DE102021215016A1 - Method and system for assembling a workpiece-related sheet metal workpiece gripping device - Google Patents

Abstract

The invention relates to a method for assembling a workpiece-related sheet metal workpiece gripping device (200), wherein a plurality of gripping elements (220) are attached to a support structure (210), comprising the steps:
- Providing the support structure (210) and the gripping elements (220) to be attached thereto;
- Fixing the support structure (210) in a holder (110);
- Fastening the gripping elements (220) to the support structure (210), each gripping element (220) being attached to the support structure (210) in a predetermined relative position and relative orientation and being fastened by means of at least one screw connection (221). According to the invention, the screw connections (221) are tightened with a screwing tool (120), the screwing tool (120) being monitored using a position monitoring device (130).

Description

According to the preamble of patent claim 1, the invention relates to a method for assembling a workpiece-related sheet metal workpiece gripping device. The invention also relates to a system comprising a number of components for assembling a workpiece-related sheet metal workpiece gripping device.

To automate press systems for sheet metal processing, which can include a single press or several presses, robot systems, feeder systems or the like are used, which automatically insert, remove and/or transport the sheet metal workpieces by means of sheet metal workpiece gripping devices. The sheet metal workpiece gripping devices are workpiece-related or workpiece-specific, i. H. individually adapted to the sheet metal workpiece to be picked up and constructed accordingly. Such a sheet metal workpiece gripping device usually has a support structure or the like on which several sheet metal workpiece-specific gripping elements suitable for temporarily gripping or holding at least one sheet metal workpiece, such as in particular clamping grippers, suction grippers, magnetic grippers and the like, are arranged. Such sheet metal workpiece gripping devices are also referred to as gripper modules or, with a corresponding structure, as gripper spiders.

In order to simplify the construction or the production of a workpiece-related sheet metal workpiece gripping device, in DE 10 2014 204 366 A1 proposed that the exact positions and alignments of the workpiece-specific components to be attached to a carrier, such as vacuum suction cups, pneumatic clamps, magnetic grippers, shovel or fork lifters, sensors and/or the like, based on a CAD data set of the workpiece to be gripped using a Movement machines, in particular robots, are displayed so that the structure can be done without the workpiece that is to be gripped with the workpiece gripping device to be built.

The DE 10 2019 113 764 A1 describes a method for configuring a workpiece-related workpiece holding device for press automation, wherein at least one workpiece-specific holding element of the workpiece holding device is attached to a carrier of the workpiece holding device. The method is characterized by the following method steps: (a) depicting a real image of at least one workpiece-specific holding element on a display device and (b) outputting configuration information relating to at least the at least one workpiece-specific holding element on the display device, the configuration information being at least one piece of target information to a relative target orientation and/or to a relative target position. In a preferred embodiment, this target information is displayed superimposed on the real image of the holding element, preferably of the holding element and at the same time at least partially of the carrier, which is also shown or displayed on the display device. In a further method step, it can optionally be provided that the workpiece-specific holding element is configured or adapted to a workpiece on the basis of the configuration information.

The invention aims to show a further possibility of simplifying the assembly or construction of a workpiece-related sheet metal workpiece gripping device.

This is achieved with the method according to the invention of patent claim 1. With the independent patent claim 7, the invention also extends to a system which is provided in particular for carrying out the method according to the invention and is designed accordingly. Advantageous developments and refinements of the invention result analogously for both objects of the invention from the dependent patent claims, the following description of the invention and the drawing.

• - Bereitstellen der Trägerkonstruktion und der daran zu befestigenden Greifelemente;
• - Fixieren der Trägerkonstruktion in einer Halterung, insbesondere derart, dass die fixierte Trägerkonstruktion eine definierte Raumlage aufweist;
• - Befestigen bzw. Montieren der Greifelemente an der Trägerkonstruktion, wobei jedes Greifelement in einer (für das jeweilige Greifelement) vorbestimmten Relativposition und Relativausrichtung (d. h. relativ zur Trägerkonstruktion) an der Trägerkonstruktion angebracht und mittels wenigstens einer Schraubverbindung befestigt wird.

