WO1986006676A1 - Procede et installation pour decouper automatiquement des pieces a faces planes et paralleles - Google Patents

Procede et installation pour decouper automatiquement des pieces a faces planes et paralleles Download PDF

Info

Publication number
WO1986006676A1
WO1986006676A1 PCT/DE1986/000180 DE8600180W WO8606676A1 WO 1986006676 A1 WO1986006676 A1 WO 1986006676A1 DE 8600180 W DE8600180 W DE 8600180W WO 8606676 A1 WO8606676 A1 WO 8606676A1
Authority
WO
WIPO (PCT)
Prior art keywords
workpiece
size
cutting
industrial robot
detected
Prior art date
Application number
PCT/DE1986/000180
Other languages
German (de)
English (en)
Inventor
Enis Ersü
Wilhelm Schlapp
Original Assignee
Ersue Enis
Wilhelm Schlapp
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 Ersue Enis, Wilhelm Schlapp filed Critical Ersue Enis
Publication of WO1986006676A1 publication Critical patent/WO1986006676A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
    • B27B1/00—Methods for subdividing trunks or logs essentially involving sawing
    • B27B1/007—Methods for subdividing trunks or logs essentially involving sawing taking into account geometric properties of the trunks or logs to be sawn, e.g. curvature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
    • B27B5/00—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor
    • B27B5/02—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor characterised by a special purpose only
    • B27B5/06—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor characterised by a special purpose only for dividing plates in parts of determined size, e.g. panels
    • B27B5/061—Devices having saws perpendicular to each other
    • C—CHEMISTRY; METALLURGY
    • C14—SKINS; HIDES; PELTS; LEATHER
    • C14B—MECHANICAL TREATMENT OR PROCESSING OF SKINS, HIDES OR LEATHER IN GENERAL; PELT-SHEARING MACHINES; INTESTINE-SPLITTING MACHINES
    • C14B5/00—Clicking, perforating, or cutting leather

