METHOD OF MAPPING AND CONTROL OF THE WORKING TRAJECTORIES OF OPERATING HEADS

Description

International Class: B24B 000 / 0000 Description of the invention entitled: "METHOD OF MAPPING AND CONTROL OF THE "WORKING TRAJECTORIES OF OPERATING HEADS" 5 on behalf of SURFACES TECHNOLOGICAL ABRASIVES SPA di Italian nationality, with registered office in Via A. De Gasperi 6 / 8 - 24069 CENATE SOTTO (BG), and on behalf of BMR SPA of Italian nationality, with registered office in Via Selice Provinciale 17 / A, 40026 IMOLA (BO). 10 dep. the at n. * * * * * SCOPE OF APPLICATION This invention relates to a mapping and control method of the working trajectories of the operating heads carrying tools suitable for 15 carry out finishing work on ceramic or stone products, for example configured to be laid to form floors or wall coverings in masonry. In particular, the method can be implemented in a machine configured to perform surface finishing operations on the artefacts, 20 such as sanding and / or lapping and / or polishing. The products machine-worked products may include, for example, plates of ceramic material, porcelain stoneware tiles, stone slabs natural or agglomerated stone, or similar. STATE OF THE ART 25 In the context of the processing of ceramic or stone artefacts, it is known carry out surface finishing processes to give the products their expected aesthetic and dimensional characteristics. Such surface finishing processes include operations of calibrating, smoothing, lapping, polishing or satin finishing. 5 These processes, when performed by a machine calibrating or sanding machine, are performed using special tools, of the type known, which modify the surface of the artifact through an action mechanical, typically an abrasive mechanical action. The above machines for finishing ceramic or stone products 10 are of known type and a plurality of processing heads is foreseen, each carrying a set of finishing tools, typically a minimum of six to a maximum of ten tools. The machining heads are arranged in succession one after the other at the above a transport platform where the products to be processed pass through and 15 are equipped with two degrees of freedom: one transverse, in particular perpendicular to the direction of advancement of the artefacts on the transport plane and parallel to the latter, and a vertical one of approaching / departing from this transport plane, perpendicular to the latter. The transverse degree of freedom allows the heads to move 20 parallel to a Y direction, while the vertical degree of freedom allows the heads to move parallel to a Z direction. Y and Z directions form, together with the X direction which is parallel to the direction of advancement, a set of Cartesian axes. In some solutions known in the art all the machining heads are 25 fixed to a single support bar and therefore move together They. The operation of the finishing machines known in the art is controlled by algorithms that have the limitation of not being able to manage the automated operation of a plurality of different heads both for 5 carry out various surface finishing processes on various areas of a same product, both to work the various ones in a different way products from the same production batch. In fact, the machines of known type foresee that - once the machine was equipped according to the work to be done - all the 10 products from the same production batch are processed in the same way, to obtain artifacts that are as identical to each other as possible. However, in the ceramic sector there is a growing success commercial production of slabs and tiles with multi-finish on the surface view as this effect is increasingly appreciated by consumers 15 aesthetic which gives the product a more natural or antique look. A drawback of the known machines is therefore that they cannot work the artifacts in order to maintain a finish that is as homogeneous as possible possible on the entire surface of the visible face of the artifact, maintaining this homogeneity also on all the visible surfaces of the 20 products from the same production batch. There is therefore a need to refine a mapping method and control of the working trajectories of the finishing tools ceramic or stone artefacts that can surpass at least one of the drawbacks of the technique. 25 An aim of the present invention is to develop a method of mapping and control that makes the machine that implements such more versatile method than those known in the art. An aim of the present invention is to develop a method of mapping and control where an operator has a 5 graphical representation of the working trajectories of the tools for predict the correctness of the multi-finish machining operations to be performed on the same artifact. Another aim of the present invention is to develop a mapping and control method that makes available to the operator a 10 graphic representation of the different processes that can be performed subjected to the various artefacts belonging to the same batch of production. Another aim of the present invention is to develop a mapping and control method that can be implemented by a 15 operator in a simple and intuitive way. Another aim of the present