The method according to the invention for assembling or constructing a workpiece-related sheet metal workpiece gripping device (hereinafter also simply referred to as sheet metal workpiece gripping device), with several gripping elements being attached to a support structure, comprises at least the following steps:

• - Providing the support structure and the gripping elements to be attached thereto;
• - Fixing the support structure in a holder, in particular such that the fixed support structure has a defined spatial position;
• - Fastening or mounting the gripping elements on the support structure, each gripping element being attached to the support structure in a (for the respective gripping element) predetermined relative position and relative orientation (ie relative to the support structure) and being fastened by means of at least one screw connection.

The support structure is in particular a frame structure formed from tubes, beams or rails, profiled supports and the like, in particular a tree or Spider structure, the support structure can essentially consist of a single tube, beam, support and the like. The gripping elements are in particular clamping grippers, suction or vacuum grippers, magnetic grippers and the like. The gripping elements can be attached directly or indirectly (e.g. via extensions or arms) to the support structure or connected to the support structure. The fastening takes place in each case by means of at least one screw connection, which can mean a direct screw connection or also an indirect screw connection through an additional connection or holding element (e.g. a pipe or clamp or the like).

According to the invention it is now provided that the screw connections are tightened with a tool or screwing tool and that, d. H. each time a screw connection is tightened, the screwing tool is monitored using a position monitoring device. If necessary, several screwing tools can also be used, which are then monitored in an analogous manner.

Provision is preferably made for the screwing tool to be monitored according to the invention for each screw connection for fastening a gripping element to the support structure, but at least for some of these screw connections. However, the screwing tool can also be monitored according to the invention for other screw connections on the sheet metal workpiece gripping device.

It is preferably provided that the screw connections are initially (only) pre-fastened when attaching the gripping elements to the support structure and later, in particular in a final operation, are tightened with the screwing tool and the screwing tool is monitored (i.e. during tightening) using the position monitoring device.

The screwing tool can be a socket wrench or tubular wrench or the like, which can also be designed in particular as a torque wrench. The screwing tool is preferably a motor-driven screwing tool, preferably an electric screwdriver, particularly preferably a cordless screwdriver, which is designed in particular as a hand-held device or hand-held device.

The position and alignment of the screwing tool are preferably detected without contact using the position monitoring device. The position of the screwing tool is understood to mean in particular the xyz position of a tool insert or a tool tip with respect to a spatial coordinate system of the assembly space or possibly also a component coordinate system of the sheet metal workpiece gripping device. The orientation of the screwing tool is understood to mean, in particular, the spatial position of the longitudinal machining axis or axis of rotation of the screwing tool.

The monitoring of the screwing tool according to the invention using the position monitoring device preferably includes a contactless detection of the position and the alignment of the screwing tool (see above) when tightening a screw connection and a comparison or adjustment of the detected position and alignment with target specifications (for the screw connection in question) and possibly also the Output of an acknowledgment message (i.e. an OK message) if (for the screw connection in question) the recorded position and alignment match the target specifications, and/or the output of an error message if the recorded position and alignment deviate from the target specifications (for the relevant screw connection). An acknowledgment message and/or an error message can be output optically (optical feedback), in particular by means of a display device, and/or acoustically (acoustic feedback), in particular by means of loudspeakers or the like.

The invention makes use of the finding that the position and orientation of a screw connection, in particular the position and orientation of a screw or the like used for the screw connection, usually correlates with the position and orientation of the gripping element to be fastened. Due to the positive locking required for tightening the screw connection or the screw, the position and orientation of the gripping element or the relative position and relative orientation of the gripping element (relative to the support structure) can then be deduced from the position and orientation of the screwing tool used.

The method according to the invention therefore provides for the monitoring of a screwing tool used for screwing the gripping elements to the support structure, this monitoring taking place in particular in real time in the manner explained above. As a result, when tightening the screw connections, which typically takes place as the last work step or partial step, it can be checked whether the respective gripping element is attached to the support structure in the relative position and relative orientation provided for it.

Otherwise, if e.g. B. an error message is issued, the relative position and / or relative orientation of the gripping element in question can be checked and adjusted if necessary. In this way, even without a sheet metal workpiece or workpiece sample actually present, i.e. without a sheet metal workpiece or without a workpiece sample, a very precise assembly or a very precise construction of a workpiece-related sheet metal workpiece gripping device (within the accuracy of the position monitoring device) is possible, so that then without significant rework, in particular without costly Readjustment of the gripping elements, the commissioning of this sheet metal workpiece gripping device can be done.

The invention can also be used in an analogous manner to overhaul an existing sheet metal workpiece gripping device, e.g. to adapt the sheet metal workpiece gripping device to another sheet metal workpiece, or to repair a damaged sheet metal workpiece gripping device, e.g. after a collision.

