MACHINE FOR PROCESSING PIECES

Description

MACHINE FOR PROCESSING PIECES ***** The present invention relates to a machine for the processing of parts. More specifically, the invention concerns a machine suitable for processing oblong elements, in particular in solid wood, intended for example to the construction of windows or French windows. In the following the description will be addressed to the processing of solid wood pieces, but it is well it is clear that the same should not be considered limited to this specific use, being able to machine according to the invention to be advantageously also used for the processing of pieces of different materials. Known technique There are several types of machines known for the processing of oblong wooden elements, equipped with various operating organs and gripping systems for holding firmly hold these elements during the performance of the operations foreseen by the set work program. In a first typology of known type machines, the pieces are loaded manually by an operator onto a transport plan from which they are picked up by a loading device. The loading device is equipped with gripping elements that pick up the piece from the plane and load it onto a gripper unit operational part of the machine to carry out the processing. In another type of known type of machine, the LZ / A19666 pieces are loaded before processing and unloaded after processing by a robot articulated arm mechanic. The workpieces are picked up by the mechanical robot from a warehouse and the machined pieces are brought back by the mechanical robot in the same warehouse. The warehouse includes trolleys made up of several shelves on which the pieces are arranged. The pieces are loaded manually by a operator on a trolley according to a certain order. It is possible to load pieces already partially worked on some faces to complete the machining on the other faces. In machines of known type where there is a robot to load the pieces, a device is provided laser associated with the robot to perform the measurement of the length of the piece. Based on the length of the piece it is possible to optimize the use of the elements arranged in the processing equipment. Furthermore, if the piece does not have the correct measurements for the processing, it is not loaded. The known type of machines have a series of disadvantages and drawbacks. It is not possible to establish whether the piece is picked up by the robot has already been partially worked. The measurement performed does not show whether on a a machining has already been carried out on the faces, for example a groove. Therefore, if the piece has not been arranged LZ / A19666 correctly on the trolley, it can still be loaded into the machine that will carry out the processing on the already worked faces. This may not only involve the creation of a defective part, but it can also cause a machine malfunction when the the planned processes did not correspond to the piece loaded. Purpose of the invention In light of the above, it is, therefore, the purpose of the present invention is to provide a processing machine that allows you to work all the pieces correctly. Another purpose of the present invention is to provide a machine for processing parts that have a high level of flexibility of use. A further object of the present invention is to provide a machine for the processing of pieces that are particularly efficient in use. Subject of the invention It is therefore the specific subject of this invention a machine for processing at least one piece comprising: a loading and / or unloading warehouse of at least one piece; a processing equipment of the piece; a handling device of at least a piece, said device being able to take at least one piece from the warehouse and load it in the processing equipment in one position default; at least one data acquisition device images arranged between the warehouse and the equipment LZ / A19666 of processing, in which the acquisition device of images is capable of acquiring at least one image of the piece in transfer from the warehouse to the processing equipment; a system of image processing to compare the image acquired with a reference image and to provide a result of the comparison; and a control unit capable of send a signal to said device movement and / or said equipment processing based on the comparison result. Also according to the invention, the apparatus can be capable of carrying out the processing of at least one first face of the piece, the acquisition device of images being able to acquire at least the image of a face transverse to the first face of the workpiece. Still according to the invention, the device of handling may include a robot, in particular an anthropomorphic robot. Advantageously according to the invention, the handling device may comprise at least one gripping device used to block the piece in the position where it is taken. Further according to the invention, the device of image acquisition can be used to acquire at least the image of the piece in the position in which it is pre-washed. Preferably according to the invention, the warehouse may include at least one trolley having at least one movable shelf. LZ / A19666 Always according to the invention, the device of movement can be used to move the shelf between a first substantially horizontal position and a second position essentially vertical. Still according to the invention, the apparatus of processing may include at least a first unit of socket comprising a first socket system and a second grip system oriented parallel to a first axis and mutually facing each other with respect to a second axis orthogonal to said first axis, in which said first gripping system can be adapted to to take, in