invention is to develop a effective and reliable mapping and control method. Another aim of the present invention is to develop a predictive method that allows the operator to visualize, before the 20 machining, the mapping of the work trajectories of the tools on the artifacts so that the operator can verify their correctness before to start the works. Another purpose of the present invention is to control the machine so that it can automatically repeat the trajectories 25 of work after they have been set by the operator in accordance with as previously displayed. To overcome the limitations of the known technique and to obtain artefacts equipped with multi-finish on the visible surface and achieve these and further purposes and advantages, the Applicant has studied, tested and implemented this 5 found. EXHIBITION OF THE FINDING The present invention is expressed and characterized in the claims independent. Dependent claims exhibit other characteristics of the present invention or variants of the main solution idea. 10 In accordance with the above purposes and to solve the above problem technical in a new and original way, also obtaining notable advantages compared to the prior art, embodiments here described refer to a method of mapping and controlling the working trajectories of a plurality of operating heads configured for 15 carry out finishing work on ceramic or stone products while the artifacts are arranged on a support surface and advance underneath said operating heads along a longitudinal axis. On one hand, the method involves defining at least one sequence of actuation of the plurality of operating heads so that the movement 20 of each head is function at least: - of the law of motion of said artefacts along said longitudinal axis, of the dimensions of the sides of said artifacts that extend in a plane parallel to the said support plane and the number of artefacts to be worked, - of the law of motion of each operating head, both along an axis 25 transverse, perpendicular to said longitudinal axis, whether along an axis vertical, and of the dimensional and technical characteristics of the finishing tools installed on the operating head. In one aspect, the method comprises a visualization phase of a graphic representation of said work trajectories of said heads 5 operators on the said plan, in which the graphic representation provides for visually distinguish the different trajectories, each associated with the respective finishing tool that generated it, and to show said trajectories on a reference background defined by said artefacts for highlight which areas of the product are affected by the workmanship 10 finish, and what finishing process(es) they are subjected to. In one aspect, the phase of defining said actuation sequence plans to communicate it to a programmable control unit that commands the execution of said finishing operations in order to implement a reproduction phase of said operating sequence in accordance with the 15 graphic representation shown in said display phase. According to one aspect, these finishing processes include one or more of the processes selected in the group consisting of: roughing, lapping, satin finishing, polishing, antiquing. On one aspect, the method includes a validation phase of the 20 sequence of operation of the operating heads, in which it is expected to check if the graphic representation is suitable to allow the effect to be obtained desired aesthetic on the various artifacts. On one aspect, the method comprises a phase of insertion of the following input data: 25 - the movement speed of a conveyor that advances artifacts on said support plane parallel to said longitudinal axis, - the stroke of a support beam of the operating heads in the two opposite directions directions, parallel to the transverse axis, the speed of movement of said support beam, and any times and positions of rest in which said 5 support beam is temporarily stationary; where the support beam is parallel to the said longitudinal axis. On one aspect, the method comprises a phase of insertion of the following input data: - the dimensions of the abrasive component of each tool and a code 10 identification of the type of finishing tool installed in each head operator which depends on its technical characteristics, its geometry and the materials used to make it, - the size and type of movement of the operating head. In one aspect, the method comprises, for each operating head, 15 a phase of entering working time and break time, in which during the said working time the operating head is kept in a lowered position, and during the pause time the operating head is maintained in a raised position, in which the finishing tool respectively it is placed in contact or distanced from said artefacts arranged on said plane 20 of support. From one aspect, the input data entry phases define said operating sequences of said operating heads and are performed via a user interface available to the operator. On one hand, these are the input data entry phases that 25 define said operating sequences of said operating heads they occur in an initial set-up phase of the machine. On one aspect, the method includes a memorization