EP4163069A1 - Maschine zur montage von holzbodenplatten, holzzäunen oder holzverpackungsmaterial und methode - Google Patents

Maschine zur montage von holzbodenplatten, holzzäunen oder holzverpackungsmaterial und methode Download PDF

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Publication number
EP4163069A1
EP4163069A1 EP21201911.1A EP21201911A EP4163069A1 EP 4163069 A1 EP4163069 A1 EP 4163069A1 EP 21201911 A EP21201911 A EP 21201911A EP 4163069 A1 EP4163069 A1 EP 4163069A1
Authority
EP
European Patent Office
Prior art keywords
wooden
component
joining
holding
devices
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Withdrawn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
EP21201911.1A
Other languages
English (en)
French (fr)
Inventor
Olivier Handsaeme
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.)
Handsaeme Machinery
Original Assignee
Handsaeme Machinery
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 Handsaeme Machinery filed Critical Handsaeme Machinery
Priority to EP21201911.1A priority Critical patent/EP4163069A1/de
Priority to PCT/EP2022/073697 priority patent/WO2023061648A1/en
Publication of EP4163069A1 publication Critical patent/EP4163069A1/de
Withdrawn legal-status Critical Current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
    • B27M3/00—Manufacture or reconditioning of specific semi-finished or finished articles
    • B27M3/04—Manufacture or reconditioning of specific semi-finished or finished articles of flooring elements, e.g. parqueting blocks
    • 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
    • B27M3/00—Manufacture or reconditioning of specific semi-finished or finished articles
    • 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
    • B27M3/00—Manufacture or reconditioning of specific semi-finished or finished articles
    • B27M3/0013—Manufacture or reconditioning of specific semi-finished or finished articles of composite or compound articles
    • B27M3/0073—Manufacture or reconditioning of specific semi-finished or finished articles of composite or compound articles characterised by nailing, stapling or screwing connections
    • 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
    • B27M3/00—Manufacture or reconditioning of specific semi-finished or finished articles
    • B27M3/34—Manufacture or reconditioning of specific semi-finished or finished articles of cases, trunks, or boxes, of wood or equivalent material which cannot satisfactorily be bent without softening ; Manufacture of cleats therefor

