WO2009156388A2 - Dispositif de traitement et procédé de traitement - Google Patents

Dispositif de traitement et procédé de traitement Download PDF

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Publication number
WO2009156388A2
WO2009156388A2 PCT/EP2009/057794 EP2009057794W WO2009156388A2 WO 2009156388 A2 WO2009156388 A2 WO 2009156388A2 EP 2009057794 W EP2009057794 W EP 2009057794W WO 2009156388 A2 WO2009156388 A2 WO 2009156388A2
Authority
WO
WIPO (PCT)
Prior art keywords
processing
processing device
fluid material
defects
workpiece
Prior art date
Application number
PCT/EP2009/057794
Other languages
German (de)
English (en)
Other versions
WO2009156388A3 (fr
Inventor
Vitus Zach
Martin Eberl
Jürgen LIEPERT
Thomas Kugler
Original Assignee
Kuka Systems 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 Kuka Systems Gmbh filed Critical Kuka Systems Gmbh
Publication of WO2009156388A2 publication Critical patent/WO2009156388A2/fr
Publication of WO2009156388A3 publication Critical patent/WO2009156388A3/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27G—ACCESSORY MACHINES OR APPARATUS FOR WORKING WOOD OR SIMILAR MATERIALS; TOOLS FOR WORKING WOOD OR SIMILAR MATERIALS; SAFETY DEVICES FOR WOOD WORKING MACHINES OR TOOLS
    • B27G1/00—Machines or devices for removing knots or other irregularities or for filling-up holes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27D—WORKING VENEER OR PLYWOOD
    • B27D5/00—Other working of veneer or plywood specially adapted to veneer or plywood

