• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Cell of robotized manufacture of slate plates, constituted by a rectangular cabin with feeding and packing tapes, with water pressure pump attached, and three work stations inside: a carving station, by means of a robot with cutting head for water-abrasive jet and laser vision system for the location and alignment of the head with the planes of breakage of the blocks, and two stations of cutting and dimensional control on both sides, constituted by both robots with head clamping, and two tables with cutting head with pure water jet and dimensional control device by laser vision system. The manufacturing process carried out in this cell reduces the percentage of rejects, reduces the silica dust in suspension, with the consequent improvement in work hygiene, improves the productivity of the plant in a smaller space with lower cost and manufactures any format and half that is programmed. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2586105A1
    申请号:ES201630947
    申请日:2016-07-12
    公开日:2016-10-11
    发明作者:Alfonso FERNANDEZ ALVAREZ
    申请人:Alfonso FERNANDEZ ALVAREZ；
    IPC主号:
    专利说明:

    DESCRIPTION

    Cell and robotic manufacturing process of slate plates.

    The object of the present invention is a cell for the robotic manufacturing of 5 slate plates and tiles from the quarry blocks, also applicable to any other exfoliable stone sheet material, as well as the manufacturing process carried out in This cell, essentially characterized in that the operations of styling, cutting and dimensional quality control of the product are carried out in a continuous cycle by means of six-axis robots with high-pressure water jet technology and artificial vision systems or laser detectors.

    The cell, constituted by a rectangular cabin of just over 4x3 m in which the slate blocks enter through a feeding belt and leave in the form of geometry and size plates required by a packing tape, is attached 15 in one of its sides is a “water jet” pressurized water pump that connects with the cutting heads, and consists of three work stations inside: a working station in the center, by means of a robot with a cutting head with a jet of water-abrasive and laser artificial vision system for the location and alignment of the head with the planes of breakage of the blocks, and two cutting and control stations of 20 dimensional on both sides, constituted by two robots with clamping head that work from synchronized form, and two tables with cutting head with pure water jet and dimensional control device by laser artificial vision system.

    The manufacturing process carried out in this cell has as its main advantages the minimization of damage to slate sheets resulting from tillage, considerably reducing the percentage of rejections, reducing silica dust in suspension, with the consequent improvement of health conditions in the work environment, and improving the productivity of the plant in a smaller space and with lower cost, to become fully automated and standardized process. 30
    SCOPE.-

    The field of application, or technical sector, in which this invention is framed is that of machine tools and installations for the work of stone or similar materials, in particular the case of slate blocks extracted from quarry. STATE OF THE TECHNIQUE.-

    The production of slate slabs begins in a quarry where large blocks of stone are extracted. These blocks are cut by various procedures in rectangular parallelepipeds around 15 cm thick 5 called "logs."

    After the generation of the "trunks" the processes of carving and cutting are carried out. The process of tilling, exfoliating or "landing", consists of dividing the piece of slate into thinner sheets looking for the planes of exfoliation of the slate, and during the cutting process, these sheets are cut by means of diamond disc in the plates of appropriate size and shape to its final use.

    These two consecutive styling and cutting processes, although currently automated with machine tools, remain two independent processes 15 in the slate production industry; first the work of the blocks in their exfoliation sheets is carried out, and then, either in the same plant or in another installation, the plates are cut into plates.

    The tilling process has been carried out traditionally, and 20 are still being done in many places, manually, by means of a “labrador” operator who, with extensive experience, determines the best way to perform the slab of each slate block. For this, it uses a hammer and a sharp chisel, and by percussion it divides the block into sections of thicknesses between 3 and 8 mm. This procedure is highly dependent on the ability of the farmer, producing variations in the thickness of 25 sheets or breaks, which generates a high rejection rate that reaches 80% of the total.

