EP4208761A1

EP4208761A1 - Machine tool

Info

Publication number: EP4208761A1
Application number: EP21769973.5A
Authority: EP
Inventors: Michael Kruse; Werner Brinkhaus; Vera Zimmermann
Original assignee: Homag Bohrsysteme GmbH
Current assignee: Homag Bohrsysteme GmbH
Priority date: 2020-09-01
Filing date: 2021-08-31
Publication date: 2023-07-12
Also published as: DE102020122809A1; WO2022049059A1; CN116171210A; US20230324895A1

Abstract

The invention relates to a machine tool (1) for machining workpieces (2), which preferably consist at least in sections of wood, manufactured wood products, plastic, composite material or the like, comprising a machining unit (10) for carrying out workpiece machining, a supporting table (12) for supporting workpieces (2) to be machined, an assistance robot (20) which is arranged at least temporarily on or above the supporting table (12) and has a means of transport (22) which enables it to move in relation to the supporting table (12), characterized in that a navigation system (30, 32, 40) is provided for the navigation of the assistance robot (20) in relation to the supporting table (12), said navigation system having at least one sensor (30, 32).

Description

PROCESSING MACHINE

technical field

The invention relates to a processing machine for processing workpieces, which preferably consist at least in sections of wood, wooden materials, plastic, composite material or the like, according to the preamble of patent claim 1 .

State of the art

In the furniture and component industry, in addition to so-called throughput systems, processing machines with a support table are often used, on which the workpieces are placed and fixed. In addition, a processing unit is provided, which moves in relation to the supporting table and the workpiece in order to carry out workpiece processing. Such a CNC machine is disclosed, for example, in DE 10 2006 052 017 B4. This publication discloses a safety concept which is intended to make it easier and safer for an operator to approach the processing machine.

In addition, US 2016/311 076 A1 discloses a cleaning robot that removes machining chips from a support table. The robot travels a specified path on the processing table.

Furthermore, the trend has increased in recent years that the tasks to be performed by a processing machine are becoming more and more varied and a higher one There is pressure to rationalize. At the same time he comes

Operational safety continues to be of great importance.

Presentation of the invention

The object of the invention is to provide a processing machine of the type mentioned at the outset that has a wide range of functions with high operational reliability.

According to the invention, this object is achieved by a processing machine according to claim 1 . Particularly preferred developments of the invention are specified in the dependent claims.

The invention is based on the idea of enabling an assistant robot in a processing machine of the type mentioned at the outset to perform a large number of different tasks without restricting operational safety. For this purpose, the invention provides that the processing machine has a navigation system for navigating the assistance robot in relation to the support table, which has at least one sensor. In this way, it is made possible for the assistance robot not only to travel a predefined path on the support table, but in principle to be able to move freely on the support table. This results in completely new possibilities and areas of application for the assistance robot, since it can now in principle carry out all tasks that arise in the area of a support table.

However, thanks to the navigation system with sensor according to the invention, not only is the range of possible uses of the assistance robot increased, but there is also a high degree of operational reliability and, moreover, a rapid operation of the assistant robot and thus also of the entire processing machine.

Last but not least, there is also a simplified construction of the processing machine, since the assistant robot, thanks to its design with a sensor-based navigation system, can replace various complex, space-consuming and expensive machine components, which will be discussed in more detail below.

The at least one sensor of the navigation system can in principle be at any point or be provided any places. According to a development of the invention, however, it is provided that at least one sensor is provided on the assistance robot itself. This results in particularly precise navigability of the assistance robot, and the measuring field of the at least one sensor moves with the assistance robot and therefore does not require its own drive.

Alternatively or additionally, according to a development of the invention, at least one sensor is provided on the side and/or above the support table. This results in a more global perspective in which the sensor not only records the assistance robot and its immediate surroundings, but also numerous other components or possibly people and can therefore be taken into account and combined both with regard to operational safety and with regard to the various machine functions .

In the context of the invention, a wide variety of types of sensors can be used, with the combination of different types of sensors also being possible or possible. can be useful. It has proven to be advantageous if at least one sensor is selected from a camera, distance sensor, such as in particular a triangulation sensor or light transit time sensor, Acceleration sensor, speed sensor, radar sensor etc.

In addition, according to a development of the invention, it is provided that the processing machine has a control device for controlling the movement of the assistance robot in relation to the support table. This can be integrated with the overall control of the processing machine or provided in addition to it, integration or at least communication being advantageous in that the movement of the assistant robot can be coordinated with the operation of the other machine components. It is particularly preferred that the control device is set up to avoid an undesired collision of the assistance robot with the processing unit of the processing machine. This not only increases operational safety in general, but also enables the assistant robot to be operated parallel to main time, in which the assistant robot also carries out certain activities in the area of the support table while the processing unit is carrying out a machining operation.