phase of said drive sequences in a memory unit included in said programmable control unit and a selection phase, which is provided 5 select the desired operating sequence according to the finishing processes to be carried out on said products. According to another aspect of the present invention, a means is provided computer-readable and containing program instructions executable by a computer to implement a mapping and control method of 10 working trajectories of a plurality of operating heads suitable for performing in automatic finishing processes on ceramic or stone products, said program instructions including the steps of the above method described. According to another aspect of the present invention, a program is foreseen 15 for computer storage in a computer-readable medium, comprising instructions which, when executed by said control unit, determine the execution of a mapping and control method of the working trajectories of a plurality of operating heads capable of performing in automatic finishing processes on ceramic or stone products, 20 said program instructions including the steps of the above method described. The mapping and control method according to the present invention allows you to preview the action of the tools on the artifacts to work in the visualization phase and to command the implementation of the 25 sequence of operating heads actuation in accordance with the graphical representation shown in the viewing phase if At this stage, the operator has verified the correctness of the planned processes on the artifact. ILLUSTRATION OF DRAWINGS 5 These and other aspects, characteristics and advantages of the present invention will become clear from the following description of some forms of realization, provided by way of example, not limitation, with reference to the attached drawings in which: - Fig. 1 is a partial and schematic top plan view of a 10 machine for the surface finishing of ceramic or stone products; - fig. 2 is a schematic and partially sectioned front view of the machine of fig. 1; - figures 3a to 3e are schematic axonometric views of a plurality of tools suitable for being installed on the machine of fig. 1 for 15 carry out various surface treatments on the artefacts; - Figures 4a and 4b are block diagrams, schematic, illustrating Implementation forms of a work trajectory mapping method of finishing tools on the artifacts that can be implemented on the finishing machine in fig. 1; 20 - Figures 5a and 5b are schematic top plan views of two different graphic representations that can be viewed in one phase visualization of the mapping method according to the present invention, which they illustrate the working trajectories of tools on a plurality of artefacts which can be processed using the finishing machine in fig. 1. 25 It should be noted that in this description the phraseology and terminology used, as well as the figures of the attached drawings also as described have the sole function of illustrating and explaining the present invention better having a non-limiting exemplifying function of the invention itself, the scope of protection being defined by the claims. 5 For ease of understanding, identical reference numbers have been used used, where possible, to identify identical common elements in the figures. It should be understood that elements and characteristics of a form of realization can be conveniently combined or incorporated into other embodiments without further specification. 10 DESCRIPTION OF EMBODIMENTS Before describing the mapping method according to the present invention, for a better understanding of the contents with reference to figures 1 and 2 a machine 10 is described for finishing ceramic or ceramic products 100 stoneworkers capable of implementing this method. 15 For example, machine 10 can process 100 configured artifacts as slabs or tiles, typically square or rectangular in shape, seen in plan from above. Machine 10 is also able to work with sheets of large dimensions, for example 1,200 mm x 1,200 mm. The artifacts 100 comprise a visible surface 101 and an opposite one 20 laying surface 102, separated by a thickness of the artifact, which is typically extends for a few millimeters in a direction perpendicular to these surfaces. The 100 artefacts can for example be made in ceramic or porcelain stoneware or marble material, or similar. The machine 10 comprises a conveyor 11 configured for 25 advance the artifacts 100 along a parallel advance direction A to a longitudinal axis X of the machine 10. The conveyor 11 defines a support surface 12 for the artefacts 100, suitable for supporting the latter, in particular the surface of installation 102 of the artifacts 100. By way of non-limiting example, the 5 conveyor 11 may comprise one or more belts, or tapes, for example closed loops around two pulleys, one idler and one driving, according to configurations well known in the art. The machine 10 comprises a plurality of operating heads 18 arranged in succession, one after the other, along the said longitudinal axis X. Ad 10 For example, the machine 10 may comprise ten operating heads, or even a larger number. In the portion of the machine visible in fig. 1 they are five operating heads are visible as a non-limiting example. The operating heads 18 are arranged above the support surface 12, so that the visible surface 101 of the artefacts, which is the one to be 15 subject to surface finishing processes, both facing the heads 18 operators. The machine 10 comprises a support beam 15, which extends parallel to the longitudinal direction X, to which the operating heads are fixed 18. 