AU2021290312B1 - Machine, assembly and method of operation - Google Patents

Abstract

MACHINE, ASSEMBLY AND METHOD OF OPERATION ABSTRACT A method of operating an automated machine including operating an oscillating tool over a surface of a workpiece in order to provide a finish to the surface, switching off oscillating motion of a head of the tool, recalibrating dimensions of the head in an off condition and applying the head into a pocket formed by an elevated edge bordering the surface, based on the recalibrated dimensions.

Description

MACHINE, ASSEMBLY AND METHOD OF OPERATION

Field of the Invention

[0001] The present invention relates to a machine for finishing a workpiece, an assembly and a method of operation.

Background

[0002] A vertical Computer Numerical Control (CNC) sanding machine is known which is used to provide a sanded finish to a workpiece. The machine has a vertical spindle for moving a sanding tool up and down, into engagement with a workpiece positioned on a calibrated table.

[0003] The assembly is automated and configured to sand horizontal planar surfaces only. The workpiece may have one or more flat surfaces at different heights, requiring the spindle to vertically adjust accordingly. The different surfaces may also require different sanding tools to be individually swapped in from a carousel of available sanders.

[0004] One such sanding tool is a rotary sander with a circular sanding head that operates with a random/orbital movement. Another sanding tool is an oscillating sander, which generally has a rectangular shaped sanding head.

[0005] Before a sanding operation, the workpiece is scanned to determine the relative positions and heights of the flat surfaces that need to be sanded. This allows the machine to conduct a sanding operation automatically by accurately moving the workpiece on the table beneath the tool and/or by moving the spindle over the surfaces using a robotic arm and changing tools, as needed.

[0006] Precise pressure needs to be applied by a robotic arm in order for the sanding tool to operate optimally and a pressure pad is used with the tool to continuously sense applied pressure conditions. The machine monitors any variations detected by the pressure pad in order to implement minor adjustments to the sanding force applied by the robotic arm if, for example, the tool encounters any surface height deviations in the workpiece during operation.

[0007] If the workpiece is a horizontally arranged door, for example, the door may have a central panel at a lower height bordered by edges that step up to an outer frame. The edges and associated corners around the panel are difficult to sand properly as the oscillating tool needs to maintain a minimum distance from the edge to avoid the oscillating action of the sanding head knocking the tool into the edge and damaging either the door or the tool. The minimum distance is determined on the basis of the operational width and length of the sander head. A rotary sander may be used along the edges but the sander us is unable to reach into the comers.

Summary of the Invention

[0008] In accordance with the present invention, there is provided a method of operating an automated machine including operating an oscillating tool over a surface of a workpiece in order to provide a finish to the surface, switching off oscillating motion of a head of the tool, using recalibrated dimensions of the head in an off condition, applying the head into a pocket formed by an elevated edge bordering the surface, based on the recalibrated dimensions, and conducting a sanding operation in the pocket using the tool, while the oscillating motion of the sanding head remains switched off.

[0009] In one example, the method includes applying force to the head of the tool using a pressure application device adapted to apply working pressure to the tool or to relieve reaction pressure of the tool against the workpiece.

[00010] In one example, the method includes applying force to the head of the tool using a piston with a relief valve for above threshold pressure.

[0010] In one example, the tool is an oscillating sanding tool and the method further includes engaging a rotary brush sanding tool to sand the pocket and comers associated with the edge.

[0011] In one example, sanding material is provided on sides of the head and the sanding operation includes sanding along the edge bordering the surface with the sanding material, while the oscillating motion of the head of the tool is switched off.

[0012] In another aspect, there is provided an automated sanding machine including an assembly with a rig that holds an oscillating tool over a surface of a workpiece in order to provide a finish to the surface, the automated sanding machine being programmed to: switch off oscillating motion of a head of the tool; use recalibrated dimensions of the head in an off condition to apply the head into a pocket formed by an elevated edge bordering the surface, based on the recalibrated dimensions; and conduct a sanding operation in the pocket using the tool, while the oscillating motion of the sanding head remains switched off.

