EP4086012A1 - Procédé et dispositif de tri de lamelles - Google Patents

Procédé et dispositif de tri de lamelles Download PDF

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Publication number
EP4086012A1
EP4086012A1 EP21172736.7A EP21172736A EP4086012A1 EP 4086012 A1 EP4086012 A1 EP 4086012A1 EP 21172736 A EP21172736 A EP 21172736A EP 4086012 A1 EP4086012 A1 EP 4086012A1
Authority
EP
European Patent Office
Prior art keywords
conveyor
sorting
slats
robot
slat
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP21172736.7A
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German (de)
English (en)
Inventor
Matthias Hänel
Christian Michel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pollmeier Schnittholz & Co Kg GmbH
Original Assignee
Pollmeier Schnittholz & Co Kg GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pollmeier Schnittholz & Co Kg GmbH filed Critical Pollmeier Schnittholz & Co Kg GmbH
Priority to EP21172736.7A priority Critical patent/EP4086012A1/fr
Publication of EP4086012A1 publication Critical patent/EP4086012A1/fr
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B07C5/12—Sorting according to size characterised by the application to particular articles, not otherwise provided for
    • B07C5/14—Sorting timber or logs, e.g. tree trunks, beams, planks or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots

Definitions

  • the invention relates to a method for sorting lamellae, in particular natural wood lamellae.
  • Natural wood slats are used, for example, to manufacture furniture front panels, each of which consists of several parallel slats glued together end to end.
  • the lamellas contained in a delivery have largely uniform properties, so that the products made from them also have a correspondingly uniform appearance.
  • the properties of the lamellas that are relevant in this context can be, for example, the quality, color, grain or the like, and usually also the dimension in at least one dimension.
  • the object of the invention is to specify a method that enables efficient, largely automated sorting of the lamellae and a largely trouble-free course of the sorting process.
  • the stop at the end of the conveyor ensures that the lamella to be picked up by the gripper arm of the sorting robot is in a defined position.
  • the next lamella moves up on the conveyor until it rests against the stop and is then gripped by the gripper arm in the next cycle.
  • the advantage is that the centered slats are balanced on the conveyor even if the length of the slats is significantly greater than the width of the conveyor. This enables a wide range of variations in the lengths of the slats. For example, if the conveyor consists of two parallel conveyor belts, the length of the slats must be at least equal to the distance between the two conveyor belts. Thus, by reducing this distance, the lower limit for the length of the slats can be reduced.
  • this method makes it possible to feed the slats on the cross conveyor in such a close sequence that the slats accumulate at the stop, at least temporarily. Since all slats are centered, the stop does not exert any torque on the slats, so that the accumulated slats do not tilt, but always remain aligned parallel to the stop surface, so that the following slats can also be picked up by the gripper in a defined position.
  • the properties of the lamellas, according to which sorting is to be carried out, can be detected by a suitable sensor system, for example by means of cameras and digital image processing, with optical sensors and/or mechanical feelers.
  • the lamellas are often cut to size in a previous work step in such a way that damaged areas in the natural wood are cut out.
  • the information about the length of each individual lamella can then be recorded and saved during the cutting process. The same applies to the width of the slats if wider boards are divided by longitudinal cuts.
  • the sorting logic is made by controlling the sorting robot. This logic includes the dynamic compartment allocation.
  • the material flow can be controlled via switches in such a way that pre-sorting already takes place when the lamellas are fed to the various sorting robots.
  • the slats in transported to the sorting system in any sequence on a fast-running longitudinal conveyor and then transferred via several ejection points to several cross conveyors, each of which serves a sorting robot.
  • lamellas are fed lying flat on the longitudinal conveyor in any alternation.
  • a turning device can then be provided on each transverse conveyor, which can turn the good side of the slat upwards as required.
  • this turning device it is expedient to use this turning device at the same time to center the slats by moving the turning device in the longitudinal direction of this slat as soon as it has grasped one end of a slat and then placing the turned slat back on the slat in a position dependent on the length of this slat conveyor.
