DE102023121162A1 - Simulation method for determining surface areas of a workpiece to be produced in a press line - Google Patents

Abstract

The invention relates to a simulation method for determining surface areas of a workpiece (7) which are suitable for being contacted during a discharging process by contact devices (6a, 6b) of a discharger (8) and/or during a loading process by contact devices (6a, 6b) of a loading device (9).

Description

The invention relates to a simulation method for determining surface areas of a workpiece to be produced in a press line, which are suitable for being contacted during an unloading process by contact devices of an unloading device and/or during a loading process by contact devices of a loading device.

• - Vorgeben oder Bestimmen einer Werkzeuggeometrie für ein Unterwerkzeug sowie einer Werkstückgeometrie für das Werkstück,
• - Vorgeben oder Bestimmen eines ersten Transferweges der Transfereinrichtung in eine Transferposition zur Aufnahme des Werkstücks aus dem Unterwerkzeug,
• - Simulieren der Bewegung der Transfereinrichtung entlang des ersten Transferweges mit einem an der Transfereinrichtung gehaltenen Simulationsteil, dessen Kontur die Werkstückgeometrie des Werkstücks vollständig enthält,
• - Ermitteln wenigstens eines Kollisionsbereichs, in dem während der Bewegung der Transfereinrichtung entlang des ersten Transferweges eine Überscheidung zwischen dem Simulationsteil und der Werkzeuggeometrie des Unterwerkzeug auftritt,
• - Ermitteln wenigstens eines Kontaktbereichs, der sich an der Oberfläche der Werkstückgeometrie des Werkstücks außerhalb des wenigstens einen Kollisionsbereichs befindet und innerhalb dem sich die Kontaktstellen zur Anlage eines Halteelement und/oder Stützelements der Transfereinrichtung am Werkstück befinden.

From the DE 10 2012 112 172 B3 a simulation method is known which is carried out with the aid of a computer, whereby this method serves to determine contact points at which a holding element and/or support element of a transfer device of a press can engage a workpiece, whereby the following steps are provided:

• - Specifying or determining a tool geometry for a lower tool and a workpiece geometry for the workpiece,
• - Specifying or determining a first transfer path of the transfer device into a transfer position for picking up the workpiece from the lower tool,
• - Simulating the movement of the transfer device along the first transfer path with a simulation part held on the transfer device, the contour of which completely contains the workpiece geometry of the workpiece,
• - Determining at least one collision area in which an overlap between the simulation part and the tool geometry of the lower tool occurs during the movement of the transfer device along the first transfer path,
• - Determining at least one contact area which is located on the surface of the workpiece geometry of the workpiece outside the at least one collision area and within which the contact points for placing a holding element and/or support element of the transfer device on the workpiece are located.

The object of the invention is to propose a simulation method that serves to determine surface areas of a workpiece that are suitable for being contacted by contact devices of a discharger during an unloading process and/or by contact devices of a loading device during a loading process, wherein the simulation method entails a reduced computational effort. In this case, a collision of the contact devices of the discharger with a first lower tool should be avoided when the discharger moves to a receiving position and/or a collision of the contact devices of the loading device with the second lower tool should be avoided when the loading device returns from a setting-down position.

This object is achieved on the basis of the features of the preamble of claim 1 by the characterizing features of claim 1. Advantageous and expedient further developments are specified in the subclaims.