use, said at least one piece in correspondence of said second face, and said second gripping system may be capable of gripping, in use, said at least one piece corresponding to said first face, wherein said at least one first grip group and at least the second grip system is mobile one with respect to the other along parallel to said second axis in such a way as to allow the transfer of said at least one piece from said at least one first group of grip to said at least one second grip group or from said at least one second grip group to said at least a first group of sockets when said at least a first gripping group and said at least one second group of sockets are adjacent to each other; at least one machining head, movable with respect to said first and / or said second gripping system, for perform at least one process on said at least one piece. Advantageously according to the invention, said LZ / A19666 at least one first grip group and said at least one second group of sockets can each include, a lower support and at least one first clamp vertical drive, wherein said first clamp is movable parallel to said first axis with respect to the relative lower support. Further form of object of the present invention a method for loading at least one piece into a workpiece processing equipment, including phases of: approaching a handling device of the piece to a first face of the piece; engage the piece in a gripping position; bring the piece into correspondence of a data acquisition device images, acquire at least one image of the piece in the capture position; compare the captured image with a reference image of the piece for determine the position of the piece; check if the piece is in a predefined position to perform the processing. Still according to the invention, the method can acquire at least an image of one face of the part transversal to the first face. Still according to the invention, the method can understand the loading phase of the piece in the machining equipment if the workpiece is in the default position. Further according to the invention, the method can understand the stage of reporting if the piece is not in the default position. List of figures LZ / A19666 The present invention will now be described in illustrative but not limiting title, according to its preferred embodiments, with particular reference to the figures of the attached drawings, in which: Figure 1 is an axonometric view of a machine for processing pieces according to a shape preferred embodiment of the present invention; Figure 2 is an axonometric view of a warehouse of the machine in figure 1 in a first phase of load; Figure 3 is an axonometric view of the machine in figure 1 in a second loading phase; Figure 4 is a detail of Figure 3; Figure 5 is a side view of the machine figure 1 in the second loading phase; Figure 6 is a detail of Figure 5; Figure 7 is a plan view of a detail of the machine in figure 1 in the second loading phase; figure 8 is a detail of figure 7; Figure 8 is an axonometric view of the warehouse in a further loading phase; Figure 9 is a further axonometric view of the warehouse; Figure 10 is a side view of the warehouse of the machine in figure 1 in a first phase of I unload; Figure 11 is an axonometric view of the warehouse in a second unloading phase; Figure 12 is an axonometric view of a LZ / A19666 equipment for processing parts in a preferred embodiment. Detailed description of the figures In the various figures the similar parts will be indicated with the same numerical references. Referring to the attached figures, with 1 is a machine for processing P pieces is indicated. The piece P to be machined has at least one first face F , at least one second face F , opposite to the 1 2 first face F, and at least a third face F 1 3 transversal to the first face F and to the second face F . In particular, the pieces to be worked are of a shape oblong and with a substantially square section or rectangular, intended for example for the creation of window or French window frames. The pieces for example, they are made of solid wood. Machine 1 includes a loading warehouse 2 and / or unloading of parts and a 3-piece equipment machining of parts, in particular of at least one one-piece face. Processing equipment 3 is adjacent to the warehouse 2. Machine 1 comprises a device handling of the workpieces, in particular an anthropomorphic robot. The handling device 4 is preferably placed in warehouse 2 of loading / unloading. In the illustrated embodiment, the warehouse 2 loading / unloading has at least one shelf 5, in LZ / A19666 in particular a trolley, from which the robot 4 picks up the P pieces to load them into the equipment 3 of processing. Advantageously, warehouse 2 comprises at least an unloading trolley 6, on which the robot 4 deposits the P1 pieces machined after having picked them up from processing equipment 3. The loading / unloading shelf or trolley 5, 6 It features a plurality of shelves 7. As illustrated in particular in figures 9 and 10, shelves 7 are movable between one position substantially horizontal and a position essentially vertical. In particular, a trolley 5, 6 comprises two substantially vertical uprights 8 and 9 transverse bars hinged to each upright 8. The crossbar 9 is fixed with some arms 10, perpendicular to bar 9. Bar 9 rotates from a position where the arms 10 are arranged substantially horizontally, so to support the pieces P, P1, to a position where the arms 10 are arranged substantially vertically, when there are no pieces present. The P pieces to be machined are arranged on the trolley loading 5 by an operator according to a set order of processing. The handling device 4 is designed to pick up the piece, lock it in one position and load it