KR101744962B1 - System for processing wood member using multi-articulated robot - Google Patents

Abstract

The present invention relates to a system for machining a wood member to a predetermined dimension, comprising: a work table (10) for clamping a wood member; A multi-joint robot (20) for mounting a tool via a tool head (23) at a downstream end of the multi-axle arm (21); A detecting means (30) for detecting the posture and motion of the articulated robot (20) corresponding to the wood member; And control means (50) for controlling the tool of the articulated robot (20) under a predetermined condition.
Accordingly, in processing various types and sizes of wood members based on the articulated robot, a three-dimensional step file is received as a main controller, and a three-axis arm controller, a four-axis arm controller, , It is possible to manufacture various kinds and sizes of wood members by moving the multi-axis processing device of the wood member using the articulated robot by fixing the work platform by using a clamp on the wood member, and by changing the process conditions flexibly, It is effective to increase the reliability of the same precision machining and to improve the quality and the productivity.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wood member processing system using a multi-

The present invention relates to the processing of wood members, and more particularly, to a three-axis arm controller, a four-axis arm controller, or a five-axis arm controller by receiving a three-dimensional machining file (e.g., step file) The axis arm controller is used to clamp the wood member to the workbench using clamps based on the articulated robot. By moving the multi-axis processing device of the wood member using the articulated robot, various types and sizes of wood To a multi-axis machining apparatus for a wood member for manufacturing a member.

(1) Configuration and function of robot controller

1 is a block diagram of a robot controller including a motion controller and a servo driver.

In Fig. 1, the portion excluding the robot body is called a robot controller. In brief, it is divided into a motion control section and a servo driver section. The motion controller selects a target based on commands and signals from all external sources, including an operator, and makes the signals below the servo driver understandable.

The servo driver section corresponds to a kind of motor controller that directly controls various motors built in the robot body. Since it is important to understand the motion control part because it is done in the motion control part to make the robot like a robot (that is, to perform a complicated six degrees of freedom motion), the role of the servo driver is important during actual use. .

1)

[Structure and function]

The motion control unit interprets the robot command created by the user and sets a path plan including the position, velocity, and acceleration information of each axis of the robot, and issues a command to the servo driver. The motion control unit includes a main controller and an input / output controller as shown in FIG.

2 is a diagram illustrating a motion controller and a servo driver. 3 is a configuration diagram of the servo controller.

The main controller usually plays the roles of teaching the robot, alarm, remote operation, teaching box display and manipulation, external device robot control, kinematic mechanism analysis, robot language analysis, teaching play back, etc., and all the robot controller configuration units are periodically Monitoring and integrated management. The main controller may consist of several boards, the main functions of which are system control and motion control. The system control function means a central processing unit for managing a plurality of controllers, and the operation control function means all the control related to the operation of the robot. In some cases, it also includes an optional Vision Board.

The I / O controller consists of a system I / O board and a user I / O board. System I / O boards can be connected to peripheral devices such as FDD, HDD, USB, Memory Card, etc., Emergency switch, Proximity sensor (Limit Sensor). And since it has communication ports such as RS232C, RS422, etc., it can connect PC or Teach pendant. The User I / O Board is used to control various sensors, hands, and other peripherals of the robot.

The main controller and the input / output controller are connected to each other through a dual port memory which can be read and written independently. Likewise, the main controller and the servo driver are also connected via a dual port memory.

- Role of main controller

The main controller is a part of the robot controller that manages the other control units, moves the robot having the articulated link mechanism according to an instruction, performs an operation control operation necessary for realizing cooperative control between the peripheral apparatus and the robot Thereby realizing the functions of the robot controller. High-performance microprocessors are used because it is necessary to process a large amount of data at a high speed such as a complex coordinate exchange operation in order to perform such system control function and motion control function.

- Role of I / O controller

In order to control with the robot system, it is necessary to transmit various signals to the robot operator and the robot peripheral device at a high speed and transmit the results to the system control unit. In this way, the input / output controller plays an important role in exchanging signals from the outside of the robot controller with data that can be processed by the system controller, and conversely, exchanging data output from the robot controller with a predetermined signal.

