• 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:
    Procedure and cyber-physical system for manipulating and machining a rigid panel, comprising: collecting, by means of a manipulator robot (1), the panel (100) from a conveyor belt (4) and introduced into a cutting machine (2); automatically carry out in the cutting machine (2) a profiling and machining process of a lateral groove in the panel (100); remove, using the robot manipulator (1), the panel of the cutting machine (2) and place it again on the conveyor belt (4). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2800799A1
    申请号:ES201930579
    申请日:2019-06-24
    公开日:2021-01-04
    发明作者:Guerra Rodolfo Haber；Romero Fernando Castaño；Jaén Alberto Villalonga
    申请人:Consejo Superior de Investigaciones Cientificas CSIC；Universidad Politecnica de Madrid；
    IPC主号:
    专利说明:

    [0002] Procedure and cyber-physical system for manipulating and machining a rigid panel
    [0004] OBJECT OF THE INVENTION
    [0006] The present invention generally belongs to the field of industrial process automation.
    [0008] A first object of the present invention is a new method that allows the handling and machining of a rigid panel to be carried out automatically in a fast and precise way.
    [0010] A second object of the present invention is a cyber-physical system capable of carrying out the described procedure.
    [0012] BACKGROUND OF THE INVENTION
    [0014] Currently, new energy efficiency requirements due to climate change are driving the remodeling of the outer covering of many buildings with the purpose of improving their thermal insulation capacities. The remodeling mainly consists of the provision of a thermally insulating cover that covers the entire exterior surface of the building. This insulating covering is formed by a plurality of rigid foam panels, whose shape is normally parallelepipedic, which are coupled to each other and to the exterior surface of the building.
    [0016] The interconnection of the panels to each other is normally carried out by means of metal profiles that fit into peripheral grooves made along the side faces of the panels. Fig. 1 shows an example of an insulating panel (100) having a square shape. As can be seen, a groove (110) a few centimeters deep runs through the center of its lateral faces (100L). This slot (110) is designed to receive a wing of a T-shaped metal profile (200), where the wing has the same length as the panel (100) and a width somewhat less than the depth of the slot (110) . Thus, when the T-shaped profile (200) is fixed to the panel (100) as shown in Fig. 2, an opposite wing of the T-shaped profile (200) protrudes perpendicularly from its lateral face (100L) for its attachment to the corresponding lateral slot (110) of a neighboring panel (100).
    [0017] For the manufacture of this type of panel, a first step of cutting the panels is normally carried out from a plate and, subsequently, the groove that runs through its four lateral faces is made. These tasks are performed in a primarily manual manner. Typically, an operator first places the plate into a cutting machine and then activates the machine to cut the plate. Once the panels have been manufactured, the operator places each panel in another cutting machine configured to produce grooves and activates said machine. As an example of the type of devices used in this context, mention may be made of the US patent US9272346B2 entitled "Portable foam panel cutting machine" or the Chinese utility model CN207027731U entitled "Foam panel cutting machine".
    [0019] A drawback of this procedure is related to the lack of precision inherent in any manual task. In particular, as shown in a simplified manner in Fig. 3, inaccuracies regarding the location of the lateral groove (110) are especially relevant. Indeed, if the lateral slot (110) is not parallel to the main face of the panel (100) adjacent to the lateral face (100L) in which it is located, then it is difficult to connect said panel (100) to a panel (100 ) contiguous with the help of a profile (200).
    [0021] Another additional drawback is related to the loss of time that occurs during the handling of the panels during the cutting process, since the operator must take each panel and place it properly in the cutting machine before proceeding to cut it using the machine. . This task is also potentially dangerous and prone to accidents.
    [0023] DESCRIPTION OF THE INVENTION
    [0025] The inventors of the present application solve the above problems through a handling and machining process that is fully automated. Specifically, the method is configured to pick up a panel from a conveyor belt, carry out a profiling and machining process of the groove, and return the panel back to the belt. In addition, the groove machining process includes an additional measuring process that ensures that the groove will be exactly parallel to the adjoining edge. Therefore, the process of the invention is not only much faster than the current manufacturing method, but it is also much more accurate.
    [0027] Some terms used throughout the description of this document are defined below. document.