[0013] In one example, the assembly further includes a pressure application device for applying pressure to force a head of the tool against the surface, the device having a relief valve which vents in an above threshold condition.

[0014] In one example, the pressure application device is adapted to apply working pressure to the tool and/or relieve reaction pressure of the tool against the workpiece.

[0015] In one example, the device is a pneumatic piston and the tool is connected to the piston for movement away and toward the surface of the workpiece.

[0016] In one example, the piston includes a pair of piston rods that attach to the tool, the piston rods passing through a guide to inhibit rotation of the tool during operation.

[0017] In one example, the rig carries multiple tools.

[0018] In one example, the multiple tools include one or more of an oscillating sanding tool, an orbital sanding tool a horizontal or vertical axis rotary tool.

[0019] In one example, the rig is attached to a boom and arranged to slide lengthwise of the boom along a horizontal x-axis.

[0020] In one example, the automated sanding machine further includes a motor connected to the rotary tool for driving a rotary head of the rotary tool, the motor being attached to the boom via a housing and a pivotal coupling that allows the motor and associated tool a range of motion in a horizontal plane about a vertical axis between 0 and 90 degrees.

[0021] In one example, the automated sanding machine further includes a motor connected to a rotary tool for driving a head of the rotary tool, wherein the motor is attached to the boom to rotate the tool about a vertical axis.

[0022] In one example, the rotary tool is a rotary brush sander or rotary polisher.

[0023] In one example, the boom is connected to a carriage that allows the boom to move transversely, in a horizontal y-direction over a workpiece positioned beneath the boom.

[0024] In one example, the assembly includes a vacuum conveyor for holding a workpiece in place during a finishing operation.

[0025] In one example, the assembly further includes a hold down mechanism for fixing the workpiece in place during a finishing operation, wherein the mechanism comprises two rollers or clamps which allow the workpiece to be held down while the tools work between the rollers or clamps are selectively engaged to hold the workpiece in position during the finishing operation.

[0026] In one example, the automated sanding tool further includes sanding material provided on sides of the head to sand along the edge bordering the surface, while the oscillating motion of the head of the tool is switched off.

[0027] -[0031] deleted.

Brief Description of the Drawings

[0032] The invention is more fully described, by way of non-limiting example only, with reference to the following drawings, in which:

[0033] Figure 1 is a perspective view of an assembly and feed conveyor;

[0034] Figure 2 is a perspective view of the assembly and a table for a workpiece;

[0035] Figure 3 is a perspective view of an orbital sanding tool and an oscillating sanding tool, showing the oscillating and orbital sanding tools connected to a mount;

[0036] Figure 4 is a perspective view of the oscillating sanding tool coupled to a pressure application device in the form of a piston;

[0037] Figure 5 is a perspective view of the assembly in a home position;

[0038] Figure 6 is a perspective view of a rotary brush sanding tool being pivoted from the home position;

[0039] Figure 7 is a perspective view of the rotary brush sanding tool rotated 90 degrees from the home position;

[0040] Figure 8 shows the rotary brush sanding tool working on an end section at a first end of a frame;

[0041] Figure 9 shows the rotary brush sanding tool working on a side section of the frame;

[0042] Figure 10 shows the rotary brush sanding tool working on a second end section of the frame;

[0043] Figure 11 shows the rotary brush sanding tool working on a second side section of the frame;

[0044] Figure 12 is a perspective view of the assembly, showing the oscillating sanding tool positioned on an inner panel of the frame;

[0045] Figure 13 illustrates the oscillating sanding tool working toward a second end of the frame;

[0046] Figure 14 shows the oscillating sanding tool completing a sanding operation at the first end of the frame;

[0047] Figure 15 illustrates the orbital sanding tool engaged on the side section of the frame;

[0048] Figure 16 shows the orbital sanding tool completing the second side section of the frame;

