Cutting machine and method for picking up and moving upper panel of at least one stack of panels during processing of panels having flat shape

Abstract

The invention relates to a cutting machine and a method for picking up and moving an upper panel of at least one stack of panels during processing of panels having a flat shape. A cutting machine (1) is used for cutting panels (P) made of wood or the like. The working area (AL) comprises at least a pneumatic device (30). The same pneumatic device (30) is configured to selectively operate at least one panel (P) in an "air cushion" mode of operation or a "pneumatic vacuum hold" mode of operation in order to temporarily lock the panel (P) in position on the working area (AL) while waiting for its subsequent movement, cutting or unloading. The cutting machine (1) requires the use of a robotic manipulator (10).

Description

Technical Field

[0001] The invention relates to a cutting machine and a related cutting method for cutting panels having a flat shape. Background Art

[0002] In the industry for processing panels made of wood, polymers, composite materials, fiber cement, etc., a cutting machine is known, which comprises: a supporting frame, which defines a substantially horizontal supporting and / or feed plane for at least one panel made of wood or the like; a cutting station; a primary pushing device, which is used to move at least one first panel forward in a first direction and, if necessary, backward through the cutting station; a secondary pushing device, which is used to move at least one second panel forward in the first direction and, if necessary, backward through the cutting station; and a cutting device, which includes a saw carriage, which is mounted in the cutting station to move in a second direction and along a cutting plane perpendicular to the first direction, so as to cut the panel.

[0003] The feed plane generally comprises a roller arrangement mounted upstream of the cutting station, whereas the export station, located downstream of the cutting station, generally comprises one or more air-bearing planes to facilitate the handling and unloading of the processed panels.

[0004] In addition, the continued application and implementation of automation in the production process has led to the incorporation of robotic manipulators in some cutting machines, which are installed downstream of the cutting station or output workbench to retrieve the parts cut from the original panel with the help of the cutting device and finally unload the cut parts from the cutting machine or feed them again to the primary push device and / or secondary push device to perform further cutting with the help of the same cutting station.

[0005] A trap door for automatic chip unloading is provided between the cutting station and the output workbench.

[0006] The robotic manipulator comprises a base, a system of articulated arms connected to each other and to the base, and a panel picking unit coupled to the articulated arms.

[0007] The panel picking unit comprises a frame rotatably coupled to a telescopic arm and supports one or more movable arms provided with respective suction cups connected to a suction device.

[0008] However, known cutting machines of the above-mentioned type have some disadvantages, which arise from the fact that the robotic manipulator with suction cup gripping system can only move a single panel at a time and, therefore, can only cut one panel during each cutting cycle; despite all this the fact that a cutting machine of the above-mentioned type can effectively cut several superimposed panels when they have to cut with the same cutting scheme.

[0009] It should be noted here that the "just in time" production prevailing in modern industry requires low and medium volumes, with the production of various components requiring the cutting of one or at most three or four panels for each different cutting solution.

[0010] A recent study of the production situations of a large number of cutting machine users showed that typical production included a percentage of cutting solutions for a single panel equal to thirty-eight percent, a cutting solution for two panels equal to thirty-six percent, a cutting solution for three panels equal to fourteen percent and a cutting solution for four panels equal to twelve percent.

[0011] The production of this type applied to cutting machines with robotic manipulators for panel handling and unloading has promoted the study of a handling system implemented by means of panel pushing members in the aforementioned robotic manipulator, without compromising the unloading system of the panels implemented solely by means of the suction cups of the same robotic manipulator. Unloading by means of suction cups depends, among other factors, on the need to form a stable mixed pile of panels of various sizes on the unloading pallet, placing the panels side by side and on top of each other according to their size and that of the pallet.

[0012] In this regard, patent EP3533572B1 filed by Homag Plattenaufteiltechnik GmbH and patent EP3647004B1 filed by Biesse SPA disclose a special gripping frame which, in addition to a clamping system with suction cups, is also provided with a system with movable rods which cooperate with each other to laterally lock a stack of panels and thus move the stack of panels to the various working areas of the cutting machine without compromising the fact that the unloading of the cut panels from the plane downstream of the cutting station is entrusted to a suction cup system which is able to pick up a single panel at a time, or several panels at a time as long as the panels are side by side.

[0013] The problem with these solutions lies in the fact that the adhesion between panels with smooth and / or glossy surfaces is very high, which means that even if the lifting time is greatly prolonged, there is no guarantee that the lifted panel will be separated from the one below. In fact, this problem prevents the use of these solutions, since it may happen that an accidental lifting of the lower panel and its subsequent falling to a position different from its original position can lead to continuous machine stops, resulting in very large production losses.

[0014] Taking into account the unreliability of these hybrid systems in which stacks of panels are moved together but a single panel is picked up with a suction cup, solutions such as those described in patent EP4005715B1 filed by SCM Group and patent EP4032671B1 filed by SCM Group have been envisaged, which disclose hybrid machines designed or in any case suitable for using a robotic manipulator only when applying a cutting scheme involving a single panel, and then returning to traditional cutting by an operator moving and unloading the panels when a cutting scheme requiring the cutting of several panels per cutting cycle must be implemented.

[0015] The alternative of a machine with a robotic manipulator is to always cut a single panel at a time even if the cutting scheme allows cutting a stack of panels, and thus in doing so the low productivity outweighs the advantages brought by automation. Summary of the invention

[0016] One of the objects of the present invention is therefore to provide a cutting machine having a panel support plane having the property of being able to retain the panel or panels supported thereby so as to avoid uncontrolled movement of the panels when they are parked in different working areas of the cutting machine and waiting to be moved.