    For some time, this process has been tried to automate this process using different mechanical means, using various machines that, by mechanical impact 30 at a certain distance, section the piece by its exfoliation planes, even some of them are designed to try to produce slate sheets of constant thickness However, due to the different characteristics of the slate, which shows variability in the direction of the exfoliation planes, and to the damages produced by the impact of the blades, this type of mechanical exfoliation 35
    It has a rejection rate of the resulting slate sheets higher than the process performed by a labrador manually.
    There are some innovations in this type of machinery that perform a search of the slate fracture plane by artificial vision and perform the mechanical impact fracture on a detected exfoliation plane. With the artificial vision system 5 the fracture planes are located within a thickness tolerance for the sheet, and with the processed information of them a control system moves the blade and aligns it with the detected plane, producing a mechanical impact that the slate block is sectioned.
     10
    These systems reduce the rejection rate since a lower force impact on the stone is required when it is applied on a breakage plane. However, due to the effect of the blade, the mechanical impact method continues to cause damage to the stone.
     fifteen
    In order to solve the problem posed by the large amount of debris in slate sheets that are damaged during the exfoliation process, machine tools have been developed for slate "trunks" that perform the exfoliation combining a mechanical impact by means of a blade, with the application of water jet or other pressurized fluid, to allow the slate sheets 20 to be separated with minimal damage. This is the case of the machines that were the subject of patents with publication numbers ES2028598-A6 “Exfoliation procedure for slate parts and corresponding machine” and ES2059201-T3 “Exfoliation machine for slate piece”, from the beginning of the Nineties However, these systems start from a premise of alignment of the exfoliation planes and the impact blade, which continues to produce high rejection rates.

    As for the cutting of slate sheets that are admissible from the previous operation, it is currently a process that is automated by cutting and / or dry milling machines, which is a process that generates a large amount of silica powder 30, with the additional disadvantage that these cutting machines are designed to cut in one measure, or at most in two, but always in rectangular plates, so that if a factory is manufactured, for example, five measures of rectangular commercial plates , there will have to be five automatic cutters for each of the five measures. 35

    Therefore, the current process of automated slate plate manufacturing using machine tools suffers from a series of problems and disadvantages that can be summarized as follows:
    - Large amount of sterile and residual material, consequence of the high rejection rate of defective slate sheets after the mechanized exfoliation of the 5 blocks, with the consequent waste of resources and environmental impact These steriles are estimated in an average factory around 5 tons / day.

    - Large amount of dust in the work environment, generated in the process of cutting the sheets with cutting and milling machines, classified as powder with 10 content of respirable crystalline silica (SCR), which exposes workers to hazardous conditions , to cause over the years to cause occupational diseases such as silicosis or other lung diseases, even after leaving the job.
     fifteen
    - Limitation of slate plates produced to only rectangular shape, with the need for a range of machines cut to obtain different sizes.

    - High waiting time between working and cutting phases, since they are totally independent processes and carried out in different areas, with manual transfer of the pieces between them.

    The objective of the present invention is to solve this problem by developing a blackboard processing technique that allows to improve the quality of the exfoliation process, reducing the percentage of waste derived from the rejections caused, improving the health conditions of the workers by exposing them to a less aggressive environment in suspended powders, making it possible in the cutting process to obtain plates in commercial forms other than rectangular, such as rhombus, square, round, half moon, etc., and in different mediations, and improve the production cycle by eliminating waiting or transit times between operations, including the final quality control of the resulting plates.

    To this end, a robotic cell for the manufacture of slabs and slabs of “all-in-one” slate has been designed, which automatically and synchronously integrates the processes of styling, cutting and final dimensional control, using six-axis robots and impact technology 35 of high pressure water jet in the working of cutting and cutting,
    combined with laser artificial vision systems for the detection of slate exfoliation planes and for the verification of the shape and size of the resulting pieces

    The development of the procedure is based on the use of a high pressure water jet, greater than 4000 bar to perform the blackboard exfoliation process, by means of a head that triggers the pressure water jet coupled to one of the robots or numerical control, which must also use an artificial vision system or laser detector to locate the shatter planes generated after the first impact and align the head to complete the exfoliate. In this way, the damage of the stone is avoided by not needing a mechanical process of impact with a cutting blade, with the additional advantage that an initial alignment of the cutting head with the plane of breakage of the stone is not necessary.

    This combination of cutting technology with pressurized water jet and system of 15 artificial laser mink for the location of the planes of breakage in the process of exfoliating the slate blocks is an important novelty in the state of the art, as it demonstrates The fact that only one process is known of the slab block processing by high pressure water jet, disclosed by French patent number FR2790417-A1, which involves fixing the block to be divided and applying a fine jet 20 of liquid to high pressure (from 1000 to 5000 bar) in a chosen reference plane, including the apparatus for water jet cutting. However, this device and the process it carries out is not that of a jet-water with an artificial vision system or integrated laser detector for the location of the planes of breakage of the blocks, which is what characterizes the machine Proposed styling. 25

    The cutting process is also carried out with pressurized water, which prevents the formation of silica dust, and is also carried out in the same cell, within the same manufacturing cycle, used for this purpose by a couple of robots clamping and moving the slate sheets between the working station, the cutting heads 30 and the packing tape once the dimensional control of the cut plates has been carried out.