The attachment of the gripping elements to the support structure is preferably carried out manually by a person or an employee. The screwing tool used for tightening the screwed connections is preferably also moved manually by this person, in particular by hand, with the screwing tool being monitored according to the invention, however, automatically. For this purpose, it is preferably provided that the position monitoring device is connected in a suitable manner to a correspondingly designed computer device. This means in particular that the position monitoring device is controlled using the computer device and/or that the data determined by the position monitoring device is evaluated using the computer device, in which case the position monitoring device can also have its own control or evaluation device that communicates with the computer device. The computer device is preferably also connected to the screwing tool and/or to a display device or a loudspeaker and in this respect can act as a kind of central control unit.

The assembly or construction of the workpiece-related sheet metal workpiece gripping device is preferably carried out using a previously created construction plan, from which the relative positions and relative alignments of the gripping elements to be fastened to the support structure can be taken. The construction plan is available in particular as a CAD data set, which in turn can be derived from a CAD data set of the sheet metal workpiece to be gripped.

The target specifications or target data used for the comparison or adjustment (see above) can be derived from the CAD data set of the sheet metal workpiece gripping device to be assembled and, in particular, adapted to a known spatial position of the support structure, so that target specifications for the position and alignment of the screwing tool for each gripping element tightening of the screw connection are available.

Based on the position and/or orientation of the screwing tool detected during monitoring using the position monitoring device when tightening a screw connection and/or based on a so-called movement tracking of the screwing tool using the position monitoring device, the corresponding, i. H. the target specifications provided for this gripping element or for this screw connection are determined or selected and used for the comparison or adjustment. This simplifies the application on the one hand and on the other hand there is no need for a specific order or sequence.

In addition, based on the position and/or orientation of the screwing tool detected during monitoring using the position monitoring device and/or based on movement tracking of the screwing tool using the position monitoring device, the tightening torque provided for the respective or currently to be tightened screw connection can be determined automatically. The tightening torque can be displayed to an executing person by means of a display device, so that the screwing tool, in particular in the form of a torque wrench or the like, can be adjusted accordingly. When using a motor-driven screwing tool, the tightening torque can also be set automatically so that the screwing tool provides the appropriate tightening torque (automatically). The tightening torques provided for the screw connections can be determined in advance, stored and called up if required.

The position monitoring device used to monitor the screwing tool when tightening the screw connections preferably comprises at least one transmitter (transmitter unit), in particular an ultrasonic transmitter, arranged on the screwing tool and at least one at the assembly site, in particular above the assembly site (e.g. 1 m to 3 m above the assembly site). , or arranged in the assembly room receiver (receiver unit), in particular ultrasonic receiver. The transmitter and the receiver can also be arranged in reverse. The The receiver receives the signals emitted by the transmitter on the screwing tool, in particular ultrasonic signals. The current position and alignment of the screwing tool are then determined from the signals received by the receiver, for example with the aid of the computer device (see above). Similar systems are known for other applications from the prior art (see e.g. EP 1 645 921 B1 ). The preferred use of a position monitoring device based on ultrasonic technology enables the position and alignment of the screwing tool to be detected with sufficient accuracy. Alternatively, for example, a position monitoring device based on laser technology can also be used.

The receiver (or the receiver unit) of the position monitoring device can be designed and arranged in such a way that the position and orientation of the screwing tool with respect to a spatial coordinate system, in particular the assembly space, can be detected. If the support structure has a defined spatial position predetermined by the fixing bracket, the relative position and relative alignment of the screwing tool with respect to the support structure (i.e. relative to the support structure) can be inferred. Provision can also be made for the spatial position of the support structure fixed to the bracket to be detected using the position monitoring device or the receiver (if necessary, at least one transmitter or transmitter unit or the like is attached to the support structure for this purpose), so that the detected position and alignment of the Screwing tool and from the detected spatial position of the support structure on the relative position and relative alignment of the screwing tool with respect to the support structure can be closed. In addition, it can be provided that the receiver is arranged on the mount, so that the position and orientation of the screwing tool relative to the mount and/or relative to the support structure fixed thereto can be detected.