According to a development of the invention, the freedom of movement of the assistance robot can go so far that the control device is set up to also cause the assistance robot to move on or against a workpiece. The assistant robot can thus also support the smooth and high-quality processing and handling of the respective workpiece in a variety of ways, which opens up completely new possibilities for workpiece processing and the achievement of high workpiece quality with high efficiency.

According to a further development of the invention, it is also provided that the processing machine has a docking station for the transfer of work equipment to the Has assistant robot and/or for electrically charging the assistant robot. This increases the performance and flexibility of the processing machine according to the invention, since the assistant robot is always supplied with the required work equipment and can also switch between different work equipment. A wide variety of working equipment can be used, which will become clearer from the description below.

Overall, the assistance robot can carry out a practically unlimited number of different processes within the scope of the present invention. In the context of the present invention, however, it has proven particularly advantageous if the assistance robot is set up to carry out at least one of the following processes: cleaning a workpiece; cleaning the support table; providing a workpiece with a label; Picking up, moving and/or putting down a workpiece; Analyzing at least one machined structure of a workpiece; Supplying and/or assembling an assembly part; Supplying, clamping and/or removing a machining tool and/or machining unit of the machining unit.

Numerous advantageous units that are part of the assistance robot and/or can be exchanged in and out of it are the subject matter of dependent claims 8 to 14 . These contribute to giving the processing machine according to the invention a significantly increased versatility, while the operational reliability remains high and the construction is kept simple.

In addition, according to a development of the invention, it is provided that the means of locomotion of the assistance robot is selected from rollers, wheels, caterpillars, legs, propellers and combinations thereof. In this way the locomotion of the assistant robot can be optimally adapted to the respective boundary conditions of the processing machine.

In this context, it should be noted that the assistance robot within the scope of the invention can also be designed in the manner of a drone, ie as an aircraft that primarily uses one or more propellers as a means of locomotion. This greatly increases the mobility of the assistance robot and opens up completely new perspectives and possible applications. In this way, a drone can have a much better overview of the processing machine and always move to an optimal position for recording the current status of the machine and possible options for action. At the same time, a drone can also access all areas of the processing machine much more flexibly and can also easily go directly to workpieces or to the area above workpieces in order to carry out assistance activities or measurements, etc. to perform .

Brief description of the drawings

Fig. 1 schematically shows a perspective view of a

Processing machine according to a first embodiment;

Fig. 2 schematically shows a perspective view of a

Assistance robot according to the first embodiment;

Fig. 3 schematically shows a perspective view of a

Assisting robot according to the second embodiment;

Fig. 4 schematically shows a perspective view of a

Assisting robot according to the second embodiment; From a detailed description of preferred embodiments

Preferred embodiments of the invention are described below in detail with reference to the accompanying drawings.

A processing machine 1 for processing workpieces 2 according to a first embodiment of the invention is shown in FIG. 1 shown schematically in a perspective view. The processing machine 1 is used for processing workpieces 2, which consist, for example, of wood, wooden materials, plastic or various composite materials, such as are widely used in the furniture and component industry.

The processing machine 1 initially has a processing unit 10 which, in the present embodiment, is designed as a spindle unit into which various processing tools 16 or also processing units can be exchanged. The processing tools can be, for example, drills, milling cutters, saws, etc. Act . Various chip-removing aggregates such as multiple drilling aggregates, swiveling saws, etc. can also be used for the aggregates. to be substituted in . However, for example, coating units for coating a surface of the workpiece 2 or many other units can also be exchanged. For this purpose, the processing unit 10 can have a corresponding interface.

The processing unit 10 is arranged on a traveling portal 18 which can be moved along a support table 12 for placing the workpieces 2 to be processed. The processing unit 10 can be moved along the travel portal 18 in the horizontal and vertical direction, so that the processing unit 10 can be moved in all spatial directions. In addition, the processing unit 10 be pivotable about at least one axis, possibly also several axes.

As in Fig. 1, the workpieces 2 are fixed on the support table 12 by means of suitable holding means 14 . The holding means 14 can be, for example, suction clamping elements, clamping elements or the like. In the in Fig. 1, the workpieces 2 are machined in that the machining unit 10 is moved in relation to the support table 12 and in the process carries out machining such as drilling or milling.

In addition, the in Fig. The processing machine 1 shown in FIG. 1 has an assistant robot 20 which, in the present embodiment, is located on the support table 12 and can move there. The configuration of the assistance robot 20 is shown in FIG. 2 shown in more detail. First of all, he has means of transportation 22 which, in the embodiment, are designed as driven wheels. However, it should be noted that a wide range of other means of transportation are also possible, such as rollers, caterpillars or legs through to propellers. Although in Fig. Not shown in FIG. 2, the assistance robot 20 could therefore also be designed as a flying drone that can move freely above the support table 12. However, if necessary, such a flying drone can also have other means of transportation, such as wheels.