[0049] Figure 17 shows the assembly in afinished condition;

[0050] Figure 18 shows the assembly returned to the home position;

[0051] Figure 19 illustrates a prior art margin gap separating the oscillating sanding tool from the side section of the frame;

[0052] Figure 20 shows a comparative position of the oscillating sanding tool;

[0053] Figure 21 illustrates action of the rotary brush sanding tool in sanding a pocket and edges of the frame;

[0054] Figure 22 is a perspective view of a sanding tool with a tool headfitted with abrasive material;

[0055] Figure 23 shows the sanding tool head during a sanding operation;

[0056] Figure 24 is a perspective view of a rotary brush sander; and

[0057] Figure 25 illustrates an adapter for a sanding tool.

Detailed Description

[0058] Figure 1 shows a machine 1 which includes an assembly 2, a feed conveyor 3 and a scanning device 4 to scan the relative dimensions of the upper surfaces and lower surfaces of a workpiece 5. As an alternative, the dimensions of the workpiece 5 can be entered manually and/or with a barcode.

[0059] The workpiece 5 includes upper and lower surfaces 6, 7. The upper surface 6 is defined by a frame 8, with end sections 9,10 and side sections 11, 12 around an inner panel 13. The lower surface 7 is defined by the panel 13 which is bordered by an edge 14, which steps up to the upper surface 6. Sanding pockets 15 and corners 16 are created by the edge 14.

[0060] Figure 2 shows the assembly 2 positioned over a table 17, in the form of a suction conveyor 18. The assembly 2 includes a horizontal boom 19 which carries a rig 20 arranged to move lengthwise of the boom 19. The rig 20 supports three separate stations 21, 22, 23 but can be more than three and can be interchanged with a brush sanding disc added, which respectively hold an oscillating sanding tool 24, a random orbital sanding tool 25 and a rotary brush sanding tool 26, . Each station 21, 22, 23 is arranged to move the associated tool 24, 25, 26 vertically in a z -axis direction (referred to as an "A" axis for a CNC machine) for sequential application to the workpiece 5. All of the tools 24, 25, 26 are shown in the home position.

[0061] Only three stations 21, 22, 23 are shown, however, the assembly 2 may have fewer or more stations, as required. For example, an additional one or more stations (not shown) may be added. The specific type of tool may also be changed such as by interchanging one of the tools 24, 25, 26 with a brush sanding disc (not shown) or the brush sanding disc can instead be added as an additional tool. The specific type of tools will depend on the nature of finish needed for the workpiece.

[0062] The station 23 with the rotary brush sanding tool 26 has a housing 27 which is attached to a pivot post 28 to allow between 0 and 90 degrees rotation of the brush sander 26 about the z axis. The housing supports a motor 29 for driving the rotary brush sander 26.

[0063] Although a rotary brush sanding tool 26 is described throughout this specification, the sanding tool 26 may instead be swapped for an alternative type of rotary tool in the form of a polisher, as needed.

[0064] The orbital tool 25 has a circular sanding head 30, a power socket 31 connected to a power cord 32 and an extraction pipe 33 for suctioning dust through an outlet tube 34. The oscillating sanding tool 24 has a rectangular sanding head 35 arranged to randomly oscillate under power. The oscillating sanding tool 24 is likewise coupled to a power cord 32 and vacuum extraction pipe 33.

[0065] With regard to Figure 3, the station 22 carrying the random orbital sanding tool 25 is shown in a lowered working position while the oscillating sanding tool 24 remains elevated. A power socket 36 and extraction pipe 37 for the oscillating sanding tool 24 are more clearly shown. A casing of the station 21 has been removed to illustrate the oscillating sanding tool 24 is bolted to a base plate 38 of the station 21.