[0017] Another object of the invention is to move the panels being processed quickly and reliably when they are on top of each other by means of a robotic manipulator.

[0018] The invention thus relates to a cutting machine in which the action of pneumatically holding at least one lower panel of a stack is combined with the action of handling at least one upper panel of the same stack by means of a robotic manipulator.

[0019] The present invention relates to a panel cutting machine according to the independent aspect and preferably according to any of the dependent aspects directly or indirectly dependent thereon.

[0020] Therefore, the present invention will be described by way of explanation and not limitation according to the preferred embodiments of the present invention, but it should be appreciated that variations and / or modifications may be made by those skilled in the art without thereby exceeding the scope of protection defined by the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be better understood after reading the following description of some preferred embodiments with reference to the following drawings:

[0022] - Figure 1 A plan view of a cutting machine according to the invention is schematically shown; the cutting machine is provided with a robotic manipulator;

[0023] - Figure 2 Shows from Figure 1 side view, viewed from the right, of a cutting machine of , highlighting the functions of transferring and positioning the first panel produced in the cutting station, in this case carried out with the aid of a robotic manipulator;

[0024] - Figure 3 A plan view showing an embodiment of a panel support and movement plane of a cutting machine;

[0025] - Figure 4 Shows Figure 3 A side view of a plane;

[0026] - Figure 5 shows a plan view of a cutting machine with a robotic manipulator in operation; the robotic manipulator rotates the longitudinal strips just cut in the cutting station after picking them up so as to move them from a parking area to a transverse cutting area and against a reference square;

[0027] - Figure 6 showing a front view of the transverse cutting zone of the cutting machine when the strip is positioned against a reference square;

[0028] - Figure 7 shows a side view of the cutting machine as a robotic manipulator picks up and lifts a cut panel; and

[0029] - Figure 8 A plan view of the cutting machine is shown as a robotic manipulator picks up and unloads a cut panel. DETAILED DESCRIPTION

[0030] In the embodiments described herein, reference is made to Figures 1 to 8 , reference numeral 1 denotes a cutting machine for a panel P according to the present invention.

[0031] For the purposes of the present disclosure, the terms "panel" P, "strip" STR, etc. must all be considered synonymous and be considered suitable for substantially flat elements cut with the aid of the cutting machine 1 according to the invention (e.g. panels of various sizes for furniture construction, panels made of plastic material or related strips, etc.) or panels resulting from cutting carried out with the aid of the same cutting machine 1.

[0032] Furthermore, in the present description, the term "stack" should be understood as a vertically stacked group of two or more panels P or strips STR.

[0033] The cutting machine 1 is provided with an electronic control unit (digital control or electronic system) (not shown) for controlling and managing the various components of the cutting machine 1 which will be better identified below.

[0034] The cutting machine 1 is a horizontal type cutting machine, which comprises a cutting assembly GRT ( Figure 2 ) type cutting station 2, the cutting assembly GRT having a movable tool holder bracket ( Figure 2 ), the tool holder bracket can be arranged according to the arrow F1 ( Figure 1 ) defines the direction and route along the base 3 ( Figure 2 ) slides and operates in a known manner, with arrow F1 identifying a direction generally transverse to the feed direction of panels P along the cutting machine 1. However, in other embodiments, there may be two or more cutting stations 2.

[0035] During the active cutting step, the tool or tools (a single cutting blade 4 mounted on the cutting assembly GRT) are moved in a Figure 2 The base 3 is raised (or lowered in different machine types) to the base working plane 5 ( Figure 1 and Figure 2 ) above the cutting machine, but the tool or tools are lowered (or raised in different machine types) during the step of returning to the cutting start position.

[0036] As is known, in some cutting machines, there are usually two cutting tools, namely a cutting tool (cutting blade 4) and a scriber tool (not shown), and during the cutting step, both cutting tools are located in the cutting slit 6 ( Figure 1 ) and the midline of the cutting slit 6 is usually defined as the cutting line LT ( Figure 1 ).

[0037] As in Figure 2 The known upper pressing member 7 , shown in the non-limiting example of , is configured to lock the panel P on the base working plane 5 during the cutting step by means of a known vertical movement.

[0038] During the positioning of the panel P, before cutting, the upper pressing means 7 are always in the raised position.

[0039] In a known manner, the cutting machine 1 is provided with a primary pusher SP in the form of a bridge crane, provided with a plurality of first grippers P1, and possibly with a secondary pusher SS, equipped with a plurality of second grippers P2 ( Figure 1 ).

[0040] The cutting machine 1 for panels P generally comprises a feed plane 8 ( Figure 1 , Figure 2The feed plane 8 may be, for example, a roller-type feed plane (but, alternatively, it may also be of a different nature) and may be provided with optional rotation means (not shown) for rotating the panel P and / or its parts in order to obtain the orientation required for carrying out the various cuts, thereby achieving the dimensions required in the cutting scheme to be carried out.

[0041] In other words, this initial orientation before cutting is carried out upstream of the cutting station 2 , on the feed plane 8 , by known means not shown here.

[0042] Therefore, the working area AL ( Figure 1 ) comprises in sequence the aforementioned feed plane 8, the aforementioned base working plane 5 and continues through the base working plane 5 in the form of one or more support planes 9; the feed plane 8, the base working plane 5 and the support plane 9 are preferably all arranged on the same horizontal plane, but not necessarily.

