EP4163068A1 - Installation, en particulier installation de traitement du bois, pour l'usinage et la manipulation de pièces en forme de plaques - Google Patents

Installation, en particulier installation de traitement du bois, pour l'usinage et la manipulation de pièces en forme de plaques Download PDF

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Publication number
EP4163068A1
EP4163068A1 EP22199630.9A EP22199630A EP4163068A1 EP 4163068 A1 EP4163068 A1 EP 4163068A1 EP 22199630 A EP22199630 A EP 22199630A EP 4163068 A1 EP4163068 A1 EP 4163068A1
Authority
EP
European Patent Office
Prior art keywords
robot
workpieces
plant
processing
storage location
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.)
Pending
Application number
EP22199630.9A
Other languages
German (de)
English (en)
Inventor
Norbert Kordt
Detlef Lindenschmidt
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.)
IMA Schelling Deutschland GmbH
Original Assignee
IMA Schelling Deutschland 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 IMA Schelling Deutschland GmbH filed Critical IMA Schelling Deutschland GmbH
Publication of EP4163068A1 publication Critical patent/EP4163068A1/fr
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27M—WORKING OF WOOD NOT PROVIDED FOR IN SUBCLASSES B27B - B27L; MANUFACTURE OF SPECIFIC WOODEN ARTICLES
    • B27M1/00—Working of wood not provided for in subclasses B27B - B27L, e.g. by stretching
    • B27M1/08—Working of wood not provided for in subclasses B27B - B27L, e.g. by stretching by multi-step processes