    [0029] Robot manipulator: It is a programmable manipulator device that has several degrees of freedom, and that is capable of manipulating materials, parts, tools or special elements, following programmed variable trajectories to perform various tasks.
    [0031] Cutting machine: It is a 3-axis machine or device with a programmable logic device and automatic cutting tool changer that is used to shape solid parts. For example, it may be a machine tool. The machining of the part is carried out by removing a part of the material, which can be done by chip removal, stamping, cutting or EDM. The cutting machine normally has a work table and a moving head. The work table is configured to receive and immobilize the blank, while the head receives the desired tool and, by moving according to programmed trajectories, causes the machining of the part in question.
    [0033] Conveyor belt: A belt or conveyor belt, or belt conveyor, is a continuous transport system formed by a continuous belt that moves moved by rotating drums.
    [0035] Handling: This term refers to the actions that the manipulator robot performs on the panel in the different steps of the present invention, such as grabbing it, moving it, releasing it in a certain location, etc.
    [0037] Profiling: It refers to a material removal operation from the surface of the side faces of the panel to ensure that said side faces are parallel and have predetermined dimensions.
    [0039] Groove machining: Refers to making a perimeter groove along the side faces of the panel.
    [0041] Cyber-physical system: The term “cyber- physical system” refers in this document to the set of the physical system and the controller, which integrates computing, storage and communication capabilities (see, for example, the document by BR Ferrer, WM Mohammed, JL Martinez Lastra , A. Villalonga, G. Beruvides, F. Castano, and RE
    [0042] Haber, "Towards the Adoption of Cyber-Physical Systems of Systems Paradigm in Smart Manufacturing Environments" in Proceedings - IEEE 16th International Conference on industrial Informatics, INDIN 2018, 2018, pp. 792-799, https://doi.org/10.1109/INDIN.2018.8472061). In addition, current cyber-physical systems allow new strategies for monitoring manufacturing processes (see, for example, the document of A. Villalonga, G. Beruvides, F. Castano, and R. Haber, "Industrial cyber-physical system for condition -based monitoring in manufacturing processes , "in Proceedings - 2018 IEEE Industrial Cyber-Physical Systems, ICPS 2018, 2018, pp. 637-642, https://doi.org/10.1109/ICPHYS.2018.8390780), as well as new methods of optimization (see, for example, RE Haber, G. Beruvides, R. Quiza, and A. Hernandez, "A simple multi-objective optimization based on the crossentropy method 'IEEE Access, Article vol. 5, pp. 22272 -22281, 2017, Art. No.
    [0043] 8070310.https: //doi.org/ 10.1109 / ACCESS.2017.2764047).
    [0045] A first aspect of the invention is directed to a method for handling and machining a rigid panel. Normally, it is a rigid foam panel of the type used in the thermal insulation of buildings, although the invention is applicable to other types of panels. In any case, the panel is parallelepiped-shaped with an upper main face, a lower main face, and four lateral faces located between the upper and lower main faces, and is supplied through a conveyor belt. The procedure mainly comprises the following steps:
    [0047] 1. Stop the conveyor belt when the panel reaches a start position.
    [0049] The home position is a predefined position located next to a robot manipulator that, as will be described later, will manipulate the panel during the development of the method of the invention. To ensure that the conveyor belt stops at the precise moment, a first presence sensor is preferably used that detects that the panel has reached said starting position. Thus, when the presence of a panel in the starting position is detected, the stop of the conveyor belt is ordered
    [0051] 2. Pick up, by means of a manipulator robot, the panel from the starting position and place said panel resting on its lower main face in a machining position on a work table inside a cutting machine that has a programmable logic controller or a numerical control.
    [0052] In this step, therefore, the manipulator robot carries out a predefined sequence of movements where its free end approaches the upper face of the panel until contacting it, then grabs the panel, and then performs another predefined sequence of movements to move the panel to a machining position on the work table that is located inside the cutting machine. Once this is done, the robot manipulator releases the panel and exits the interior of the cutting machine.