[0043] In addition, the working area AL may also include at least one additional support or temporary parking plane (not shown in the drawings) for panels P or strips STR that require additional processing steps. The additional support or temporary parking plane (not shown in the drawings) may also be outside the cutting machine 1.

[0044] The at least one supplementary support or temporary parking plane (not shown in the drawings) can be arranged on the same level as the feed plane 8 and / or the base working plane 5 and / or at least one support plane 9, or on a different level than one or all of the feed and moving planes 8, the base working plane 5 or the support planes 9.

[0045] The support plane (or planes) 9 downstream of the cutting station 2 is intended to support and slide the panels P and / or strips STR and any other cut parts leaving the cutting station 2 so as to allow their correct orientation and possible reinsertion into the cutting machine 1, for example with the aid of a robotic manipulator 10 configured to grab at least one element chosen from the panel P, the strip STR or another layered component and transport it onto the entire aforementioned support plane 9 ( Figure 1 , Figure 2 , Figure 5 , Figure 6 , Figure 7 , Figure 8 )(see below).

[0046] In a known manner, the primary push device SP and the secondary push device SS are configured to pick up the various elements to be cut (panels P, strips STR, etc.) from the feed plane 8 (or the supporting plane 9) with the aid of relevant grippers P1, P2 and to position the various elements to be cut on the cutting line LT according to a set program, and to cut the elements on the cutting line LT with the aid of the cutting station 2, in particular with the aid of the blade 4.

[0047] The operating area of ​​the main push device SP extends above the feed plane 8, so the feed plane 8 has a width that is almost the same as the width of the cutting line LT, and has a length that is almost the same as the available stroke of the main push device SP, which is determined by the rear limit stop (not shown) in its retracted position and the cutting line LT in its advanced position.

[0048] However, in some cutting machines, the rear limit stop of the main pusher SP may be extended to allow automatic loading of panels P from an area behind the feed plane 8 and the front limit stop may extend beyond the cutting line LT and reach and / or approach the support plane 9 .

[0049] In the embodiment shown here, on the main propulsion device SP, and in particular on its cross member TS ( Figure 1 ) is fixed with the aforementioned grabbing piece P1 for locking and transporting the panels P and / or strips STR to be cut into certain sizes.

[0050] Secondary propulsion device SS ( Figure 1 ) has an available stroke that is almost the same as that of the main thrust means SP and has at least one end which is forced to follow a corresponding second guide means MG2 (in parallel with the first guide means MG1 of the main thrust means SP) Figure 1 )slide.

[0051] Furthermore, the main propulsion device SP is provided by means of a first longitudinal drive device MM1 ( Figure 1 ) along the first guide means MG1, while the secondary pusher SS is driven by a second longitudinal drive means MM2 ( Figure 1 ) operates along the second guide device MG2.

[0052] In the solution shown herein, the secondary pushing means SS and the primary pushing means SP are positioned and operated at different heights relative to the working area AL in order to avoid mutual interference and to allow respective independent movements along the same working area AL.

[0053] Thus, in a known manner, the pushing means SP and SS can be moved in accordance with the arrows F2 ( Figure 1) moves horizontally in the direction and route indicated by the arrow F2, which is approximately perpendicular to the cutting line LT and is therefore approximately perpendicular to the aforementioned arrow F1 according to a direction approximately parallel to the feed direction of the panel in the cutting machine 1.

[0054] like Figure 1 , Figure 5 , Figure 6 , Figure 8 As shown in the figure, in the area usually used for transverse cutting of the strip STR or panel P (the left part of the figure), a reference square 11 is provided so that the strip STR or panel P can be hit against the reference square 11 for subsequent transverse cutting at 90 degrees.

[0055] according to Figure 2 A trap door 12 for unloading the trimming residues is located between the base working plane 5 and the supporting plane 9 .

[0056] Therefore, the trap door 12 ( Figure 2 ) is positioned downstream of the cutting station 2 relative to the normal flow of the panel P (and / or strip STR).

[0057] The hatch 12 serves in a known manner for the automatic unloading of the chips (trimming residues) produced in the region of the cutting station 2 below the working area AL.

[0058] Below the unloading trap door 12 ( Figure 2 ) A container 13 for collecting chips (trimming residues) is positioned.

[0059] Alternatively, a conveyor belt (not shown) may be provided for automatic removal of the chips.

[0060] As already mentioned above, the cutting machine 1 according to the present invention is provided with a robotic manipulator 10, which is located downstream of the feed plane 8 and the cutting station 2, and is used to pick up and position, for example, the strips STR and / or panels P produced in the cutting station 2 (starting from the original panel P and / or strip STR) on at least the entire supporting plane 9.

[0061] In a known manner, the robotic manipulator 10 is controlled by the electronic control unit of the cutting machine 1, but it can also be controlled by its own control and management unit (not shown) which is configured to communicate (exchange data) with the electronic control unit of the cutting machine 1 (for example, according to a "master-slave" operating mode).

[0062] The electronic control unit is therefore configured to operatively manage all the components of the cutting machine 1 and therefore all its operating phases, directly or indirectly including those of the robotic manipulator 10 .

[0063] The robot manipulator 10 , with its articulated arm, can also be positioned in a position different from that shown in the figures in order to access different areas of the working area AL of the cutting machine 1 .

[0064] In the non-limiting solution shown in the figures, the robotic manipulator 10 is located outside and close to the supporting plane 9 downstream of the cutting station 2 and beside the reference square 11 .

[0065] The robotic manipulator 10 is configured to move the cut panels P and / or strips STR or stacks of strips STR away from the zone immediately downstream of the cutting station 2 and to place them in a parking zone on the supporting plane 9 (see below).