20 In other embodiments, not shown, the machine 10 comprises more than one support beam, for example two beams both both mobile along the transverse direction Y. The support beam 15 is movable according to a linear movement of translation, in a bi-directional manner, along a transverse direction Y, 25 substantially perpendicular to the longitudinal axis X. For this purpose, the machine 10 comprises a plurality of guide bars 16, oriented parallel to the transverse direction Y, and integrating systems of guide of a type known in the art, and not depicted, such as rack and pinion or screw and nut, thanks to which the support bar 5 15 can move parallel to said transverse direction Y. They are one or more engine components are foreseen, also of a known type and not shown, such as a brushless motor, which controls the movement of the support bar 15. Each operating head 18 is provided with a plurality of seats 19 for 10 receive a set of tools 20 configured to perform machining operations finishing on the artifacts 100. For ease of viewing in the view In the schematic of fig. 2 only one seat 19 is shown for a respective tool 20. The tool 20 comprises a base, or support, 21 and a component 15 abrasive 22 connected to the base 21. The base 21 can be configured as a holder, for example example made of ABS or other suitable polymer resin, configured to be temporarily and securely fixed to the respective seat 19. According to embodiments, described with particular reference 20 in figures 3a-3d, the abrasive component 22 comprises a membrane of base 23 from which a plurality of abrasive elements or sectors protrude 24. The base membrane 23 and the abrasive sectors 24 are made of body unique with an abrasive composite material that is valuable, as 25 defined by a polymer matrix with dispersed abrasive fillers. This composite material has great hardness and has characteristics self-regenerating (self-reviving), that is, during its use the consumption of an outermost layer brings to light the abrasive charges of the deeper layer inside adjacent to it. 5 The space between two adjacent rows of abrasive sectors 24 defines channels of passage 25 through which, in use, it is conveyed towards the outside of the abrasive component 22 the abraded material and the material released by the heads 18 operators. The abrasive sectors 24 can have a rectangular cross-section, 10 parallelogram, circular, elliptical or other. The abrasive sectors 24 of the same abrasive component 22 can they can all be the same or they can also be different from each other. The embodiments illustrated in Figures 3a and 3b comprise abrasive sectors 24 having a shape and distribution on the membrane of 15 base 23 similar to each other. However, the material they are made of is different. create the abrasive sectors 24: in the first case (fig. 3a) in which the tool 20 It is configured to make cuts and incisions on the visible surface 101 is made with a composite material having a much higher abrasive power higher than the second case (fig. 3b), in which the tool is instead 20 configured to perform a polishing of the visible surface 101. Yes specifies that the abrasive power is determined by the number, the size and from the hardness of the abrasive fillers dispersed in the polymer matrix. The embodiments illustrated in Figures 3c and 3d are both relating to a tool configured to perform satin finishing operations 25 on the visible surface 101. In one version (fig. 3c) the abrasive sectors 24 they are arranged in parallel rows and each has a cross-section rectangular, possibly with rounded or chamfered edges. another version, not shown, the 24 abrasive sectors are arranged according to a matrix arrangement, with parallel rows and columns, and are 5 filiform, with a circular cross-section. The diameters of the abrasive sectors 24 threads can be the same or different. In the embodiment shown in Fig. 3d the component abrasive 22 does not include the abrasive sectors 24 described above, which are replaced by a multitude of 26 abrasive bristles, all fixed 10 at the base 21. The abrasive bristles 26 can be made of suitable materials, such as diamond, and define an abrasion surface homogeneous, substantially parallel to the support plane 12 when the tool is mounted in the respective seat 19, configured to perform a antiquing process. 