  • the slats may also be necessary or practical to turn the slats by 180° using the turning device. For example, this makes it possible to inspect the opposite surfaces of the slats with cameras arranged above the conveyor system and, if necessary, to use the quality of the slat determined in the process as a sorting criterion.
  • the lamellas are fed to each sorting robot on parallel conveyors arranged in several tiers, and the sorting robot is controlled in such a way that it takes the lamellas alternately from the different conveyors.
  • the removal of the slats from the different conveyors does not have to be done strictly alternately.
  • the frequency at which the lamellas are removed from the various conveyors can be adjusted to the current capacity utilization of the conveyors.
  • the robot can preferentially serve that conveyor on which the slats required for this sorting compartment are being delivered.
  • the subject matter of the invention is also a sorting system for carrying out the method described above.
  • a sorting system with cross conveyors arranged on several levels can also be advantageous if no centering device is provided for the lamellae.
  • a sorting system with several conveyors arranged one above the other on several floors is thus also disclosed, which is configured to feed lamellas with different lengths to be sorted to a common sorting robot, the lamellas on the conveyor having an orientation transverse to the transport direction of the conveyor, one at the end a stop formed on each conveyor to stop the slats in a position in which they can be picked up by the sorting conveyor, a plurality of sorting compartments arranged in relation to the conveyors so that the slats picked up by the sorting robot are each placed in a selected one of the plurality of sorting compartments Sorting compartment can be inserted, and a computer system which is configured to carry out the method according to any one of claims 1 to 7.
  • a first conveyor 10 and a second conveyor 12 are shown in plan view, on which slats 14 are transported in a transport direction x.
  • the first conveyor 10 has three parallel conveyor belts 16 arranged at a distance from one another.
  • the slats 14 have different lengths and each lie on at least two of the conveyor belts 16 . With their ends on the left in the transport direction, the slats 14 lie against an alignment plate 18, so that the left ends of the slats are aligned with one another in the direction y, transverse to the transport direction x, while the opposite ends of the longer slats are at different distances above the conveyor 10 survive.
  • a centering device 20 is arranged to the left of the conveyors in the direction of transport, with which the lamellas 14 are transferred individually from the first conveyor to the second conveyor and at the same time centered to a uniform central position, see above that the slats on the second conveyor 12 can be supported balanced on only two conveyor belts 22.
  • the distance between the two conveyor belts 22 is smaller than the shortest expected length of the slats 14.
  • the centering device 20 has, for example, a cylindrical carrier 24 which can be rotated about its longitudinal axis and on which a gripper 26 for grasping the end of the lamella to be turned is arranged eccentrically.
  • the carrier 24 can be moved linearly in the positive and negative y-direction with the aid of a drive 28 .
  • the drive 38 can be moved linearly in the transport direction x and in the opposite direction thereto.
  • the holder 24 is then rotated by 180° and at the same time the entire centering device is moved in the positive x-direction, so that the lamella held in the gripper 26 reaches a position on the second conveyor 12 and is set down there.
  • a raisable and lowerable support beam 32 is provided on the opposite side of the conveyor to provide support for the slat if required.
  • the slats 14 are simultaneously turned through 180° in the process described above.
  • a camera 34 is arranged above the conveyors 10 and 12 and is symbolized in the drawing by its field of view in the plane of the conveyor, which is drawn in as a dashed line.
  • the upward-facing surfaces of the slats on the first conveyor 10 can be inspected so that defects can be detected and colors or grain patterns of the slats can be classified.
  • the length of the slats can also be measured with the camera before the slat reaches the centering device 20.
  • the centering device can therefore be controlled on the basis of the length information thus obtained.
  • the field of view of the camera 34 extends into the starting zone of the second conveyor 12, so that the slats can also be inspected when they have been turned through 180°. In this way, both main surfaces of the slats can be inspected with a single camera.
  • the camera can also be used to take a picture at the moment when the lamella has just been rotated by 90° using the centering and turning device, so that the lamella can be seen from the edge and thus also the thickness of the lamella can be measured and any curvature of the lamella can be determined.