[0066] Furthermore, the robotic manipulator 10 is configured to feed the cut strips STR and / or the cut panels P again to the primary pusher SP and / or the secondary pusher SS to perform further transverse cuts (see below).

[0067] The robot manipulator 10 is configured to unload the cut panels P onto dedicated components such as plates, mats, pallets PPL ( Figure 8 ) and / or unload onto roller tracks (not shown) for their manual or automatic removal.

[0068] In a known manner, the robotic manipulator 10 ( Figure 1 , Figure 5 , Figure 6 , Figure 7 , Figure 8 ) comprises a base 10A, a system consisting of articulated arms 10B connected to each other and to the base 10A, and a pickup unit 10C fixed to the articulated arms 10B.

[0069] In a known manner, the robotic manipulator 10 may include a manipulator member having Cartesian axis movements.

[0070] The robotic manipulator 10 acting as a pick-up unit can rotate about a relative axis Y.

[0071] Advantageously, although not necessarily, the pick-up unit 10C of the robotic manipulator 10 comprises a plurality of suction cups 10D configured in a known manner to adhere to the upper surface of the strip STR or at least one panel P. The panel P (or strip STR) to be moved by the robotic manipulator 10 is gripped by means of the suction cups 10D.

[0072] In particular, the pickup unit 10C ( Figure 1) comprises a cross member 10E, articulated in a known manner to an articulated arm 10B in the region of an axis Z, and two arms 10F on which the above-mentioned suction cups 10D are mounted. These arms 10F can slide towards / away from each other on the cross member 10E by means of known means in order to adjust the pick-up system according to the size of the strip STR or panel P to be processed.

[0073] Two rods 60 ( Figure 1 , Figure 2 ), the rod 60 is used to transfer the panel P (or strip STR) to a specific parking area on the supporting plane 9 and place it in the specific parking area when necessary, that is, when other strips STR and / or panels P are joined in the transverse zone along the reference square member 11.

[0074] These bars 60 are located in the rest position above the support plane 9 and above the height of the largest stack of panels that can be cut with the cutting machine 1 and can be moved by means of known means not shown here according to the arrow F4 ( Figure 2 , Figure 6 , Figure 7 ) is vertically translated in the direction and route indicated by the reference numeral 5 until the rod 60 reaches the vicinity of the supporting plane 9.

[0075] Thus, when necessary, the two rods 60 can be raised so as not to interfere with the panels P or strips STR on the support plane 9, or, on the contrary, the two rods 60 can be lowered (according to arrow F4) in a substantially vertical direction onto the support plane 9 so as to be able to push one or more strips or stacks of strips STR at a time according to arrow F3 arranged in a direction substantially parallel to arrow F2 and place them in a parking area on the support plane 9 when they cannot be cut transversely immediately. Figure 2 These two cases are shown in .

[0076] In other words, according to the arrow F3 ( Figure 2 ) The strip STR is handled and accurately positioned along the supporting plane 9 by means of the aforementioned rod 60 of the robot manipulator 10.

[0077] As already mentioned above, one of the objects of the present invention is to provide a cutting machine 1 having a working area AL having the particularity of being able to temporarily hold a panel P (or strip STR) resting thereon while the panel P (or strip STR) is waiting to be moved, so as to prevent the panel P (or strip STR) from moving in an uncontrolled manner.

[0078] For this purpose, Figure 3 and Figure 4A solution is shown when the working area AL is an air bearing plane.

[0079] As is known, the "air cushion plane" uses a series of nozzles UG ( Figure 4 ) to slightly lift the panel P during its movement along the cutting machine 1. The nozzles UG are incorporated into the working area AL and in particular, in this case, into the support plane 9 outside the cutting station 2, such as Figure 4 as shown in .

[0080] This prevents direct contact between the lower surface of the panel P and the surface 9A of the support plane 9 ( Figure 4 ). All this is to prevent direct friction between the lower surface of the panel P and the surface 9A of the support plane 9 (or the working area AL) from causing various scratches and damages to the lower surface of the panel P itself. In fact, during the entire movement along the cutting machine 1, every effort must be made to ensure the integrity of the lower surface of the panel P as much as possible. In fact, if it is damaged due to the handling and cutting operations, the panel P or the strip STR will be rejected, which is a significant economic loss for the manufacturer.

[0081] Indeed, it is for these reasons that it should be noted here that the use of an air cushion plane extends to almost all types of cutting machines covered by this document and in particular also to the area of ​​the feed plane 8 and the base working plane 5 of the cutting machine.

[0082] In addition, the "air cushion" (such as air cushion) formed by the nozzles UG inserted between the lower surface of the panel P and the surface 9A of the support plane 9 Figure 4 ) facilitates translation and free sliding of panel P using a device specially designed for this purpose.

[0083] In a known manner and as Figure 4 As shown in the enlarged view of , each nozzle UG can have an outwardly flared shape so as to have as much output pressure energy as possible to effectively support the panel P.

[0084] In some solutions, a mechanical ball valve is positioned in the region of the nozzle and its opening is determined when pressed by the weight exerted by the superimposed panels P.

[0085] In the figures, the support plane 9 is therefore equipped with a closed housing 20 supplied by at least one supply duct 21 with a flow of air having sufficient air pressure, usually generated by a fan or an air generator (known but not shown). Figure 4In the solution shown, the closed housing 20 is also provided with at least one further duct 22 (which will be fully described below). The closed housing 20 is situated below the support plane 9 and is integral therewith. The nozzle UG is pneumatically connected to the closed housing 20.

