METHOD AND DEVICE FOR ALIGNING PLATE-SHAPED WORKPIECES

Description

Technical field

[0001] The invention relates to a method for aligning plate-shaped workpieces according to the preamble of claim 1 and to a device for aligning plate-shaped workpieces according to the preamble of claim 10 (see, for example, EP 3 241 788 A1). State of the art

[0002] In wood processing, panel-shaped workpieces made of wood or wood substitutes must be aligned in a defined manner for further processing. This usually takes place on a workpiece table, on which the workpieces are placed using a load-handling device and pushed against stops. Corresponding load-handling devices, for example suction clamps or similar, are generally movable in all three spatial directions, so that they can lift a panel, place it on a table shelf, and move it towards stops. However, since the panels are usually picked up by the load-handling device in an undefined position or rotational orientation, this undefined position or rotational orientation is retained when the workpiece is placed on a storage surface. In other words, the workpiece can be rotated relative to the stops.Since the load handling devices can usually only be moved relatively roughly parallel to the storage area, there is no possibility of moving the workpieces cleanly against the stops. The invention

[0003] The invention is therefore based on the object of specifying a method and a device for aligning plate-shaped workpieces with which the described disadvantages do not occur and with which a proper movement of the plate-shaped workpiece on the support against stops is possible.

[0004] This object is achieved by a method having the features of claim 1 and a device having the features of claim 10. Advantageous embodiments can be found in the dependent claims.

[0005] In the method according to the invention for aligning plate-shaped workpieces, a plate-shaped workpiece, in particular made of wood or wood substitutes, is brought into engagement by a handling device with a load-carrying device, particularly designed for lifting and depositing the plate-shaped workpiece. With the aid of this load-carrying device, the workpiece is placed on a support and displaced on the support with at least a first narrow side of the workpiece in the direction of at least one first stop.

[0006] The method according to the invention now provides as an essential component that the handling device - in contrast to conventional devices - has a driver device. According to the invention, the driver device is designed such that, when the plate-shaped workpiece is being carried along, it enables said workpiece to rotate about an axis perpendicular to the plane described by the plate-shaped workpiece. In this way, when the handling device or the load-handling device is moved, a workpiece carried along by the driver device can rotate against the stop as the latter travels. According to the method according to the invention, after the plate-shaped workpiece has been placed on the support, it is only gripped by the driver device, without any further engagement with the load-handling device, and is thus moved against the at least one stop by moving the driver device relative to the support.

[0007] The driver device is preferably part of the load handling device and can be operated independently of the other load handling device.

[0008] According to an advantageous embodiment of the present invention, before the driver device engages the plate-shaped workpiece, an engagement position on the plate-shaped workpiece is determined by a machine control system. The driver device is then brought into engagement with the plate-shaped workpiece at the engagement position. Since the driver device defines the axis of rotation about which the plate-shaped workpiece rotates when traveling against the stop, the machine control system will determine the optimal engagement point of the driver device depending on the specific position of the deposited workpiece. The machine control system takes into account that the driver device is displaced parallel to the workpiece plane in the direction of the at least one stop and that the workpiece is rotated in the process.

[0009] According to an advantageous embodiment, the at least one stop can comprise a detection device that detects the impact of a workpiece against the corresponding stop. Such detection primarily serves to determine whether a workpiece with a predetermined geometry is correctly positioned for further processing after impact.

[0010] For this purpose, it can be provided, in particular, that the stop is communicated to the machine control system in the form of stop signals. The machine control system evaluates the received stop signals in relation to the dimensions of the workpiece.

[0011] According to a further advantageous embodiment of the invention, by moving the driver device in the engaged state with the plate-shaped workpiece, the plate-shaped workpiece is first moved against a first stop and aligned therewith, and then moved against a second stop and aligned therewith. With this method, the workpiece is not only aligned in direction, but also brought into a predetermined position.

[0012] It has proven particularly advantageous if the plate-shaped workpiece is secured against at least one stop on the support after travel. This securing after alignment allows a controller to save the workpiece position data and use it for further movement of the workpiece.

[0013] In a particularly advantageous method, the load-bearing device and / or the driver device can be brought into engagement with the plate-shaped workpiece by suction. The engagement can also be quickly released again by suction.

[0014] The workpiece is preferably aligned horizontally. Moving the workpiece through the machining process, especially when supported from below, requires minimal holding forces, and further transport can be carried out with considerable energy efficiency.

[0015] The above-mentioned object is further achieved by a device according to claim 10.

[0016] In an advantageous embodiment of the device, the load-bearing device and the driver device can be brought into engagement with the plate-shaped workpiece independently of one another, in particular by suction.

[0017] In a further advantageous embodiment, the driver device is designed to be rotatable, in particular about an axis perpendicular to the plane of the plate-shaped workpiece. Thus, the workpiece can be rotated in the plane by engaging the driver device with the workpiece and moving it accordingly parallel to the workpiece plane.