Definitions

  • the invention relates to a method for automatically cutting plane-parallel workpieces, in particular from wood.
  • the invention is based on the object, the cutting plane parallel work pieces, such as wood or leather, depending on their respective size and taking into account Oberf lächenfeh l 's according to optimize and use the optimization result for automatically cutting the workpiece with the required portion sizes.
  • This object is achieved according to the invention in that the surface of the workpiece is recorded geometrically and structurally at least on one side, and on the basis of the information acquired, using a computer, a scheme for optimally covering the workpiece with partial areas of predetermined size and quality is determined, based on the determined scheme using the same or a different computer, a trajectory for an industrial robot and a working diagram for one or more separating devices are automatically created and that the separating device (s) are controlled on the basis of the trajectory of the industrial robots and on the basis of the working diagram; Separation of the sections sorted by size and structure and stored.
  • an image acquisition system is used to record the geometry and the structure of the workpiece surface. Since defects in the workpiece and also cut edges on the two parallel surfaces of the workpiece can appear in different sizes or positions, the detection of both surfaces is necessary. According to a Wei erbi Id-ung. the
  • Invention either first detects one surface and after turning the workpiece the other surface or both surfaces simultaneously.
  • the advantages achieved by the invention are, in particular, that firstly the workpiece detected in each case is cut while recognizing the flaws and with the least amount of waste, the grain of the surface also being able to be taken into account, which is particularly important, for example, in hollow construction, and secondly the transport to the work table, the
  • the workpiece is cut to size and the parts are sorted and stored automatically.
  • the use of a computer also allows logging of the machining of the workpiece, so that after automatic evaluation of this data, sufficient information about the inventory and quality of the cut parts is available and inventory-oriented planning of production can take place.
  • the invention further relates to a device for carrying out the method according to the invention in accordance with the characterizing features of claim 5.
  • the geometry and the structure of the workpiece surface are recorded by an image acquisition system on a platform 4 provided for this purpose, the structure of which brightness and color are adapted to the requirements of the image acquisition and evaluation.
  • At least one optical sensor in the exemplary embodiment shown an electronic camera 5, is in a suitable position together with the necessary lighting devices
  • Image table arranged. If the image area of a camera 5 is not sufficient to capture the entire workpiece 2, the information necessary for the analysis is obtained from several partial images. These partial images can either be generated by a plurality of cameras or come about in that the workpiece 2 and one or more cameras 5 are displaced relative to one another, so that only a partial area of the workpiece 2 is captured in each case.
  • optical signals 18 controllable by the image evaluation system are attached to the surface of the platform 4, which enable the size and position of the partial area of the image table 4 to be automatically recognized. These signals 18 and any additional markings are used to generate a correct overall image from the partial images mentioned.
  • the turning device 6 is designed so that the shape of the workpiece 2 is not changed or destroyed during the turning and that it is in a defined position even after the turning.
  • a computer 7 From the data supplied by the sensor (camera 5), a computer 7 generates information about the position and geometry of the workpiece 2 and about the structure and quality of the workpiece surface. The characteristics that are necessary for further processing are extracted.
  • the feature extract can be adapted to different workpieces by means of a modular design.
  • the saw table 8 consists of a platform
  • two circular saws 10 and 11 are used, which carry out linear movements by means of a special feed device in such a way that the saw blade always carries out a cutting movement of constant length and then returns to the starting position below the plate surface.
  • the dust generated during sawing is continuously removed by suitable suction devices so that the optical sensors are not impaired by dirt. Small remnants and crumbled bark parts are cut after the finished workpiece 2 and removal of the cut
  • the platform 9 is adapted to the material properties of the workpiece 2 by materia Ittech ⁇ i or constructive measures.
  • An industrial robot 13 which has at least four degrees of freedom in its direction of movement, is used to position the workpiece 2 on the saw table 8.
  • the industrial robot 13 takes over the task of positioning the workpiece 2 in such a way that the circular saws 10 and 11 each produce a cut of the desired depth despite their constant feed length.
  • the separated sections are removed from the platform 9 of the saw table 8 and, sorted according to freely definable criteria, stacked on a shelf or fed to freely selectable transport devices 14 for further processing.
  • the industrial robot 13 is equipped with vacuum grippers 15 which are adapted in shape, number and relative position to the workpiece 2 or the sections to be removed.
  • the software described below for image analysis, optimization, control, logging etc. is implemented on a process computer 16 which ensures control of the device according to the invention in real time.
  • the device is mainly operated using the keyboard of a terminal, and its screen can be used to display not only the necessary and interesting data for the user, but also information about the respective state of individual components of the device (hardware and software). This information is used, for example, for error diagnosis.
  • a printer is used to output production reports or results of statistical evaluations. Results can be displayed graphically on a plotter for a better overview.
  • the software is divided into several program units, which are processed under a multitasking operating system, controlled by a higher-level master task, virtually in parallel.
  • the software can be easily adapted to changed components of the facility or to other workpieces. Operation is facilitated by a dialog system which allows the user to operate the system easily by allowing explanations to be called up at any time.
  • the dialog programs allow the input of all data necessary for operation, such as:
  • a series of feature filters is used to convert the signals of the image recording system, which are location and quality, into a vector with features of the
  • the image analysis provides a data set that contains the following information, among other things:
  • a scheme for covering the workpiece with partial areas is determined taking into account the preferred direction (s) of the wood grain. This assignment is then optimized with regard to the degree of utilization of the workpiece and compliance with the production sol.
  • the criteria for optimization are not, as well as the strategy for allocation of the workpiece with faces constant, 'but be onsstand depending on the actual production, changes of the data of the image analysis and, optionally, additional parameters or selected.
  • the result of the optimization is data that contains information about position and size as well as information about the further processing of the sections that are to be cut out of the workpiece.
  • a movement plan is designed, from which a program with commands for the control 17 of the industrial robot 13 is then obtained.
  • a flow chart is generated, which contains information on the control of the other parts of the device (saw feed device, conveyor belts, holding devices 12, turning device 6, etc.).
  • the device according to the invention allows two operating modes:
  • the workpiece 2 is machined according to the procedure described above.
  • all workpieces to be processed are first detected by the image acquisition system and the image information is rather stored on a sufficiently large mass. This data is then evaluated so that there is a movement path and a work plan for automatic cutting for each workpiece. The workpieces can then be processed at a later time based on the saved control data.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Wood Science & Technology (AREA)
  • Forests & Forestry (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Organic Chemistry (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

Pour optimiser la découpe d'une pièce (2) à faces planes et parallèles selon ses dimensions et sa structure et en tenant compte des défauts superficiels comformément aux dimensions requises des pièces, et afin d'utiliser les résultats de l'optimisation pour découper automatiquement la pièce, la geométrie et la structure de la surface de la pièce sont tout d'abord déterminées et, sur la base de ces informations, un schéma est établi à l'aide d'un ordinateur (7, 16) pour obtenir une pièce optimale avec des surfaces de dimensions et qualité fixées à l'avance. Puis, sur la base du schéma obtenu, un ordinateur (7, 16) produit automatiquement une trajectoire de mouvement pour un robot industriel 913) et un schéma de travail pour un dispositif de séparation (10, 11), et ces deux éléments sont commandés par la trajectoire ou le schéma. Après séparation, les éléments sont triés et rangés selon leurs dimensions et leur structure.
PCT/DE1986/000180 1985-05-17 1986-05-02 Procede et installation pour decouper automatiquement des pieces a faces planes et paralleles WO1986006676A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DEP3517714.4 1985-05-17
DE19853517714 DE3517714A1 (de) 1985-05-17 1985-05-17 Verfahren zum automatischen zuschneiden von planparallelen werkstuecken, insbesondere aus holz, sowie einrichtung zur durchfuehrung dieses verfahrens