[0086] Alternatively, the pre-existence of a closed housing 20 can be exploited and a plurality of nozzles UG can be used to obtain the pneumatic device 30. To do this, the duct 22 only needs to be connected to a special vacuum generator (not shown) so as to perform a "pneumatic vacuum holding" action by correspondingly closing the duct 21. The vacuum is thus diffused to all the nozzles UG of the housing 20.

[0087] The conduits 21 and 22 are provided with valves (not shown), which allow switching from an "air cushion" mode to a "pneumatic vacuum holding" mode. In the "air cushion" mode, air flows out of the shell 20, and in the "pneumatic vacuum holding" mode, air flows into the shell 20, and conversely, the valve allows switching from the "pneumatic vacuum holding" mode to the "air cushion" mode.

[0088] For example, if one wants to switch to the “pneumatic vacuum holding” mode, a dedicated valve (not shown) closes the duct 21 so that the duct 22 and the plurality of nozzles UG generate suction.

[0089] Alternatively, one single duct 21 leading to the housing 20 may be provided, wherein the separation of the flows by means of associated valves takes place downstream and close to the air and vacuum generators.

[0090] In another alternative, a single duct 21 can be provided which uses a suitable reversible fan or air generator, i.e. capable of generating both an outgoing air flow to form an air cushion and an incoming air flow to form suction by means of opposite rotation and thus forming a pneumatic vacuum in the housing 20.

[0091] The pneumatic vacuum serves to lock the lower surface of the panel P (or strip STR) while awaiting subsequent movement or processing, and thus ultimately holds the entire panel P or a portion of the panel's associated zone resting above the housing 20 in the working area AL.

[0092] In order to increase the flexibility of the system, the support plane 9 can be optionally divided into a plurality of pneumatic devices SET, SET1, SET2, SET3, SET4, SET5, SET6 ( Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8), the multiple pneumatic devices SET, SET1, SET2, SET3, SET4, SET5, SET6 are pneumatically sealed relative to each other and each has a corresponding closed shell 20, 20A, 20B, 20C, 20D, 20E, 20F, and the corresponding types of conduits 21 and 22 are associated with the corresponding closed shells.

[0093] Basically, the pneumatic device 30 comprises at least one pneumatic device SET, SET1, SET2, SET3, SET4, SET5, SET6 pneumatically connected to a dedicated vacuum generator (not shown).

[0094] In other words, each pneumatic device SET, SET1 , SET2 , SET3 , SET4 , SET5 , SET6 of the pneumatic arrangement 30 has a retaining surface which exhibits the shape of a sector of the bearing plane 9 .

[0095] It is important to emphasize the fact that, because the closed shells 20, 20A, 20B, 20C, 20D, 20E, 20F are each independent of one another from a pneumatic point of view, they can each be constructed to operate selectively, indiscriminately and independently of one another as a device for forming an "air cushion" or a "pneumatic vacuum holding" device; of course, this depends on how each closed shell 20, 20A, 20B, 20C, 20D, 20E, 20F is pneumatically associated with the corresponding type of conduit 21, 22.

[0096] The electronic control unit of the cutting machine 1 is configured to selectively decide on the fly which closed shells 20, 20A, 20B, 20C, 20D, 20E, 20F must be operated in the "air cushion" mode and, on the other hand, which closed shells 20, 20A, 20B, 20C, 20D, 20E, 20F must be operated in the "pneumatic vacuum holding" mode (see below), depending on the various operations that the cutting machine 1 must perform on the panel P (or strip STR) based on the ongoing cutting and / or unloading cycle.

[0097] The “pneumatic vacuum hold” mode is particularly useful when a stack of at least two panels P comes out of the cutting station 2 .

[0098] In fact, "pneumatic vacuum holding" can be used even for stacks of several panels, depending on the thickness of the panels, the porosity of the panels and the degree of holding applied, since in the case of modern vacuum generating systems the power level of the "pneumatic vacuum holding" can be varied with the aid of electronic signals.

[0099] In this case, a lower panel P in a stack of panels P is kept locked by the pneumatic device 30, while an upper panel P in the same stack of panels P is picked up and moved by the robotic manipulator 10, and at the same time, during the masking time, that is, when the lower panel P is locked, the robotic manipulator 10 basically simultaneously takes position and operates its suction cup 10D on the upper surface of the panel P positioned at the highest point of the stack of panels.

[0100] In this way, it is ensured that after the above-mentioned operation, two panels P originally located on top of each other in the same stack of panels are completely separated from each other in a fast and reliable manner, thereby solving the problems caused by undesired adhesion between the panels P. All this is for the purpose of more accurately and quickly handling two panels P originally stacked on top of each other without lifting the panel P located at the bottom, which must wait and is not affected by the picking up of the robot manipulator 10, and then causing undesired displacement of the panel P.

[0101] The selection of the pneumatic devices SET, SET1, SET2, SET3, SET4, SET5, SET6 of the pneumatic equipment 30 being selectively enabled as either an "air cushion" mode or a "pneumatic vacuum hold" mode is made selectively by an electronic control unit (not shown) of the cutting machine 1 during the cutting cycle depending on their position on the working area AL, on the size of the panel P or strip STR to be held and / or transported and / or on the instantaneous position occupied by the panel P or strip STR on the working area AL.

[0102] It should be noted that the electronic control unit is configured to manage and store in real time all the operations and waiting stages of the panels being processed on the working area AL and, therefore, the dimensions of each single panel P or a group of panels P, their exact position on the working area AL and the stage or stages that each single panel P or a stack of panels P must go through in the relevant cutting and / or processing cycle are known in real time.