Definitions

  • the invention relates to a processing device and a processing method having the features in the preamble of the method and device main claim.
  • Parquet planks known to subject the wood parts to a quality inspection and rework if necessary. This is done by hand, with knotholes, cracks and the like. other imperfections repaired and filled with a pasty putty if necessary. These repairs are sometimes uneven in quality.
  • the invention solves this problem with the features in the method and device main claim.
  • the claimed processing technique has the advantage that a durable, high-quality and reproducible quality of the post-processing, in particular the filling of recessed defects, can be achieved. This is feasible with a high speed and precision.
  • the claimed processing technology is highly flexible and can be adjusted to a wide variety of workpieces and types of defects and / or depressions.
  • the claimed processing technique also allows a secure capture and targeted reworking of all existing defects and / or
  • a compaction of the used for post-processing and eg pasty or liquid fluid material has several advantages.
  • the fluid material may be solidified, increasing its durability and durability. In the form of complicated and eg undercut defects can be safely reworked. In particular, any voids can be completely or at least substantially filled. This is favorable for anchoring the fluid material and its further processing. In addition, later can be
  • a spatula technique which can also be multistage and which allows the fluid material to be drawn off and adapted to the workpiece environment is particularly favorable.
  • the processing technique according to the invention makes it possible to carry out reworking, in particular repair or putty work, so precisely that it is subsequently barely visible or barely visible on the workpiece.
  • reworking in particular repair or putty work
  • an alignment with the high-quality workpiece environment can be achieved.
  • a putty or the like. can e.g. be designed as a two-component or three-component mass, wherein the components are brought together and mixed only shortly before the order. During work breaks, the individual components can be safely and hermetically sealed. Excess consumption, soiling and sticking to the tool and the like can be avoided.
  • Time span had to be processed.
  • the curing could z.T. have progressed so far that a processing was no longer possible with sufficient quality. All this can be avoided with the need-and-order-based mixing or combination of the various material components.
  • the processing technique according to the invention is also highly flexible.
  • the materials used can be changed quickly if necessary.
  • a change of the machining tools or tool parts is possible, which can be done fully automatically. hereby The changeover times are reduced to a minimum.
  • this allows greater flexibility when changing workpieces, which may differ, for example, in the type of wood or color.
  • the workpiece batches can be relatively small and can be changed quickly.
  • a color matching of the fluid materials or fillers to the existing workpiece environment is possible with high quality.
  • the flexibility in selecting and using the fluid or filling material can be increased and improved.
  • Figure 1 a processing station with a
  • FIG. 2 a side view of the processing station of FIG. 1,
  • Figure 3 a broken side view of part of the
  • FIG. 4 shows a broken and enlarged plan view of the workstation with the processing device
  • FIG. 5 is a perspective view of a machining tool
  • Figure 11 a broken perspective view of a cleaning device.
  • the invention relates to a processing device (2) and a processing method for workpieces (3).
  • the invention further relates to a processing station (1) which is equipped with at least one such processing device (2).
  • the workpieces (3) can be of any type, shape and size and consist of any materials. In the embodiment shown are workpieces (3) made of a naturally grown material, in particular wood. Alternatively, the workpieces (3) of any other materials, in particular other natural materials, plastics, metals, stones or the like. consist. Also composites are possible.
  • the workpieces (3) have at least one visible surface (4), for which in many cases a high surface quality is required.
  • the latter can also be the case with non-visible surfaces.
  • defects (5) in or on the surface (4) This can e.g. Cracks, broken branches, resin galls or the like. Be.
  • This e.g. Recessed or raised defects (5) should be reworked with the processing method and the processing device (2) and in particular be repaired. This is possible in different ways.
  • depressions at defects (5) e.g. Cracks or the like, filled with a fluid material (10).
  • the fluid material (10) may be in the paint and
  • the workpieces (3) are wooden floor boards which are arranged in a plurality of strips spaced from each other on a wooden support material in a multi-layer structure.
  • the visible in the installed state of the parquet surface (4) is located at the top and may have one or more of said defects (5).
  • Figures 1 and 4 show this workpiece assembly and the defects (5).
  • the workpieces (3) of other wood parts e.g. Furniture or wooden building boards or the like. be. It may be wood parts with naturally grown structure, in particular massive boards or the like. Act. Alternatively, glued chipboard, veneered boards or boards or the like. Be reworked. Furthermore, it is possible to rework metal or plastic parts or stone slabs etc. in the manner described below and to repair existing defects, in particular holes or other depressions. This can be done with metal parts e.g. Be lunker. For stone slabs, there may be breakouts.