15 Also in the embodiment shown in Fig. 3e the component abrasive 22 does not include the abrasive sectors 24 described above, which are replaced in this case by a single abrasive organ 27 equipped with a suitable grain for roughing operations, capable of to remove material from the visible surface 101, by removing it 20 abrasion. Each operator group 13 includes an M engine configured for rotate the operating head 18 around a rotation axis R, parallel to a vertical Z-axis. This degree of freedom of movement is essential to ensure the correct interaction between the abrasive component 22 25 and 100 manufactured products so as to carry out the planned work correctly. In embodiments envisaged herein the operating heads 18 include one or more nozzles for dispensing coolant, known type and not shown, which are oriented so as to deliver such liquids in the working area, where the abrasive component 22 5 of the tool 20 contacts the exposed surface 101, as known in the art. Each operating head 18 comprises a protective casing 27, which defines a closed volume around the tool 20. The protective casing 27 allows to avoid that the material is abraded by the artifact 100, the consumable material that is gradually removed from the component 10 abrasive 22, and said coolants, spread in the vicinity. Each operating head 18 is associated with a cylinder-piston assembly 28, preferably pneumatically or hydraulically operated, which is operated by its own actuator, not shown, to move the head operator 18 parallel to the vertical axis Z, according to a movement 15 alternating lifting upwards or lowering towards the floor support 12. Thanks to the cylinder-piston assembly 28 each head operator 18 can alternatively assume a raised position or a lowered position, in which the component respectively abrasive 22 of tool 20 is spaced apart or is in contact with the artifact 20 100 which is passing on conveyor 11 below. The machine comprises a control unit 30 configured to check the operation of the machine 10. More specifically, the control unit 30 controls the operation of the conveyor 11 and the operating heads 18 based on the parameters of 25 operation received as input data, as will be explained with more details below. The control unit 30 is a programmable control unit comprising a memory unit 31 and a timer device, according to system architectures known in the art. 5 The machine 10 comprises a plurality of position sensors, of the type known in the art and not depicted, associated with the tools 20. Each operating head 18 includes a respective position sensor configured to detect the instantaneous, time-varying position of the tools 20 mounted in the respective operating head 18. The sensors 10 positions communicate an identification signal to the control unit 30 of the detected position of the respective tool 20. With particular reference to fig. 4a, a description is given below first form of implementation of the mapping and control method of tool trajectories 20 on the artifacts 100 to be machined in accordance with 15 the teachings of this invention. The method includes a first phase S1 in which it is expected to communicate to the control unit 30 the following parameters as input data: - the speed of movement of the conveyor 11, for example expressed in meters per minute, 20 - the dimensions of the 100 pieces to be machined, for example expressed in millimeters, in particular at least the length of sides 100a, 100b of the exposed surfaces 101 and installation surfaces 102, - the number of 100 artifacts included in the same lot of processing. 25 The method includes a second phase S2 in which it is expected to communicate to the control unit 30 the law of motion that governs the movement of the support beam 15 relative to guide bars 16 along the transverse axis Y. As an example, communicate as input data such a law of motion may provide for communicating the following parameters to the control unit 30: 5 - the travel of the support beam 15 in the two opposite directions, parallel to the transverse axis Y, - any times and positions of the support beam 15, - the power delivered by the engine, possibly expressed as a ratio percentage of the maximum power that can be supplied, from which it is possible 10 deduce the movement speed of the support beam 15. The method includes a third phase S3 in which it is expected to communicate to the control unit 30 which tools 20 are installed in the various heads 18 female operators of machine 10. For example, it is possible to communicate a code as input data 15 tool identifier 20, which may be one of the tools above described with reference to figures 3a-3e, in association with the heads machine operators 18. In this way the control unit 30 knows such as tools, for example among those described above with reference to the figures 3a-3e, are installed in each operating head 18. 20 In possible embodiments, two or more operating heads 18 may install the same tools. In other embodiments, the plurality of operating heads 18 in the complex mounts only some of the 20 tools described above with reference to figures 3a-3e since, depending on the aesthetic result that 25 you want to get, it is not always necessary that the 10 machine is in able to perform all the finishing processes described above. The introduction of the above tool identification code, allows the control unit 30 to know the dimensions and geometry of the abrasive component 22 of the tool, in addition to the material with which it is 5 done. In the third phase S3 it is also possible to communicate to the control unit 30, as input data, the dimensions of the operating heads 18 and the typology of head movement (e.g. rotating, spatula, oscillating, etc.