[0066] Figure 4 shows a preferred embodiment, where the tool 24 is mounted to the station 21 by a pressure application device which is preferably in the form of a pneumatic piston 39, which includes a pair of piston rods 40 connected to a body 41 of the sander 24, through a bush 42 mounted to the base plate 38. The bush may include brass bushing or lineal ball bearings. The bush 42 serves to guide the piston rods 40 while the use to two piston rods 40 prevents relative rotation of the tool 24 during operation. In this example, the tool 25 has been lifted and the tool 24 has been lowered along the z (A) -axis to a suitable working height by the piston 39.

[0067] The pressure application device/piston is able to apply working pressure to the tool in a downward direction but is also able to provide negative upward pressure to counterbalance the weight of the tool 24, as required. The pressure application device can also relieve reaction pressure of the tool 24 against the workpiece 5.

[0068] The piston 39 maintains a sanding pressure on the orbital sander 24 during use and a relief valve 43 which is provided in order to vent air from the piston 39 if sanding pressure is exceeded. This allows the tool 24 to 'float' across sanding surfaces without any need to continuous monitoring of the applied pressure as the piston 39 simply vents in an above threshold condition, such as when height variations occur in the sanding surface.

[0069] Referring now to Figure 5, the workpiece 5 has been moved from the feed conveyor 3 onto the suction conveyor 18. The assembly 2 includes a hold down mechanism 50 formed of two pressure rollers 51, 52 which can be used to selectively hold down the workpiece 5 and prevent the workpiece 5 accidentally moving during a sanding operation. The rollers 51, 52 are shown in a rest position while the tools 24, 25, 26 are in the home positions. The rollers can instead be in the form of clamps which are connected by rack and pinion to enable a parallel preset height across the table no matter the workpiece width, with or without the need for selective engagement.

[0070] Figure 6 illustrates commencement of the sanding operation on one end 53 of the workpiece 5. The conveyor 18 has been advanced so the end 53 of the workpiece 5 is under the rotary tool 26 and the pressure roller 51 has been engaged to secure the workpiece 5.

[0071] In Figure 6, the housing 27 is pivoted on the post 28 to start to align the tool 26 with the pocket 15 along the edge 14 at the end 53 of the workpiece 5.

[0072] In Figure 7, the housing 27 has been rotated 90 degrees, to a position where the tool 26 is fully aligned with the end 53 of the workpiece 5.

[0073] In Figure 8, the tool 26 has been lowered by the station 23 to a working position where the motor 29 is activated to rotate brushes 54 in order to commence sanding in the pocket 15. From that position, the rig 20 is moved along the boom 19, in an x-axis direction, from right to left as viewed, to sand the pocket 15 as well as the edge 14 of the raised end section 9. The tool 26 preferably makes multiple passes along the pocket 15.

[0074] Once sanding along the end section 9 is complete and the tool 26 reaches the side section 11, the tool 26 is rotated on the post 28 back through 90 degrees in order to align with the side section 11, as shown in Figure 9. The assembly 2 is then advanced in a y-axis direction relative to the workpiece 5 such as by moving the assembly 2 or by moving the conveyor 18.

[0075] To move the assembly 2 in the y-axis direction, the boom 19 is connected to a carriage (not shown) to allow translation of the boom 19 in a y-axis direction whereby the tools 24, 25, 26, when engaged with a work surface beneath the boom 19 are able to move in both x and y directions as a result of movement of the rig 20 and boom 19.

[0076] As the tool 26 leaves the end section 9, the roller 52 is lowered to engage the workpiece and the other roller 51 is lifted clear, as shown in Figure 10, to avoid obstructing the sanding operation.

[0077] Figure 10 also shows the tool 26 having reached the other end section 10 of the workpiece 5, where it has been rotated back 90 degrees, in order to sand the pocket 15 adjacent that section 10.

[0078] Figure 11 shows the tool 26 approaching the original end section 9, after sanding the other side section 12. Since the tool 26 is close to the end section 9, the roller 52 has been lifted clear and the roller 51 has been re-engaged. After the brush sanding operation is completed, the station 23 returns the tool 26 to the home position shown in Figure 12.