  • the workpieces (3) must not have a plate, strip or board shape with flat surfaces (4). They can have any other shape and in particular have curved and uneven contours.
  • the fluid material (10) may be of different types. It may in particular be liquid, pasty or granulated or pulverized. The fluid material (10) can thereby be introduced into a depression and adapts to the contours there. It can also get into undercut recessed areas, in particular flow.
  • the fluid material (10) may be a flowable filling compound which consists of one or more components and which optionally also has a selectable color.
  • Embodiment of the wood part post-processing is a putty cement, which consists for example of one, two, three or more components.
  • the matrix for example, a hardener and also a color or a pigmentation is added and mixed.
  • the fluid material (10) may be curable for secure fixation and anchoring in the defect (5), with the various components reacting with each other after mixing.
  • a processing device (2) is provided for the processing, in particular post-processing or repair of the workpieces (3) .
  • This can be part of a processing station (1), as shown in Figure 1 to 4.
  • the processing station (1) also several processing devices (2) or their components can be arranged.
  • the processing station (1) shown in Figures 1 and 2 has a processing device (2) and a transport device (37) for the aforementioned workpieces (3) in the form of parquet planks.
  • the processing device (2) has a
  • the processing device (2) has a controller (14).
  • the detection device (6) is shown in FIG.
  • Embodiment locally separated from the handling device (7) and the machining tool
  • the defects (5) are recorded with their processing-relevant properties. This can be in particular the location, shape and size the one or more existing defects (5).
  • the detection device (6) has for this purpose a suitable measuring device (16) for preferably multi-dimensional detection of these properties.
  • the detection device (6) forms a portal under which the plate-shaped workpieces (3) are moved through, with their surface (4) with the measuring device (16) in a suitable manner, eg optically scanned.
  • the measuring device (16) is designed as an optical 3D scanner.
  • the volume of the defect (5) or its depression is determined with the measuring device (16), and then the required volume of the fluid material (10) is calculated. This can be done in the detection device (6) or in the connected controller (14).
  • the shape, position and size of the defect (5) with respect to a workpiece reference, eg the outer contour, a corner region, a marking or the like, are also referred to the control (14). of the workpiece (3) is determined and stored.
  • a workpiece reference eg the outer contour, a corner region, a marking or the like
  • the handling device (7) is controlled by the machining tool (8).
  • the handling device (7) can have one or more movement axes. Preferably, it is designed as a multiaxial movable manipulator (17). This can be, for example, the four-axis articulated robot shown in FIGS. 1 to 4. This can also have six or more axes, possibly in the form of additional axes.
  • the handling device (7) or the manipulator (17) can have rotational and / or translatory movement axes in any suitable number and combination.
  • a hand or robot hand (18) to which a machining tool (8) is arranged fixed or detachable. Again, an additional axis can be interposed. In the embodiments shown, at this interface is a
  • At least one magazine (9) can be arranged in the working area of the manipulator (17). This takes e.g. several different editing tools (8).
  • the handling device (7) consists of a single manipulator (17) which carries a single machining tool (8) which performs all the post-processing functions.
  • the handling device (7) can have a plurality of manipulators (17) which carry identical processing tools (8) with full functionality, which jointly process a workpiece (3).
  • the post-processing can take place at a workstation (15) or distributed at several workstations (15).
  • the processing device (2) may further comprise a pretreatment device (12) and / or a
  • a cleaning device (11) can be arranged in the working area of the handling device (7).
  • the pre- and post-treatment devices (12, 13) can be located separately from the handling device (7) and the
  • Editing tool (8) may be arranged, as illustrated schematically in Figure 1. You can alternatively at the Handling device (7) and in particular be arranged on a machining tool (8) or form such in the above-mentioned broken down tool and robot composite.
  • the pretreatment device (12) is arranged in the conveying direction (43) of the workpieces (3) in front of the workstation (15) and the machining tool (8). It consists e.g. from a portal with one or more axes of movement, in which a milling cutter or other pretreatment member is movably arranged. With a rotating cutter, e.g. optically disturbing defects (5), e.g. Branch breakouts or the like. be removed and in particular removed, which possibly recesses arise, which are then filled with the fluid material (10). Alternatively or additionally, other pretreatment processes are possible, e.g. Drying, cleaning, chemical pretreatment of the defects (5) or other parts of the workpiece (3) or the like. Possible.
  • the aftertreatment device (13) can be arranged in the conveying direction (43) behind the workstation (15).
  • One or more postprocessing processes can be carried out here.