The means of locomotion 22 can also be set up to cause the assistance robot to move directly against or even onto a workpiece 2 . In this way, the assistant robot 20 is able to act directly on the respective workpieces 2, whether for cleaning purposes or possibly for specific processing or alignment purposes. Many other areas of use are possible within the scope of the invention. The assistant robot 20 can also have an analysis unit 80 for Analyzing at least one machined structure of the workpiece 2, for example in the form of a camera or a measuring head. This analysis unit 80 is shown in FIG. 2 shown embodiment of the assistance robot 20 arranged on its side surface. However, it can also be arranged on various other surfaces such as the underside of the assistance robot 20 . In this case, the assistant robot 20 can also move over the workpieces in order to analyze their surface.

In order to precisely and safely control the movements of the assistance robot 20 in relation to the support table 12 , the processing machine 1 includes a navigation system which, in the present embodiment, is equipped with a number of sensors 3 , 32 and a control device 40 . The control device 40 is shown only schematically and can be located directly next to the support table 12 or at another suitable location. It can also be integrated with the general control of the processing machine 1 . The control device 40 communicates with a first sensor 30 , which is arranged on the assistance robot 20 , and with a second sensor 32 , which is provided above the support table 12 of the processing machine 1 . The first sensor 30 monitors the direct surroundings of the assistance robot 20 , the second sensor 32 monitors in principle the entire support table 12 and also other areas and components if required.

It should be noted here that a larger number of sensors can also be provided as required, for example in order to cover the entire area around the assistance robot or to detect specific areas of the support table 12 more precisely. In the present embodiment, the first sensor 30 is a distance sensor, such as a triangulation sensor or a light transit time sensor, so that the distance between the assistance robot 20 and objects in its environment can be monitored. With the second sensor 32 In the present embodiment, it is a camera or a CCD sensor whose image data can be evaluated in the control device 40 in a suitable manner.

In addition, the control device is connected to the means of locomotion 22 of the assistance robot 20 in order to control the movement of the assistance robot 20 taking into account the detection signals from the sensors 30 , 32 . In addition to these detection signals, the control device 40 can take into account other input information, such as the current or future processing program of the processing unit 10, the position and geometry of the respective clamped workpieces 2, etc.

In the present embodiment, the control device 40 is connected wirelessly both to the sensors 30 , 32 and to the means of transportation 22 , so that the movement of the assistance robot 20 is not restricted by a cable connection. In principle, however, it is also possible to provide a cable connection for certain connections, for example to the sensor 32 or the general machine control.

Overall, the control device 40 is set up not only to control the general movement of the assistance robot 20 in relation to the support table 12 but also to avoid an undesired collision of the assistance robot 20 with other objects, such as the processing unit 10 in particular. The control device 40 is not based on a static observation, but monitors the current and future processing operation of the processing unit 10 on the one hand through the sensors 30 and 32 and on the other hand through their connection to the general control of the processing machine 1 and thus ensures that the assistant robot 20 is only in Areas moved in which at the corresponding time no collision with the Processing device 10 is to be expected. In addition, the control device 40 can also contain an emergency stop circuit that restricts or terminates the operation of the processing unit 10 if, contrary to expectations, the assistance robot 20 could collide with the processing unit or another relevant object, possibly due to a malfunction or a defect.

As in Fig. 2 , the assistance robot 20 in the present embodiment is equipped with a cleaning unit 60 . This can be used to clean various areas, such as a workpiece surface or a surface of the support table 12 . The cleaning unit 60 can be, for example, a suction unit or a sweeping unit, with picked-up substances being able to be caught in a collecting container 62 which can be provided, for example, inside the assistance robot 20 .

In addition, the processing machine in FIG. 1 shows a docking station 50, which on the one hand serves to charge the assistant robot 20 electrically and on the other hand, if necessary, to supply it with various work equipment. It is thus possible within the scope of the invention for the assistance robot 20 to use its work equipment, which is shown in FIG. 2 is designed as a cleaning unit 60, deposits it on the docking station if necessary and replaces it with another tool. For this purpose, the assistance robot 20 has an interface 54 via which various working means 60 can be exchanged. In addition, the docking station 50 can also have a transfer interface 52, which supports the process of swapping in and out or supplying different work equipment. Although in Fig. 2 not shown, within the scope of the invention, for example, the following work equipment is possible, which is attached to the assistant robot 20 provided or can be exchanged in and out of these: a labeling unit for applying a label to a surface of a workpiece 2, which, if required, can have a storage unit 60 for storing labeling material. an assembly unit for feeding and/or attaching an assembly part (such as a connector 14) to a workpiece, the assembly unit may have an assembly part stocking unit 62 for stocking assembly parts if necessary.