[0103] In cases where the electronic control unit is unable to automatically store data during a processing cycle, special sensors can compensate for the detection of the above data.

[0104] For example, the electronic control unit can be set to enable the "air cushion" mode in those zones of the working area AL involving movement of the panel P and / or the strip STR during their normal cutting cycle, while the "pneumatic vacuum hold" mode can be enabled simultaneously in other zones of the same working area AL, where, on the other hand, the panel P and / or the strip STR are waiting and are therefore not involved in any movement and / or handling.

[0105] For the sake of clarity, it should be added that Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown in the figure, the strip STR rotated by the robotic manipulator 10 hits against the reference square 11 and is immediately retrieved by the secondary pushing device SS with the aid of a plurality of second gripping members P2, the strip STR is completely retracted onto the feed plane 8 (according to arrow F2), and then they move forward again in the opposite direction (again according to arrow F2), so that the component group GRT can be cut transversely with the aid of the cutting blade 4.

[0106] Figure 5 Two strips STR1, STR2 (on the right side of the figure) and two identical strips STR3, STR4 (on the left side of the figure) are shown parked at one end of a supporting plane 9 (initially located on top of the previous strips STR1, STR2 and cut simultaneously with the strips STR1, STR2 by means of a cutting station 2), the strips STR1, STR2 being held by a "pneumatic vacuum holding" action implemented by means of the associated pneumatic equipment 30 below, the strips STR3, STR4 being moved by means of the aforementioned robot manipulator 10 during their movement from the parking area of ​​the cutting machine 1 (on the right side of the figure) to the lateral area (on the left side of the figure).

[0107] In particular, it should be noted that, precisely during the lifting of the two strips STR3, STR4 by means of the picking unit 10C of the robotic manipulator 10 using the movable arm 10F and the associated suction cup 10D, it is necessary to keep the two strips STR1, STR2 remaining on the supporting plane 9 so that the strips STR1, STR2 are not also lifted and / or moved due to the adhesion effect between the associated contact surfaces.

[0108] It is at this stage that the "pneumatic vacuum holding" action of the pneumatic device 30, selectively implemented by means of at least one pneumatic device SET, SET1, SET2, SET3, SET4, SET5, SET6, produces the effect of holding the individual lower strips STR1, STR2 lying flat on the support table. In fact, during this stage of holding the strips STR1, STR2, other zones of the same working area AL can be in "air cushion" mode, or in any case in free sliding mode, to allow the movement of other panels P and / or strips STR during their simultaneous movement and / or treatment cycle.

[0109] The two strips STR3, STR4, which are initially stacked on top of the strips STR1, STR2, respectively, in the parking area, are then quickly transferred by means of the robotic manipulator 10 to the area of ​​the cutting machine 1 for transverse cutting (on the left side of the figure) and, in particular, impact against the reference square 11 and the gripping piece P2 of the secondary push device SS.

[0110] Figure 6 The subsequent positioning of the remaining two strips STR1, STR2 against the reference square 11 is shown by means of the robotic manipulator 10. The strips STR1, STR2 are duly released during the relative lifting, thus interrupting the "pneumatic vacuum holding" action and restoring, if necessary, the "air cushion" in the underlying closed housing 20, 20A, 20B, 20C, 20D, 20E, 20F.

[0111] like Figure 6 As shown in , again, stripe STR1 is stacked on associated stripe STR3, while stripe STR2 is stacked on top of corresponding stripe STR4.

[0112] A certain reversal of the stacking order of the strips STR1, STR2 and STR3, STR4 is achieved.

[0113] In fact, at the beginning, stripe STR3 is stacked on the underlying stripe STR1, and stripe STR4 is stacked on the underlying stripe STR2 ( Figure 7 ), at the end of the aforementioned movement, the strip STR1 is stacked on the strip STR3 below, while the strip STR2 is stacked on the strip STR4 below ( Figure 6 ).

[0114] If necessary, the two strips STR3, STR4 previously positioned against the reference square 11 can also be held by a "pneumatic vacuum holding" action, for example by means of the following pneumatic devices SET, SET1, SET2, SET3, SET4, SET5, SET6, in order to prevent the strips STR3, STR4 from being moved when the two strips STR1, STR2 are subsequently placed on top of them ( Figure 6 )Move involuntarily in an uncontrolled manner.

[0115] Figure 8 It is shown how the strips STR1, STR2, STR3, STR4, which have just been rotated and placed on top of each other against the reference square 11, are cut transversely to produce the relative panels P cut to size. During this stage, the relative plane below is in "air cushion" mode, or in any case, in free sliding mode.

[0116] During the transverse cutting phase, since the position and dimensions of each single cut panel P along the support plane 9 are known, the robotic manipulator 10 unloads each single cut panel P outside the cutting machine 1, onto the previously prepared associated pallet PPL ( Figure 8 ) and / or unload onto roller tracks (not shown).

[0117] Figure 8 A pair of strips STR5 and STR7 are also shown, lying on top of a pair of strips STR6 and on top of a strip STR8, respectively, waiting to be transferred to the area of ​​transverse cutting (on the left side of the figure). Even in this case, the area of ​​the working area AL involved in the cutting and the associated handling of the strips STR5, STR6, STR7, STR8 to their waiting area is activated in "air cushion" mode or in any case in free sliding mode. During this waiting period, the pair of strips STR6 and the strip STR8 resting on the supporting plane 9 can be temporarily held on the relevant part of the working area AL by means of a "pneumatic vacuum holding" action implemented in the above-mentioned manner, thus avoiding any accidental movement thereof.