into the processing equipment in the correct position. The handling device 4 features LZ / A19666 advantageously a gripping organ 42 capable of blocking the piece P in the position where it is picked up. In particular, robot 4 features an arm mechanical 41 at one end of which is placed a gripping member 42. The gripping member 42 comprises preferably two supports 43, 44, placed at a distance from each other, and two corresponding morse 45, 46 which lock the piece P on the supports 43, 44. The distance between the supports 43, 44 and / or between the clamps 45, 46 is preferably adjustable. At the arm 41 of the robot 4 is advantageously placed a laser to detect the distance of arm 41 from piece P and / or trolley 5, 6. By measuring the distance at two points, The laser also allows you to determine the length of the piece P to be worked. In the embodiment illustrated, processing equipment 3 has one longitudinal development X. Preferably, the trolley of load 5 is arranged perpendicularly to the longitudinal development X of the equipment 3. The unloading trolley 6 is arranged parallel compared to longitudinal development X of the equipment 3. According to the invention, the machine 1 for the machining of parts features at least one device 11 of image acquisition arranged between warehouse 2 and the processing equipment 3, in which the image acquisition device 11 is adapted to acquire at least one image of piece P in the LZ / A19666 transfer from warehouse 2 to equipment 3 of processing; an image processing system 12 capable of comparing the acquired image with a real image of reference and to provide a comparison result; and a control unit 13 capable of sending a signal to said movement device 4 and / or said processing equipment 3 according to the result of the comparison. The image acquisition device 11 can for example, be a camera. Advantageously, the device 11 of image acquisition is arranged laterally compared to robot 4 and loading trolley 5. The image acquisition device 11 is configured to acquire at least one image of the part. In particular, the acquisition device 11 images is capable of acquiring at least the image of a face F of the piece transverse to the face which will be worked on. In this way, the device 11 acquires the cross-sectional shape of the oblong piece, detecting whether or not portions are present missing features such as grooves. Advantageously, the device 11 is adapted to acquire at least the image of the piece P in the position where it is taken from warehouse 2. The image acquisition device 11 is connected to the image processing system 12 acquired. In particular, the 12 system of image processing is configured to perform LZ / A19666 a comparison between the acquired image and a reference. The image processing system 12 is connected to the control unit 13. Depending on the comparison result, control unit 13 determines whether piece P is loaded into position correct for the series of operations to be carried out. The connections between the device 11 of image acquisition, processing system 12 of the image and the control unit 13 can be wireless. The control unit 13 sends a signal to the robot 4 which will be able to load the piece P into the equipment 3 of processing or you can discard it if it is not found in the correct position. The control unit 13 can sound an alarm signal or stop the machine 1 if piece P is not in the correct position. In In particular, the control unit 13 can stop the machine 1 if a plurality of pieces are not in the correct position. Advantageously, the 12 processing system of the image is configured to determine the width and height of the piece. In a preferred embodiment thereof invention, the control unit 13 is configured to drive the handling device 4 in operation of the presence of the pieces arranged on trolley 5, 6. As illustrated in particular in figure 7, the robot 4 picks up the pieces P to be machined from shelf 71 superior. LZ / A19666 In use, robot 4 approaches trolley 5, detects the distance from the piece P via the laser, picks up piece P, brings it to the camera 11 and, after having verified that the piece P is in the correct position, it loads it in processing equipment 3. During the transfer, the piece P is advantageously blocked by the gripping organ 42 of the robot 4. When the upper shelf 71 is empty, the robot 4 detects via laser that there are no pieces present. robot 4 then engages at least one arm 10 of the shelf 7 and lifts it to the vertical position (figure 9). Robot 4 then proceeds to pick up a piece P from the lower shelf 7. Robot 4 brings piece P to correspondence of camera 11 and, if the piece P is in the correct position, it loads it in processing equipment 3. Acquiring an image of the piece allows to check the position of the face to be machined. This verification is not possible by means of a simple laser, which can only determine lengths, such as the distance of the robot from the first face of the part or the length of one face of the piece. The laser cannot determine if there are grooves or grooves in the piece empty, which indicate whether a particular face is already been worked on. Using the acquired image it is possible determine the profile of the piece to be worked and LZ / A19666 then check if the piece is oriented correctly with respect to the elements of the equipment processing. After machining, the piece P1 is unloaded from the robot 4 and placed on the unloading trolley 6 in the warehouse. When the unloading trolley 6 is empty, only the lower shelf 72 is advantageously in position horizontal, while the other 7 shelves are arranged in vertical position (figure 10). Robot 4 detects that there are no pieces in the lower shelf and proceeds to arrange the worked pieces