  • the slats can be transported on the second conveyor 12 at the same speed as on the first conveyor 10, so that the distances between the slats initially remain unchanged.
  • a stationary stop 38 which is symmetrical about the center of the second conveyor 12 and stops each incoming slat in a position where it lies on the conveyor belts 22 and is aligned in the direction y. If several slats are fed in close succession, some slats can also be backed up at the stop 38 . Since the slats lie loosely on the conveyor belts 22, the conveyor belts can slip under the slats.
  • the lamella resting in a defined position on the stop 38 is located in the working area of a sorting robot 40.
  • This sorting robot has a gripper arm 42, with which the lamella is grasped in the middle, lifted and can be transferred to one of several sorting compartments of a magazine 44, the located above the second conveyor 12. While the gripper arm 42 transfers the slat into the magazine 44, the next slat can move up on the conveyor 12 until it in turn rests against the stop 38.
  • the sorting compartment in the magazine 44 into which the robot deposits the lamella is selected according to predetermined sorting criteria.
  • the lamellae can be efficiently sorted according to various properties, for example according to their length, width, thickness, quality and the like.
  • a computer system 46 which stores an identifier for each individual lamella 14 as well as the relevant properties of the lamellas which were determined before or during the sorting process.
  • the movements of the slats 14 on the way to the sorting plant and within the sorting plant are tracked electronically with the computer system 46 .
  • FIG. 2 illustrates as a comparative example a sorting system that works according to the same functional principle, but has no centering device and only a single conveyor (corresponding to the conveyor 10).
  • the slats 14 aligned with their left end on the alignment plate 18 must here be supported up to the stop 38 on the three conveyor belts 16 of the conveyor.
  • the maximum allowable length of the slats 14 is limited to twice the width of the conveyor 10, otherwise the protruding portion of the slat would overweight and the slat would tip off the conveyor.
  • the gripper arm 42 always grasps the lamella lying against the stop in the same position, this would be the case in the comparative example 2 mean that the gripper arm does not always grab the slats in the middle, so that the slats would not be balanced when transferred into the magazine 44 and therefore may not load neatly into the sorting compartments. It may therefore be necessary to vary the position at which the gripping arm grips the slat, depending on the length of the slat, which complicates the control of the robot and can also lead to an increase in the cycle time of the robot. All of these problems are avoided by the inventive centering of the slats on a uniform central position.
  • 3 shows a side view of the sorting system in the same condition as in 1 .
  • One of the slats 14 is due to the pivoted up Stops 30 and the gripper 26 has detected the end of this blade.
  • the carrier 24 of the centering device 20 is in the viewing direction 3 behind the conveyor 10.
  • the last slat is still in contact with the stops 36, while the first slat is in contact with the stop 38 and is grasped by the gripping arm 42 of the robot (not shown to scale here).
  • the holder 24 of the centering device is rotated slightly about its longitudinal axis, so that the slat held in the gripper 26 is lifted off the conveyor 10, while the subsequent slats are transported further on the conveyor.
  • the stops 30 are folded down so that a linear movement of the centering device in the direction of the second conveyor 12 can already be used at the same time.
  • the transverse position of the carrier 24 is controlled so that the center of the slat held in the gripper is centered on the center of the conveyor 12 .
  • the gripping arm 42 of the robot has meanwhile lifted the first slat from the second conveyor 12 and from the stop 38 .
  • the stops 36 are also folded down so that the lamella aligned with these stops can be transported further.
  • the stops 30 are swung up again in order to stop the next lamella 14 in the transfer position of the centering device 20.
  • the gripper 24 of the centering device has almost completed its 180° rotation and is about to deposit the turned slat on the second conveyor 12 .
  • the stops 36 are swung up to allow the slat deposited on the second conveyor to be realigned.
  • the slats have moved up on the second conveyor 12 so that the next slat is now in contact with the stop 38 .
  • Above the second conveyor 12 is in figure 5 a floor 48 of one of several sorting compartments is shown.