    [0054] In principle, the panel pickup by the manipulator robot can be done in different ways depending on the type of actuator located at its free end. However, in a preferred embodiment of the invention, the robot has pneumatic fixing suction cups that allow the panel to be grasped or released depending on whether or not the vacuum is applied. Therefore, in this specific case, the step of picking up and releasing the panel by the manipulator robot is carried out by activating or deactivating a pneumatic actuator that causes the suction of the suction cups arranged at the free end of the manipulator robot.
    [0056] Fix the panel to the work table of the cutting machine.
    [0058] This step can also be carried out in different ways as long as the fixing is firm enough to avoid any movement of the panel during the subsequent machining process. For example, in a particularly preferred embodiment of the invention, the work table also comprises pneumatic fixing suction cups to hold or release the panel. Therefore, in this case, the step of fixing or releasing the panel on the work table of the cutting machine is carried out by activating or deactivating a pneumatic actuator that causes the suction cups arranged on the work table to be sucked.
    [0060] The method of the invention may further comprise a step of detecting, by means of a second presence sensor, that the panel is on the work table before proceeding to the step of fixing the panel to said work table. This makes it possible to safely concatenate the actions carried out by the manipulator robot with those carried out by the cutting machine, since it only begins to carry out its part of the process when it detects that the panel is effectively located on the work table.
    [0061] Take, by means of a cutting machine head, a cutter from a tool magazine and make a profiling of the side faces of the panel with it.
    [0063] The cutting machine has a tool magazine that houses one or more tools, and is configured so that the head picks up one or another tool depending on the task to be carried out. In this step, the head of the cutting machine performs a sequence of predefined movements in which it approaches the tool magazine and couples the cutter to a fixing element designed for this purpose that is located at its end, for example, in the shape clamp or similar.
    [0065] Once the cutter is attached to the head, it moves to the machining position where the panel is located on the work table and, once the cutter is activated, it runs along the four side faces of the panel. In this way, a complete profiling of the four lateral faces is carried out, consisting of an extraction of material to ensure that they have certain preset dimensions.
    [0067] Determine, by means of a distance sensor fixed to the head of the cutting machine and oriented vertically downwards, the position of the edges of the panel between the upper main face and the lateral faces.
    [0069] Indeed, in order to ensure that the groove that is machined in a later step is perfectly parallel to said edges, it is important to precisely locate the position of the edges of the panel. As will be described later in this document, this enables the slot positioning or orientation errors that occur in the prior art to be avoided. Therefore, in the present invention, a distance sensor is attached to the head of the cutting machine and used to measure the position of the edges.
    [0071] The measurement of the position of the edges could be carried out in different ways, although preferably this step comprises:
    [0072] - Position the head so that the distance sensor is in a position vertically above one edge of the panel.
    [0073] - Move the head in parallel to the edges of the panel so that a distance sensor measurement zone runs along the edges of the panel, determining at all times the distance between the distance sensor and the edges of the panel.
    [0075] 6. Release the cutter in the tool magazine using the cutting machine head and replace it with a cutting disc also stored in the tool magazine.
    [0077] 7. Machine, by means of the cutting disc attached to the cutting machine head, a perimeter groove along the side faces of the panel, where the position of the edges of the panel determined in the previous step is used to ensure that the Perimeter groove is parallel on each lateral face to the corresponding edge between said lateral face and the upper main face.
    [0079] More specifically, the numerical control module of the cutting machine brings the cutting disc to a position located a certain distance below the position of the edge adjacent to the lateral face in which the slot is to be machined. Then, once the rotation of the cutting disc is activated, the head moves said cutting disc along the side face, always maintaining that distance. In this way, it is ensured that the distance between the upper face and the groove is the desired one for each of the grooves.
    [0081] 8. Release the fastening of the panel to the work table of the cutting machine. To do this, the suction applied to the suction cups located on the work table of the cutting machine is stopped.
    [0083] 9. Using the robot manipulator, pick up the panel from the machining position and drop it at the starting location on the conveyor belt. This implies the realization of a preprogrammed sequence of movements by the robot manipulator, which re-enters the cutting machine and, thanks to the activation of the suction cups at its free end, grasps the panel. The robot manipulator then pulls the panel out of the cutting machine and drops it onto the conveyor belt in the same position from which it was picked up previously.