The configuration of the input / output controller is the same as that of the main controller, but the numerical calculation processor is unnecessary compared with the main controller, the microprocessor is not so high performance, and the memory capacity may be smaller than that of the main controller. In addition, a serial communication IC used as a serial interface and a parallel I / O IC for a parallel interface are reinforced as peripheral devices of a microcomputer.

[Robot control]

In general, when the input / output control is performed using the microprocessor of the main controller, important processing such as operation control calculation in the main controller may be interrupted by input processing of data reception. For this reason, in order to eliminate the data interruption in the main controller and to improve the performance of the robot controller, the robot controller sets up a system capable of fast response to an interface signal from the outside with the input / output controller separately.

2) Servo driver section

The servo driver section controls the servo motor for driving each joint of the robot and the drive motor for the shafting device. The servo driver section performs feedback control of each servo motor so that the calculated position command is executed when the operation control section in the main controller calculates each joint change of the robot by coordinate conversion or the like. The servo driver unit is composed of a servo controller and a servo amplifier (or power converter) as shown in FIG.

3 is a configuration diagram of the servo controller.

As shown in FIG. 3, the servo controller is responsible for transmitting the information received from the host controller, such as the motion controller, to the servo amplifier through the position, speed, and current control loop. In addition, it receives the information about the actual moving position, speed, and current value from the servo motor and compares it with the command value to reduce the difference, that is, the error amount. Therefore, the servo controller basically performs the closed loop control in order to increase the robustness against the disturbance elements (disturbances) from the outside and obtain precise control of the desired output.

[Robot Reference Coordinate System]

The robot can move relative to other axes. The interpretation of the motion along each coordinate axis can vary. Usually the motion of the robot can be analyzed in the following three coordinate axes.

FIG. 5 is a diagram showing the world coordinate system of the articulated robot, the articulated coordinate system, the tool-relative coordinate system, and most of the robots being programmed to move in this coordinate system.

The world reference frame of the robot is a universal coordinate axis defined by x, y, and z axes. In this case, the robot joint moves continuously to create motion along each of the three axes. In this coordinate axis, movement in the positive x-axis direction is always positive in the x-axis, regardless of where the arm is. In other words, this coordinate axis is used to define the motion of the robot relative to another object, and is used to define other systems or machines communicating with the robot and to define the path of movement.

The Joint Reference Frame is used to define the motion of all the joints of the articulated robot in robotics. If a robot's hand is moved to a specific position, one joint must be defined to allow the robot's hand to reach the desired position directly at a time. In this case, each joint should be accessed individually, and only one joint moves at a time. The movement of the robot hand varies according to the shape of the joint (translational, rotational, and spherical joints). For example, in the case of a rotating joint, the hand moves along a circle defined in the axis of the joint.

The Tool Reference Frame defines the motion of a robot hand that moves relatively in a coordinate system mounted on the robot hand. The x ', y', z 'coordinate axes of the robot hand define relative hand movements in this local frame. Unlike the world coordinate system, the local coordinate system moves along the robot. If the hand is positioned as shown in Fig. 4, the hand of the robot moving in the direction of the x axis positive direction in the local tool coordinate system moves in the direction of the x 'axis of the tool coordinate system. If the robot arm is pointing elsewhere, the same motion above the x 'axis of the tool coordinate system is interpreted as a completely different motion. In the same way, if the x 'axis is upward, the motion of + x' is upward, and if the x 'axis is downward, the motion of + x' is downward. As a result, the tool relative coordinate system is a coordinate system that always moves together with the movement of the robot, and the movement occurring due to the position of the arm and the direction of the tool relative coordinate system is statistically different. The tool relative coordinate system is a very useful coordinate system when the robot wants to approach or move away from an object, or when the robot wants to program where the part is to be assembled.