• - wobei dies derart erfolgt, dass bei einem Hinlauf des Entladegeräts vor einer Entnahme des Werkstücks aus einem Unterwerkzeug eines ersten Umformwerkzeugs eine Kollision der Kontakteinrichtungen des Entladegeräts mit dem Unterwerkzeug des ersten Umformwerkzeugs vermieden ist und/oder
• - wobei dies derart erfolgt, dass bei einem Rücklauf des Beladegeräts nach einem Beladen eines Unterwerkzeugs eines zweiten Umformwerkzeugs mit dem Werkstück eine Kollision der Kontakteinrichtungen des Beladegeräts mit dem Unterwerkzeug des zweiten Umformwerkzeugs vermieden ist,
• - wobei in einem bewegten Koordinatensystem, in welchem das Werkstück ruht, das Werkstück zunächst in einer seiner Positionen dargestellt wird und wobei anschließend
  • ◯ in dem bewegten Koordinatensystem von dem Unterwerkzeug des ersten Umformwerkzeugs, welches in dem Koordinatensystem auf einer Bewegungsbahn des hinlaufenden Entladegeräts bewegt wird, stroboskop-artig eine endliche Vielzahl von Darstellungen erzeugt wird, wobei die Darstellung des Werkstücks mit den Darstellungen des Unterwerkzeugs des ersten Umformwerkzeugs überlagert wird und wobei anschließend aus einer aus allen Darstellungen gebildeten ersten Gesamtdarstellung erste Oberflächenbereiche des Werkstücks ermittelt werden, welche frei von Überdecklungen durch das Unterwerkzeug des ersten Umformwerkzeugs sind und diese ersten Oberflächenbereiche zur Positionierung von Kontakteinrichtungen des Entladegeräts freigegeben werden und/oder
  • ◯ in dem bewegten Koordinatensystem von dem Unterwerkzeug des zweiten Umformwerkzeugs, welches in dem Koordinatensystem auf einer Bewegungsbahn des rücklaufenden Beladegeräts bewegt wird, stroboskop-artig eine endliche Vielzahl von Darstellungen erzeugt wird, wobei die Darstellung des Werkstücks mit den Darstellungen des Unterwerkzeugs des zweiten Umformwerkzeugs überlagert wird und wobei anschließend aus einer aus allen Darstellungen gebildeten zweiten Gesamtdarstellung zweite Oberflächenbereiche des Werkstücks ermittelt werden, welche frei von Überdeckungen durch das Unterwerkzeug des zweiten Umformwerkzeugs sind und diese zweiten Oberflächenbereiche zur Positionierung von Kontakteinrichtungen des Beladegeräts freigegeben werden.

The simulation method according to the invention relates to the determination of surface areas of a workpiece which are suitable for being contacted during a discharging process by contact devices of a discharger and/or during a loading process by contact devices of a loading device,

• - this is done in such a way that when the unloading device is moved forward before the workpiece is removed from a lower tool of a first forming tool, a collision of the contact devices of the unloading device with the lower tool of the first forming tool is avoided and/or
• - this is done in such a way that when the loading device returns after loading a lower tool of a second forming tool with the workpiece, a collision of the contact devices of the loading device with the lower tool of the second forming tool is avoided,
• - whereby in a moving coordinate system in which the workpiece is at rest, the workpiece is first shown in one of its positions and then
  • ◯ in the moving coordinate system, a finite number of representations are generated in a stroboscope-like manner by the lower tool of the first forming tool, which is moved in the coordinate system on a movement path of the unloading device moving towards it, wherein the representation of the workpiece is superimposed with the representations of the lower tool of the first forming tool and wherein first surface areas of the workpiece are subsequently determined from a first overall representation formed from all representations, which are free of overlaps by the lower tool of the first forming tool and these first surface areas are released for positioning contact devices of the unloading device and/or
  • ◯ in the moving coordinate system of the lower tool of the second forming tool, which in the coordinate system is on a movement path of the returning loading device device is moved, a finite plurality of representations is generated in a stroboscope-like manner, wherein the representation of the workpiece is superimposed with the representations of the lower tool of the second forming tool and wherein second surface areas of the workpiece are subsequently determined from a second overall representation formed from all representations, which are free of overlaps by the lower tool of the second forming tool and these second surface areas are released for the positioning of contact devices of the loading device.

With such a simulation method, the computational effort is extremely reduced because the collision areas between the lower tool and the workpiece do not have to be calculated, but can be visually identified by superimposing the respective representations, so that only the superimposition of the representations has to be carried out mathematically and overlapping areas of complex geometries do not have to be calculated. After superimposing a representation of the workpiece with several representations of the first lower tool in its various relative positions to the workpiece and/or the workpiece with several representations of the second lower tool in its various relative positions to the workpiece, the surface areas on the workpiece suitable for attaching the contact devices can be optically identified by the user without further computational operations or determined with minimal effort using image processing.

A further advantage is that with such a simulation method for determining suitable surface areas, it is not necessary for the structural design of the holding device of the handling device operating as a discharger and/or loader to have already been determined. Rather, such a simulation method allows the handling device to be designed with knowledge of the required arrangement of the contact devices, so that the design is easier because there are fewer unknowns to take into account.