Definitions

  • the invention relates to a system, in particular a wood processing system, for the processing and handling of panel-shaped workpieces.
  • this process is complex because a whole series of components have to be coordinated, so that it takes a certain amount of time before a raw part fed into the system is clamped in the processing station and can be processed.
  • safety aspects play a role in the construction of the system.
  • complex systems should be designed to be as safe as possible for people, i. H. interaction between a person and the wood processing plant should be minimized.
  • the system according to the invention in particular a wood processing system, is used for the processing and handling of panel-shaped workpieces made of wood, plastics or wood substitutes and has at least one storage space.
  • Various facilities can be used as storage space.
  • a stacking area, a floor roller conveyor, a roller table or loadable vehicles such as AGVs (driverless transport vehicles) or driverless transport systems can be considered as storage areas.
  • workpieces can be removed from the storage area or placed on it.
  • the system according to the invention has at least one alignment station, at which workpieces removed from a storage location can be aligned.
  • the alignment can z. B. by means of positioning aids and / or by the robot and / or by a gripping device described below.
  • the system also includes at least one processing station, which has a clamping device that holds the workpieces during processing, and at least one processing unit that is designed to be movable relative to the workpiece clamped by the clamping device.
  • a gripping device in the system according to the invention, which is used to grip workpieces and is preferably designed as a gripper or suction clamp or the like.
  • the gripping device preferably comprises at least one gripper or a suction device, with the gripping device being designed to be movable in such a way that it moves a workpiece at the alignment station can record and transport to the jig and store it there.
  • the system includes a robot which is designed to be rotatable about an axis of rotation and includes a robot arm.
  • This has a detection device that is designed to pick up a workpiece.
  • the robot is arranged in such a way that it can use a detection device to pick up workpieces from a storage location and from the clamping device and place them on the or another storage location and the alignment station.
  • the invention is based on the idea that the range of action of the robot ultimately determines the installation space of the entire system.
  • all components of the system according to the invention that can be loaded by the robot or from which the robot can remove workpieces are within the robot's radius of action.
  • a particularly compact system is created which, above all, can be completely enclosed. Since the robot is programmable and thus enables extensive automation of the system, operating personnel are not required within the radius of action of the robot.
  • the system according to the invention can thus be accommodated entirely in an enclosure.
  • the entire system can be located in a security area. This can also save time, since the robot can remove finished workpieces from the processing station on the one hand and feed the alignment station with raw parts in a further movement. This is achieved in particular in that the gripping device takes over the raw parts from the robot and aligns them for clamping in the processing station and the robot is free again for further manipulation. This can speed up the process.
  • action space refers to the area that the robot can reach with its detection device.
  • a corresponding boundary line of the action space can be a circular line; in the event that the robot can also be moved in a translatory manner, this boundary line deviates from a circular line.
  • the robot itself is not movable in a translatory manner; according to a further embodiment, it can alternatively be movable in one spatial direction or in two spatial directions, in particular parallel to the floor.
  • the robot arm can be designed in different ways, depending on which system geometry is selected. Provision is preferably made for the robot arm to have at least two arm sections which are connected to one another in an articulated manner about a joint axis, the detection device being arranged on one arm section, in particular pivotable about a joint axis. In this way, the robot can be moved as flexibly as possible within the action space.
  • the alignment station can include a roller conveyor, with positioning aids being provided that include a stop and/or a ruler.
  • the robot deposits the part from a storage location on the roller conveyor and then leaves the further alignment to the alignment station.
  • the roller conveyor which can in particular be designed as an inclined roller conveyor
  • the workpieces placed on the alignment station can then be pushed against the positioning aids.
  • the roller conveyor preferably has driven rollers, so that the alignment of the workpiece then takes place automatically with the aid of the positioning aids without further action by the robot or another device. In this way, the robot is free again for further manipulation.
  • the clamping device preferably comprises suction traverses. In this way, the workpiece brought from the gripping device to the processing station can be fixed or clamped without complex movements.
  • an advantageous embodiment of the invention provides that the machining unit can be moved in at least two directions relative to the clamping device.
  • the processing unit is preferably a milling unit. In this way it can be moved in different directions.
  • the processing unit can also be a gluing part, a post-processing unit or an interchangeable adapter unit which is set up to process a clamped workpiece in a circumferential manner.
  • the processing unit can be stationary and the clamping device moves. It is just as possible to move the processing unit train by being slidably mounted, for example, on a sliding portal. Combinations of these two measures are of course also conceivable.