  • the aftertreatment device (13) may be, in particular, a curing device for a fluid mass (10) which may consist of several components.
  • the curing may e.g. With UV light, ultrasound, hot air, infrared radiation or the like. happen.
  • Other aftertreatment processes may include application of a
  • the machining tool (8) is shown in Figures 5 to 9 in its details and functions. Here, a fully functional machining tool (8) is shown. According to the aforementioned modification can the above-mentioned individual functions or tool components are distributed to a plurality of different processing tools (8) in a correspondingly slimmed-down version. The individual functions or tool components can also be executed elsewhere and with other equipment of the processing device (2).
  • the machining tool (8) comprises a frame (20), e.g. in the form of a mounting plate, which has a connection (21) for the connection to the handling device (7) and in particular to its robot hand (18).
  • a connection (21) for the connection to the handling device (7) and in particular to its robot hand (18).
  • an automatic change-over coupling (45) can be arranged between the connection (21) and the hand (18).
  • the processing device (2) and in particular the processing tool (8) has an application device
  • the machining tool (8) and its components are also connected to the controller (14).
  • the controller (14) may e.g. a robot controller, from which besides the manipulator (17) also all other components of the processing device (2) are controlled, e.g. also the pre- and post-treatment device (12,13) and the cleaning device (11).
  • the robot controller can have several control options for additional axes for this purpose.
  • the applicator (22) has a filling device
  • the processing device (2) and in particular the processing tool (8) may further comprise a compression device (24) for pressing in and compressing the fluid material (10) in the defect (5). It can also have a compensating device (25), with which any surpluses of fluid material (10) are removed.
  • the balancing device (25) may be a stripper. It also ensures a uniform surface finish and an adaptation of the Gremanober Structure to the adjacent
  • the compacting device (24) and / or the compensating device (25) can be arranged on or assigned to the applicator device (22).
  • the applicator (22) can be designed differently.
  • the aforesaid functions and devices (23, 24, 25) can be arranged separately from one another on the machining tool (8) and are located, for example. according to the embodiment shown in a row one behind the other on the frame (20), wherein they can be aligned in the row.
  • the series arrangement is e.g. along the frame axis or a feed direction (19) aligned, along which the handling device (7) moves the machining tool (8) during the machining process.
  • the filling device (23) can be constructed constructively in a suitable manner. This also depends on how many components the fluid material (10) consists of.
  • the filling device (23) can also enable the dispensing of a plurality of different fluid materials (10) and has, for example according to FIGS. 5 to 7, several, eg two, applicator heads.
  • the filling device (23) has at least one applicator element (27), for example in the form of an application nozzle, for the fluid material (10), which is stationary or movable Frame (20) is arranged.
  • a plurality of applicators (27) are correspondingly available. They extend from the plate-shaped frame (20), for example, vertically downwards and are arranged on the opposite side of the terminal (21).
  • the filling device (23) furthermore has at least one metering device (28) and at least one material supply (30) for the fluid material (10). If the fluid material (10) consists of several components, the filling device (23) can also have at least one mixing device (29) for these components.
  • the material supply (30) is adapted to the type and number of components. She can be carried along
  • the material supply (30) has for this purpose also one or more conveying members, e.g. Pumps or the like.
  • the metering device (28) may comprise one or more suitable metering devices, e.g. Valves or the like. Own.
  • the mixing device (29) may comprise one or more mixing means, e.g. Own mixing screws.
  • the filling device (23) with the one or more applicator heads can be arranged fixedly or detachably on the machining tool (8) and its frame (20). Parts of the filling device (23), e.g. The complete applicator heads with dosing device (28), mixing device (29) and material supply (30) can be completely dismantled and replaced. This can also be done fully automatically by means of a suitable machine coupling, wherein the change of the filling device (23), e.g.
  • the complete applicator heads with dosing device (28), mixing device (29) and material supply (30) can be completely dismantled and replaced. This can also be done fully automatically by means of a suitable machine coupling, wherein the change of the filling device (23), e.g.
  • the complete applicator heads with dosing device (28), mixing device (29) and material supply (30) can be completely dismantled and replaced. This can also be done fully automatically by means of a suitable machine coupling, wherein the change of the filling device (23),
  • Handling device (7) is performed.
  • the magazine (9) can for this purpose complete filling devices (23) or also their components, in particular applicator heads record.
  • the filling device (23) may additionally include, for such cases, a flushing device with which the applicator elements (27) and the others coming into contact with the fluid material (10)