Furthermore, it can be provided that in a further step the intersections of the first surface areas and the second surface area are determined as third surface areas and released for positioning contact devices of the unloading device and the loading device. By combining them in this way, it is possible with minimal computational effort to determine as third surface areas those surface areas which are suitable for being used by both the unloading device and the loading device to hold the workpiece, so that the loading device and the unloading device can be implemented by the same handling device. For this purpose, the same representation of the workpiece is superimposed with both the representations of the lower tool of the first forming tool and the representations of the lower tool of the second forming tool.

• - entweder zweidimensional in Form wenigstens einer perspektivischen Darstellung oder in Form wenigstens einer Schnittdarstellung darzustellen, wobei hierzu insbesondere ein Monitor oder ein Trägermaterial wie z.B. Papier oder ein Projektor Verwendung findet,
• - oder dreidimensional in einem Raum zu projizieren
• - oder als 3D-Modell ausgedruckt werden
• - oder auf Monitoren einer VR-Brille anzuzeigen.

It may also be provided that the first overall representation and/or the second overall representation

• - either two-dimensionally in the form of at least one perspective representation or in the form of at least one sectional representation, whereby in particular a monitor or a carrier material such as paper or a projector is used for this purpose,
• - or to project three-dimensionally in a room
• - or printed as a 3D model
• - or to display it on monitors of VR glasses.

Such representations or projections can be realized with little effort.

Furthermore, it can be provided to display the workpiece either in its receiving position, in which the workpiece is removed from the lower tool of the first forming tool, or in its setting-down position, in which the workpiece is placed by the loading device into the lower tool of the second forming tool, or in a fictitious intermediate position, which it would assume if it were held on the unloading device during the outward travel of the unloading device to the receiving position or on the unloading device during the return travel of the unloading device from the setting-down position. All of these individual representations can be generated from a CAD file of the workpiece as well as the first lower tool and/or the second lower tool with minimal computing effort.

It can also be provided that several of the contact devices are designed as suction cups. With such contact devices, plates of larger and smaller diameters can be selected so that the individual suction cup can be adapted to the available surface areas with minimal effort if necessary.

Furthermore, it can also be provided that the unloading and loading devices are formed by the same handling device. This means that both the unloading process, namely removing the workpiece from the lower tool of the first forming tool, as well as the loading process, namely inserting the workpiece into the lower tool of the second forming tool, are carried out.

It can also be provided to carry out a first forming step in the first forming tool and to carry out a second forming step in the second forming tool, which follows the first forming step. Accordingly, the simulation method is suitable for multiple use on press lines with a large number of successive forming tools.

Furthermore, it can be provided to carry out determinations and/or generations and/or releases using a computer and to carry out representations using a display device, wherein the display device is designed in particular as a printer or monitor or projector. This allows the method steps to be carried out on the basis of CAD files, wherein the CAD files include 3D models of the workpiece and the first forming tool and/or the second forming tool as well as the movement sequence during unloading and/or loading.

It can also be provided that the first surface areas or the second surface areas or the third surface areas are transferred to a CAD system as specifications for the arrangement of the contact devices of the unloading device or the contact devices of the loading device or the contact devices of the handling device operating as a unloading device and/or as a loading device. This allows the results of the electronically performed graphic analysis to be automatically implemented in the design of the unloading device or loading device or the handling device and in particular also used for the arrangement of the contact devices.

Finally, if no surface areas can be determined or surface areas cannot be determined in sufficient number and/or size that can be released for positioning contact devices of the unloading device and/or the loading device, alternative movement paths of the outgoing unloading tool and/or alternative movement paths of the returning loading tool can be used to generate the representations until surface areas of sufficient number and/or size are determined. In this way, movement paths can be found with little effort that allow suitable positioning of contact devices for the outgoing movement of the unloading device and the returning movement of the loading device.

In the sense of the invention, a handling device is understood to be an automated handling device which comprises a holding device and a manipulator which moves the holding device. The holding device comprises several contact devices which can be activated and deactivated, such as suction cups, magnets or the like for temporarily holding a workpiece. The workpiece can be transported accordingly by means of the handling device.