  • a further embodiment of the invention provides that at least a first storage location is provided exclusively for the pickup of workpieces by the robot and a second storage location is provided exclusively for the storage of workpieces .
  • This distribution of roles in the storage locations ensures in particular that the introduction of new workpieces as raw parts into the system according to the invention and the ejection of finished parts from the system according to the invention do not affect each other in terms of process technology, which could otherwise lead to a slowdown in the process.
  • the invention also relates to a system, in particular a wood processing system, which comprises a system as described above and has a loading device and/or removal device for at least one, in particular each storage location. If the system according to the invention is enclosed, then the loading device and removal device are located outside of such an enclosure.
  • the system according to the invention preferably has a controller which, as a common controller, controls the components of the system according to the invention, in particular the robot, the processing station and the gripping device.
  • a controller which, as a common controller, controls the components of the system according to the invention, in particular the robot, the processing station and the gripping device.
  • the processing steps of the processing device can be even better with the Coordinate or synchronize the movement of the robot and its picking up or setting down of workpieces.
  • the control device can, of course, also control any loading device or removal device that may be present.
  • an exemplary embodiment of a plant according to the invention in particular a wood processing plant, 100 is shown as a plan view.
  • the two spatial directions X and Y extend parallel to the ground.
  • the system 100 is part of a system, in particular a wood processing system, which, in addition to the system 100, also has loading devices (indicated by the arrow P3) and/or a removal device (indicated by the arrow P4). can.
  • a common controller can also be part of the installation 100 or the system.
  • the woodworking system shown has one or a plurality of storage locations 12 to 14 on which workpieces W can be placed either as a raw part or as a machined part.
  • a robot 8 is used for depositing and removing to and from storage locations 12 to 14 and from storage locations 12 to 14, which in the example shown is mounted such that it can rotate about an axis of rotation A and preferably has two robot arms 9 or 10 and a detection device 11 mounted on the robot arm 10 such that it can be pivoted about an axis C and, in the example shown, comprises two suckers 11a and 11b; however, the detection device 11 can also be designed in another way so that it is able to fix and pick up a workpiece W.
  • an alignment station 2 is provided, which is used to align workpieces placed there by the robot 8 on stops or rulers in such a way that they can be moved by a gripping device 3, which in the example shown can be displaced in direction P1 parallel to the spatial direction X on a guide 4 the aligned position in the direction of a mounted on a machine bed 5 jig can be transported and clamped there.
  • the gripping device can include grippers, but can also have suckers or the like.
  • a machining station 6 with a machining unit 7 can then machine the clamped workpiece W. It is sufficient if the processing station and the workpiece are arranged to be movable relative to one another for processing.
  • the processing unit can be moved in direction P2 parallel to spatial direction X and preferably also in spatial direction Y perpendicular thereto. It is just as possible to move the workpiece in the X and/or Y directions with the machining unit stationary.
  • the entire system 100 is preferably housed in a housing 1, this is possible because the area of action of the robot 8 is limited by a boundary line K, which can be a circular line, for example, since all stations to be reached by the robot 8 are within this boundary line K .
  • the robot arm 8 then pivots about its axis of rotation A, optionally also with the robot arm 9, 10 being folded, such that the workpiece W in question comes to rest on the alignment station 2, which is designed, for example, as a roller table.
  • the alignment station 2 can be used to push the workpiece W against stops 16, which specify the required, defined position for acceptance by the gripping device 3. If the alignment station 2 is at least partially automated, the robot 8 only needs to put down the workpiece W roughly and can devote itself to a further manipulation process. It is of course also possible for the robot 8 or the gripping device 3 to position the workpiece W itself at the alignment station or for the workpiece W to be displaced against the stops 16 .
  • the workpiece W aligned it is in position 15, which is indicated by the dashed circle, 3 .
  • the gripping device 3 which preferably comprises two grippers 3a and 3b in the example shown; however, the gripping device can also comprise only one gripper or, for example, one or a plurality of suction clamps.
  • the workpiece is then moved parallel to the X direction by means of the gripping device 3 along the guide 4 until it reaches the clamping device 18, 19. 4 .
  • the clamping device is preferably equipped with suction traverses 19 and suction clamps 18 .
  • other mounting options are also conceivable.
  • the workpiece W is then machined by relative movement of the clamping device and the machining unit 7 at least in the XY plane.
  • the robot 8 can take over the workpiece W released from the clamping position on the clamping device 18, 19 and place it, for example, in one of the storage locations (e.g. 14 in 1 ) and pick up a next part for processing from another storage location 12 to 14.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Wood Science & Technology (AREA)
  • Forests & Forestry (AREA)
  • Manipulator (AREA)
EP22199630.9A 2021-10-06 2022-10-04 Installation, en particulier installation de traitement du bois, pour l'usinage et la manipulation de pièces en forme de plaques Pending EP4163068A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102021125896.0A DE102021125896A1 (de) 2021-10-06 2021-10-06 Anlage, insbesondere Holzverarbeitungsanlage, zur Bearbeitung und Handhabung von plattenförmigen Werkstücken