Based on the position and/or alignment of the screwing tool detected during monitoring, an acknowledgment message and/or an error message can be output, as already described above. A (visual) display device on which the corresponding message is displayed in a suitable manner is preferably used for outputting the acknowledgment message and/or the error message. Such a display device is, for example, a display or the like, which can be arranged within sight of the person performing or assisting. Such a display device designed as a display or the like can also be arranged on the screwing tool. Such a display device is in particular data glasses (smart glasses) or the like that can be worn by the person. Provision is preferably made for the relevant message to be added in a suitable manner to the field of vision of the person performing the task using the data glasses, as it were as an augmented reality. The data glasses can also be used to support other activities during assembly or construction of the sheet metal workpiece gripping device, such as in DE 10 2019 113 764 A1 described. The display device, in particular the data glasses, can be controlled by the computer device (see above).

• - eine Halterung zur Fixierung der Trägerkonstruktion, insbesondere derart, dass die fixierte Trägerkonstruktion eine definierte Raumlage aufweist, wobei diese Halterung als starrer Ständer (Galgen), als Montagetisch oder auch als Mehrachsroboter ausgebildet sein kann;
• - ein Schraubwerkzeug, insbesondere ein motorisch angetriebenes Schraubwerkzeug, mit dem die Schraubverbindungen zur Befestigung der Greifelemente an der Trägerkonstruktion angezogen werden bzw. anziehbar sind;
• - eine Positionsüberwachungsvorrichtung, mit der das Schraubwerkzeug beim Anziehen der Schraubverbindungen überwacht wird bzw. überwachbar ist;
• - eine Anzeigeeinrichtung, wobei es sich insbesondere um eine Datenbrille handelt, mit der angezeigt wird bzw. anzeigbar ist, ob das Schraubwerkzeug beim Anziehen der Schraubverbindungen die korrekte, d. h. für die jeweilige Schraubverbindung vorgesehene Position und Ausrichtung (gegebenenfalls einschließlich eines Toleranzbereiches) aufweist, insbesondere durch Ausgeben einer Quittierungsmeldung, falls die Position und Ausrichtung des Schraubwerkzeugs mit Sollvorgaben für die jeweilige Schraubverbindung übereinstimmen, und/oder durch Ausgeben einer Fehlermeldung, falls die Position und/oder Ausrichtung des Schraubwerkzeugs von den Sollvorgaben für die jeweilige Schraubverbindung abweichen;
• - sowie insbesondere auch eine Computereinrichtung, wie oben beschrieben, die als zentrales Steuergerät ausgebildet sein kann.

The system according to the invention for assembling a workpiece-related sheet metal workpiece gripping device, with several gripping elements being attached to a support structure during assembly or construction of the sheet metal workpiece gripping device, comprises at least the following components:

• - A holder for fixing the support structure, in particular such that the fixed support structure has a defined spatial position, this holder can be designed as a rigid stand (gallows), as an assembly table or as a multi-axis robot;
• - A screwing tool, in particular a motor-driven screwing tool, with which the screw connections for fastening the gripping elements to the support structure are tightened or can be tightened;
• - A position monitoring device with which the screwing tool is monitored or can be monitored when tightening the screw connections;
• - a display device, which is in particular data glasses, with which it is displayed or can be displayed whether the screwing tool has the correct position and alignment (if necessary including a tolerance range) when tightening the screw connections, i.e. the position and orientation intended for the respective screw connection, in particular by issuing an acknowledgment message if the position and alignment of the screwing tool match target specifications for the respective screw connection, and/or by issuing an error message if the position and/or alignment of the screwing tool deviate from the target specifications for the respective screw connection;
• - And in particular also a computer device, as described above, which can be designed as a central control unit.

• 1 zeigt schematisch ein erfindungsgemäßes System zur Montage einer Blechwerkstückgreifeinrichtung und veranschaulicht das Anziehen einer Schraubverbindung mittels Schraubwerkzeug zur Befestigung eines Greifelements an einer Trägerkonstruktion.

The invention is explained in more detail below in a non-limiting manner with reference to the drawing explained, with other possible features and details are explained previously.

• 1 shows schematically a system according to the invention for mounting a sheet metal workpiece gripping device and illustrates the tightening of a screw connection using a screwing tool for fastening a gripping element to a support structure.