[0118] In fact, unexpected movements would be very problematic for the continuation of the cutting cycle and, in particular, for the subsequent picking up of the panel P and / or strip STR to be picked up by the robotic manipulator 10 in a position different from the predetermined position.

[0119] Figure 7 The picking (lifting) of the upper panel P in a stack of panels (having two panels P) is shown, while the panel directly below is securely locked by means of a "pneumatic vacuum holding" action, which is appropriately and temporarily enabled in the manner described above.

[0120] It should be noted here that, if necessary, a panel P (or strip STR) that needs to undergo further transverse cutting operations in addition to the cutting operations already carried out can also be parked in any free area of ​​the working area AL in order to be retrieved and reinserted in a new cutting cycle. Even in this case, in the area directly below the temporary parking area of ​​the panel P to be cut, a "pneumatic vacuum holding" action can be activated to avoid its uncontrolled movement.

[0121] In fact, this “pneumatic vacuum holding” action can be activated, when necessary, in any zone of the working area AL of the cutting machine 1 that offers the possibility of implementing it.

[0122] In particular, in some cutting machines, in order to simplify the pneumatic device 30, the entire area of ​​the feed plane 8, or the base working plane 5, or the support plane 9 downstream of the cutting station 2 can optionally be equipped with a single pneumatic device 30, which is simultaneously enabled in the "pneumatic vacuum holding" mode when necessary.

[0123] In summary, therefore, the electronic control unit is configured to manage and control the cutting machine 1 in each of its working phases, and therefore, the actions of cutting, advancing, picking up and / or parking and / or unloading, free sliding and / or holding the panel P, the strip STR or the cut panels P are implemented dynamically and instantaneously by the same electronic control unit that controls and manages each single component of the cutting machine 1. In particular, the position of all fixed and moving components in each single phase of the processing cycle is therefore known by the electronic control unit (or several units connected to it), and therefore, the position of each single panel P on the working area AL during the relative cutting, handling and / or unloading cycle is also known or can be optionally determined.

[0124] The electronic control unit is then configured to define the position in which the pneumatic device 30 is installed on the working area AL, to obtain and / or determine the position of the panel P or the stack of panels P to be moved or locked on the working area AL, and to also optionally obtain and / or determine the size of the panel P or the stack of panels P to be locked in place on the working area AL, so that the independent pneumatic device of the pneumatic device 30 is selected to be enabled in the "pneumatic vacuum holding mode" when its configuration permits.

[0125] The present invention also relates to a method for picking up and moving an upper panel P of at least one stack of panels P during processing of a panel P having a flat shape in a cutting machine of the type described below, the cutting machine comprising: at least one cutting station 2, the cutting station 2 in turn comprising at least one processing tool for processing the stack of panels P; at least one pushing member SP, SS, the pushing member SP, SS for the at least one stack of panels P; a working area AL, the working area AL for supporting at least one stack of panels P, the working area AL comprising a feed plane 8, a base working plane 5 and a supporting plane 9, and comprising a pneumatic device 30, the pneumatic device 30 being configured to generate a "pneumatic vacuum hold" or "air cushion effect" on the lower surface of at least one panel P being processed on the working area AL; at least one robotic manipulator 10, the robotic manipulator 10 being configured to pick up at least one upper panel P of the at least one stack of panels P; and an electronic control unit, the electronic control unit being configured to manage and control all components of the cutting machine; the method comprising the following steps implemented in any order:

[0126] (f1) defining the available positions of the pneumatic device 30 on the working area AL with the aid of the electronic control unit of the cutting machine;

[0127] (f2) obtaining or determining the position of at least one stack of panels P on the working area AL;

[0128] (f3) locking the lower panel (P) of the at least one stack of panels P in place on the working area AL by means of the pneumatic device 30; and

[0129] (f4) picking up an upper panel P from the at least one stack of panels P with the aid of the robotic manipulator 10 in a manner that is essentially simultaneous with step f3 and therefore occurs within a masked time relative to step f3, so as to move the upper panel P to a position selected from another area of ​​the working area AL or a removal and unloading area outside the working area AL.

[0130] The advantages offered by this innovative solution are firstly manifested in a significant increase in productivity, since in the cutting machine assisted by the robot manipulator the cutting of at least two panels per cutting cycle is ensured in a fast and completely reliable manner.

[0131] In fact, returning to the statistics discussed in the production studies described in the prior art of this specification, in forty-eight percent of typical productions (involving cycles with two panels P and four panels P per cutting scheme), the productivity actually doubled, while in another fourteen percent of typical productions (involving cycles with three panels per cutting scheme), the productivity increased by sixty-six percent, but, depending on the porosity of the panels and the degree of retention applied, the productivity could also be tripled.

[0132] Furthermore, it is important to note here that this solution is extremely cost-effective in terms of increasing productivity and reliability.

[0133] In fact, thanks to the extreme reliability of the solution proposed herein, various machine stops due to problems of accidental and uncontrolled displacements of panels P and / or strips STR on the working area AL of the machine 1 no longer exist, since the problems generated by these displacements no longer exist.

[0134] In the present invention, the fact that the actions of pneumatically holding at least one lower panel P of a stack of panels P on the working area AL and of picking up and lifting at least one upper panel P of the same stack of panels P by means of the robotic manipulator 10 occur essentially simultaneously and essentially within the masking time represents a significant improvement from the point of view of efficient, reliable and economical management of the cutting machine 1.