    The high pressure water jet technology is already applied to the cutting of stone pieces separated from the matrix blocks; for example, utility model 35 ES1129455-U features a "Robotic cell specially designed for cutting and
    milling of natural stone boards and the like ", but the specific application of this technology for cutting slate sheets is not known, and in the way in which the new manufacturing cell is made, which is by clamping and moving the blades in front of the cutting heads by means of robots or numerical control of articulated arm, which allows its cutting in any format and measure, and 5 subsequent positioning of the slate plates obtained in front of dimensional control devices by means of artificial vision or linear detectors laser, which also being a quality control technique already applied to cut slate plates, at least it follows from what was disclosed by the molding of utility ES1093606-U, by "system for the characterization of plates and slate", not in the form that within the productive cycle of the present cell is carried out.

    The proposed slate plate manufacturing cell, which is described in detail below, although it includes some of the elements that are part of the state of the art, such as the cutting process of stone sheets by a water-jet machine and said 15 dimensional control of the plates, implements a cyclical production process by means of industrial robotics that is completely new, allowing to increase productivity, also endowed in its main phase, which is the working of slate blocks, of an innovative system of jet exfoliation of water under pressure and laser detection for the location and alignment of the injection head with the planes of breakage 20 of the piece, which increases the precision in the exfoliation of the blocks, so it is considered that it presents the sufficient inventive level to be able to be patented
    SUMMARY OF THE INVENTION.-
     25
    The aforementioned robotized slate plate manufacturing cell, or any other material that has a rolling ability, consists of an enclosure delimited by a rectangular enclosure, to which slate blocks in the form of "logs", that is, in the form of the rectangular parallelepipeds in which the raw blocks extracted from the quarry are cut, enter by means of a continuous feeding belt, 30 and from which they then leave, on the opposite side, in the form of slate plates ready for use by a continuous packing tape, which has a water jet pump attached to one of its sides, capable of supplying water jet pressures greater than 4000 bar to the injection heads of the cell. 35

    Within this enclosure and in order to the production process, the cell consists of a working station or “laundering” of the slate blocks by their exfoliation planes, at the end of the feeding belt, where they arrive from outside , and by two stations of cut and dimensional control of the sheets resulting from the tilling process, located on each side of the end of the feeding belt, which work in a synchronized way to distribute the cut to both sides and thus achieve greater productivity of slate plates with the required shape and size.

    The working station is constituted by a tilting drawer for collecting and positioning the blocks in the tail of the feeding belt, which tilts 10 on the extreme structural profile of the horizontal frame where the belt is mounted, and by a working robot with six-axis swivel articulated arm supported by a metal structure next to the end of the frame, with a cutting head with water-abrasive jet with analog block proximity sensor and splash guard, connected by valve-regulated driving to the pump Pressurized water 15 from the outside of the cell, and provided with an artificial vision system and laser detector for locating and aligning the cutting head with the planes of breakage by exfoliation of the slate piece. This artificial vision system consists of a laser beam artificial vision device and a laser proximity detection device, both integrated in the protective head of the cutting head. twenty

    The styling robot also has a water or network air injection system for cooling the styling operation, by means of a hole or sleeve next to the injection head of the pressurized water-abrasive jet.
     25
    The cutting and dimensional control stations are constituted by the same elements, in position it can be said symmetrically on each side of the cell delimited by the central line of the feeding and packaging tapes, and they are: a cutting table with a head of Pure water jet cutting, connected by valve-regulated driving to the “water jet” pump, and extractor hood, a six-axis rotating articulated arm with cutting arm 30 supported on an equidistant structure between the tilting drawer and the cutting table, with a clamping head for exfoliated slate sheets, and a dimensional control device next to the cutting table that verifies the dimensions of the plates cut by means of a laser beam artificial vision system, with the functionality to discriminate between plates to send to 35
    a conveyor belt packing out of the cell, or to a rejection container.