Another embodiment of the processing device 1 according to the invention is shown schematically in FIGS. This differs from the embodiment described above primarily in that the interface 54 is arranged, for example, on an upper side of the assistance robot 20 and that a tool 70 in the form of a gripper can be exchanged in the interface 54 . The working means 70 can, as shown in FIG. 4 shown, serve, for example, to pick up, move and set down a workpiece 2 or a plurality of workpieces, so that it is an order-picking unit. In addition, however, the unit 70 can also be used, for example, to supply, clamp or remove a machining tool or a machining unit from the machining unit 10, so that in this case it is a tool changing unit.

As an alternative or in addition to the exchange of various work equipment 60 , 70 , the docking station 50 can also be used to transfer various other work equipment to the assistance robot 20 , such as various consumables, cleaning agents, (pressure) fluids, Assembly parts, data, energy, etc. Also can the docking station 50 free the assistant robot 20 from ballast, for example empty the collecting container 62 or receive empty carrier foils (e.g. for labels).

Claims

CLAIMS Processing machine (1) for processing workpieces (2), which preferably consist at least in sections of wood, wood-based materials, plastic, composite material or the like, comprising: a processing unit (10) for executing a

Workpiece processing, a support table (12) for placing to be processed

Workpieces (2), an assistant robot (20), which is arranged at least in part on or above the support table (12) and has a means of locomotion (22) that enables it to move in relation to the support table (12). , characterized in that a navigation system (30, 32, 40) for navigating the

Assistant robot (20) is provided in relation to the support table (12), which has at least one sensor (30, 32). Processing machine according to Claim 1, in which at least one sensor (30) is provided on the assistant robot (20). Processing machine according to Claim 1 or 2, in which at least one sensor (32) is provided on the side and/or above the support table (12). Processing machine according to one of the preceding

Claims, in which at least one sensor (30, 32) is selected from camera, distance sensor such as in particular triangulation sensor or

Light transit time sensor, acceleration sensor,

speed sensor and radar sensor. Processing machine according to one of the preceding claims, in which a control device (40) is also provided for controlling the movement of the assistant robot (20) in relation to the support table (12), which is preferably set up to prevent an unwanted collision of the assistant robot (20) with the To avoid processing unit (10). Processing machine according to claim 5, wherein the

Control device (40) is set up, a movement of the assistant robot (20) on or on a workpiece

(2) to cause. Processing machine according to one of the preceding claims, further comprising a docking station (50) for the transfer of work equipment (60, 70) to the

Assistance robot (20) and/or is provided for electrically charging the assistance robot (20). Processing machine according to one of the preceding claims, in which the assistance robot is set up to carry out at least one of the following processes: cleaning a workpiece (2); cleaning the support table (12); providing a workpiece (2) with a label; Picking up, moving and/or putting down a workpiece (2); Analyzing at least one machined structure of a workpiece (2); Feeding and/or assembling an assembly part; Supplying, clamping and / or removing a processing tool and / or processing unit of the processing unit (10). 16 Processing machine according to one of the above

Claims, in which the assistant robot (20) has a cleaning unit (60) for cleaning a workpiece surface and/or a surface of the support table (12), and preferably also a collecting container (62) for collecting collected

has substances. Processing machine according to one of the preceding claims, in which the assistant robot (20) has a wiping unit (60) for applying a cleaning agent to a workpiece surface and/or for wiping a workpiece surface, the wiping unit preferably having a cleaning agent reservoir (62). Processing machine according to one of the above

Claims, in which the assistant robot (20) has a labeling unit (60) for applying a label to a workpiece surface, the labeling unit preferably also having a

Storage unit (62) for storing labeling material. Processing machine according to one of the preceding claims, in which the assistant robot (20) has an order-picking unit (70) for picking up, moving and/or putting down a workpiece or a plurality of workpieces. Processing machine according to one of the preceding claims, in which the assistant robot (20) has an analysis unit (80) for analyzing at least one processed structure of a workpiece (2), the analysis unit (80) preferably having an inspection system, for example a camera and/or a measuring head. 17

14. Processing machine according to one of the above

Claims, in which the assistant robot (20) has an assembly unit (60) for feeding and/or fastening an assembly part to a workpiece, the assembly unit preferably also having a

Assembly part storage unit (62) for storing assembly parts.

15. Processing machine according to one of the above

Claims, in which the assistant robot (20) has a tool changing unit (70) for supplying, clamping and/or removing a processing tool and/or processing unit of the processing unit.

16. Processing machine according to one of the above

Claims in which the means of locomotion (22) is selected from rollers, wheels, caterpillars, legs,

propellers and combinations thereof.