P1. Advantageously, when a shelf 7 is complete, Robot 4 detects via laser that there is no space enough to place another piece. The robot 4 then engages at least one arm 10 of the top shelf and lowers it bringing it into the substantially horizontal position to arrange other machined pieces P1 (figure 11). Figure 12 illustrates one embodiment preferred of a 3 processing equipment of a piece. In the embodiment illustrated, the processing equipment is suitable for carrying out machining on two opposite faces of a section piece rectangular or square. The processing equipment 3 comprises a base 32 in which a first track 33 is planned, which develops along a first axis X1, and a second LZ / A19666 track 34 placed next to the first track 33 and extending along a second axis X2 parallel to the said first axis X1. Along the first track 33 and the second track 34 are enabled to move, respectively, a first gripping unit 35 along said first axis X1 and a second socket unit 36, equal to the first socket unit socket 35, along said second axis X2. Each of said first grip unit 5 and second grip unit 36 ​​comprises a lower frame 37 on the which are mounted a first set of three gripping groups 38a, 38b, 38c and a second set of three grip groups 39a, 39b, 39c to allow the taking of one or more oblong shaped P pieces arranged parallel to the first axis X1 and second axis X2, during the operations foreseen by the set work program. In particular, the first intake groups set of three gripping groups 38a, 38b, 38c and the groups of socket of the second set of three socket groups 39a, 39b, 39c are coplanar and face each other in pairs. Furthermore, each group of the first set of three of socket groups 38a, 38b, 38c and of the second set of three of socket groups 39a, 39b, 39c is made up of a respective lower support 310a, 310b, 310c, 311a, 311b, 311c oriented parallel to the first X1 and to the second axis X2 and movable, independently, parallel to a third Y-axis orthogonal to the the above mentioned first X1 and second axis X2, and by three organs of socket or three 12-inch clamps with vertical drive equal to each other and movable, each, along its relative LZ / A19666 lower support 310a, 310b, 310c, 311a, 311b, 311c parallel to the first axis X1 and the second axis X2. In more detail, each gripping organ 312 comprises a bottom plate 313 and a plate superior 314 vertically mobile, by means of respective actuator means, approaching and moving away relative. Above base 32, in correspondence with a middle area of ​​the latter, a bridge is planned or a fixed 315 portal with respect to the underlying one base 32 and oriented according to the aforementioned third axis Y. On two opposite lateral faces of the 315 bridge are mount a first operating head 316 and a second 317 mobile operating heads, each, in parallel to the Y axis and along a fourth Z axis orthogonal to called X1, X2, Y axes. At the two opposite ends of the bridge 315 falling outside the footprint of the base 32, a first one is also foreseen, respectively housing unit 318 and a second unit of housing 319, also called “tool magazines”, configured to allow, precisely, the housing of a respective plurality of tools suitable for use through the first operating head 316 and the second head operational 317. For some types of applications where it is it is necessary to work a first lateral face F and a second lateral face F, opposite to the said first side face F1, of the various pieces P, for example in LZ / A19666 case of use of the P pieces for the realization of windows or French windows, the P pieces to be machined are loaded onto the first gripping unit 35 and / or onto the second gripping unit 36 ​​from robot 4. The P pieces are gripped by one or more groups of taken according to the length of the same pieces P, so that the first lateral face F is facing the same socket groups from which they are retained the pieces P and the second lateral face F instead it faces towards the intake groups of the opposing trio so as to be completely exposed and therefore suitable to be worked on by the first operating head 316 or from the second operating head 317. In this way, the tool mounted on the first operating head 316 comes into contact with all or at least a part of the second lateral face F, carrying out the work foreseen by the program I work for that face. Once the planned processing has been carried out on the second lateral face F, the gripping groups of the first set of three gripping groups that hold the piece P they approach the opposing grip groups of the second set of three gripping groups until reaching next to them, or vice versa. The piece P is then also grabbed by the gripping organs arranged opposite to those that they are holding the piece P, which can, at this period, let go. In this way, the second lateral face F2, already LZ / A19666 worked, piece P is placed in front of the groups of grip that hold it, while the first face lateral F is now exposed and therefore ready to also be worked by the first head operational 316. In a simplified version, the equipment of processing may include only one gripping unit mobile on a single track and a single head operational. According to a further variant, the first unit of socket 35 and the second socket unit 36 ​​are fixed compared to the base 32, while the bridge 315 is mobile according to the first X1 and the second X2 axis. The present invention has been described by way of example. illustrative, but not limiting, according to its forms preferred to be made, but it is to be understood that changes and / or modifications may be made by experts in the field without however leaving the relative scope of protection, as defined by the claims attached. Barzanò & Zanardo Roma SpA LZ / A19666