    The clamping head of each of the cutting robots is formed by an insertable platform in the robot arm, movable in all directions by action 5 of the robot, which supports by its base a bridge structure in the form of two fingers provided in its ends of vacuum windy paths and an analog proximity sensor of the suction cups to the slate sheet.

    The dimensional control device of the cut slate plates consists of a vision detector comparing the final shape and measurement with the required shape and measurement using a wide monochrome field of view sensor.

    The process of robotic manufacturing of slate plates carried out in the described cell, and which is also claimed in the invention, comprises the following steps and operations:

    1st. Tiling of slate blocks.-

    The first stage of the process is the carving or “laundering” of the blocks or “trunks” of 20 slate sheets through their exfoliation planes, by means of the robot with cutting head with water-abrasive jet and pressure system artificial vision and laser detector of the planes of breakage of the piece, through the following operations: 1) reception by means of tape of feeding of each block of slate in the cell, positioning of the articulated arm of the robot and measurement by means of the 25 device of artificial vision by laser beam of the six sides of the block, determining its height, width and length; 2) Sending by means of the feeding belt of the block to the tilting chest of drawers and, depending on the predetermined thickness for each of the slate sheets, positioning with the help of the proximity sensor of the robot cutting head and jet shot of water-abrasive of 1mm of 30 diameter at a minimum of 4000 bars of pressure for a minimum time of 5 seconds, with simultaneous injection of water or network air for cooling the operation; and, in the event that the total laminate has not performed correctly with this first pressure jet impact, 3) location and alignment of the injection head with the plane of rupture of the block by means of the artificial vision device 35 by laser beam and proximity detector device, checking on the side on which
    the first shot has made the coordinates where the exfoliate crack has been generated at a distance “x” from the first impact and ordering the robot to move a distance “x” and “y”, which is the horizontal and vertical distance between the focal tube of the cutting head taken as a reference point and the plane of the laser beam of the vision system, and a new shot of a water-abrasive jet under pressure on the crack generated by the first impact.

    In many cases, the total lamination of the block is carried out correctly with the first impact of the pressurized water jet, but if not, the artificial vision system and laser detector verifies in the plane of the laser beam where the crack of the 10 exfoliated, giving the order to the robot so that the cutting head moves over the crack and returns to project another jet of water under pressure on it. In the tests carried out so far, no more than two impacts of the pressurized water jet have been necessary to achieve the total lamination of a slate sheet, but the system will be programmed to perform this task as many times as necessary 15 until it can be achieved.

    Also by means of artificial vision or laser detectors, we visualize that the slate sheet has been fully exfoliated, when on the opposite side to the impacts, a cloud of water is generated. twenty

    During the whole process, the slate block must be cooled using mains water, chilled water, cold air, etc., since the impact of the pressurized water jet on the block carries so much energy that the impact increases the temperature of the slate block . When the temperature of the mineral increases, it expands and the exfoliation planes “tighten”, making the process of tilling impossible, so that said cooling is necessary by the system provided for that purpose in the robot.

    Being the jet of water at such a fine pressure (less than 1 mm in diameter), no damage is caused to the piece and the laminate is made by the natural exfoliate face of the slate.

    The small footprint generated by the jet of pressurized water on the slate sheet is eliminated in the following production process, which is the cutting of the piece to the desired commercial measure, since the dimensions of the original block are always greater than 35 of the final average after the cutting process.

    2nd. Cutting of slate sheets.-

    The process of cutting the slate sheets to obtain plates in the required commercial format and size is also automated taking advantage of the 5 "water jet" pump for supplying pressurized water to the cell.

    The cutting of the sheets is carried out as they are exfoliated in the previous working stage, by means of the robots and heads of injection of pure water under pressure of the two cutting stations, according to a synchronized and alternative sequence between 10 robots of the following operations: 1) positioning with the help of the proximity sensor of the clamping head of the cutting robot on the slate sheet exfoliated in the tilting drawer, capture of the sheet by means of fingers with vacuum suction cups of the clamping head, and transit of the blade to the cutting table without releasing; and 2) positioning on the table cutting head and jet shot 15 of pure pressurized water on the sheet attached to the suction cups of the robot holding head, creating a predetermined cutting line on the sheet by action of the programmed movement of the articulated arm of the robot, which moves transversely to the water jet of the cutting head.
     twenty
    When cutting the slate sheets held in the heads of 6-axis robots, the robots can be programmed so that the cut made is of any format and measure.