[Work space of robot]

Depending on the shape of the robot, the joints of the robot wrist, and the size of the link, it is possible to reach a set of points called workspaces. For each robot, the shape of the work space depends on the characteristics of the robot. The workspace can be created as a mathematical equation of motion that defines the joints and links of the robot, including the limits of motion for each joint. In addition, the workspace can be created by experimenting in such a way that each joint moves in the movement area or includes all reachable areas, and the unreachable area is deleted.

Fig. 5 shows an approximate shape of a typical workspace shape of a general robot. If the robot is special, it should be studied whether it can reach the desired position to establish the work space. You should also refer to the robot manufacturer's data in order to establish the workspace correctly.

FIG. 6 shows an example of an example in which an industrial equipment co. (VR-008A), which is a vertical articulated robot manufactured by NEC Corporation.

The Model VR-008A, a vertical articulated robot, has six axes of rotation and is used in factory automation and has exceptional working areas for flexible, rapid, smooth and versatile welding tasks.

Table 1 summarizes the advantages and disadvantages of the five robot manipulator configurations.

       shape            Advantages             Disadvantages Cartesian coordinates
(x, y, z-based,
Driving, reach, height) Easy to visualize 3 straight lines
Rigid structure
Easy offline programming
Easy to machine stop in linear axis Only accessible in front of the robot itself
Requires a large footprint
Axis difficult to seal Cylindrical coordinate type
(θ, y, z-based,
Rotation, reach, height) Two linear axes, one rotation axis
Accessible around the robot
The reaching axis and the height axis of the rigid structure
Rotating shaft easy to seal Inaccessible above the robot itself
The base rotation axis, which is less strong than the straight axis
Straight axis that is difficult to seal
Inaccessible around obstacles
Horizontal motion of the circle Spherical coordinate type (vertical)
(θ, y, β-based,
Rotation, elevation angle, arrival angle) One linear axis, two rotation axes
Long horizontal approach Inaccessible around obstacles
Short vertical approach Joint type (vertical)
(θ, β, α-based
Rotation, elevation angle, arrival angle) Three rotation axes
Accessible up and down obstacles
Maximum working area in minimum space 2 to 4 ways to reach the point
Manipulator of complex structure SCARA Coordinate type (horizontal)
(θ, φ, z-based,
Rotation, angle of arrival, height) One linear axis, two rotation axes
Height axis of rigid structure
Large work area
Accessible around obstacles Two ways to reach your point
Offline programming difficulty
Arm of a very complex structure

Wood members of various types and sizes usually used for hanok, neckline, furniture, etc. are subjected to a multi-stage process. In recent years, most of such processes are increasingly relying on mechanization or automation for improving quality and productivity.

As related prior art documents, Korean Registered Utility Model No. 1997-0002705 (Prior Art 1), Korean Patent Registration No. 0308359 (Prior Art 2), Korean Patent Registration No. 1176871 (Prior Art 3), etc. Can be referred to.

In the prior art document 1, a first table is provided on one side of an upper portion of a seat, a second table is mounted on a first table so as to be slidably mounted on the first table, a guide bar which is moved back and forth on an upper portion of the second table, And the like. Therefore, it is expected that a plurality of grooves are formed on the wood and the grooves are formed in different sizes.

The prior art document 2 includes a material supply unit configured to move up and down, a material cutting unit having a cylinder for moving the pedestal back and forth to cut the wood by the cutter, a support frame for moving the grooving cutter, . Therefore, it is expected that the effect of continuous cutting can be achieved by automating all cutting processes.

The prior art document 3 includes a carving means for carving wood by moving a plurality of carving tools in X, Y, and Z axis directions; A controller for inputting a pattern or shape desired by a user and transmitting a control signal to the engraving means through the means for controlling the engraving; And the like. Thus, a desired shape and shape of a piece and a uniform product mass production effect are expected.

However, the above-mentioned prior art document 1 is suitable for a groove machining of a certain size, and the prior art document 2 is suitable for a simple form machining such as a handle. Prior Art 3 is relatively flexible, but it is not flexible enough to cope with various situations.