This in 1 The system 100 shown for assembling a workpiece-related sheet metal workpiece gripping device 200 comprises a holder 110 designed as a stand, a screwing tool 120, which is designed here as a motor-driven and hand-held screwing tool, a position monitoring device 130 for the screwing tool 120 with a transmitter 131 arranged on the screwing tool 120 and a transmitter 131 above of the assembly site or room, a fixed receiver 132 (which records the assembly site or room below), a display device 140 in the form of data glasses 141, and a computer device 150 functioning as a central control unit. The computer device 150 is suitably connected to the receiver 132, optionally also connected to the transmitter 131, the screwing tool 120 and the display device 140 or data glasses 141, it being possible for each connection to be implemented by means of a cable or also wirelessly. The screwing tool 120 is preferably an electric screwdriver, in particular a cordless screwdriver, with a tool insert 121 which is in particular exchangeable. The transmitter 131 and receiver 132 of the position monitoring device 130 can also be reversed.

• - die einen zentralen Balken 211 und davon abragende Arme 212 aufweisende Trägerkonstruktion 210 wird in der Halterung 110 fixiert, sodass diese im Montageraum eine definierte Raumlage aufweist, insbesondere relativ zum Empfänger 132 der Positionsüberwachungsvorrichtung 130;
• - die Greifelemente 220 werden von einer Person P direkt oder indirekt (über Verlängerungen oder dergleichen) an der fixierten Trägerkonstruktion 210 befestigt, wobei jedes Greifelement 220 in einer durch den Bauplan vorbestimmten Relativposition und Relativausrichtung (d. h. relativ zur Trägerkonstruktion 210) an der Trägerkonstruktion 210 angebracht und jeweils mittels wenigstens einer Schraubverbindung 221 befestigt wird.

The assembly or construction of a workpiece-related sheet metal workpiece gripping device 200 can include the following steps without a sheet metal workpiece or workpiece sample actually being present, starting from a construction plan of the sheet metal workpiece gripping device 200 that is available as a CAD data set:

• - The support structure 210 having a central beam 211 and arms 212 protruding therefrom is fixed in the holder 110 so that it has a defined spatial position in the assembly space, in particular relative to the receiver 132 of the position monitoring device 130;
• - the gripping elements 220 are attached directly or indirectly (via extensions or the like) to the fixed support structure 210 by a person P, each gripping element 220 being attached to the support structure 210 in a relative position and relative orientation (i.e. relative to the support structure 210) predetermined by the construction plan and is fastened in each case by means of at least one screw connection 221.

To fasten the gripping elements 220, the screw connections 221 are tightened with the screwing tool 120, it being possible for the screw connections 121 to be initially only pre-fastened, so that the position and orientation of the respective gripping element 220 is temporarily fixed and can still be changed or adjusted. and only be tightened or tightened later. The tightening torque provided in each case for tightening the screw connections 221 can be determined automatically and the screwing tool 120 can be automatically adjusted accordingly, as explained above.

During tightening, the screwing tool 120 is monitored using the position monitoring device 130, with the position of the screwing tool 120 or its tool insert 121 (illustrated by the spatial coordinates xyz) and the orientation, which here is the spatial position of the longitudinal machining axis or axis of rotation of the screwing tool 120 (illustrated by the axis A) is meant to be detected without contact. If necessary, a rough manual alignment of the transmitter 131 arranged on the screwing tool 120 to the receiver 132 arranged above the assembly station can promote the detection.

The computer device 150 is used to compare the recorded position and alignment of the screwing tool 120 with target specifications for the respective screw connection 121, which are derived in particular from the CAD data set. The result can be displayed in real time on the display device 140 or data glasses 141, in particular in such a way that at least one piece of corresponding information is suitably added to the field of vision of the person P performing the task. An acknowledgment message is preferably output or displayed if the detected position and alignment of the screwing tool 120 match the target specifications for the screw connection 121 in question, and/or an error message is output or displayed if the detected position and/or alignment of the screwing tool 120 deviate from the target specifications for the screw connection 121 in question. Instead of the data glasses 141, a projection system can also be used as the display device.

In the manner described above, at least one associated screw connection 221 automatically checks whether the respective gripping element 220 is attached to the support structure 210 in the relative position and relative orientation provided for it. When a If an error message is output or displayed, the relative position and/or relative orientation of the relevant gripping element 220 can be checked by the person P and adjusted if necessary, whereupon the relative position and relative orientation is checked again when the screw connection 221 is tightened. When using a position monitoring device 130 (e.g. based on ultrasonic technology) that satisfies high accuracy requirements, a very precise control is possible, so that the sheet metal workpiece gripping device 200 can be put into operation without costly readjustment.