  • Material supply (30) can be done manually or fully automatically, possibly in conjunction with the magazine (9).
  • the processing tool (8) is delivered to the workpiece (3).
  • the one or more applicators (27) to the workpiece surface (4) and the local defects (5) are approximated and kept floating in the embodiment shown with a small distance above.
  • the fluid material (10) is filled into the depression (5) with an amount dosed according to the data from the detection device (6). This can be done at the
  • Workpiece surface (4) be a material supernatant, as indicated in Figure 8.
  • the workpiece (3) at the workstation (15) may be at rest and held by a suitable positioning device (44) in a precisely predetermined position.
  • the detected position and shape data of the defects (5) are also related to this position.
  • the positioning (44) can in any suitable manner by stops, slides, rollers or like. be formed and is symbolized in Figure 1 for the sake of clarity only by an arrow.
  • the workpiece (3) may be in motion, its movement and the changing position being detected exactly, whereby the corresponding position of the defects (5) in the conveying direction (43) is also determined.
  • the handling device (7) moves the machining tool (8) in the feed direction (19) relative to the preferred one
  • the feed direction (19) can depend on the shape, position and orientation of the depression (5) to be filled. If this e.g. is a crack and has an elongated shape, the feed direction (19) is aligned along the crack.
  • the feed motion may be straight and / or curved.
  • the positioning of the applicator member (27) over the defect (5), the exit of the fluid material (10) and the guidance of the applicator member (27) corresponding to the defect shape is controlled by the controller (14) on the basis of the previously detected defect data.
  • the fluid mass (10) is compressed after filling. This can be done with the applicator (24) downstream of the applicator (27). This includes e.g. at least one compaction putty (31), which is pressed from above onto the protruding fluid material (10) and thereby possibly over the defect (5) is moved away.
  • the compaction putty (31) can be used in any suitable
  • the blade (34) can have a straight extension and, if appropriate, a flat or have slightly curved shape.
  • the obliquely projecting blade (34) approaches the workpiece (3) and contacts it, it bends and, if necessary, leans flat with the free end of the blade against the workpiece surface (4).
  • the blade (34) is made of a resilient material, e.g. Metal, in particular spring steel and is designed as a thin-walled metal or steel sheet. The bending of the blade (34) and thereby exerted by the overlying blade end pressure force on the
  • Workpiece surface (4) or the material surface depends on the distance of the frame (20) relative to the workpiece (3). The closer the approach, the greater the contact pressure.
  • the curved blade (34) is dragged past the fluid material (10) filled at the defect (5), which preferably occurs in the aforementioned feed direction (19), thereby forcing the fluid material (10) into the depression (5 ).
  • the fluid material (10) thereby completely fills the depression (5) and also achieves any undercuts. If appropriate, the fluid material (10) can also be compressed somewhat and, if necessary, solidified.
  • a compression of the fluid material (10) in other ways and / or elsewhere take place, for example when filling.
  • subsets can be filled in and then compressed immediately.
  • the applicator (27) can with appropriate approaches or the like. cause a compression and thereby pressed in the normal direction on the workpiece surface (4) or the defect (5). Alternatively, a compression when filling by rolling or the like. Possible.
  • the compensation device or removal device (25) is arranged in the embodiment shown in the row behind the compaction putty (31). It has, for example, a peel-off spatula (32). This has a blade (35) which is arranged in a holder (33) on the frame base.
  • the Abziehklinge (35) is rigid and bends when in contact with the workpiece surface (4) not or only slightly. It can have a straight or curved shape and is straight or inclined downwards. It has at the bottom a straight blade edge, which is applied by the handling device (7) on the workpiece surface (4) with pressure and then over the defect (5) is moved away, preferably in the feed direction (19). As a result, an excess of the fluid material (10) which may be present after compression is stripped off and the material surface at the defect (5) is adapted to the workpiece surface (4) and leveled.
  • the puller (35) has a higher bending stiffness than the compacting blade (34) and on the other hand has a smaller length in the downward direction.
  • the test device (26) is arranged behind the stripper (25). It checks the repaired and filled defect (5) and, if applicable, the adjacent one
  • Workpiece environment and can be designed for this purpose in any suitable constructive manner. She poses in particular, whether the well (5) has been completely filled in or whether there are any holes or other defects. Furthermore, any material overhangs or incorrectly deducted material areas or other errors are detected. With suitable training can also
  • test device (26) has a profile scanner (36) for optical scanning and
  • Profile scanner (36) may e.g. with a
  • Light section method work, with several visible
  • FIGS. 8 to 10 illustrate various procedures for post-processing.
  • FIG. 8 shows the aforementioned post-processing process with a singular sequence of movements.