…). 10 In possible embodiments, in the third phase S3 it is also possible communicate to the control unit 30, as input data, for each head operator 18, whether she is regularly active or not, and may also be deactivated. The method includes a fourth phase S4 in which it is expected to communicate 15 to the control unit 30, as input data, the cycle duration of processing. In possible embodiments, it is possible to communicate the duration of a plurality of subsequent processing cycles, for example up to ten cycles. 20 The method includes a fifth phase S5 in which it is expected to communicate to the control unit 30 the working time and the pause time, expressed in seconds, for each operating head 18. Thanks to this information, the cylinder-piston assembly actuator 28 associated with each head operator 18 commands the latter to bring it into the position 25 lowered during working time, and in the raised position during the break time. In particular, this phase involves communicating the working time and the pause time for each operating head 18 for each cycle processing, or for each of the subsequent processing cycles of which it has been 5 set the duration in the previous fourth phase S4. The working time and the pause time, which varies for each operating head 18 and can change from one processing cycle to another, are a function of the processes to be carried out based on the desired multi-finish aesthetic effect on the 100 artifacts to be processed. 10 The method therefore includes a sixth phase S6 for visualization of the working trajectories of the 20 tools on the 100 artefacts to be machined. Figures 5a and 5b, commented below, show two possible examples of graphical representations obtainable as output from the sixth phase S6 of visualization. 15 The set of all information communicated to the control unit 30 in the method phases from the first to the fifth S1-S5 defines a sequence of actuation of the operating heads 18 suitable to obtain a desired multi-finish aesthetic effect on the 100 artefacts to be processed, which can also be different from one artifact to another, as illustrated in the 20 examples of figures 5a and 5b. Please note that in the visualization phase the following are represented: graphically only the trajectories of the operating heads 18 while their abrasive component 22 is in contact with the exposed surface 101, when that is, the cylinder-piston assembly 28 holds the operating head 18 in the 25 lowered position. - 20 - glp Q7-6224 In the graphical visualization shown in Fig. 5a, the trajectories of work of the five operating heads 18 of fig. 1 are each illustrated with a different graphic background. The overlapping areas of two or more trajectories indicate portions of the artifact that are subjected to 5 subsequent machining operations by multiple tools 20. Since the operator knows which tools 20 are mounted in the different operating heads 18, can check in which parts of the artifact the various operations are carried out roughing, antiquing, polishing, etc. It is evident that the working trajectory of the operating heads 18 is defined 10 from the input data entered in phases S1-S5 (fig. 4a), or from the sequence selected in the selection phase (fig. 4b). In the example illustrated the four 100 artifacts arranged to the left in the series of 100 artifacts to be processed by machine 1 there are no furrowed by any working trajectory of the operating heads 18. This means 15 that such artifacts 100 pass through the machine 10 without being subjected to any finishing process. When they pass under the operating heads 18, they are raised, so that no tool 20 interact with the underlying 100 artifacts in transit. In the graphical view shown in fig. 5b, they are represented 20 graphically only the working trajectories of the first two heads 18 operating heads, while the other three operating heads shown in the example in fig. 1 are held in the raised position by their respective cylinder assemblies. piston 28, and do not interact with the artifacts. In this example, the 100 artifacts must be processed only with the processes 25 performed by the tools of the first two operating heads 18, while the others no processing is required. Even in this case the areas of overlapping of two or more trajectories indicate portions of the artifact which are subjected to subsequent processing by multiple tools 20. The method includes a seventh sequence validation step S7 5 of actuation of the operating heads 18, where the operator confirms whether the graphic representation corresponds to the expected one. If so, machine 10 starts processing the products 100 reproducing the set operating sequences, if not, the operator can modify some of the information entered in the phases 10 from first to fifth, S1-S5, and possibly change the position and / or the typology of one or more tools 20 in the various operating heads. With particular reference to fig. 4b, a description is given below second form of implementation of the mapping and control method of tool trajectories 20 on the artifacts 100 to be machined in accordance with 15 the teachings of this invention. In this