Publications (1)

Publication Number Publication Date
WO1986006676A1 true WO1986006676A1 (fr) 1986-11-20

Family

ID=6270922

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1986/000180 WO1986006676A1 (fr) 1985-05-17 1986-05-02 Procede et installation pour decouper automatiquement des pieces a faces planes et paralleles

Country Status (2)

Country Link
DE (1) DE3517714A1 (fr)
WO (1) WO1986006676A1 (fr)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2661193A1 (fr) * 1990-04-19 1991-10-25 Duerkopp System Technik Gmbh Procede de repartition de decoupes dans un cuir naturel.
EP0514162A2 (fr) * 1991-05-17 1992-11-19 Bridgestone Corporation Dispositif d'échappement et procédé pour le regonflage
FR2680719A1 (fr) * 1991-09-04 1993-03-05 Fevre Jean Pierre Procede et machine pour le traitement de panneaux de bois en vue de la fabrication de meubles.
US5684692A (en) * 1995-09-08 1997-11-04 Gerber Garment Technology, Inc. Multipaneled digitizer
US5831857A (en) * 1995-09-08 1998-11-03 Gerber Garment Technology, Inc. Pattern alignment and cutting system
EP1724075A2 (fr) * 2004-10-08 2006-11-22 José Luis Godoy Varo Système automatique et procédure pour la manipulation et traitement des pièces de liège naturel
WO2015135686A1 (fr) * 2014-03-13 2015-09-17 Holzma Plattenaufteiltechnik Gmbh Procédé servant à faire fonctionner une installation d'usinage de panneaux
CN104999520A (zh) * 2015-06-26 2015-10-28 淮南市巨惠工贸有限公司 一种三维视图智能选料装置
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
NL2021910A (nl) * 2017-10-31 2019-05-06 Kumatech Beheer B V Samenstel voor het vervaardigen van een groep onderdelen en identificatie-inrichting
US20190241985A1 (en) * 2018-02-05 2019-08-08 Foshan Shike Intelligent Technology co. LTD Flexible leather slice blanking apparatus and implementation method

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4725961A (en) * 1986-03-20 1988-02-16 Gerber Garment Technology, Inc. Method and apparatus for cutting parts from pieces of irregularly shaped and sized sheet material
DE19531843A1 (de) * 1995-08-29 1997-03-13 Hubert Niemann Verfahren zur Bestimmung der Zuschnittsmaße für Verdecke
IT1295635B1 (it) * 1997-10-22 1999-05-24 Selco Spa Macchina sezionatrice per il taglio di pannelli.
DE10019054C1 (de) * 2000-04-18 2001-12-13 Kronotec Ag Verfahren zum Zuschneiden von Paneelen oder dergleichen
ITRN20000043A1 (it) * 2000-10-26 2002-04-26 Scm Group Spa Macchina utensile per la lavorazione del legno con sistema computazionale integrato
DE20108813U1 (de) * 2001-05-17 2001-08-23 Raimann Holzoptimierung Gmbh & Sägeguthandhabungsvorrichtung
DE102004029252A1 (de) * 2004-06-17 2006-01-12 Lamers, Marinus C., Dr. Identifikation und/oder Kennzeichnung von Holz
ES2229953B1 (es) * 2004-10-08 2006-01-16 Jose Luis Godoy Varo Aparato automatico para manipulacion y corte, aplicable a placas de corcho natural en bruto.
DE102007021410B3 (de) 2007-05-04 2008-06-19 Keusch, Siegfried, Dipl.-Ing. Horizontale Plattensäge
DE102007022758A1 (de) * 2007-05-11 2008-11-13 Otto Martin Maschinenbau Gmbh & Co. Kg Verfahren zum Bearbeiten von Werkstücken
DE102013102143B4 (de) 2013-03-05 2019-02-21 Halco Gmbh Verfahren zur Herstellung von Möbeln
DE102014100858B3 (de) * 2014-01-27 2015-07-09 Akzenta Paneele + Profile Gmbh Verfahren und Vorrichtung zur Herstellung eines direkt bedruckten Dekorpaneels unter Verminderung von Ausschuss aufgrund von Druckfehlern