[0018] According to the invention, the driver device is arranged on the load-carrying device.

[0019] Such an arrangement allows the driver device to be brought into engagement with the workpiece after the load-handling device has placed the plate-shaped workpiece on the support. After the workpiece has been placed on the support, the load-handling device releases the engagements so that the workpiece is now only held by the driver device. If the driver device is provided on the load-handling device, the driver device can use the translatory movement mimicry of the load-handling device for alignment. If the driver device is therefore arranged on the load-handling device, and preferably is not displaceable relative to the load-handling device parallel to the plane of the plate-shaped workpiece, the above-described movement of the driver device relative to the support for moving the workpiece against the at least one stop takes place by moving the load-handling device.The alignment function of the driver device at the one or more stops can therefore be largely taken over by the load-handling device. This saves additional degrees of freedom of movement – ​​which may be necessary for displacement parallel to the plane of the plate-shaped workpiece – which are already present in the load-handling device. However, it is also conceivable for the driver device to be provided separately from the load-handling device and to be moved independently of it. Furthermore, the driver device can be designed to be movable perpendicular to the workpiece plane within the load-handling device.

[0020] In a particularly advantageous device according to the invention, the load-bearing device and / or the driver device are movable in at least two different spatial directions (X, Y), in particular mutually perpendicular and parallel to the plane of the plate-shaped workpiece. With such an arrangement, the computational effort of a control system is relatively low, since the movements can be easily calculated, especially when the two directions of movement are arranged perpendicular to each other.

[0021] It has also proven particularly advantageous if the at least one stop is movable. This allows it to be easily adapted to the dimensions of the workpiece and the subsequent processing steps. In a preferred embodiment, the at least one stop comprises a detection device designed to detect when a workpiece is in contact with the stop. Way to implement the invention

[0022] In the following, the invention will be explained in more detail with reference to the figures. Figure 1 shows schematically a device according to the invention before the handling device engages the plate-shaped workpiece in plan view; Figure 2 shows the device Figure 1 after picking up the workpiece with the handling device; Figure 3 shows the same device after the workpiece has been aligned at the first stop and Figure 4 shows the device after alignment at the second stop.

[0023] Figure 1shows a schematic plan view of a plate-shaped workpiece 1 that is arranged on a support 5, which is indicated here by dashed squares. The arrangement shown here is selected such that the plate-shaped workpiece 1 is aligned horizontally. In the edge area of ​​the support 5, stops 2, 3 are arranged on two adjacent sides of the workpiece 1 such that when the stops 2, 3, in particular all of the stops, touch the workpiece 1, it is in the desired position. For this purpose, the stops 2, 3 are preferably individually adjustable so that they can be aligned according to the contour of the workpiece 1. This is particularly advantageous if the plate-shaped workpiece 1 is not a rectangular workpiece.Each of the stops 2, 3 can preferably be equipped with a detection device 2a, 3a, which detects the stop of the workpiece 1 and thus signals to the controller that the target position of the workpiece 1 has been reached at the stop 2, 3 as long as the workpiece 1 touches the stop 2, 3. A handling device 4 is arranged above the plate-shaped workpiece 1 and has at least one, here, for example, two, load-handling device(s) 41, 42 and a driver device 43. The driver device 43 is preferably arranged rotatably on a load-handling device 41, 42, while the load-handling device 41, 42 is movable parallel to the spatial directions X and Y and the height Z.

[0024] In the Figure 1In the situation shown, the load-carrying devices 41, 42 are engaged with the plate-shaped workpiece 1 and transport it to the support 5, onto which they place it. Lying on the support 5, the workpiece 1 can be easily moved in the plane. The support 5 can have rollers, sliding elements, air cushions, or other supporting elements for this purpose. The load-carrying device 41, 42 releases the workpiece 1 when it comes to rest on the support 5. Next, as Figure 2 As shown, the arranged driver device 43 is brought into engagement with the workpiece. This is preferably done by suction.

[0025] Figure 3shows the orientation of the workpiece 1 on the first side, which faces the stops 2. For this purpose, the load-handling device 41, 42 moves in the X direction, in particular the load-handling device 42 on which it is arranged opposite the rotatable driver device 43, towards the stops 2. The original position of the workpiece 1 indicates that the right stop 2 is touched first by the workpiece 1 when the workpiece 1 is moved in the X direction by means of the driver device 43. Upon further displacement of the load-handling devices 41, 42 in the X direction, the workpiece 1 rotates counterclockwise until it rests against all stops 2 and all three detection devices 2a of the side report an equal pressure P1 to the control system.