case, the method includes a memorization phase in the memory unit 31 of a plurality of actuation sequences of the 18 operating heads, for example of tens of sequences or even more. The tool drive sequences are defined by the set 20 of the information relating to the 100 artefacts to be processed and their movement via conveyor 11, to the movement of the support beam 15 and operating heads 18, including the information relating to the 20 tools installed in them. This is all the information that in the first form of implementation of the 25 method are communicated to the control unit 30 in the phases from the first - 22 - glp Q7-6224 to the fifth, S1-S5, previously described, and which therefore will not be repeated. The different combination of this information defines sequences of different drives. 5 It is evident that the memorization phase can only take place once time, in an initial set up phase of the machine 10. Drive sequences can be loaded into the drive unit memory 31 via an external medium, for example configured as a USB stick, or other storage media, such as a non-disc 10 rewritable, or via a remote “Cloud” system. The method then includes a selection phase, in which the operator select the desired drive sequence from all those stored in memory unit 31. The operating sequences can be stored with a code 15 and / or an identifying name that can help the operator to associate each sequence to the series of processes that can be obtained through it. This second form of implementation of the method allows the operator to choose the desired operating sequence very quickly, resulting simpler and more immediate than the first form of implementation 20 of the method, in which all information must be entered “manually” by the operator, as described above in the phases of method from first to fifth, S1-S5. In all the phases of the method described above the operator can enter input data, or graphically display the output, on a dedicated 25 user interface. - 23 - glp Q7-6224 The method includes a validation phase of the sequence of tool actuation, where the operator confirms whether the graphic representation corresponds to that expected in order to obtain the desired aesthetic effect on the various artifacts. 5 If so, machine 10 starts processing the products 100 reproducing the selected drive sequence, if not, the operator can change the operating sequence by selecting one different from the one previously chosen in the selection phase. It is clear that improvements can be made to the method described so far. 10 modifications and / or additions of phases, without departing from the scope of the present invention as defined by the claims. It is also clear that, although the present invention has been described with reference to some specific examples, an expert in the field will be able to create other forms equivalents of tool work path mapping methods 15 finishing on ceramic or stone products, having the characteristics expressed in the claims and therefore all falling within the scope of protection from are defined. In the following claims, the references in parentheses They are intended only to facilitate reading and should not be considered as factors limiting the scope of protection of claims 20 same.

Claims

1. Method of mapping and controlling the work trajectories of a plurality of operating heads (18) configured to perform machining operations finishing on ceramic or stone artefacts (100) while the artefacts (100) 5 are arranged on a support surface (12) and advance below said operating heads (18) along a longitudinal axis (X), and in which the method provides for defining at least one sequence of activation of the plurality operating heads (18) so that the movement of each head is function at least: 10 - of the law of motion of said artefacts (100) along said longitudinal axis (X), of the dimensions of the sides (100a, 100b) of said artefacts (100) which are extend in a plane (XY) parallel to the said support plane (12) and of the number of artifacts (100) to be processed, - of the motion law of each operating head (18), both along an axis 15 transverse (Y), perpendicular to said longitudinal axis (X), both along a vertical axis (Z), and its dimensional and technical characteristics of the finishing tools (20) installed on the operating head (18), wherein the method comprises a step of displaying a graphic representation of said work trajectories of said heads 20 operators (18) on the said plane (XY), in which the graphic representation It aims to visually distinguish the different trajectories, each associated with the respective finishing tool (20) that generated it, and of show said trajectories on a reference background defined by said artifacts (100) to highlight which areas of the artifact are affected 25 from the finishing processes, and to which finishing processes they are subjected, and in which the phase of defining said actuation sequence involves communicate it to a programmable control unit (30) that commands the execution of said finishing operations in order to implement a phase of 5 reproduction of said operating sequence in accordance with the graphic representation shown in the said display phase.