  • the gripping arm 42 of the robot is just about to push the slat picked up by the conveyor 12 into this sorting compartment, with the slats 14 previously deposited on the floor 48 being pushed backwards.
  • the gripping arm 42 and the centering device 20 then return to their starting positions so that a new cycle can begin.
  • the spacing between successive slats 14 on the first conveyor 10 need not be uniform. If the distance is greater, the gripper 26 may have to wait until the next slat has reached the stops 30. This slat is then deposited on the second conveyor 12 with a delay, so that the distances between the slats on the second conveyor 12 also vary.
  • the sorting robot 40 needs a certain minimum cycle time for a sorting process, which depends on how long the distances are that the gripper arm has to cover between the end of the second conveyor 12 and the respectively selected sorting compartment.
  • the rate at which the slats are fed on conveyors 10 and 12 must match the reciprocal of the robot's minimum cycle time.
  • the slats can be fed at a higher rate, which causes the slats to back up at the stop 38 . If the lamellas are later fed in again at a lower rate, the robot can clear this jam again.
  • each sorting compartment has a number of recesses 52 on the front edge facing the robot, into which the gripping arm 42 of the robot can move in order to pick up the slats placed on the floor 48 in a controlled manner.
  • One of the floors 48 is in 7 shown in plan, so that the arrangement of the recesses 52 can be seen.
  • the base has three recesses 52, one of which is exactly in the middle in the width direction, while the other two are each offset on opposite sides by about 1/4 of the total width of the base.
  • a family of relatively long lamellae 14a is shown in dashed lines. When these slats are placed in the sorting compartment, the robot's gripping arm moves into the central recess 52 . However, if the sorting compartment is used for shorter slats 14b or 14c, the gripping arm can move into the two lateral recesses 52, so that sorting in several rows can take place.
  • the magazine 44 has a drive housing 54 which has a slide 56 for each sorting compartment 50 .
  • a sorting compartment is completely filled with slats 14
  • these slats can be ejected with the help of the slide 56 onto one of several lifting tables 58 on the opposite side of the magazine.
  • the slide is then withdrawn again so that the sorting compartment is ready to receive further slats of the same type or alternatively of a different type.
  • the lifting table 58 is one of several lifting tables which are arranged in a row in the transport direction x and can be moved. In the example shown, there is already at least one layer of lamellas 14 on one of these lifting tables. If a sorting compartment 50 is filled with lamellas that belong to the same type as the lamellas on the lifting table, this lifting table is moved to the position of the magazine 44 and adjusted to the height of the sorting compartment in question, so that a new layer of lamellas can be pushed onto the layers already on the lifting table and a stack of lamellas with the same properties can be formed.
  • the lifting table can also transfer the finished layer from the sorting compartment onto a conveyor belt (not shown), which leads to stacking of packages. In this way, packages are formed from the layer, which are later made ready for dispatch.
  • FIG. 9 shows the magazine 44 in a view opposite to the transport direction x and illustrates a state in which one of the lifting tables 58 is ready to accept further slats from a sorting compartment 50 and to build up a stack of slats on the lifting table.
  • FIG. 10 shows parts of a sorting system according to a second embodiment, which differs from the embodiment described above in that, in addition to the conveyor section formed by the first and second conveyors 10, 12 and the centering device 20, another conveyor section of essentially the same design with first and second conveyors 10', 12' and a centering device 20' is present.
  • the two conveyor lines run parallel and are arranged on two levels one above the other.
  • the second conveyors 12, 12' of both conveyor sections end in the working area of the same sorting robot, which is not shown here, however. With the help of the robot, the slats can then be removed alternately from the two conveyors 12 and 12' and sorted into the magazine 44.
  • This arrangement allows an increase in the feed rate at which the lamellas can be fed and sorted, so that this feed rate is only limited by the operating speed of the sorting robot. If the feed rates are the same on both conveyor lines, the robot can serve the two conveyor lines alternately. However, it is also possible to work with different feed rates on the two conveyor lines. In this case, the robot will serve the line with the higher feed rate more often than the line with the lower feed rate.
