48 grippers of the removal device;

[0107] 50 workpiece blanks;

[0108] 52 Disturbance contour;

[0109] 54 Disturbance contour;

[0110] 56 stack spacing.

Claims

Patent claims 1. Computer-aided palletizing method (10) for loading at least one transport aid (12) with workpieces (16, 18) produced by a processing machine (14), in particular a cutting machine, by removing the workpieces (16, 18) from a removal area (22) of the processing machine (14) and arranging the workpieces (16, 18) on the at least one transport aid (12) in an unloading area (24) of the processing machine (14) by means of a removal device (20), comprising the process steps: b) providing (26) at least one loading condition of a loading device (28) for loading at least one subsequent processing machine (30) following the processing machine (14) with at least one of the workpieces (16, 18) to be arranged on the at least one transport aid (12), wherein the loading condition provides information for picking up the at least one workpiece (16,18) from the transport aid (12) by the loading device (28); c) creating (38) a palletizing plan (40) for the unloading device (20) depending on the at least one loading condition, wherein the palletizing plan (40) includes at least one palletizing condition for arranging the workpieces (16, 18) to be palletized on the at least one transport aid (12); d) transmitting (42) the palletizing plan (40) to the unloading device (20).

2. Computer-aided palletizing method (10) according to claim 1, wherein at least one loading condition comprises a disturbance contour (54) of the loading device (28), in particular multidimensional gripper dimensions, wherein the palletizing plan (40) during The arrangement of the workpieces (16, 18) on the at least one transport aid (12) provides that when one of the workpieces (16, 18) is picked up by the loading device (28) none of the other workpieces (16, 18) on the transport aid (12) is located within the interference contour (54) of the loading device (28).

3. Computer-aided palletizing method (10) according to claim 1 or 2, wherein at least one loading condition comprises a movement space of the loading device (28), wherein the palletizing plan (40) provides, when arranging the workpieces (16, 18) on the at least one transport aid (12), that when picking up one of the workpieces (16, 18) by the loading device (28), none of the workpieces (16, 18) on the transport aid (12) is located within the movement space of the loading device (28).

4. Computer-aided palletizing method (10) according to one of the preceding claims, wherein at least one loading condition comprises freedom of movement of the loading device (28), wherein the palletizing plan (40) provides, when arranging the workpieces (16, 18) on the at least one transport aid (12), that the workpieces (16, 18) are removable by the loading device (28).

5. Computer-aided palletizing method (10) according to one of the preceding claims, wherein at least one loading condition comprises a loading sequence of the subsequent processing machine (30), wherein the palletizing plan (40) provides a removal sequence of the workpieces (16, 18) from the removal area (22) and an arrangement of the workpieces (16, 18) on the at least one transport aid (12) that enables loading according to the loading sequence.

6. Computer-aided palletizing method (10) according to claim 5, wherein the palletizing plan (40) is a reverse of the loading sequence. provides for the removal sequence of the workpieces (16, 18) from the removal area (22).

7. Computer-aided palletizing method (10) according to claim 5 or 6, comprising the additional method step: e) transmitting (44) the palletizing plan (40) to the Machining device (14), wherein the machining device (14) has a manufacturing plan for the workpieces (16, 18) according to the The withdrawal sequence changes.

8. Computer-aided palletizing method (10) according to one of the preceding claims, comprising the additional method step: a) providing (46) at least one removal condition of the removal device (20), wherein the removal condition is information for removing at least one of the workpieces (16, 18) from the removal area (22) by the The removal device (20) includes; wherein the creation of the palletizing plan (40) depends on at least one removal condition.

9. Computer-aided palletizing method (10) according to claim 8, wherein at least one removal condition comprises a disturbance contour (52) of the removal device (20), in particular multidimensional gripper dimensions, wherein the palletizing plan (40) provides, when arranging the workpieces (16, 18) on the at least one transport aid (12), that when arranging one of the workpieces (16, 18) by the removal device (20), none of the other workpieces (16, 18) on the transport aid (12) is located within the disturbance contour (52) of the removal device (20).

10. Computer-aided palletizing method (10) according to claim 8 or 9, wherein at least one removal condition defines a movement space of the The removal device (20) includes a palletizing plan (40) in which the palletizing plan provides that when arranging the workpieces (16, 18) on the at least one transport aid (12), none of the workpieces (16, 18) on the transport aid (12) is located within the movement space of the removal device (20).

11. Computer-aided palletizing method (10) according to any one of claims 8 to 10, wherein at least one removal condition comprises freedom of movement of the removal device (20), wherein the palletizing plan (40) provides, when arranging the workpieces (16, 18) on the at least one transport aid (12), that the workpieces (16, 18) can be placed down by the removal device (20).

12. Computer-aided palletizing method (10) according to one of the preceding claims, wherein a palletizing condition comprises a workpiece positioning, a workpiece orientation, a stacking of the workpieces (16, 18), a number of stacks, a stack height, a stack spacing and / or a number of transport aids (12).

13. Computer-aided palletizing method (10) according to one of the preceding claims, wherein at least one loading condition of a loading device (28) of two or more subsequent processing machines (30) is provided, wherein the loading conditions, in particular the loading sequence, of the two or more subsequent processing machines (30) are taken into account when creating the palletizing plan (40).

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