The handling device works as an unloading device if its task is to remove the workpiece from a forming tool.

The handling device works as a loading device if its task is to place the workpiece into a forming tool.

The handling device works as a loading and unloading device if its task is to remove the workpiece from a forming tool and to place the workpiece in another forming tool. The handling device can also have the task of placing the workpiece in a lower tool on the same forming tool and removing it from this.

Instead of unloading and loading forming tools, it is also possible to unload or load a workpiece carrier or a so-called transport shuttle.

In the sense of the invention, the contact devices comprise at least one holding element and optionally at least one support element. The holding element is designed as a suction cup, magnet, gripper or the like. The support element is designed as a stop or as a damper or the like.

Further details of the invention are described in the drawing using schematically illustrated embodiments.

• 1: ein Unterwerkzeug eines ersten Umformwerkzeugs mit einem in das Unterwerkzeug eingelegten Werkstück;
• 2: nochmals die Darstellung der 1, wobei zusätzlich ein Unterwerkzeug eines zweiten Umformwerkzeugs gezeigt ist, welches in einer Pressenstraße auf das erste Umformwerkzeug folgt und wobei zusätzlich ein Handhabungsgerät gezeigt ist, welches das Werkstück greift;
• 3: nochmals die Darstellung der 2, wobei zusätzlich weitere Positionen gezeigt sind, welche das Handhabungsgerät und das daran gehaltene Werkstück bei einem Transport des Werkstücks von dem Unterwerkzeug des ersten Umformwerkzeugs in das Unterwerkzeug des zweiten Umformwerkzeugs einnehmen;
• 4: nochmals die Darstellung der 2, wobei das Werkstück nun in dem Unterwerkzeug des zweiten Umformwerkzeugs abgelegt ist und weitere Positionen des Handhabungsgeräts gezeigt sind, um eine Bewegungsbahn anzudeuten, auf welcher ein Rücklauf des Handhabungsgeräts ohne Werkstück aus dem zweiten Umformwerkzeug und ein Hinlauf des Handhabungsgeräts zu dem ersten Umformwerkzeug erfolgt;
• 5: eine überlagerte Darstellung der 3 und 4;
• 6: Positionen, welche das Werkstück einnehmen würde, wenn es bei der in der 5 gezeigten Rücklauf und Hinlauf an dem Handhabungsgerät hängen würde;
• 7: zeigt das Werkstück in einer der in der 6 gezeigte Positionen sowie mehrere Darstellungen des Unterwerkzeugs des ersten Umformwerkzeugs, wobei das Unterwerkzeug des ersten Umformwerkzeugs überlagert in allen Position dargestellt ist, welche dieses relativ zu den weiteren in der 6 gezeigten Positionen des Werkstücks einnimmt;
• 8: zeigt nochmals die Darstellung der 7, wobei diejenigen Bereiche des Werkstücks, welche nicht zur Positionierung von Kontakteinrichtungen geeignet sind, mit in gestrichelten Linien dargestellten Kreisen markiert sind und wobei mit einer gestrichelten Linie alle ersten Oberflächenbereiche markiert sind, welche zur Positionierung von Kontakteinrichtungen geeignet sind.

Here shows:

• 1 : a lower tool of a first forming tool with a workpiece inserted into the lower tool;
• 2 : again the presentation of the 1 , wherein additionally a lower tool of a second forming tool is shown, which follows the first forming tool in a press line and wherein additionally a handling device is shown, which grips the workpiece;
• 3 : again the presentation of the 2 , with additional positions shown which the handling device and the workpiece held thereon assume during transport of the workpiece from the lower tool of the first forming tool to the lower tool of the second forming tool;
• 4 : again the presentation of the 2 , wherein the workpiece is now deposited in the lower tool of the second forming tool and further positions of the handling device are shown in order to indicate a movement path on which a return movement of the handling device without a workpiece from the second forming tool and a forward movement of the handling device to the first forming tool takes place;
• 5 : a superimposed representation of the 3 and 4 ;
• 6 : Positions that the workpiece would take if it were to be moved at the 5 shown return and forward motion would hang on the handling device;
• 7 : shows the workpiece in one of the 6 shown positions as well as several representations of the lower tool of the first forming tool, wherein the lower tool of the first forming tool is shown superimposed in all positions which this has relative to the others in the 6 shown positions of the workpiece;
• 8 : shows again the representation of the 7 , wherein those areas of the workpiece which are not suitable for positioning contact devices are marked with circles shown in dashed lines and wherein all first surface areas which are suitable for positioning contact devices are marked with a dashed line.