[0079] Figure 12 also shows the station 21 as having lowered the tool 24 down onto the workpiece 5. As the tool 24 is driven along the y-axis the second roller 52 is lowered and the roller 51 is again lifted to provide clearance for the tool 24.

[0080] The tool 24 can be moved along the bordering edge 14 and across the panel 13 in a raster movement on the x-y axes, in order to sand the majority of the lower surface 7. Any other form of sanding pattern may be used for example the tool could move in a rectilinear, circular or zig zag patter, as required. When the tool 24 is adjacent the pockets 15, power to the tool 24 is turned off so that the oscillating movement is stopped. The outer dimensions of oscillating head in an off state are calibrated into the assembly 2 so that the tool 24 can be positioned in close proximity to the edge 14 of the panel 13 and then moved in a rectilinear manner to sand the pockets 15 without damaging either the tool 24 or the workpiece 5.

[0081] Figure 13 shows the tool 24 approaching the end section 10 and the relative position of the rollers 51, 52, with the first roller 51 lifted clear of the tool 24 and the second roller 52 lowered to hold the workpiece in place.

[0082] When the sanding operation of the tool 24 is complete, as shown in Figure 14, the tool 24 may be lifted clear of the workpiece 5 and returned to the home position, as shown in Figure , where the rig 20 has been moved lengthwise of the boom 19 along the x-axis and the station 22 has lowered the rotary sander 25 down to the workpiece 5.

[0083] The tool 25 is used to sand the upper surface 6 of the workpiece 5, completing the sanding operation at a position shown in Figure 16, after which the hold down mechanism 50 is disengage by lifting both rollers 51, 52 and all of the tools 24, 25, 26 are lifted clear of the workpiece, as shown in Figure 17.

[0084] As shown in Figure 18, the rig 20 is then returned to the home position by sliding along the boom 19 and the sanded workpiece 5 is free to be removed from the conveyor 18.

[0085] As may be appreciated from the above, selectively stopping the oscillating motion of the tool 24 allows the sanding head 55 to be positioned close to the edge 14 of the lower surface 7 which means the sanding head 55 can be moved as a conventional sanding block in order to sand the pocket 15.

[0086] For comparison, in the prior art, the oscillating sander would need to be maintained at a distance from the edge determined by the dimensions of the head in operation, plus a safety margin. As an example, when the sanding tool is switched off, the sanding head pad size may be 81x133mm +/- 3mm. However, when the tool is switched on, the oscillation of the head can result in an effective increase in the pad size to 91x143mm - after adding the +/- 3mm displacement and a clearance margin to avoid pad collision with the edge of the workpiece.

[0087] As such, an automated prior art sanding machine would need to be calibrated in a manner that takes account the effective width of the head during operation of the sanding head, leading to a gap 56 between the sander 24 and the edge 14, as illustrated by Figure 19, which in turn results in inadequate sanding of the pocket 15.

[0088] With the invention, however, the oscillating motion of the head 55 can be turned off when the sander 24 is adjacent a side edge 14 such that the dimensions of the sanding head 55 can be accurately calibrated, allowing the sanding head 55 to be positioned in closed proximity to the edge 14, as shown in Figure 20, to enable sanding of the pocket 14 with the deactivated tool 24.

[0089] By using a rotary brush sanding tool 26, the invention also provides an improvement to the sanding outcome, as the brushes 54 and sanding strips 57 are able to access the pocket 15 and also sand the associated edge 58 of the upper surface 6, as illustrated in Figure 21. The head 59 can have an adjustable RPM and forward and reverse directions to employ two different grits, if required. The head 59 is also able to rotate 0 to 90 degrees to sand into corners longitudinally or crosswise on either side to further enhance the sanding of the pocket 15 and edge 14.