However, in the conventional woodworking method, the tool is fixed and the wood member is moved for processing the natural wood in the NC machine tool. Alternatively, the workpiece is fixed to the wood member by using the clamp, ) Is applied to the main controller and drilled using the tool (TL, drill tap) of the articulated robot through position control and speed control using the articulated robotics technique in the wood member processing apparatus according to the shape of the three-dimensional file, It is necessary to fix the workbench and to process the wood by moving the processing device.

1. Korean Registered Utility Model No. 1997-0002705 "Multiaxial Boring Machine for Groove Processing of Wood" (Published on September 17, 1996) 2. Korean Registered Patent No. 10-0308359 entitled " Wood Handle Automatic Processing Device "(Published on Apr. 4, 2000). 3. Korean Patent Registration No. 10-1176871 entitled "Automatic Wood Carving Machine" (Published date: June 29, 2011)

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems in the prior art, and it is an object of the present invention to provide a method of manufacturing a wood member having various kinds and sizes, using a three-axis arm controller, a four-axis arm controller, (Step file) is applied to the main controller to change the process conditions of the natural wood, the square column, the circular column wood, and the like, so that the natural wood A wood member processing system using a multi-joint robot that improves the reliability of the precision machining of wood such as fitting the processed wood, processing the wood according to the three-dimensional file by drilling while moving the wood member multi- .

In order to achieve the above object, the present invention provides a system for processing a wood member to a predetermined dimension, comprising: a work table for clamping a wood member; A multi-joint robot for mounting a tool (TL, drill tap) on a downstream end of the multi-axle arm with a tool head interposed therebetween; Detecting means for detecting a posture and a motion of the articulated robot corresponding to the wood member; And control means for controlling the tool of the articulated robot under a predetermined condition,
The detecting means 30 basically comprises an encoder 31 provided at the joint portion of the multiaxial arm 21 and a rate gyro 33 provided at the tool head 23 and has a moisture content And optionally a meter 35,
The control means 50 controls the operation of the three-dimensional processing file of the wood member obtained through the USB memory or communication module attached to the USB connection unit (not shown) connected to the main controller 55, In response, the sub controller 57 receiving the command of the main controller 55 corrects the path (polishing path) of the tool in accordance with the condition of the tool,
Further comprising a DB server (53) for storing and updating the water content / shrinkage ratio data for the final product to which the wood member is applied and the water content / shrinkage ratio data for the type of wood, and the final product design data is either CAM or STEP The main controller 55 sets the origin of the object, and then, when the wood member is clamped to the predetermined position of the work table 10 and the main controller 55 is operated, When the moisture content of the object is judged to exceed the reference value through the water content meter 35, the degree of shrinkage in the dry state is calculated, And the final product design data is obtained through the DB server 53. At the same time, the corrected data is fed back to the DB server 53 to be updated and accumulated It shall be.

According to a detailed configuration of the present invention, the articulated robot further comprises a tool magazine for rapidly exchanging a plurality of tools.

In the detailed construction of the present invention, the articulated robot further includes a suction unit for discharging chip and dust generated in the machining process.

According to a detailed configuration of the present invention, the detecting means basically includes an encoder installed at the joint portion of the multi-axle arm and a rate gyro provided at the tool head, and selectively includes a moisture content meter for detecting the drying state of the wood member .

In the detailed construction of the present invention, the control means controls the sub-controller, which receives the command of the main controller in response to the physical property condition of the wood member in the process of executing the three-dimensional processing file of the wood member obtained through the USB memory or the communication module And the path (polishing path) of the tool is corrected in accordance with the condition of the tool.

As described above, according to the present invention, a three-dimensional processing file (step file) is received by the main controller and connected to a robot arm controller based on a three-axis arm controller, a four-axis arm controller, or a five- In the processing of various types and sizes of wood members drilled by the tool (TL, drill tap) of the articulated robot, flexible modification of process conditions improves the reliability of precision machining of wood such as fitting of processed wood, And the productivity is improved.