In the 1 to 8 For the exemplary explanation of the simulation method according to the invention, including its optional steps, components of a press line 1 are shown schematically. The press line 1 comprises a first forming tool 2 with a lower tool 3 and a second forming tool 4 with a lower tool 5 (see in particular 2 ). Furthermore, the press line 1 comprises a handling device 6, which comprises a holding device H and a manipulator M, which moves the holding device H. In the figures, except in the 2 For the sake of simplicity, only the holding device H of the handling device 6 is shown. The handling device 6 shown in the figures is designed such that it works as an unloading device 8 in relation to the first forming tool 2 and as a loading device 9 in relation to the second forming tool 4. By means of the handling device 6, a workpiece 7 is moved from the lower tool 3 into the lower tool 5 so that after a first processing such as a forming in the forming tool 2, for example, a second processing such as a further forming can take place in the forming tool 4. According to an embodiment variant not shown, it can also be provided that the first lower tool is followed by a transport shuttle instead of a further lower tool, onto which the workpiece is placed by the handling device.

In the 1 the lower tool 3 of the first forming tool 2 is shown with the workpiece 7 inserted into the lower tool 3.

In the 2 is again the representation of the 1 In addition, the lower tool 5 of the second forming tool 4 is shown, which follows the first forming tool 2 in the press line 1. Furthermore, the handling device 6 is also shown, which holds the workpiece 7 with contact devices 6a, 6b arranged on its holding device H in order to remove the workpiece 7 from the lower tool 3 in its function as unloading device 8 and then to transport it to the second lower tool 5 in its function as loading device 9 and to deposit it there. To maintain the clarity of the figures, the contact devices 6a, 6b are only shown in the 2 shown.

In the 3 is again the representation of the 2 shown, wherein in addition to the already known first position 6-01 of the handling device 6, additional positions 6-02 to 6-05 of the handling device 6 are shown, which the handling device 6 assumes with its holding device H when transporting the workpiece 7 from the lower tool 3 of the first forming tool 2 to the lower tool 5 of the second forming tool 4. Accordingly, the workpiece 7 is also shown in positions 7-01 to 7-05.

In the 4 is again the representation of the 2 shown, whereby the workpiece 7 is now placed in the lower tool 5 of the second forming tool 4 and takes its position 7-05. In the 4 Further positions 6-06 to 6-09 and again position 6-01 of the handling device 6 are shown in order to illustrate a return movement of the handling device 6 without a workpiece from the lower tool 5 of the second forming tool 4 and a forward movement of the handling device 6 without a workpiece to the lower tool 3 of the first forming tool 2.

The 5 shows a superimposed representation of the 3 and 4 Here a transport direction T and a return direction R are specified. The work piece 7 is transported by the handling device 6 from the first forming tool 2 to the second forming tool 4 in the transport direction T. In the return direction R, the handling device 6 basically moves without a workpiece.

In the production process, when the workpiece 7 has been machined in the first forming tool 2, the handling device 6 with its holding device H moves as an unloading device 8 in a forward motion H8, initially from its position 6-08 via its position 6-09 to its position 6-01, in which the workpiece 7 is contacted, in order to then remove it from the lower tool 3 and to move via position 6-02 to position 6-03.

The handling device 6 then moves with its holding device H, for loading the second forming tool 4, as a loading device 9 from its position 6-03 via positions 6-04 to position 6-05, in which the workpiece 7 is placed in the lower tool 5 of the second forming tool 4. After the workpiece has been placed down, the handling device 6 returns R9 via positions 6-06 and 6-07 to position 6-08. The handling device 6 waits in this position 6-08 until it has to remove another workpiece as an unloading device 8.

In the 6 the workpiece 7 is shown in positions 7-06 to 7-10 and 7-01, which the workpiece 7 would take if it were to be moved along the handling device 6 (in the 6 not shown). This case is not foreseen in the actual operation of the press line, but represents only a theoretical assumption for carrying out the simulation procedure.