Claims

1. Machine (1) for processing at least one workpiece (P) comprising: a magazine (2) for loading and / or unloading at least one workpiece (P); an apparatus for processing the workpiece (P); a device (4) for handling at least one workpiece (P), said device being able to pick up at least one workpiece (P) from the magazine (2) and load it into the processing apparatus (3) in a predefined position; at least one image acquisition device (11) arranged between the magazine (2) and the processing apparatus (3), wherein the image acquisition device (11) is able to acquire at least one image of the workpiece (P) during transfer from the magazine (2) to the processing apparatus (3); an image processing system (12) able to compare the acquired image with a reference image and to provide a result of the comparison;and a control unit (13) suitable for sending a signal to said movement device (4) and / or to said processing equipment (3) depending on the result of the comparison.; 2. Machine (1) according to claim 1, wherein the apparatus is adapted to carry out the LZ / A19666 Barzanò & Zanardo -20 machining of at least a first face (Fi) of the piece (P), the machine being characterised in that the image acquisition device (11) is adapted to acquire at least the image of a face (Fa) transversal to the first face (Fi) of the piece (P) to be machined.

3. Machine (1) according to claim 1 or 2, characterised in that the handling device (4) comprises a robot, in particular an anthropomorphic robot.

4. Machine (1) according to any of the preceding claims, characterised in that the handling device (4) comprises at least one gripping member (42) capable of blocking the piece (P) in the position in which it is picked up.

5. Machine (1) according to any of the preceding claims, characterised in that the image acquisition device (11) is adapted to acquire at least the image of the piece (P) in the position in which it is pre-washed.

6. Machine (1) according to any of the preceding claims, characterised in that the warehouse (2) comprises at least one trolley (5; 6) having at least one movable shelf (7).

7. Machine according to the previous claim, LZ / A19666 Barzanò & Zanardo -21 characterised in that the movement device (4) is capable of moving the shelf (7) between a first substantially horizontal position and a second substantially vertical position.

8. Machine according to any of the preceding claims, characterised in that the processing equipment (3) comprises at least a first gripping unit (35) comprising a first gripping system (38a, 38b, 38c) and a second gripping system (39a, 39b, 39c) oriented parallel to a first axis (XI) and facing each other with respect to a second axis (Y) orthogonal to said first axis (XI), wherein said first gripping system (38a, 38b, 38c) is capable of gripping, in use, said at least one piece (P) in correspondence with said second face (F2), and said second gripping system (39a, 39b, 39c) is capable of gripping, in use, said at least one piece (P) in correspondence with said first face (F1),wherein said at least one first gripping group (8a) and at least said second gripping system are movable with respect to each other along parallel to said second axis (Y) in such a way as to allow the transfer of said at least one piece (P) from said at least one first gripping group (38a) to said at least one second gripping group (39a) or from said at least one second gripping group (39a) to said at least one first gripping group (38a) when said at least one first gripping group (38a) and said at least one second gripping group (39a) LZ / A19666 Barzanò & Zanardo -22 are mutually contiguously facing each other; at least one machining head, movable with respect to said first and / or said second gripping system, to perform at least one machining operation on said at least one piece (P).

9. Machine (1) according to the previous claim, characterised in that said at least one first gripping group (38a) and said at least one second gripping group (39a) each comprise a lower support (310a, 311a) and at least one first vertically operated vice (312), wherein said first vice (312) is movable parallel to said first axis (XI) with respect to the relative lower support (310a, 311a).

10. Method for loading at least one workpiece (P) into a workpiece (P) machining apparatus (3), comprising the following steps: bringing a workpiece (P) handling device (4) close to a first face (Fi) of the workpiece (P); engaging the workpiece (P) in a gripping position; bringing the workpiece (P) to an image acquisition device (11), acquiring at least one image of the workpiece (P) in the gripping position; comparing the acquired image with a reference image of the workpiece (P) to determine the position of the workpiece (P); checking whether the workpiece (P) is in a predefined position to perform the machining.

11. Method according to the previous claim, characterised by acquiring at least the image of one face (Fa) of the piece (P) transversal to the first face (Fi).

12. Method according to claim 10 or 11, characterised in that it comprises the step of loading the piece (P) into the processing apparatus (3) if the piece (P) is in the predefined position.

13. Method according to any of claims 10-12, characterised in that it comprises the step of signalling if the piece (P) is not in the predefined position.