In the conventional woodworking method, a tool is fixed and a wood member is moved for the purpose of processing a natural neck in an NC machine tool. In contrast, in the present invention, a workpiece is fixed to a wood member using a clamp, (Eg, step file) is applied to the main controller, and the multi-axis machining apparatus of the wood member according to the shape of the three-dimensional machining file uses the multi-joint robotics technology to perform position control and speed control, ), And it is possible to process the wood according to the three-dimensional processing file while moving the multi-axis processing apparatus of the wood member while fixing the work table to the wood member by using the clamp.

1 is a block diagram of a robot controller including a motion controller and a servo driver.
2 is a diagram illustrating a motion controller and a servo driver.
3 is a configuration diagram of the servo controller.
Fig. 4 is a diagram showing that the robot is programmed to move in a world coordinate system, a joint reference coordinate system, a tool relative coordinate system, and most robots in this coordinate system.
5 is a view showing a typical working space shape of a general robot.
FIG. (VR-008A), which is a vertical articulated robot produced by the National Institute of Advanced Industrial Science and Technology (AIST).
FIG. 7 is a block diagram of a wood member processing system using the articulated robot according to the present invention.
FIG. 8 is a block diagram showing the main part of the articulated robot according to the present invention.
9 is a block diagram showing a control state of the system according to the present invention.
10 is a view showing a shape of a drill tap used as a tool TL of a multi-joint robot.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 7 is a block diagram of a wood member processing system using the articulated robot according to the present invention.

FIG. 8 is a block diagram showing the main part of the articulated robot according to the present invention.

9 is a block diagram showing a control state of the system according to the present invention.

10 is a view showing a shape of a drill tap used as a tool TL of a multi-joint robot.

The present invention proposes a system for machining a wood member to a set dimension. Natural wood (wood) of various kinds and sizes to be used for hanok, neck line, furniture, etc., but is not necessarily limited to wooden members requiring fitting and fitting. In the case of a hanok wood member, it usually has concave and convex portions of appropriate dimensions, such as a rectangular or circular column, a beam, a tread, and a rafter.

According to the present invention, a work table (10) for clamping a wood member is provided. The processing of a general natural wood is a method of fixing the tool and moving the wood member, but the present invention uses the clamp 12 to fix the wood member on the work table 10. The auxiliary member 15 may be further mounted on the clamp 12 under the wood member WM as shown in FIG. The auxiliary member 15 may be made of resin or extra wood to prevent damage to the work table 10 or the tool.

According to the present invention, a three-dimensional machining file (e.g., a step file) is received as a main controller of a wood member processing system using a multi-joint robot, and a three-axis arm controller, a four-axis arm controller, The joint robot 20 has a structure in which the tool TL (drill tap) is mounted on the downstream end of the multi-axle arm 21 with the tool head 23 interposed therebetween. When a dedicated NC machine tool is used, a multi-joint robot 20 in which a dedicated NC machine tool is combined is preferred because the scale becomes large. It is preferable that the multi-joint arm 21 of the articulated robot 20 is realized by at least five degrees of freedom. The tool head 23 is provided with a spindle driven by a servomotor for adjusting the rotation state of the tool. The tool head 23 is installed so as to have a bending moment during the machining process and a rigidity for supporting the torque.

As a detailed configuration of the present invention, the articulated robot 20 further comprises a tool magazine 25 for quickly exchanging a plurality of tools. 8 illustrates a state in which the tool magazine 25 has two tools TL mounted on the turntable 26. In Fig. Since Fig. 8 is a schematic representation, each relative size is ignored. Each of the tools is detachably clamped via the gripper 27, and can be quickly replaced with another according to the rotation of the swivel base 26. Of course, the gripper 27 can be operated manually when replacing the end mill with the tool other than the drill illustrated in Fig.