• - das Werkstück 7 in der in der 6 gezeigten Positionen 7-06 sowie
• - mehrere Darstellungen des Unterwerkzeugs 3 des ersten Umformwerkzeugs 2.

To explain the graphical determination of surface areas of a workpiece according to the invention which are suitable for being contacted by contact devices of a discharger during a discharge process, 7 shown:

• - the workpiece 7 in the 6 shown positions 7-06 and
• - several representations of the lower tool 3 of the first forming tool 2.

Here, the representations of the lower tool 3 of the first forming tool 2 are superimposed on the representation of the workpiece 7 and the lower tool 3 is shown in positions 3-01 and 3-06 to 3-10, which position it relative to the 6 shown positions 7-06 to 7-10 and 7-01 of the workpiece 7 if the workpiece 7 were to be moved with the unloading device 8 during the outgoing run H8.

By means of such a superimposed representation of components of the press line 1, it can be graphically checked whether the handling device 6 operating as unloading device 8 is in the correct position during the forward run H8, namely when entering on a predetermined movement path BWB (in 6 schematically indicated) into the first forming tool 2, with its contact devices 6a, 6b would collide with the lower tool 3, since its contact devices 6a, 6b are aligned with the surface contour of the workpiece 7.

The 8 shows again the representation of the 7 , whereby those areas of the workpiece 7 which are not suitable for positioning contact devices 6a, 6b are marked with circles K1, K2 shown in dashed lines. In those areas of the workpiece 7 which are not suitable for positioning contact devices 6a, 6b, the workpiece 7 is in the superimposed representation (see 8 ) is covered by one or more representations of the lower tool 3. A dashed line L1 shows the 8 all first surface areas 10 are indicated, which are suitable for positioning contact devices according to the superposition of the representation of the workpiece 7 with the representations of the lower tool 3 in the various relative positions.

Thus, based on the overlaps of the workpiece 7 by showing the lower tool 3 in a variety of positions that it would assume during the retraction of the handling device 6 during a forward movement H8 as unloading device 8 relative to the workpiece 7, those surface areas 10 can be determined which do not collide with the lower tool 3 when the handling device 6 moves over its positions 6-08, 6-09, 6-01. For the lower tool 5 of the second forming tool 4, such a determination is carried out by an analogous procedure, so that second surface areas can be determined. For this purpose, the return movement R9 of the handling device 6 working as loading device 9 is considered.

The determination and/or the generation and/or the releases are carried out by means of a computer and the determined surface areas are displayed by means of a display device.

The first surface areas 10 are transferred to a CAD system as specifications for the arrangement of the contact devices 6a, 6b of the unloading device 7.

Analogously, as indicated above, second surface areas of the workpiece can be determined which can be transferred to a CAD system as a specification for the arrangement of the contact devices of the loading device.

As an intersection of the first surface areas and the second surface areas, third surface areas of the workpiece can be determined, which are passed on to a CAD system as a specification for the arrangement of the contact devices of the handling device, which works both as an unloading device and as a loading device.

List of reference symbols:

1

press line

2

first forming tool

3

lower tool of 2

4

second forming tool

5

lower tool of 4

6

Handling device includes H and M

6a, 6b

contact device of 6

7

workpiece

8

unloading device

9

loading device

10

surface areas of 7

6-01 to 6-05

Position of 6 during transport of 7

6-06 to 6-09

position of 6 on the return

7-01 to 7-05

Position of 6 when transporting from 2 to 4

7-06 to 7-10

fictitious position of 7 at H8 or R9

BWB

trajectory

H

holding device

H8

forward run of 6 as unloading device 8

K1, K2

Circle

M

manipulator

R

return direction

R9

Return of 6 as loading device 9

T

transport direction

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions.