Definitions

  • the present invention generally relates to machinery for assembling wooden components into floorplates, wooden fences or wooden packing material, such as wooden pallets, boxes, crates and alike.
  • the invention further relates to methods to assembling wooden components, into floorplates, wooden fences or wooden packing material, such as wooden pallets, boxes, crates and alike.
  • the wooden components may not always be exact in dimension, e.g. boards for the bottom deck board, stringer boards or top deck boards may not always be straight but may skew, the accuracy of the pallets made may not be within tolerances.
  • the wooden components may shift in their position or may displace during the time lapse between laying them on the mould and nailing them. Also, the jig or mould has bigger tolerances so these skew boards may be fitted in.
  • a robot with a multiaxial arm positions the wooden elements on a supporting table, a separate nailing apparatus is connecting the wooden elements by nailing them together.
  • the wooden components may shift in their position or may displace during the time lapse between laying them on the mould and nailing them.
  • the wooden components may not always be exact in dimension, e.g. boards for the bottom deck board, stringer boards or top deck boards may not always be straight but may skew, the accuracy of the pallets made may not be within tolerances.
  • the method according to the invention provides more freedom to easily modify the type of wooden floorplates, wooden fences or wooden packing material, such as wooden pallets, boxes, crates and alike made.
  • a machine for assembling wooden floorplates, wooden fences or wooden packing material i.e. for assembling wooden components into wooden floorplates, wooden fences or wooden packing material.
  • the machine comprises at least a first movable arm, such as at least a first robot having a multiaxial arm, the first movable arm being coupled to at least a first group of devices, the at least first group of devices comprising
  • the movable arm may be an arm of at least a first robot, preferably being a multiaxial arm of at least a first robot.
  • the arm may be an arm of a robot.
  • the at least first robot's arm may be a multiaxial arm, the at least a first group of devices being coupled to e.g. the extremity of this robot arm.
  • the movable arm such as an arm of a robot, e.g. a multiaxial arm of a robot, may move in 3 dimensions, thereby moving a wooden component held by the holding device and bringing it in place where this wooden component needs to be coupled to another wooden component.
  • the at least a first joining device joins this first wooden component with the at least one fastener to a second wooden component.
  • the fastener is preferably a metal fastener, such as a nail, spike, staple or screw.
  • the joining device may be a nailing device, a stapling device or a screwing device.
  • the holding device and the joining device are in each other's proximity.
  • the distance between the centre point of the holding device and the centre point of the joining device is not larger than 1000mm, such as not larger than 500mm, e.g. not larger than 400mm, e.g. about 80mm.
  • the distance between the centre point of the holding device and the centre point of the joining device may be more than or equal to 10mm, e.g. more than or equal to 15mm.
  • the wooden components may be assembled into wooden pallets, wooden floorplates or wooden fences.
  • the wooden component may be a wooden piece present in a pallet, e.g. a bottom deck board, a block, a stringer, a stringer board, a top deck board, or may be a combination of pieces present during the assembling of a pallet, such as a bottom deck board provided with one or a plurality (e.g. three) blocks (this combination is also referred to as "ski"), or one or more stringers or stringer boards provided with one or a plurality of top deck boards.
  • the joining with a fastener may preferably be nailing with one or more nails or spikes, or stapling with one or more staples.
  • Nailing means that two components, both present in the wooden product to be provided, like the wooden pallet, are nailed one to the other.
  • Stapling means that two components, both present in the wooden product to be provided, like a wooden pallet, are stapled one to the other.
  • a first wooden component is provided, e.g. on a support surface.
  • the at least first group of devices is adapted to hold the second wooden component, held by the at least first holding device, and bring this second component in proximity, such as in contact with the first wooden component, after which the at least first joining device joins, e.g. nails or staples, the two components to each other, while the second component is still held by the at least first holding device.
  • the "at least first holding device and the at least first joining device being adapted to simultaneously hold and join, e.g. nail or staple, a wooden component” means that the joining device is able to insert a first fastener, like a nail or a spike or a staple or a screw in the component while the component is held by the holding device.
  • the joining device may insert a second or further fastener, e.g. a nail or spike or staple or screw, in the component, while the holding device continues holding the component.
  • the joining device may insert a second or further fastener, e.g. a nail or spike or staple or screw, in the component, while the holding device has released the component.
  • the holding device may also hold and carry wooden components and place it on a predefined position, without joining by means of a fastener, e.g. nailing or stappling or screwing, taking place.
  • a fastener e.g. nailing or stappling or screwing
  • the machine may be used to assemble block pallets and/or stringer pallets, being an example of a packing material.
  • the machine may be used to assemble other wooden packing materials, like wooden baskets, containers, crates, boxes and alike.
  • the machine may be used to assemble wooden floorplates.
  • the machine may be used to assemble wooden fences, like wooden garden fences and alike, which on their turn may e.g. be used to construct wooden stables or garden sheds.