As a detailed configuration of the present invention, the articulated robot 20 further includes a suction unit 40 for discharging chips and dust generated in a machining process. When the object is metal, cutting oil is added to discharge the chip, but in case of wood, it is preferable to use the suction means (40). The sucking means 40 includes a damper 42 mounted on the tool head 23, a suction tube 48 spaced apart from the articulated robot 20, a flexible tube 48 connecting the damper 42 and the suction tube 48, Duct 46 and the like. Only the suction nozzle 44 may be mounted to reduce the weight of the tool head 23 and the damper 42 may be provided on the suction tube 48 side.

In addition, according to the present invention, the detection means (30) detects the posture and motion of the articulated robot (20) corresponding to the wood member. The detecting means 30 ultimately generates a signal for estimating the path of the tool mounted on the tool head 23 of the articulated robot 20 as an operation. Other than that, however, it is also possible to generate a signal for a change in the physical condition of the wood member that affects the path of the tool as described below.

The detecting means 30 basically includes an encoder 31 provided at the joint portion of the multiaxial arm 21 and a rate gyro 33 provided at the tool head 23, And a water content meter 35 for detecting the drying state of the water content. The encoder 31 is preferably an absolute encoder that does not need to return to the origin even when the power is off. The rate gyro 33 senses and feeds back the angular velocity of the tool head 23, thereby suppressing the vibration and enhancing the accuracy of the position control. The water content meter 35 can use the electrical measurement method specified in KS, but it is preferable to use near infrared spectroscopy to shorten the processing time. In either case, the water content meter 35 can be expected to be useful for correcting the working dimension according to the drying state of the wood member.

A laser sensor having a measuring range of 50 to 350 mm can be added as the detecting means 30 for positional correction of the central axis of the object and correction of the processing accuracy.

Further, according to the present invention, the control means (50) controls the tool of the articulated robot (20) under the set condition. The control means 50 is distributed and operated to the main controller 55 spaced apart from the articulated robot 20 and the sub controller 57 mounted on the articulated robot 20. The main controller 55 and the sub controller 57 are composed of a microprocessor, a memory, and a microcomputer circuit equipped with an I / O interface.

The main controller 55 receives a three-dimensional processing file (e.g., a step file) through the USB memory or the communication module 51 and transmits a command to the sub-controller 57 so that each joint of the robot The entire algorithm relating to the processing of the wood member is executed so as to process the wood by the tool (TL, drill tap) of the moving joint robot,

The sub-controller 57 executes a local algorithm for the posture and the motion of the articulated robot 20 that controls the joints of the respective axes of the articulated robot 20. The main controller 55 is connected to a USB connection unit (not shown) or has a communication module 51 for communicating with a DB server 53, a remote controller (not shown), and the like.

The main controller 55 of the wood member processing system using the articulated robot transmits a command to the sub controller 57 for controlling the axes of the articulated robot to control the wood member to operate in accordance with the three-dimensional processing file. The main controller 55 may be implemented by any one of a three-axis arm controller, a four-axis arm controller, and a five-axis arm controller.

As a detailed configuration of the present invention, the control means 50 controls the three-dimensional processing file of the wood member obtained through the USB memory mounted on the USB connection unit (not shown) connected to the main controller 55 or the communication module 51 The sub controller 57 which receives the command of the main controller 55 in response to the physical condition conditions (wet tree, dry tree, knot) of the wood member in the course of execution executes the operation of the tool And corrects the path (polishing path).

The main controller 55 may use any one of a three-axis arm controller, a four-axis arm controller, a five-axis arm controller, and a six-axis arm controller.

The sub controller 57 which receives the operation command of the main controller 55 determines the path of the tool (polishing path) to the contour of the wood member with reference to the contact point between the workpiece (wood member) and the polishing tool In the case of a multi-axis grinding machine (for example, a 5-axis grinding machine), the rotation axis is always perpendicular to the contact surface. Therefore, in order to obtain a uniform machining amount on the entire curved surface, Correct the path (polishing path) of the tool to create the path.