    3rd. Dimensional control of the resulting plates.- 25

    The last stage of the manufacturing process is the final dimensional quality control of the plates cut at each of the cutting stations, attached to the suction cups of the cutting head of the cutting robot. This quality control will be carried out with artificial vision or laser linear detectors, and depending on their result, the plates are sent by the robot to the packing conveyor, or to the rejection container.

    This control makes it possible to verify that the format and size of the slate plate required at all times is that of the plate that leaves the manufacturing cell, since the poor quality of the mineral or any breakdown in the cell can cause the blunt foil or
    splinter The cutting robot passes the finished part through this quality control and, depending on the result, will send it to the packing conveyor or the rejection container.

    Quality control is only dimensional and does not focus on the morphological quality of the mineral itself.

    This manufacturing process of slate plates in a robotic cell has important advantages over the practices and machines currently used.
    In the first place it is a completely standardized and robotic process, which clearly increases the productivity of this industry, compared to the current processes with work done manually, such as the transport of slate sheets carved to cutting machines, or the process of styling the blocks, which depends on the expertise of the "labradors" operators.
     fifteen
    In this case, in the same manufacturing cell, the sculpting and cutting stages of the slate are carried out, using pressurized water cutting heads and articulated robots. The robots of the cutting stations take the slate sheets as they exfoliate in the working station, so there is no transit time, nor the need to reserve a space for the sheets, so the manufacturing cycle 20 total is significantly reduced, increasing productivity in a smaller space, by decreasing the necessary manufacturing area.

    When the slabing and cutting operations of the slate are carried out with “Water-Jet” technology, of a water jet under pressure, virtually no dust is generated in the plant, therefore requiring less investment in extraction and filtration systems of powders, and lower energy consumption of these auxiliary systems. In addition, reducing exposure to suspended silica dust significantly reduces the risk of occupational diseases such as silicosis and other lung conditions. 30

    The optimization of the process of laminating the blocks of the mineral, by means of the robot with a cutting head with a pressurized water-abrasive jet and a laser detector of the exfoliation planes of the blocks, minimizes the aforementioned production of steriles, which means important use of raw material and preservation of 35
    environment, by significantly reducing the percentage of slate destined for rubble.

    The reduction of the percentage of this type of waste associated with the optimization of the cut can be estimated at 0.5% in the volume of waste generated in the 5 process of slate production, estimated at almost 4 million tons per year in Galicia . In the whole of the Galician blackboard sector, it is equivalent to about 20,000 tons of slate / year that are no longer destined for rubble, which implies a significant reduction of the environmental impact.
     10
    In short, there is a new cell or slate manufacturing unit that can be mounted anywhere, both at the foot of the mine or quarry, and in an industrial area, which allows:

    - Higher productivity in less space, when the process is carried out in a completely robotic way, without pauses or transit times.

    - Lower production cost, in skilled labor and auxiliary equipment for dust extraction and filtration
     twenty
    - Increased hygiene at work, as a result of a reduction in suspended powders.

    - Greater use of the raw material and less environmental impact, by reducing the sterile and waste compared to the current process of working the slate blocks. 25

    - Flexibility in production, since it is the only robotic cell that can manufacture an infinite number of measures and formats, while existing automatic cutters only manufacture rectangular formats and a single measure (or at most 2 measures, but changing the tools) . 30
    DRAWINGS AND DRAWINGS.-

    At the end of this report, the following figures of the robotized slate plate manufacturing cell described and its component parts are included:

    Figure 1: Plan view of the cell as a whole, with the perimeter enclosure that delimits the two work stations: styled and cut with dimensional control, and the attached “water jet” pump for the supply of pressurized water.

    Figure 2: Front elevation view of the cell feeding belt, with the 5 heads of the machining and cutting robots perpendicular.

    Figure 3: Plan view of the styling station and the component details of the robot, with the fairing cutting head and artificial vision system and integrated laser detector. The arms of the two robots of the cutting stations are also visible.

    Figure 4: View in side elevation on both sides of the working station, with the working robot and the tilting chest containing a slate block facing one of the robots of the cutting stations. fifteen

    Figure 5: Side elevation view of the cutting robot with the clamping head of a slate sheet, facing the cutting table.