  • the advantage of the machine according to the invention is that the use of moulds on or in which wooden components of the wooden product are placed prior to joining by means of a fastener, may be avoided.
  • components are first placed one on top of the other by e.g. a first robot arm holding a holding device, after which the two components are nailed or stapled or screwed together by means of a second robot arm holding a joining device to nail or staple or screw, and this without the use of a mould, the two components may move one relative to the other during transition between holding phase and nailing/stapling/screwing phase. This results in defective products, like pallets, or in products out of tolerances, like pallets out of tolerances.
  • the simultaneous holding and joining according to the invention cause that the component being held by the holding device, is held in place during joining, like nailing or stapling or screwing. As such, no relative movement during holding and joining of the component can take place, resulting in a higher quality and accuracy of the wooden product, like wooden pallet, fence or floorplate being assembled.
  • the at least first holding device may comprise a gripper for gripping the wooden component.
  • the gripper is provided with at least two fingers, at least one of which is a movable finger.
  • the fingers can be controlled and moved by pressurised fluid, e.g. pneumatically or hydraulically.
  • the gripper may have one or more static fingers, which do not move but against which the wooden component is pressed by the at least one movable finger.
  • the at least first holding device may comprise a suction cup for sucking said wooden component.
  • the at least first holding device may comprise a vacuum lifting tool for lifting said wooden component.
  • the suction cup or vacuum lifting means applies its holding action at the surface of the wooden component, in which surface the joining device needs to insert its fastener.
  • This has the advantage that various wooden components can be positioned one adjacent and in contact with the other along their side edges, via which side edges no fasteners are to be inserted.
  • Using grippers may cause the finger or fingers of the gripper to prevent placing adjacent components against each other sidewise, e.g. to make a closed top deck surface of a wooden pallet.
  • the at least a first group of devices further may comprise at least a second joining device.
  • the at least first holding device and said at least second joining device may be adapted to simultaneously hold said wooden component and join said wooden component with a fastener.
  • the first and second joining device may be adapted to nail with identical nails or spikes, or may both nail with different nails or spikes.
  • the nails and spikes may differ in length and/or gauge (or diameter).
  • the nails may both be brad nails or finish nails, or one may be a brad nail the other a finish nail.
  • the nails or spikes may differ in composition of the metal, e.g. the steel type of which they are made, etc.
  • the first and second joining device may be adapted to staple with identical staples, or may both staple with different staples.
  • the staples may differ in length, width and/or wire gauge (or diameter).
  • the staples may differ in composition of the metal, e.g. the steel type of which they are made, etc.
  • the joining device or devices are nailing devices.
  • the group of devices may comprise a third and further joining device. Some or all further joining devices may be adapted to join a wooden component with a fastener while the holding device holds the wooden component.
  • the joining devices may be adapted to join with a fastener simultaneously, or in sequence, or two or more joining devices may be adapted to join by means of a fastener simultaneously, while other joining devices from the group of devices join, by means of a fastener, earlier or later.
  • the at least first joining device may be a nailing gun.
  • the nailing gun may be a pneumatic nailing gun.
  • Such pneumatic nailing gun may comprise a pressure vessel and a nail or spike cartridge.
  • Using compressed air as driving fluid to shoot the nails or spikes in combination with the use of a vacuum lifting means using air under pressure to lift the component, may simplify the general setup of the machine.
  • the at least first joining device may be a stapling gun, such as an electrical or pneumatic stapling gun.
  • Any other joining device from the group of devices may be an identical, similar or different joining device as compared to the first joining device.
  • the arm e.g. the extremity of the arm, may be provided with a beam, the beam carrying the at least first group of devices.
  • the beam may carry N groups of devices, N being an integer larger than 1.
  • the groups of devices may be identical, similar or different.
  • one, more than one or even all groups of devices may be movable in axial direction of the beam.
  • the groups of devices may change position, e.g. automatically or manually, along the axis of the beam.
  • the intergroup distances between the groups of devices may be adjusted or set to a distance required for the wooden product to be provided. This enables the machine to hold and nail wooden components on distances between the wooden components which can be adjusted. This allows and gives freedom to provide a plurality of different wooden products.
  • the groups may all hold and join, e.g. nail or staple or screw, the component simultaneously.
  • N is 2 or 3 but may be more.
  • N being 2 or 3 is beneficial in the assembly of e.g. wooden pallets, as it allows the use of the machine to simultaneously hold a bottom deck board and join, e.g. nail or staple, the bottom deck board to 2 or 3 stringers or 2 or 3 blocks.
  • a ski is provided in one movement of the movable arm, e.g. the robot arm. This also allows to nail or staple 2 or 3, but optionally more, stringer boards to a plurality of adjacent top deck boards, the top deck boards being joined, e.g.
  • the machine may be used to provide block or stringer pallets with known composition.
  • the machine may further comprise other pieces and tools.
  • the machine may comprise at least one support surface, such as a table, to place the components to be joined upon.