[0090] Referring to Figure 22, a modification is shown where the sanding head 55 can also have abrasive material 60 on sides 61 of the sanding head 55, in addition to sanding face 62. Figure

23 illustrates how the sanding abrasive material 60 on sides 61 is able to sand along the side edge 14 of the workpiece 5 into the pocket 15.

[0091] A further modification, as illustrated in Figure 24, is to substitute one of the tools, such as tool 25 with a vertical axis brush sander 63 which is driven by a vertical motor/gear box 64 mounted at station 22. The brush sander 63 compliments sanding of the edge 14 and pocket 15, as well as the comers 16.

[0092] Figure 25 shows yet another modification, where the sanding head 55 is modified by the addition of an adapter block 64 or 65. The dimensions and shape of the adapter blocks 64, 65 can be modified or selected, as needed. The adapter block is designed to be attached to an underside 66 of a pad 67 of the sanding head 55 by hook and loop fasteners, adhesive or any other suitable form of attachment. The dimensions and profile of the block 64 or 65 can be selected to suit the required sanding needs and different abrasive materials 68 can then be fixed to the underside and/or sides of the block 64 or 65, as required. If, for example, the workpiece has a machine pocket with dimensions smaller than those able to be sanded by a conventional tool, the adapter can be fitter to provide a smaller sanding block, which can allow sanding in a smaller pocket, while still using a standard sanding tool. The adapter blocks 64, 65 need not be limited to a CNC machine and can also be used with a hand-held oscillating sander. The shape of the adapter blocks and/or sanding material can also be selected to conform to the sanding profile of the workpiece.

[0093] It should also be appreciated that using a pneumatic guided piston 39, described above with reference to Figure 4, avoids the need for expensive and complex electronic monitoring and electronic equipment. The piston 39 is able to apply, for example, +/- 10Nm, with a relief valve to release pressure from compression. This means height tolerances can be automatically and simply accommodated by the piston 39 through use of the self-regulating relief valve while adequate sanding force is maintained. The pneumatic piston may have a displacement of+/ mm compared to the prior art where very strict tolerances of needed to be observed.

[0094] Replacing complex load monitoring systems with a self-adjusting piston, turning an oscillating sanding tool on and off to sand pockets and the addition of a rotary brush sanding tool that is able to rotate from 0 to 90 degrees results in a much more cost effective solution to providing a sanded finish to workpieces, as compared to existing CNC sanding machines.

[0095] Another simplifying aspect of the invention, is all the tools 24, 25, 26 are mounted on a horizontal boom 19 and there is no need for a prior art spindle which travels to a carousal to sequentially pick up different tools during a sanding operation. Lastly, the sandpaper on the sander heads is not automatically replaced but the assembly 2 instead has a count-down timer associated with each sander to warn of the expiry time of the sandpaper. A simple manual change can be conducted when needed instead a fully automated process.

[0096] It should also be appreciated the piston 39 has been described as a pneumatic piston however any other form of suitable piston may be used instead, such as a hydraulic piston or the like. The piston 39 may also be replaced with any other suitable device to transfer sanding force to one or more of the tools 24, 25, 25, such an as a hydraulic or pneumatic airbag or the like, where sanding pressure is maintained despite surface variations in the workpiece.

[0097] Also, although the invention has been described with reference to an orbital sanding tool and a rotary sander tool being used in combination with a rotary brush sanding tool, the type of sanders may be changed, substituted or swapped, as required, depending on the finish needed on the workpiece.

[0098] The 'floating' pressure applied by the piston may also be applied, for example, to a tool used to finish any other workpiece such as a surfboard and the application of pressure need not be vertical and might instead be in any direction, such as may be applied by an anthropomorphic robotic arm.

Claims (20)

CLAIMS:

1. A method of operating an automated machine including operating an oscillating tool over a surface of a workpiece in order to provide a finish to the surface, switching off oscillating motion of a head of the tool, using recalibrated dimensions of the head in an off condition, applying the head into a pocket formed by an elevated edge bordering the surface, based on the recalibrated dimensions, and conducting a sanding operation in the pocket using the tool, while the oscillating motion of the sanding head remains switched off.