2. Method as in claim 1, characterised in that said finishing processes include one or more of the processes selected in the group consisting of: roughing, lapping, satin finishing, polishing, 10 antiquing.

3. Method as in any of the preceding claims, characterized by the fact that it includes a validation phase of the sequence of operation of said operating heads (18), in which it is foreseen check whether the graphic representation is suitable to allow obtaining 15 the desired aesthetic effect on the various artefacts (100).

4. Method as in any preceding claim, wherein said plurality of operating heads (18) is installed on a support beam (15) parallel to the said longitudinal axis (X) and characterised by the fact that It includes a phase for entering the following input data: 20 - the speed of movement of a transporter (11) that advances the artifacts on the support plane (12) parallel to said longitudinal axis (X), - the travel of said support beam (15) in the two opposite directions, parallel to the transverse axis (Y), the speed of movement of said support beam (15), and any times and positions of rest in which said 25 support beam (15) is temporarily stopped.

5. Method as in any preceding claim, wherein each finishing tool (20) comprises a base (21) and a abrasive component (22) connected to the base (21) in which the component abrasive (22) comprises a base membrane (23) from which protrude 5 a plurality of abrasive elements or sectors (24) and characterised by the fact which includes a phase of entering the following input data for each operating head (18): - the dimensions of the abrasive component (22) and an identification code of the type of finishing tool installed in each operating head (18) 10 which depends on its technical characteristics, its geometry and the materials used to make it, - the size and type of movement of the operating head (18).

6. Method as in any preceding claim, wherein said operating head (18) is movable parallel to said vertical axis 15 (Z) and characterized by the fact that it includes, for each head operator (18), a phase of insertion of working time and time of pause, in which during said working time the operating head (18) is held in a lowered position, and in the pause time the head operator (18) is kept in a raised position, in which 20 respectively the finishing tool (20) is arranged in contact or spaced apart from said artefacts (100) arranged on said support surface (12).

7. Method as in any of claims 4-6, wherein the 5 depends on the 4th, and the 6th on the 4th or the 5th, characterized by the fact that said input data entry phases define said sequences of 25 operation of the operating heads (18) and are performed via a user interface available to the operator.

8. Method as in any of claims 4-6, wherein the 5 depends on the 4th, and the 6th on the 4th or the 5th, characterized by the fact that said input data entry phases that define said sequences of 5 finishing tools (20) are activated in one set up phase initial phase of the machine (10), and by the fact that it also includes a phase of storing said operating sequences in a memory unit (31) included in said programmable control unit (30) and a phase of selection, where it is expected to select the drive sequence 10 desired depending on the finishing processes to be carried out on said artifacts.

9. Computer-readable medium containing program instructions executable by a computer to implement a mapping method and control of the working trajectories of a plurality of operating heads 15 (18) suitable for carrying out finishing work on ceramic or metal products (100) stone according to any of claims 1 to 8.

10. Computer program that can be stored in a machine-readable medium a computer, including instructions which, when executed by said control units (30), determine the execution of a method of 20 mapping and control of the work trajectories of a plurality of heads operators (18) capable of carrying out finishing work on manufactured products (100) ceramic or stone according to any of claims 1 to 8. p. BMR SPA- SURFACES TECHNOLOGICAL ABRASIVES SPA DAP 09.19.2024