  • the machine may comprise a means to cause the components to be at the disposition of the holding device, e.g. an automatic provision of wooden components.
  • the machine may comprise a means to take wooden blocks from a basket or container comprising a plurality of wooden blocks.
  • the machine may comprise a means to take boards from a stack of boards, and e.g. sort them on a storage surface from which the holding device of the robot takes the beams to be joined.
  • the machine may comprise at least a further robot or device to place one or more first components on a surface, before the arm with the at least one group of devices brings a second wooden component in contact with the first wooden component or components and joins this second component to the first component or components.
  • the holding device may place one or more first components on a surface, before it brings a second component in contact with the first component or components and joins this second component to the first component or components.
  • the movable arm e.g. the arm of the robot, may comprise a carrying means to carry finished products, such as pallets, and stack them aside the machine.
  • This carrying means may e.g. two forks or vacuum pads for lifting the assembled products, such as pallets.
  • a machine according to the invention may comprise at least a second movable arm, the second arm being coupled to at least one group of devices, the group of devices comprising
  • the two and potentially more movable arms may be similar or identical.
  • the one or more groups of devices on the second or further movable arm may be similar or identical to the groups of devices on the first movable arm.
  • the machines according to the invention may comprise more than one robot, each robot having a multiaxial arm, this arm, optionally the extremity of this arm, being coupled to at least a first group of devices, the at least first group of devices comprising
  • the movement and action of the arm, or of the robot when the movable arm is the arm of a robot may be fully controlled by a control unit being part of the machine, controlling the arm of e.g. the robot and other automated pieces and tools, together forming the machine for assembling wooden components into products, such as a wooden pallet.
  • the arm e.g. the arm of the robot, is adapted to execute one or more sequences of actions to be taken by the arm and optionally other pieces and tools of the machine, in order to assemble products, such as complete wooden pallets.
  • a method to assemble products, such as wooden pallets, from wooden components is provided.
  • the method to assemble wooden components into wooden floorplates, wooden fences or wooden packing material comprises the steps of
  • the movable arm may be an arm of a robot, preferably a multiaxial arm of a robot.
  • the step h) may comprise the repetition of steps c) to g) until a wooden floorplate, wooden fence or wooden packing material is assembled.
  • the machine in which the at least a first group of devices further comprises at least a second joining device, and optionally the at least first holding device and the at least second joining device being adapted to simultaneously hold said wooden component and join said wooden component with a fastener.
  • said joining said second wooden component additionally to the first wooden component is preformed after the holding device has interrupted the holding of the second wooden com ponent.
  • the joining with at least one further fastener of step g) may be done after the holding device has interrupted the holding of the second wooden component.
  • the joining, with a fastener, of step f) is performed by the at least one joining device of the group of devices while the holding device is holding the second component, after which in step g) the holding device released the second component and the arm moves to position the joining device on a different position on the second component, the joining device thereafter joins with a fastener a second time the second component to the first component.
  • the method may provide wooden pallets, in one of the one or more sequences of steps c) to g), the first component may be a block, the second component being a bottom deck board.
  • the method may provide wooden pallets, in one of the one or more sequences of steps c) to g), the first component may be a bottom deck board provided with one or more blocks, the second component being a stringer board.
  • the method may provide wooden pallets, in one of the one or more sequences of steps c) to g), the first component may be a bottom deck board provided with one or more blocks, to which blocks a stringer has been provided, the second component being a top deck board.
  • the method may provide wooden pallets, in one of the one or more sequences of steps c) to g), the first component may be a stringer, the second component being a bottom deck board.
  • the joining action in steps f) and g) are nailing actions.
  • the method may provide wooden block pallets and/or wooden stringer pallets, being examples of wooden packing materials.
  • the machine may be used to assemble other wooden packing materials, like wooden baskets, wooden containers, wooden crates, wooden boxes and alike.
  • the machine may be used to assemble wooden floorplates.
  • the machine may be used to assemble wooden fences, like wooden garden fences and alike, which on their turn may be used to construct wooden stables or garden sheds.
  • a machine according to the first aspect of the invention is used to assemble wooden floorplates, wooden fences or wooden packing material, such as block pallets and/or stringer pallets.
  • FIG. 1 A general overview of a machine according to the invention, in this embodiment a machine 1000 to provide wooden block pallets, is shown in general in figure 1 . Details of the machine are shown in figures 2 , 3 and 4 .
  • the machine 1000 comprises two robots 1100 and 1200, each being provided with a movable arm 1001 with a beam 1005 on which three groups of devices 1002 are provided.
  • Each group of device comprises a holding device 1003 comprising a vacuum pad lifting tool and a pneumatic nail gun 1004.
  • the position of each of the group of devices may be set and adjusted along the axis of the beam 1005. This may be done automatically or manually.