10 is a view showing a shape of a drill tap used as a tool TL of a multi-joint robot. The articulated robot has a tool (TL, drill tap) at the end, and the drill tap is formed by i) a structure in which the angle of the drill tab is 90 ° and the end is flat, ii) the structure of the drill tab is less than 90 °, iii) A structure in which the angle of the drill tab is greater than 90 ° and the end is flat can be used.

The diameter and shape of the drill tap can be 5mm, 10mm, 15mm. Correction data of the tool of the tool is inputted in advance according to the angle of the base and the drill tap.

The DB server 53 stores and updates design data for final products (such as hanok) to which the wood member is applied, water content / shrinkage ratio data according to the type of wood, and the like. The finished product design data is converted into three-dimensional processing files such as CAM and STEP as CAD-based. If the physical property condition of the wood member is not reflected, the condition of fitting is improper, which causes quality and productivity deterioration.

As an example of the operation, when the wood member as the object is clamped to the set position of the work table 10 and the main controller 55 is operated, the main controller 55 sets the origin of the object, , Step file) to move the tool to the set path. At this time, if the water content of the object is judged to exceed the reference value through the water content meter 35, the degree of shrinkage in the dry state is calculated to correct the path of the tool. Of course, such data is acquired through the DB server 53, and at the same time, the corrected data is fed back to the DB server 53 to be updated and accumulated.

In the conventional woodworking method, a tool is fixed and a wood member is moved for the purpose of processing a natural wood. In contrast, in the present invention, a workpiece is fixed to a wood member by using a clamp, File) is applied to the main controller and drilled by the tool (TL, drill tap) of the articulated robot through the position control and the speed control using the multi-joint robotics technique in the wood member multi-axis processing device, It is possible to process the wood according to the three-dimensional processing file while moving the wood member processing apparatus while fixing the workbench on the member.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. It is therefore intended that such variations and modifications fall within the scope of the appended claims.

10: Work table 12: Clamp
15: auxiliary material 20: articulated robot
21: Multi-axle arm 23: Tool head
25: Tool magazine 26: Swivel
27: gripper 30: detection means
31: Encoder 33: Rate Gyro
35: water content meter 40:
42: damper 44: exhaust nozzle
46: flexible duct 48: suction tube
50: control means 51: communication module
53: DB server 55: main controller
57:

Claims (5)

A system for processing wood members into set dimensions, comprising:
A work table (10) for clamping the wood member;
A multi-joint robot (20) for mounting a tool via a tool head (23) at a downstream end of the multi-axle arm (21);
A detecting means (30) for detecting the posture and motion of the articulated robot (20) corresponding to the wood member; And
And control means (50) for controlling the tool of the articulated robot (20) under a predetermined condition,
The detecting means 30 basically comprises an encoder 31 provided at the joint portion of the multiaxial arm 21 and a rate gyro 33 provided at the tool head 23 and has a moisture content And optionally a meter 35,
The controller 50 controls the main controller 55 in accordance with the physical property of the wood member in the process of executing the three-dimensional processing file of the wood member obtained through the USB memory or the communication module mounted on the USB connection unit connected to the main controller 55, The sub-controller 57 receiving the command of the tool 55 corrects the path (polishing path) of the tool in accordance with the condition of the tool,
Further comprising a DB server (53) for storing and updating the water content / shrinkage ratio data for the final product to which the wood member is applied and the water content / shrinkage ratio data for the type of wood, and the final product design data is either CAM or STEP The main controller 55 sets the origin of the object, and then, when the wood member is clamped to the predetermined position of the work table 10 and the main controller 55 is operated, When the moisture content of the object is judged to exceed the reference value through the water content meter 35, the degree of shrinkage in the dry state is calculated, And the final product design data is acquired through the DB server 53. At the same time, the corrected data is fed back to the DB server 53 to be updated and accumulated. Timber member processing system using the robot. The method according to claim 1,
Wherein the articulated robot (20) further comprises a tool magazine (25) for quickly changing a plurality of tools. The method according to claim 1,
Wherein the articulated robot (20) further comprises a suction unit (40) for discharging chips and dust generated during the machining process. delete delete

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