  • the gripping arm of the robot Since the magazine 44 is located above the two conveyor lines, the gripping arm of the robot has to cover a further distance to the magazine when it picks up slats from the lower conveyor section decreases. It can therefore be expedient to use the upper conveying path preferably for longer lamellas, since the speeds and accelerations required when transferring these lamellas into the magazine 44 are lower and the deformation of the lamellas caused by inertial forces is thus minimized.
  • 11 and 12 illustrate part of the sorting system in a side view and top view 10 located upstream of the first conveyors 10 and 10'.
  • a longitudinal conveyor 60 On a longitudinal conveyor 60, the transport direction of which is the direction y, the slats 14 to be sorted are fed one after the other in random order.
  • the lamellae are oriented in the direction y and are in contact with a guide plate 62 arranged on one side of the longitudinal conveyor 60 .
  • an ejection device 64 Arranged above the longitudinal conveyor 60 is an ejection device 64 which is in the same y-position as the first conveyors 10, 10'.
  • the discharge device 64 is in the form of an endless conveyor belt with paddles 66 projecting at right angles and is operated intermittently.
  • One of the paddles passes through a window 68 formed in the guide plate 62 and pushes the passing slat onto an auxiliary conveyor 70, which is driven in the same direction (positive y-direction) as the longitudinal conveyor 60.
  • the front end of the slat then hits on the alignment plate 18 extending laterally of the conveyors 10, 10'.
  • this guide gate has 74 parallel bars arranged around a Axis 76 are pivotable and in the in 11 and 12 shown position each engage with one end in a recess 78 of the table 72, while the opposite ends comb-like grip in the spaces between the conveyor belts 16 of the conveyor 10 '.
  • the lamella thus reaches the conveyor 10', by which it is transported to the centering device 20' and then via the second robot 12' to the sorting robot.
  • the conveyor belts 16 are guided over deflection rollers 80 which are mounted separately from one another in cantilever-like structures of a frame 82 of the conveyor 10'. In this way, gaps are formed between the conveyor belts 10 and the associated deflection rollers 80, into which the rods of the guide gate 74 and also the paddles 64 of the ejection device can engage.
  • the guide gate 74 When the guide gate 74 enters the in 11 dashed position is pivoted, the slats, which are pushed by the paddle 66 from the table 72, fall directly onto the first conveyor 10 of the lower conveyor section. In this way, the distribution of the slats on the two conveying sections can be controlled with the aid of the guide gate 74 . If the length of the slats fed on the longitudinal conveyor 60 is known in advance, the guide gate can be controlled, for example, so that the longer slats are fed via the upper conveyor path and the shorter slats are fed via the lower conveyor path.
  • the distribution of the slats can also be controlled in such a way that the slats that are intended for the upper sorting compartments 50 in the magazine 44 are fed via the upper conveyor line and the remaining slats via the lower conveyor line.
  • the paths covered by the gripping arm 42 of the robot can be standardized and minimized.
  • a plurality of ejection devices 64 each with associated conveying sections and sorting robots are arranged along the longitudinal conveyor 60 so that the sorting process can be carried out in parallel with a large number of sorting robots.
  • the ejection devices 74 can be controlled in such a way that a pre-sorting already takes place when the lamellas are distributed to the various sorting robots.
EP21172736.7A 2021-05-07 2021-05-07 Procédé et dispositif de tri de lamelles Withdrawn EP4086012A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21172736.7A EP4086012A1 (fr) 2021-05-07 2021-05-07 Procédé et dispositif de tri de lamelles

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP21172736.7A EP4086012A1 (fr) 2021-05-07 2021-05-07 Procédé et dispositif de tri de lamelles

Publications (1)

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EP4086012A1 true EP4086012A1 (fr) 2022-11-09

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EP21172736.7A Withdrawn EP4086012A1 (fr) 2021-05-07 2021-05-07 Procédé et dispositif de tri de lamelles

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EP (1) EP4086012A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH353538A (de) * 1957-10-01 1961-04-15 Kalberer Paul Maschinenanlage zum Sortieren von Schnittholz nach abgestuften Längen
DE19518298A1 (de) * 1994-05-19 1995-11-30 Springer Maschinenfabrik Gmbh Verfahren zum Sortieren von Stückgut

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH353538A (de) * 1957-10-01 1961-04-15 Kalberer Paul Maschinenanlage zum Sortieren von Schnittholz nach abgestuften Längen
DE19518298A1 (de) * 1994-05-19 1995-11-30 Springer Maschinenfabrik Gmbh Verfahren zum Sortieren von Stückgut

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