Cited patent literature

• DE 10 2012 112 172 B3 [0002]

Claims (10)

Simulation method for determining surface areas (10) of a workpiece (7) which are suitable for being contacted by contact devices (6a, 6b) of an unloading device (8) during an unloading process and/or by contact devices (6a, 6b) of a loading device (9) during a loading process, - such that during a forward movement (H8) of the unloading device (8) before removing the workpiece (7) from a lower tool (3) of a first forming tool (2), a collision of the contact devices (6a, 6b) of the unloading device (8) with the lower tool (3) of the first forming tool (2) is avoided and/or - such that during a return movement (R9) of the loading device (9) after loading a lower tool (5) of a second forming tool (4) with the workpiece (7), a collision of the contact devices (6a, 6b) of the loading device (9) with the lower tool (5) of the second forming tool (4) is avoided, - wherein in a moving coordinate system in which the workpiece (7) rests, the workpiece (7) is initially shown in one of its positions (7-06) and wherein subsequently o in the moving coordinate system a finite plurality of representations is generated in a stroboscope-like manner by the lower tool (3) of the first forming tool (2), which is moved in the coordinate system on a movement path of the unloading device (8) moving towards it, wherein the representation of the workpiece (7) is superimposed with the representations of the lower tool (3) of the first forming tool (2) and wherein subsequently first surface areas (10) of the workpiece are determined from a first overall representation formed from all representations, which are free of overlaps by the lower tool (3) of the first forming tool (2) and these first surface areas (10) are released for positioning contact devices (6a, 6b) of the unloading device (8) and/or o in the moving coordinate system by the lower tool (5) of the second forming tool (4), which is moved in the coordinate system on a movement path of the returning loading device (9), a finite plurality of representations is generated in a stroboscope-like manner, wherein the representation of the workpiece (7) is superimposed with the representations of the lower tool (5) of the second forming tool (4) and wherein second surface areas of the workpiece (7) are subsequently determined from a second overall representation formed from all representations, which are free of overlaps by the lower tool (5) of the second forming tool (4) and these second surface areas are released for the positioning of contact devices (6a, 6b) of the loading device (9). simulation method according to claim 1 , characterized in that in a further step the intersections of the first surface areas (10) and the second surface area are determined as third surface areas and are released for positioning of contact devices (6a, 6b) of the unloading device (8) and the loading device (9). Simulation method according to at least one of the preceding claims, characterized in that the first overall representation and/or the second overall representation - are either represented two-dimensionally in the form of at least one perspective representation or in the form of at least one sectional representation, whereby in particular a monitor or a carrier material such as paper or a projector is used for this purpose, - or are projected three-dimensionally in a room - or are printed out as a 3D model - or are displayed on monitors of VR glasses. Simulation method according to at least one of the preceding claims, characterized in that the workpiece (7) is shown - either in its receiving position (7-01), in which the workpiece (7) is removed from the lower tool (3) of the first forming tool (2), - or in its setting down position (7-05), in which the workpiece (7) is placed by the loading device (9) into the lower tool (5) of the second forming tool (4), - or in a fictitious intermediate position (7-07 to 7-10), which it would assume if it were held on the unloading device during the outward travel of the unloading device to the receiving position or on the unloading device during the return travel of the unloading device from the setting down position. Simulation method according to at least one of the preceding claims, characterized in that several of the contact devices (6a, 6b) are designed as suction cups. Simulation method according to at least one of the preceding claims, characterized in that the unloading device (8) and the loading device (9) are formed by the same handling device (6). Simulation method according to at least one of the preceding claims, characterized in that in the first forming tool (2) a first forming step is carried out and that a second forming step is carried out in the second forming tool (4), which follows the first forming step. Simulation method according to at least one of the preceding claims, characterized in that determinations and/or generations and/or releases are carried out by means of a computer and that representations are carried out by means of a representation device. simulation method according to claim 8 , characterized in that the first surface areas (10) or the second surface areas or the third surface areas are transferred to a CAD system as specifications for the arrangement of the contact devices (6a, 6b) of the unloading device (8) or the contact devices (6a, 6b) of the loading device (9) or the contact devices (6a, 6b) of the handling device (6) operating as an unloading device (8) and/or as a loading device (9). Simulation method according to at least one of the preceding claims, characterized in that - if no surface areas (10) could be determined or not in sufficient number and/or size, which can be released for positioning contact devices (6a, 6b) of the unloading device (8) and/or the loading device (9) - alternative movement paths of the forward-moving unloading tool (8) and/or alternative movement paths of the returning loading tool (9) are used to generate the representations until surface areas (10) are determined in sufficient number and/or size.

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