  • the plate-like frame (20) is in this case substantially parallel to the workpiece surface
  • FIG. 9 illustrates a tool position for a material application without a putty process.
  • Machining tool (8) is set with his frame so far obliquely that compression and Abziehspachtel (31,32) are lifted from the workpiece (3) and only the applicator member (27) for filling the
  • Fluid material (10) corresponding to the workpiece (3) is approximated.
  • a job is eg taken when several defects (5) are filled in groups or in a first operation in groups.
  • Such a working position may also be required if the position and size of defects (5) require multi-axial movements of the application member (27) relative to the defect (5), eg a pendulum, a circular movement, etc ..
  • Figure 10 shows a tool alignment with opposite skew to Figure 9.
  • the compaction and Abziehspachtel (31,32) are employed on the workpiece (3) and press with increased force, the applicator member (27) raised at one end of the frame and the test device (26) is lowered at the other frame end.
  • FIG. 11 illustrates an embodiment for a cleaning device (11).
  • the cleaning device (11) has e.g. Spray nozzles for the targeted application of a cleaning agent and rotating brushes. Alternatively, cleaning tapes, baths or the like. be used. It is also possible to strip off the kit residues on a stationary friction plate with a corresponding tool movement.
  • the transport device (37) can be of constructive design in any suitable manner. In the shown
  • Variant she is designed as a roller conveyor. Alternatively, belt conveyors, feed conveyors or the like are possible.
  • About a workpiece feed (38) enter the workpieces (3) in the processing station (1).
  • About a workpiece delivery (39) on the opposite side they are returned to the outside and fed to a further processing.
  • the transport device (37) can a Main track (41), which the workpiece feed
  • the transport device (37) and its components can also be connected to the controller (14).
  • the detection device (6) is arranged in Figure 1 on the workpiece feed (38) and scans all incoming workpieces (3). Depending on the detection result, a switch (40) can be operated downstream. If a workpiece (3) has no defects (5) and otherwise no further
  • the transport lines in the main and secondary line (41,42) may be arranged in one or more planes. In this case, intermediate storage, lifting devices or the like. be present to bring the workpieces (3) from one transport plane to another.
  • a buffer memory may for example be connected upstream of the handling device (7) in order to receive the machining when a minimum number of faulty workpieces (3) is reached.
  • another buffer memory may be present to the reworked Workpieces (3) only at a desired time, eg at the end of a workpiece batch to reintegrate into the workpiece flow.
  • Embodiments are possible in various ways.
  • the described individual features of the embodiments can be arbitrarily combined with one another and exchanged.
  • the workpieces (3) may have a coding, wherein the station and transport system a
  • each workpiece (3) on the coding can be customized and obtained a workpiece-related record in which the adjustments made, number, type and size of the defects (5) and other because of the quality or For other reasons, relevant workpiece-related data is stored and carried.
  • this workpiece data can be read and taken into account.
  • Processing station (1) is also a separation and a separate removal of the post-processed workpieces (3) as a second quality possible.
  • the machining tool (3) and its components can be designed in a different constructive manner.
  • the filling device (23) and in particular the applicator member (27) may be arranged to be movable or adjustable to move by pendulum movements or the like. To fill larger misalignments (5) in a straight feed motion. They can also be arranged elsewhere in the processing device (2) and designed differently. For example, can one or more
  • Filling devices (23) arranged to be movable on a separate portal.
  • the applicator (27) can be heated to achieve a higher efficiency in material processing, especially in Mehrkomponenten- Kitts.
  • a pressure measurement in the material (10) can take place, by means of which the dosage can be substituted or optionally additionally controlled. This is advantageous, for example, in order to fill in undercuts at the defect (5) which are not recognizable by the detection device (6) with greater certainty, thereby optimizing the use of material or minimizing the excess.
  • the compactor (24) may be spatially and / or functionally separate from the applicator (22, 23) and e.g. be arranged stationary on the transport path of the workpieces (3). It can e.g. one
  • Crossbar with a workpiece (3) cross-series of several compression elements, in particular compaction putty (31) having.
  • a compression device (24) can alternatively be dispensed with with a corresponding feature reduction of claims 1, 32 and 37, wherein the machining technique can otherwise be embodied in the manner described.
  • the compaction and Abziehspachtel (31,32) may be located elsewhere and be present in greater numbers.
  • the testing device (26) can be removed from the machining tool (8) and arranged at a different location of the machining device (2). This may possibly be waived.
  • the pre-treatment and / or post-treatment device (12,13) can also be omitted.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Wood Science & Technology (AREA)
  • Forests & Forestry (AREA)
  • Veneer Processing And Manufacture Of Plywood (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)