2. The method of claim 1, wherein the method includes applying force to the head of the tool using a pressure application device adapted to apply working pressure to the tool or to relieve reaction pressure of the tool against the workpiece.

3. The method of claim 1, wherein the method includes applying force to the head of the tool using a piston with a relief valve for above threshold pressure.

4. The method of claims 1 or 3, wherein the tool is an oscillating sanding tool and the method further includes engaging a rotary brush sanding tool to sand the pocket and comers associated with the edge.

5. The method of any one of claims 1 to 4, wherein sanding material is provided on sides of the head and the sanding operation includes sanding along the edge bordering the surface with the sanding material, while the oscillating motion of the head of the tool is switched off.

6. An automated sanding machine including an assembly with a rig that holds an oscillating tool over a surface of a workpiece in order to provide a finish to the surface, the automated sanding machine being programmed to: switch off oscillating motion of a head of the tool; use recalibrated dimensions of the head in an off condition to apply the head into a pocket formed by an elevated edge bordering the surface, based on the recalibrated dimensions; and conduct a sanding operation in the pocket using the tool, while the oscillating motion of the sanding head remains switched off.

7. The automated sanding machine of claim 6, wherein the assembly further includes a pressure application device for applying pressure to force a head of the tool against the surface, the device having a relief valve which vents in an above threshold condition.

8. The automated sanding machine of claim 7, wherein the pressure application device is adapted to apply working pressure to the tool and/or relieve reaction pressure of the tool against the workpiece.

9. The automated sanding machine of claims 7 or 8, wherein the device is a pneumatic piston and the tool is connected to the piston for movement away and toward the surface of the workpiece.

10. The automated sanding machine of claim 9, wherein the piston includes a pair of piston rods that attach to the tool, the piston rods passing through a guide to inhibit rotation of the tool during operation.

11. The automated sanding machine of any one of claims 6 to 10, wherein the rig carries multiple tools.

12. The automated sanding machine of claim 11, wherein the multiple tools include one or more of an oscillating sanding tool, an orbital sanding tool a horizontal or vertical axis rotary tool.

13. The automated sanding machine of any one of claims 6 to 12, wherein the rig is attached to a boom and arranged to slide lengthwise of the boom along a horizontal x-axis.

14. The automated sanding machine of claim 12, further including a motor connected to the rotary tool for driving a rotary head of the rotary tool, the motor being attached to the boom via a housing and a pivotal coupling that allows the motor and associated tool a range of motion in a horizontal plane about a vertical axis between 0 and 90 degrees.

15. The automated sanding machine of claim 14, further including a motor connected to a rotary tool for driving a head of the rotary tool, wherein the motor is attached to the boom to rotate the tool about a vertical axis.

16. The automated sanding machine of claim 14 or 15, wherein the rotary tool is a rotary brush sander or rotary polisher.

17. The automated sanding machine of any one of claims 13 to 16, wherein the boom is connected to a carriage that allows the boom to move transversely, in a horizontal y-direction over a workpiece positioned beneath the boom.

18. The automated sanding machine of any one of claims 6 to 17, wherein the assembly includes a vacuum conveyor for holding a workpiece in place during a finishing operation.

19. The automated sanding machine of any one of claims 6 to 18, wherein the assembly further includes a hold down mechanism for fixing the workpiece in place during a finishing operation, wherein the mechanism comprises two rollers or clamps which allow the workpiece to be held down while the tools work between the rollers or clamps are selectively engaged to hold the workpiece in position during the finishing operation.

20. The automated sanding machine of any one of claims 6 to 19, further including sanding material provided on sides of the head to sand along the edge bordering the surface, while the oscillating motion of the head of the tool is switched off.

Kory Dubay Manufacturing Pty Ltd Patent Attorneys for the Applicant/Nominated Person SPRUSON&FERGUSON