    Figure 6: Isometric detail of a vacuum suction cup of the fingers of the clamping head of the cutting robot.

    Figure 7: Detail of the process of locating and aligning the pressurized water-abrasive injection head of the machining robot with the plane of breakage of the slate block, using the artificial vision system and laser detector. 25

    Figure 8: Artificial vision device by laser beam next to the measurement distance graphs to the plane of the crack in mm, of the machining robot.

    Figure 9: Isometric detail of the analog proximity sensor integrated in both the cutting head of the working robot, as in the clamping head of the cutting robot, and graph of the calibration curve that relates the measured variable and the signal generated.

    Figure 10: Detail of the cutting process of a slate sheet held by the clamping head of the cutting robot, seen in elevation, by means of the injection head of pure water under pressure on the cutting table.

    Figure 11: Vision detector, form and final measure comparator with the required form and measure 5 and installation and operation graph.
    FORM OF REALIZATION.-
    As can be seen in Figure 1, all the elements that are part of the described process that carry out all the operations mentioned in the summary of the invention are in a cell or space delimited by a physical barrier (1), This may be of a transparent or translucent material such as glass or methacrylate, or a prefabricated material opaque to the outside.
     fifteen
    This enclosure will depend on the present requirements and the place where the cell is located, since it can be installed both indoors and outdoors depending on the needs found. Next to it, a “water jet” pump (2) must be installed that provides the station with the necessary fluid at a pressure greater than 4000 bar.

    A single entrance to the styling and cutting chamber has been projected, through a door, so that the personnel required for its correct operation can access the machines. This is because the size of the cell does not exceed 3.5 x 4.5 m and with a single entry it is sufficient to reach all the interior points. 25

    Being a structure with the possibility of being installed in different places, either next to mineral extraction sites or in industrial warehouses for treatment and storage, the seat or firm on which the chamber is to be placed must have a good resistance mechanical to the weight to support the machinery, but fundamentally, it must be as regular and homogeneous as possible to avoid descaling of the cutting robots, so it is recommended to install the cell on a false floor structure.

    On its upper part the cell is also closed to prevent the entry of 35 impurities or foreign elements that can obstruct vision devices
    artificial laser beam (22), laser proximity detection devices (23) or monochrome vision sensors (20). In this way, the air inlet and outlet is made from extractors (16) located next to the robots as shown in Figure 2.
     5
    In addition to the door to give operators access to the processing cell, the gaps for the entry and exit of the material can also be seen in Figure 1 using the continuous feeding belt (4) supported by a horizontal frame (5 ), where the slate logs (3) enter before being treated and the packing conveyor belt through which the parts already processed are processed for subsequent packaging.

    In Figures 3 and 4, it is observed that once the trunk is placed on the tilting chest of drawers (6) supported on the profile of the end (7) that supports the weight of both, the block is positioned so that it can be sectioned by the machining robot (8) that rests on a metal structure (9) and is connected to a cutting head with water-abrasive jet (10).

    For the correct approximation of the cutting head to the slate block the system has an analog proximity sensor (11) like the one shown in Figure 9 next to the calibration curve that relates the measured variable and the generated signal.

    Figure 3 shows that the cutting head is delimited by a screen or splash shield (12), which prevents the return of the fluid when it hits the 25 logs, but does allow the connection of a conduit (13) by the the water flows, regulated by a valve, from the pressure pump.

    Once the piece is placed for tilling, the system has a laser beam artificial vision device (22) and a laser proximity sensor 30 (23) on the styling robot, to make a correct location and alignment of the cutting head with respect to the planes of breakage by exfoliation of the board

    The artificial mink device (22) allows the capture of the shatter planes of the boards by cameras based on arrays of light-sensitive sensors with a subsequent treatment by means of analysis techniques, so that the laser emitter
    It generates a beam of monochromatic light of high density that when it is rotated allows to measure with a high precision index the position of the sheets for its subsequent styling, as shown in the graphs that are added in Figure 8.

    The laser proximity detection device (23) detects the approach to the parts 5 by means of a high intensity pulse at low frequency and transmits them by the infrared jet LED.