Claims

1. A cutting machine (1) for cutting panels (P) made of wood, polymer, composite material, fiber cement, etc., comprising: base (3); cutting station (2); at least one pushing device (SP, SS) configured to move at least one panel (P) through the cutting station (2) according to a direction (F2) substantially orthogonal to the cutting station (2); a cutting assembly (GRT) mounted in the cutting station (2) and movable in a direction (F1) along a cutting line (LT) substantially perpendicular to the direction (F2) in order to cut the at least one panel (P); a working area (AL) configured to support and move the at least one panel (P); the working area (AL) being defined by a feed plane (8), a base working plane (5) and a supporting plane (9); and an electronic control unit configured to manage and control all components of the cutting machine (1); the cutting machine (1) being characterized in that: The working area (AL) comprises pneumatic equipment (30); the same pneumatic equipment (30) is configured to operate in an "air cushion" operating mode for allowing and / or facilitating the movement and positioning of at least one panel (P) along the working area (AL) during its associated cutting cycle, or in a "pneumatic vacuum holding" operating mode so as to temporarily lock the at least one panel (P) in place on the working area (AL) while awaiting its subsequent movement, cutting or unloading phase; and, the cutting machine (1) comprises at least one robotic manipulator (10), the at least one robotic manipulator (10) further comprising a picking device (10C); the at least one robotic manipulator (10) is configured to pick up and move the at least one panel (P) entering or leaving the cutting station (2) and / or unload the at least one panel from the working area (AL).

2. The cutting machine (1) according to claim 1, characterized in that The electronic control unit comprises at least one command unit for selecting the direction of air flow to the pneumatic device (30), the at least one command unit being configured to enable the pneumatic device (30) in an "air cushion mode" in which air flows away from the pneumatic device (30) or in a "pneumatic vacuum holding" mode in which air flow is sucked into the pneumatic device (30).

3. A cutting machine (1) according to claim 1 or 2, characterized in that The pneumatic equipment (30) comprises at least one pneumatic device (SET, SET1, SET2, SET3, SET4, SET5, SET6); the at least one pneumatic device (SET, SET1, SET2, SET3, SET4, SET5, SET6) comprises a related sealing device, and the sealing device is configured to separate the at least one pneumatic device (SET, SET1, SET2, SET3, SET4, SET5, SET6) from other pneumatic devices (SET, SET1, SET2, SET3, SET4, SET5, SET6).

4. The cutting machine (1) according to claim 3, characterized in that The electronic control unit includes at least one command unit for selecting the air flow direction to the pneumatic devices (SET, SET1, SET2, SET3, SET4, SET5, SET6), and the at least one command unit is configured to selectively enable one or more pneumatic devices (SET, SET1, SET2, SET3, SET4, SET5, SET6) in "pneumatic vacuum holding" mode and enable the one or more pneumatic devices (SET, SET1, SET2, SET3, SET4, SET5, SET6) in "air cushion" mode.

5. The cutting machine (1) according to any one of claims 3 or 4, characterized in that The at least one pneumatic device (SET, SET1, SET2, SET3, SET4, SET5, SET6) is provided with a plurality of nozzles (UG).

6. Cutting machine (1) according to any one of the preceding claims, characterized in that The electronic control unit is configured to define the position of the pneumatic device (30) on the working area (AL) and to acquire or determine the position of the at least one panel (P) locked in place on the working area (AL).

7. The cutting machine (1) according to claim 6, characterized in that The electronic control unit is configured to enable the pneumatic device (30) in a "pneumatic vacuum holding" operating mode based on the position of the pneumatic device (30) in the working area (AL) and / or based on the position occupied by the at least one panel (P) to be locked in place on the working area (AL).

8. The cutting machine (1) according to claim 7, characterized in that The electronic control unit is configured to selectively enable the pneumatic device (30) in a "pneumatic vacuum hold" operating mode also based on the size of the at least one panel (P) to be locked in place on the work area (AL).

9. A method for picking up and moving an upper panel (P) of at least one stack of panels (P) during processing of a panel (P) having a flat shape; The method is characterized in that it is suitable for implementation in a cutting machine of the following type, the cutting machine comprising: at least one cutting station (2), the cutting station (2) comprising at least one processing tool for processing the stack of panels (P); at least one pushing device (SP, SS), the pushing device (SP, SS) being used for the at least one stack of panels (P); a working area (AL), the working area (AL) being used to support the at least one stack of panels (P) and comprising a pneumatic device (30), the pneumatic device (30) being configured to generate a "pneumatic vacuum hold" on the lower surface of at least one panel (P) being processed on the working area (AL); at least one robotic manipulator (10), the robotic manipulator (10) being configured to pick up at least one upper panel (P) of the at least one stack of panels (P); and an electronic control unit, the electronic control unit being configured to manage and control all components of the cutting machine; and the method comprises the following steps implemented in any order: (f1) defining the positions of the pneumatic device (30) available on the working area (AL) by means of an electronic control unit of the cutting machine; (f2) obtaining or determining the position of at least one stack of panels (P) on said working area (AL); (f3) locking the bottom panel (P) of said at least one stack of panels (P) in place on said working area (AL) by means of said pneumatic device (30); and (f4) picking up an upper panel (P) from the at least one stack of panels (P) with the aid of a robotic manipulator (10) in a manner substantially simultaneously with step (f3) and therefore acting within a masked time relative to step (f3) so as to move the upper panel (P) to a position selected from another area of ​​the working area (AL) or a removal and unloading area outside the working area (AL).

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