Abstract

L'invention concerne un dispositif de traitement destiné à retoucher des zones défectueuses (5), en particulier des creux, dans des pièces (3), notamment des pièces de bois, au moyen d'un matériau fluide (10). Le dispositif de traitement (2) présente un dispositif de détection (S) des zones défectueuses (5) et un dispositif de manipulation (7) doté d'un outil de traitement (8) pour le traitement des zones défectueuses (5), et un dispositif de compression (24) pour le matériau fluide (10). Le dispositif de manipulation (7) peut être configuré comme un manipulateur mobile multi-axe (17). L'invention concerne en outre un procédé de retouche de zones défectueuses (5), en particulier de creux, dans des pièces (3), notamment des pièces de bois, au moyen d'un matériau fluide (10). Les zones défectueuses (B) sont détectées au moyen d'un dispositif de détection (6), et traitées au moyen d'un dispositif de manipulation (7) doté d'un outil de traitement (S), le matériau fluide (10) étant compressé au moyen d'un dispositif de compression (24). Un matériau fluide (10), en particulier un matériau de remplissage liquide ou pâteux, peut être introduit, en une dose déterminée, de manière à remplir un creux d'une zone défectueuse (5) et y être compressé.
PCT/EP2009/057794 2008-06-25 2009-06-23 Dispositif de traitement et procédé de traitement WO2009156388A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202008008428.8 2008-06-25
DE202008008428U DE202008008428U1 (de) 2008-06-25 2008-06-25 Bearbeitungseinrichtung

Publications (2)

Publication Number Publication Date
WO2009156388A2 true WO2009156388A2 (fr) 2009-12-30
WO2009156388A3 WO2009156388A3 (fr) 2010-04-15

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Cited By (6)

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DE102015219257A1 (de) * 2015-10-06 2017-04-06 Homag Gmbh Bearbeitungsmaschine und Verfahren zur Bearbeitung von Werkstücken
CN108713175A (zh) * 2016-03-07 2018-10-26 豪迈股份公司 用于操作直通式加工机的方法以及直通式加工机
CN110315609A (zh) * 2019-07-08 2019-10-11 宛兴怀 一种家具制造板材表面处理机械及其处理方法
US10933443B2 (en) 2014-07-04 2021-03-02 Dürr Systems Ag Painting method and painting facility for producing a decorative coating
EP3849762B1 (fr) 2018-09-12 2023-05-24 Raute Oyj Systeme et methode de reparation de contreplaqué
DE102022126704A1 (de) 2022-10-13 2024-04-18 Homag Gmbh Beschichtungsvorrichtung und Verfahren zum Beschichten von Werkstücken

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AT507776B1 (de) * 2009-04-30 2010-08-15 Fill Gmbh Vorrichtung zum erkennen und korrigieren von fehlstellen in holz

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EP0457963A2 (fr) * 1990-05-22 1991-11-27 SCHOTTEN & HANSEN GmbH Dispositif pour l'introduction d'une colle dans des rainures et fêlures dans du bois, en particulier pour fixer des noeuds dans des planches
US5487853A (en) * 1990-07-12 1996-01-30 The C. A. Lawton Company Energetic stitching for complex preforms
WO2004106022A1 (fr) * 2003-05-27 2004-12-09 Robatech Ag Procede et dispositif de traitement d'un element bois a l'aide d'une charge thermoplastique

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10933443B2 (en) 2014-07-04 2021-03-02 Dürr Systems Ag Painting method and painting facility for producing a decorative coating
DE102015219257A1 (de) * 2015-10-06 2017-04-06 Homag Gmbh Bearbeitungsmaschine und Verfahren zur Bearbeitung von Werkstücken
CN108713175A (zh) * 2016-03-07 2018-10-26 豪迈股份公司 用于操作直通式加工机的方法以及直通式加工机
EP3849762B1 (fr) 2018-09-12 2023-05-24 Raute Oyj Systeme et methode de reparation de contreplaqué
US11986972B2 (en) 2018-09-12 2024-05-21 Raute Oyj System and method for repairing plywood
CN110315609A (zh) * 2019-07-08 2019-10-11 宛兴怀 一种家具制造板材表面处理机械及其处理方法
CN110315609B (zh) * 2019-07-08 2021-05-14 四川省永亨实业有限责任公司 一种家具制造板材表面处理机械及其处理方法
DE102022126704A1 (de) 2022-10-13 2024-04-18 Homag Gmbh Beschichtungsvorrichtung und Verfahren zum Beschichten von Werkstücken

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