Publications (1)

Publication Number Publication Date
EP4163068A1 true EP4163068A1 (fr) 2023-04-12

Family

ID=83593960

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22199630.9A Pending EP4163068A1 (fr) 2021-10-06 2022-10-04 Installation, en particulier installation de traitement du bois, pour l'usinage et la manipulation de pièces en forme de plaques

Country Status (2)

Country Link
EP (1) EP4163068A1 (fr)
DE (1) DE102021125896A1 (fr)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0427215A2 (fr) * 1989-11-09 1991-05-15 Maschinenfabrik Müller-Weingarten AG Machine à poinçonner des rainures
DE19846819A1 (de) * 1998-10-10 2000-04-13 Biesse Spa Plattenbearbeitungsmaschine
EP1716991B1 (fr) 2005-04-29 2008-04-09 Homag Holzbearbeitungssysteme AG Système de fabrication de pièces en forme de plaque
DE202007013673U1 (de) * 2007-09-28 2009-02-19 Kuka Systems Gmbh Flexible Greifeinrichtung
DE102008019825A1 (de) * 2008-04-19 2009-10-29 Meissner, Werner Industrielle Anlage zur Oberflächenbehandlung von Bauteilen
DE102012013023A1 (de) * 2012-06-29 2014-04-10 Liebherr-Verzahntechnik Gmbh Vorrichtung zur automatisierten Handhabung von Werkstücken
WO2016087172A1 (fr) * 2014-12-05 2016-06-09 Holzma Plattenaufteiltechnik Gmbh Installation de division de plaques pour diviser des pièces en forme de plaque et procédé pour faire fonctionner celle-ci
EP3081343A1 (fr) * 2015-04-15 2016-10-19 HOLZMA Plattenaufteiltechnik GmbH Installation de repartition de plaques et procede destine a repartir des pieces usinees en forme de plaques
DE102017116838A1 (de) * 2017-07-25 2019-01-31 Ima Klessmann Gmbh Holzbearbeitungssysteme Holzverarbeitungsanlage und Holzverarbeitungsverfahren

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5094282A (en) 1990-01-25 1992-03-10 Heian Corporated Lumber processing apparatus
EP1728606A1 (fr) 2005-06-02 2006-12-06 Giben Scandinavia A/S Système pour la manipulation et le découpage de plaques et procédé pour la manipulation et le découpage de principalement plaques de bois et leur utilisation
DE102014225073A1 (de) 2014-12-05 2016-06-09 Holzma Plattenaufteiltechnik Gmbh Plattenaufteilanlage zum Aufteilen von plattenförmigen Werkstücken, sowie Verfahren zu deren Betrieb
DE102020115230A1 (de) 2020-06-09 2021-12-09 Ima Schelling Deutschland Gmbh Verfahren zum Verarbeiten plattenförmiger Werkstücke
DE102020121446A1 (de) 2020-08-14 2022-02-17 Homag Plattenaufteiltechnik Gmbh Werkstückbearbeitungsanlage sowie Verfahren zum Betreiben einer Werkstückbearbeitungsanlage
EP4008507A1 (fr) 2020-12-03 2022-06-08 IMA Schelling Austria GmbH Méthode pour scier au moins une pièce

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0427215A2 (fr) * 1989-11-09 1991-05-15 Maschinenfabrik Müller-Weingarten AG Machine à poinçonner des rainures
DE19846819A1 (de) * 1998-10-10 2000-04-13 Biesse Spa Plattenbearbeitungsmaschine
EP1716991B1 (fr) 2005-04-29 2008-04-09 Homag Holzbearbeitungssysteme AG Système de fabrication de pièces en forme de plaque
DE202007013673U1 (de) * 2007-09-28 2009-02-19 Kuka Systems Gmbh Flexible Greifeinrichtung
DE102008019825A1 (de) * 2008-04-19 2009-10-29 Meissner, Werner Industrielle Anlage zur Oberflächenbehandlung von Bauteilen
DE102012013023A1 (de) * 2012-06-29 2014-04-10 Liebherr-Verzahntechnik Gmbh Vorrichtung zur automatisierten Handhabung von Werkstücken
WO2016087172A1 (fr) * 2014-12-05 2016-06-09 Holzma Plattenaufteiltechnik Gmbh Installation de division de plaques pour diviser des pièces en forme de plaque et procédé pour faire fonctionner celle-ci
EP3081343A1 (fr) * 2015-04-15 2016-10-19 HOLZMA Plattenaufteiltechnik GmbH Installation de repartition de plaques et procede destine a repartir des pieces usinees en forme de plaques
DE102017116838A1 (de) * 2017-07-25 2019-01-31 Ima Klessmann Gmbh Holzbearbeitungssysteme Holzverarbeitungsanlage und Holzverarbeitungsverfahren

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