Such monitoring of the screwing tool 120 can also take place analogously for other screw connections to be tightened with the screwing tool 120 on the sheet metal workpiece gripping device 200, in particular for screw connections for fastening the arms 212 or for fastening extensions and the like.

As already mentioned above, the data glasses 141 can also be used to support other activities during the assembly or construction of the sheet metal workpiece gripping device 200 . For example, it can be provided that when gripping elements 220 and, if applicable, also arms 212 or extensions and the like are attached, the relative position and relative orientation provided for this purpose is displayed based on the CAD data set of sheet metal workpiece gripping device 200, in particular as a real-time display of the field of view of the executive person P added information. In particular, provision is made for the person P to be shown the correct position and alignment in a suitable manner, so that the relevant elements can be installed in the correct position according to the displayed specification and in particular also aligned, at least roughly aligned. If necessary, at least one camera device is also provided for this purpose, which can be arranged on the data glasses 141, for example.

The data glasses 141 can also be used to check a sheet metal workpiece gripping device 200 that is already in use, e.g. in such a way that a person looks through the data glasses 141 through the relevant sheet metal workpiece gripping device 200, which can also be located in a press system, and sees any deviations from target specifications, in particular deviations in position and/or alignment of the gripping elements 220, are displayed, e.g. in such a way that the corresponding information is appropriately added to the field of vision of the person performing the task.

Reference List

100

system

110

bracket

120

screw tool

121

tool use

130

position monitoring device

131

transmitter (transmitter unit)

132

receiver (receiver unit)

140

display device

141

data glasses

150

computer setup

200

Sheet metal workpiece gripping device

210

support structure

211

bar

212

poor

220

gripping element

221

screw connection

A

axis

P

person

xyz

spatial coordinates

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited 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 assumes no liability for any errors or omissions.

Patent Literature Cited

• DE 102014204366 A1 [0003]
• DE 102019113764 A1 [0004, 0026]
• EP 1645921 B1 [0024]

Claims (8)

A method for assembling a workpiece-related sheet metal workpiece gripping device (200), wherein a plurality of gripping elements (220) are attached to a support structure (210), comprising the steps of: - providing the support structure (210) and the gripping elements (220) to be attached thereto; - Fixing the support structure (210) in a holder (110); - Fastening the gripping elements (220) to the support structure (210), each gripping element (220) being attached to the support structure (210) in a predetermined relative position and relative orientation and being fastened by means of at least one screw connection (221); characterized in that the screw connections (221) are tightened with a screwing tool (120) and the screwing tool (120) is monitored with the aid of a position monitoring device (130). procedure after claim 1 , characterized in that the position (xyz) and the alignment (A) of the screwing tool (120) are detected without contact using the position monitoring device (130) and the detected position (xyz) and alignment (A) with target specifications for the respective screw connection (221) be compared. procedure after claim 2 , characterized in that an acknowledgment message is output if the detected position (xyz) and alignment (A) match the target specifications, and/or that an error message is output if the detected position (xyz) and/or alignment (A) deviate from the target specifications. procedure after claim 3 , characterized in that data glasses (141) are used to output the acknowledgment message and/or the error message. Method according to any of the preceding claims 2 until 4 , characterized in that based on the detected position (xyz) and / or orientation (A) of the screwing tool (120) for the respective screw connection (221) provided tightening torque is automatically determined. Method according to one of the preceding claims, characterized in that the position monitoring device (130) used has at least one transmitter (131) arranged on the screwing tool (120) and at least one receiver (132) arranged at the assembly site, which receives the data from the transmitter (131) on the screwing tool ( 120) receives transmitted signals, the current position (xyz) and orientation (A) of the screwing tool (120) being determined from the received signals. System (100) for assembling a workpiece-related sheet metal workpiece gripping device (200), wherein a plurality of gripping elements (220) are attached to a support structure (210), comprising the following components: - A bracket (110) for fixing the support structure (210); - A screwing tool (120) with which the screw connections (221) for fastening the gripping elements (220) to the support structure (210) are tightened; - A position monitoring device (130) with which the screwing tool (120) is monitored when tightening the screw connections (221); - A display device (140) that shows whether the screwing tool (120) has the correct position (xyz) and alignment (A) when tightening the screw connections (221). system (100) after claim 7 , characterized in that the display device (140) is data glasses (141).

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