  • the machine 1000 further comprises a third robot 1300. This robot is provided with an arm 1301, on this arm a holding device 1303 to grip and hold blocks from a container and place them on an endless belt 1302.
  • a machine comprising two or more robots, each being provided with a movable arm with a beam 1005 on which two, three or more groups of devices are provided.
  • the blocks 10 provided on the endless belt 1302 are positioned in groups of 3 blocks in front of the robot 1100.
  • a bottom deck board is taken from a stack or row of bottom deck boards, and laid on the three blocks, after which the bottom deck board is nailed by the nailing gun 1004 of the joining device to the blocks while the holding device 1003 still holds the bottom deck board in place.
  • the holding device 1003 interrupts its holding action, the robot arm is displaced over a little distance and a second nail is shot into the bottom deck board and each of the blocks.
  • a ski is provided. The ski is turned, is lifted by the holding device and positioned on a first support surface 1010. The blocks are positioned upwards. This action is done three times providing three skis on the support surface 1010.
  • the second robot 1200 is placing three stringer boards 11 on a second surface 1011, positions several top deck boards 12 on the three stringer boards 11 and nails the top deck boards 12 to the stringer boards 11.
  • the top deck board is held by the holding device 1003, is positioned on the stringer boards, and nailed to the stringer boards by the nailing gun 1004 while the vacuum pads of the holding device hold the top deck boards in place.
  • the holding device 1003 interrupts its holding action, the robot arm is displaced over a little distance and a second nail is shot into the top deck board and each of the stringer boards.
  • a top deck is provided on support 1011.
  • the first robot 1100 now lifts the provided top board by means of the holding devices 1003, positions the top deck on the three skis and nails the top deck on the first block of the skis by means of the nail guns 1004, while the top deck is held in place by means of the holding devices 1003.
  • the holding action is interrupted, the arm 1001 is repositioned and a second nail is shot to join the top deck to this first ski. This action is repeated 2 times for the other blocks of the skis.
  • a block pallet is provided.
  • the first robot 1100 now picks up the produced block pallet by means of its carrying device 1101.
  • the finished block pallet is brought to the transport means 1400 by which the finished block pallet is carried away.
  • the joining devices are all the same for the groups of devices 1002 on one arm 1001.
  • the joining devices on the robot 1100 are similar but not identical to the joining services on the robot 1200.
  • the joining devices on the first robot 1100 nail larger nails as compared to the joining devices on the second robot 1200.
  • the holding device in this embodiment comprising vacuum pads, may be replaced by gripping fingers or alike.
  • the machine 1000 can be used to produce other wooden products, like wooden packing materials, e.g. wooden baskets, containers, crates, boxes and alike, or wooden floorplates, or wooden fences, like wooden garden fences and alike.
  • the movement and action of the robots 1100, 1200 and 1300, as well as all other components of the machine 1000, is fully controlled by a control unit being part of a remote device.
  • the machine 1000 further comprises an automatic provision system 1401 to provide wooden components to the robots.
  • Stacks of beams are provided to the automatic provision system, and the beams are offered to the robots such the robots can take the beams or wooden components one by one.
  • This machine 1000 is adapted for assembling wooden components into wooden pallets, in which the tolerances of the wooden pallets are more consistently met. It is an automated machine avoiding the use of moulds or jigs on or in which the wooden components need to be placed. The output of the machine is higher.
  • the method to assemble wooden components into wooden pallets, to which the machine 1000 is adapted to, is easily changed in order to produce pallets with mutually different dimension.
  • the machine 1000 according to the invention provides more freedom to easily modify the type of wooden pallets made.
  • the machine 1000 may produce wooden products like floorplates, wooden fences or wooden packing material, such as wooden pallets, boxes, crates and alike, without the intervention of an operator, hence in full independency of an operator during some hours.
EP21201911.1A 2021-10-11 2021-10-11 Maschine zur montage von holzbodenplatten, holzzäunen oder holzverpackungsmaterial und methode Withdrawn EP4163069A1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP21201911.1A EP4163069A1 (de) 2021-10-11 2021-10-11 Maschine zur montage von holzbodenplatten, holzzäunen oder holzverpackungsmaterial und methode
PCT/EP2022/073697 WO2023061648A1 (en) 2021-10-11 2022-08-25 A machine for assembling wooden floorplates, wooden fences or wooden packing material

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP21201911.1A EP4163069A1 (de) 2021-10-11 2021-10-11 Maschine zur montage von holzbodenplatten, holzzäunen oder holzverpackungsmaterial und methode

Publications (1)

Publication Number Publication Date
EP4163069A1 true EP4163069A1 (de) 2023-04-12

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ID=78414190

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Application Number Title Priority Date Filing Date
EP21201911.1A Withdrawn EP4163069A1 (de) 2021-10-11 2021-10-11 Maschine zur montage von holzbodenplatten, holzzäunen oder holzverpackungsmaterial und methode

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EP (1) EP4163069A1 (de)
WO (1) WO2023061648A1 (de)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180345525A1 (en) * 2017-06-06 2018-12-06 Alliance Automation, Llc Pallet assembly system
CN210336322U (zh) 2019-03-20 2020-04-17 江苏哈工智能机器人股份有限公司 一种木托盘生产设备

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180345525A1 (en) * 2017-06-06 2018-12-06 Alliance Automation, Llc Pallet assembly system
CN210336322U (zh) 2019-03-20 2020-04-17 江苏哈工智能机器人股份有限公司 一种木托盘生产设备

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