    After measuring the sides of the block and once the part is correctly placed having determined the cracks of the pieces to perform the process 10, the cutting head with abrasive water jet (10) approaches the "trunk ”Leaving a distance between the sheets depending on the thickness required and releases the fluid at a great pressure, exceeding 4000 bar, in a short time of 5 seconds, with a very limited flow, due to the small water outlet diameter.
     fifteen
    In case the impact of the fluid is not enough to generate the tillage, the artificial vision system detects it by ordering the robot to project a second jet of water at the same pressure modifying the point of impact to favor the process.
     twenty
    Once the slate sheet has been completely exfoliated, the laser systems using artificial mink detect it and allow the continuation of the process towards the cutting of the piece, since the dimensions of the original block must always be greater than the measurements Finals requested.
     25
    In addition to the injection of the jet to perform the tillage, the system also has a hole for the injection of mains water, chilled water or cold air that cools the tilling operation increasing the speed of the tilling process.

    This is due to the fact that the impact of the pressurized water jet on the pieces increases the temperature of the slate block that entails the expansion, so that the exfoliation planes come together, which makes the tilling process impossible.

    The cutting process is performed once the thickness of the sheet is as requested, so that the robots (17) take the generated parts that are exfoliated thanks to 35 suction cups (24) placed on the clamping head (19) , turning on themselves
    thanks to a support structure (18), directing the pieces towards the cutting station III.1 and III.2 how can be seen in figure 1.

    Without releasing the piece and on the cutting table (14) the pressurized water jet head, releases the fluid to as many bars as before, as well as when machining but without 5 abrasives, generating the requested shape of the board without produce any dust

    Once the part has been cut, the dimensional control devices (20) confirm or reject the final pieces, being directed by the robot (17) towards the packing conveyor belt (21) or towards a rejection container respectively. 10

    This control or vision detector compares the final shape and measure with that initially required, from a beam of light as shown in Figure 11.
    权利要求:
    Claims (5)
    [1]

    1. Robotized slate plate manufacturing cell, designed to carry out the current automated sequential process by machine tool in which the slate blocks extracted from the quarry, previously cut into rectangular parallelepipeds of around 15 cm thick, called "trunks", are subjected to a first mechanical operation of tilling or laminating sheets through the exfoliation planes of the slate, by impact with blade and, in certain cases, with application of fluid under pressure on the crack created, and a second cutting operation of these sheets, 10 by cutting and / or dry milling cutting machine, on the slate plates of appropriate size and shape for their final use, characterized in that, in order to the process of production, is constituted by the following work stations within a rectangular enclosure (1) of the cell that is attached in one of its sides a water jet pump (2) of pressurized water: 15
    - a styling station (I) to which slate blocks in the form of "logs" (3) arrive from the outside by means of a continuous feeding belt (4) mounted on a horizontal frame (5), constituted by a chest of drawers swingarm (6) for collecting and positioning the slate blocks on the tail of the belt, which 20 tilts on the extreme structural profile (7) of the horizontal frame, and by a styling robot (8) with a six-way swivel articulated arm axes supported in a metal structure (9) next to the end of the frame, with a cutting head with water-abrasive jet (10) with analog proximity sensor (11) to block and splash guard (12), connected by conduction (13) regulated by valve to the pressurized water pump 25, an artificial vision system and integrated laser detector for locating and aligning the cutting head with the planes of breakage by exfoliation of the slate piece, and an om hole anguito for water injection or network air for cooling the working operation; Y
     30
    - two cutting and dimensional control stations (II.1 and II.2) on each side of the end of the feeding belt, each consisting of a cutting table (14) with a water jet cutting head pure (15) connected by valve-regulated conduction to the pressurized water pump, and extractor hood (16), a cutting robot (17) with six-axis rotating articulated arm supported on a structure 35 (18) equidistant between the tilting chest of drawers and cutting table, with a clamping head (19) of exfoliated slate sheets, and a device for
    dimensional control (20) next to the cutting table that verifies the dimensions of the plates cut by means of artificial vision system by laser beam, with the functionality of discriminating between plates to be sent to a packing conveyor belt (21) of the exit of the cell, or a rejection container.
     5
    [2]
    2. Robotized slate plate manufacturing cell, according to the first claim, characterized in that the artificial vision system and laser detector of the styling robot (8), consists of a laser beam artificial vision device (22) and a detector device laser proximity (23), both integrated in the protective fairing (12) of the cutting head (10). 10

    [3]
    3. Robotized slate plate manufacturing cell, according to the first claim, characterized in that the clamping head (19) of each of the cutting robots is formed by an insertable platform in the articulated arm of the robot, movable in all directions by action of this, which supports by its base a bridge structure 15 in the form of two fingers provided at its ends of vacuum suction paths (24) and an analog proximity sensor (11) of the suction cups to the slate sheet.