[0026] Figure 4shows the next alignment step, in which the workpiece 1 is pressed against the stops 3 on the adjacent side. To do this, the load-carrying device 41, 42 moves with the driver device 43 in the Y direction until the workpiece 1 presses against the stops 3 in the direction P3. At the same time, a slight pressure P2 is maintained against the first stops 2 so that the initial alignment is not lost during the movement. Once the stop has been completed, or if any detection devices 2a, 3a report the corresponding specified values ​​to the control system, the intended machining of the thus aligned workpiece 1 can begin.

Claims

1. Method for aligning plate-type workpieces (1) in which a plate-type workpiece (1), in particular of wood or wood substitutes, is brought into engagement by a handling device (4) with a load lifting device (41, 42), in particular one configured for lifting and setting down the plate-type workpiece (1), and is laid down on a shelf (5) and is moved on the shelf (5) with at least one first narrow side of the workpiece (1) in the direction of at least one first stop (2, 3), wherein the handling device (4) has a driver device (43) arranged on the load lifting device and whilst entraining the plate-type workpiece (1) enabling rotation of the latter about an axis perpendicular to the plane described by the plate-type workpiece (1) wherein the plate-type workpiece (1) once laid down on the shelf (5) is grasped and moved through movement of the driver device (43) relative to the shelf towards the at least one stop (2, 3) characterised in that the grasping of the plate-type workpiece once laid down is moreover carried out by the driver device (43) and without further engagement with the load lifting device (41, 42) wherein after the workpiece is laid down on the shelf the load lifting device releases the engagements and the driver device (43) is displaced relative to the load lifting device (41, 42) not parallel to the plane of the plate-type workpiece (1).

2. Method according to Claim 1 characterised in that before the driver device (43) engages on the plate-type workpiece (1) an engagement position on the plate-type workpiece (1) is determined by a machine control and then the driver device (43) is brought into engagement with the plate-type workpiece (43) at the engagement position (43).

3. Method according to Claim 2 characterised in that the at least one stop (2, 3) comprises a detection device (2a, 3a) which detects the stopping of workpiece (1) against the corresponding stop (2, 3).

4. Method according to Claim 3 characterised in that the stopping is communicated to the machine control in the form of stop signals wherein the machine control evaluates the stop signals received in relation to the dimensions of the workpiece (1).

5. Method according to one of the preceding claims characterised in that the plate-type workpiece (1) by movement of the driver device in the engagement state with the plate-type workpiece (1) is first driven against a first stop (2) and aligned there and then is moved against a second stop (3) and aligned there.

6. Method according to one of the preceding claims characterised in that the plate-type workpiece (1) after moving against the at least one stop (2, 3) is fixed on the shelf (5).

7. Method according to one of the preceding claims characterised in that the load lifting device (42, 42) and / or the driver device (43) can be brought into engagement with the plate-type workpiece (1) through suction.

8. Method according to one of the preceding claims characterised in that the alignment of the workpiece (1) takes place in a horizontal plane.

9. Method according to one of the preceding claims characterised in that the driver device (43) is arranged displaceable on the load lifting device (42), in particular relative to the latter not parallel to the plane of the plate-type workpiece (1), and the movement of the driver device (43) relative to the shelf for moving the workpiece (1) against the at least one stop (2, 3) is carried out by moving the load lifting device (42).

10. Apparatus for aligning plate-type workpieces (1) in particular for carrying out a method according to one of the preceding claims, comprising: a handling device (4) with a load lifting device (41, 42) designed in particular for lifting and setting down the plate-type workpiece (1), a shelf (5) for setting down the plate-type workpieces (1), at least one first stop (2, 3) in the edge region of the shelf (5), wherein the handling device (4) has a driver device (43) which is arranged on the load lifting device (41, 42) and which is configured to entrain the plate-type workpiece (1) and to move it on the shelf (5) wherein the driver device (43) is movable parallel to the shelf (5) and is configured so that during entrainment of the plate-type workpiece (1) it enables rotation of the latter about an axis perpendicular to the plane described by the plate-type workpiece (1) characterised in that the driver device (43) is displaceable relative to the load lifting device (41, 42) not parallel to the plane of the plate-type workpiece (1).

11. Apparatus according to Claim 10 characterised in that the load lifting device (41, 42) and the driver device (43) can be brought independently of one another into engagement with the plate-type workpiece (1) in particular through suction.

12. Apparatus according to one of Claims 10 or 11 characterised in that the driver device (43) is configured rotatable in particular about an axis perpendicular to the plane of the plate-type workpiece (1).

13. Apparatus according to one of Claims 10 to 12 characterised in that the load lifting device (41, 42) is movable at least in two different spatial directions (X, Y) in particular at right angles to one another and running parallel to the plane of the plate-type workpiece (1).

14. Apparatus according to one of the preceding Claims 10-13 characterised in that the at least one stop (2, 3) is movable.

15. Apparatus according to one of the preceding claims 10-14 characterised in that the at least one stop (2, 3) comprises a detection device (2a, 3a) which is configured to detect when a workpiece (1) has contact with the stop (2, 3).