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2109026A1 (fr) * 1970-10-16 1972-05-26 Goubert Gaston
GB1445685A (en) * 1972-10-20 1976-08-11 Plessey Co Ltd Optical inspection arrangements
DE2837742A1 (de) * 1977-09-27 1979-04-05 Ahlstroem Oy Verfahren und vorrichtung zum besaeumen von brettern
DE2847473A1 (de) * 1978-06-08 1979-12-13 Shiroyama Kogyo Kk Empfindlicher greifhalter
US4221974A (en) * 1979-02-02 1980-09-09 The Bendix Corporation Lumber inspection and optimization system
DE3028191A1 (de) * 1979-09-12 1981-04-02 Schelling & Co, Schwarzach, Vorarlberg Buntaufteilanlage fuer plattenfoermige werkstuecke
GB2068294A (en) * 1980-02-05 1981-08-12 Kockums Ind Ab Method for feeding pieces of timber into a timber processing machine and arrangement for carrying out the method
FR2506782A1 (fr) * 1981-05-26 1982-12-03 Benedite Claude Procede de decoupe de pieces en cuir naturel dans des peaux d'animaux

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5249589B2 (fr) * 1973-01-18 1977-12-17
US4071899A (en) * 1976-07-09 1978-01-31 Hughes Aircraft Company System and method for the measurement of repetitive patterns

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2109026A1 (fr) * 1970-10-16 1972-05-26 Goubert Gaston
GB1445685A (en) * 1972-10-20 1976-08-11 Plessey Co Ltd Optical inspection arrangements
DE2837742A1 (de) * 1977-09-27 1979-04-05 Ahlstroem Oy Verfahren und vorrichtung zum besaeumen von brettern
DE2847473A1 (de) * 1978-06-08 1979-12-13 Shiroyama Kogyo Kk Empfindlicher greifhalter
US4221974A (en) * 1979-02-02 1980-09-09 The Bendix Corporation Lumber inspection and optimization system
DE3028191A1 (de) * 1979-09-12 1981-04-02 Schelling & Co, Schwarzach, Vorarlberg Buntaufteilanlage fuer plattenfoermige werkstuecke
GB2068294A (en) * 1980-02-05 1981-08-12 Kockums Ind Ab Method for feeding pieces of timber into a timber processing machine and arrangement for carrying out the method
FR2506782A1 (fr) * 1981-05-26 1982-12-03 Benedite Claude Procede de decoupe de pieces en cuir naturel dans des peaux d'animaux

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2661193A1 (fr) * 1990-04-19 1991-10-25 Duerkopp System Technik Gmbh Procede de repartition de decoupes dans un cuir naturel.
US5258917A (en) * 1990-04-19 1993-11-02 Durkopp Systemtechnik Gmbh Method for nesting contours to be cut out of natural leather
EP0514162A2 (fr) * 1991-05-17 1992-11-19 Bridgestone Corporation Dispositif d'échappement et procédé pour le regonflage
EP0514162A3 (fr) * 1991-05-17 1992-12-02 Bridgestone Corporation Dispositif d'échappement et procédé pour le regonflage
FR2680719A1 (fr) * 1991-09-04 1993-03-05 Fevre Jean Pierre Procede et machine pour le traitement de panneaux de bois en vue de la fabrication de meubles.
US5684692A (en) * 1995-09-08 1997-11-04 Gerber Garment Technology, Inc. Multipaneled digitizer
US5831857A (en) * 1995-09-08 1998-11-03 Gerber Garment Technology, Inc. Pattern alignment and cutting system
EP1724075A3 (fr) * 2004-10-08 2011-12-21 José Luis Godoy Varo Système automatique et procédure pour la manipulation et traitement des pièces de liège naturel
EP1724075A2 (fr) * 2004-10-08 2006-11-22 José Luis Godoy Varo Système automatique et procédure pour la manipulation et traitement des pièces de liège naturel
WO2015135686A1 (fr) * 2014-03-13 2015-09-17 Holzma Plattenaufteiltechnik Gmbh Procédé servant à faire fonctionner une installation d'usinage de panneaux
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
EP3974120A1 (fr) * 2015-04-15 2022-03-30 HOMAG Plattenaufteiltechnik GmbH Installation de tronçonnage des plaques et procédé de tronçonnage des pièces en forme de plaque
CN104999520A (zh) * 2015-06-26 2015-10-28 淮南市巨惠工贸有限公司 一种三维视图智能选料装置
NL2021910A (nl) * 2017-10-31 2019-05-06 Kumatech Beheer B V Samenstel voor het vervaardigen van een groep onderdelen en identificatie-inrichting
US20190241985A1 (en) * 2018-02-05 2019-08-08 Foshan Shike Intelligent Technology co. LTD Flexible leather slice blanking apparatus and implementation method
US10662488B2 (en) * 2018-02-05 2020-05-26 Foshan Shike Intelligent Technology co. LTD Flexible leather slice blanking apparatus and implementation method

Also Published As

Publication number Publication date
DE3517714C2 (fr) 1988-03-03
DE3517714A1 (de) 1987-01-22

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