    [4]
    4. Robotized slate plate manufacturing cell, according to the first claim, characterized in that the dimensional control device (20) of the cut slate plates 20 consists of a vision detector that compares the final shape and measurement of the pieces, with the required

    [5]
    5. Process of robotic manufacturing of slate plates, carried out in the cell of the preceding claims, characterized by comprising the following 25 steps:
    1st Labrado of the blocks or “trunks” of slate in sheets through its exfoliation planes, by means of robot with water-abrasive pressure cutting head and artificial vision system and laser detector of the planes of breakage of the piece, through 30 of the following operations:
    - reception by means of feeding tape (4) of each slate block in the cell, positioning of the articulated arm of the robot (8) and measurement by means of the laser vision device of the six sides of the block, determining its 35 tall, wide and long;
    - Sending by means of the feeding belt of the block to the tilting drawer (6) and, depending on the predetermined thickness for each of the slate sheets, positioning with the help of the proximity sensor of the cutting head (10) of the robot and shot of water-abrasive jet of 1mm in diameter at a minimum of 4000 bar pressure for a minimum time of 5 seconds, with simultaneous injection of water or network air for cooling the operation; Y,
    - in the event that the total laminate has not performed correctly with this first impact of the pressure jet, location and alignment of the injection head with the plane of rupture of the block by means of the laser beam artificial vision device 10 (22) and proximity sensor device (23), verifying on the side where the first shot was made the area where the exfoliate crack has been generated and ordering the robot to travel a distance “x” and “y”, which is the horizontal and vertical distance between the focusing tube of the cutting head taken as a reference point and the plane of the laser beam of the vision system, and new shot of pressurized water-abrasive jet 15 on the crack generated by the first impact.
    2nd Cut of the slate sheets as they are exfoliated in plates of predetermined shape and size, by means of robots and heads of injection of pure water under pressure of the two cutting stations, according to a synchronized sequence and 20 alternative between robots of The following operations:
    - positioning with the help of the proximity sensor of the clamping head (19) of the cutting robot on the slate sheet exfoliated in the tilting drawer (6), capture of the sheet by means of fingers with vacuum suction cups of the head 25 clamping, and transit of the sheet to the cutting table (14) without releasing;
    - positioning on the cutting head (15) of the table and firing of a jet of pure water under pressure on the sheet attached to the suction cups of the robot holding head, creating a predetermined cutting line on the sheet by action of the movement programming of the articulated arm of the robot, which moves transversely to the water jet of the clamping head; Y
    3rd Dimensional control of the plates cut at each of the cutting stations, by means of a laser beam artificial vision system (20) on the plate or plates 35 attached to the suction cups of the cutting head of the cutting robot, and depending on its
    result, shipment of the plate or plates by the robot to the packing conveyor, or to the rejection container.
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    同族专利:
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    ES2586105B2|2017-03-07|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    GB2256612A|1991-06-11|1992-12-16|Burlington Slate Limited|Splitting of slabs or blocks|
    FR2790417A1|1999-03-05|2000-09-08|Sovemine Ingenierie|Method of splitting slate involves fixing block and applying high pressure water jet in set plane|
    ES1067861U|2008-04-24|2008-07-01|Jose Maria Hereu Pla|Cutter of stone plates |
    ES2367060A1|2008-07-17|2011-10-28|Alfonso Porto Rodríguez|Robotic machine for machining the stone and similar. |
    ES2387974A1|2010-08-13|2012-10-04|Asociación De Investigación Metalúrgica Del Noroeste - Aimen|Machine for the cutting and punching of slate pieces. |
    ES1093606U|2013-09-25|2013-11-21|Universidade De Vigo|System for the characterization of slate plates |
    TW201521932A|2013-12-13|2015-06-16|Metal Ind Res & Dev Ct|Laser-assisted machining device|
    ES1129455U|2014-09-25|2014-10-21|Promatic Milenium S.L.|Robotic cell designed especially for the cutting and milling of natural stone and similar boards |
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