    [0085] This procedure allows the grooves of rigid panels to be machined faster and more accurately than using the current manual procedure.
    [0086] A second aspect of the present invention is directed to a cyber-physical system for manipulating and machining a panel of the type described above. The system mainly comprises a conveyor belt, a cutting machine, a manipulator robot, and a central processing means that controls the operation of the above elements. Each of them is described in greater detail below:
    [0088] a) Conveyor belt
    [0090] This is the conveyor belt through which the panel is supplied. Furthermore, according to a particularly preferred embodiment of the invention, the conveyor belt further comprises a first presence sensor configured to detect that the panel has reached the start position. Thus, when said presence sensor indicates that a panel has reached the starting position located next to the manipulator robot, the stop of the conveyor belt is ordered.
    [0092] b) Cutting machine
    [0094] The cutting machine can have three axes and a moving head or spindle, as well as a programmable computing device with communications, for example an open numerical control with wired and wireless communications. It can be, for example, a machine tool.
    [0096] The cutting machine is configured to receive the panel in a machining position of a work table resting on the lower main face. For this, it can have an opening or window through which the manipulator robot can enter to leave or collect the panel.
    [0098] Additionally, the cutting machine comprises a distance sensor fixed to the head and oriented vertically downwards to determine the position of the edges of the panel between the upper main face and the lateral faces, that is, the position of the upper edges of the panel having Take into account your position on the work table.
    [0100] The cutting machine also includes a cutter that can be attached to the head to profile the panel and a cutting disc that can be attached to the head to machine a perimeter groove. along the side faces of the panel. During the slot machining process, the position of the panel edges determined above is used to ensure that the perimeter slot is parallel on each side face to the corresponding edge between said side face and the upper main face, avoiding possible inaccuracies in regarding the position or orientation of the groove.
    [0102] Fixing the panel to the work table can be implemented in different ways as long as they allow automatic coupling / uncoupling at will. For example, according to a preferred embodiment of the invention, the worktable of the cutting machine comprises a pneumatic actuator configured to cause suction of suction cups arranged thereon in the machining position.
    [0104] According to a particularly preferred embodiment of the invention, the cutting machine further comprises a presence sensor oriented towards the machining position on the work table to detect the presence of a panel inside it. In this way, possible errors are avoided in case the robot manipulator has not properly positioned the panel on the work table.
    [0106] c) Robot manipulator
    [0108] The robot manipulator is configured to, before the machining process, pick up the panel from a starting position of the conveyor belt and place it on a work table of the cutting machine and, after the machining process, pick up the panel from the machining position on the work table of the cutting machine and place it back in the starting position of the conveyor belt. In principle, any manipulator robot capable of performing these tasks can be used, for example a six-degree-of-freedom manipulator robot.
    [0110] The gripping mechanism of the robot manipulator can be any as long as it allows the panel to be grasped and released at will. However, in a particularly preferred embodiment of the invention, the robot manipulator comprises a pneumatic actuator configured to cause the suction of suction cups arranged at its free end to collect the panel.
    [0112] d) Central processing medium
    [0113] It is a processing means that controls the operation of the conveyor belt, the cutting machine and the robot manipulator. In principle, the processing means can be of any type as long as it has the computing power and a sufficient number of inputs and outputs to manage the operation of the system of the invention. For example, in preferred embodiments of the invention it may be a microcontroller, a microprocessor, an ASIC, a DSP, an FPGA, a personal computer, or others.
    [0115] BRIEF DESCRIPTION OF THE FIGURES
    [0117] Fig. 1 shows a perspective view of a rigid insulation panel according to the prior art and a profile that fits into the groove of said panel.
    [0119] Fig. 2 shows a perspective view of the rigid insulation panel of Fig. 1 according to the prior art already with the profile coupled to its groove.
    [0121] Fig. 3 shows a perspective view of a rigid insulation panel according to the prior art with a poorly positioned slot.
    [0123] Fig. 4 shows a schematic diagram of the system according to the present invention.
    [0125] Fig. 5 shows a flow chart of the communications between the different elements that make up the cyber-physical system of the present invention.
    [0127] Fig. 6 shows a perspective view of the cyber-physical system of the invention with the rigid isolation panel located in the starting position before starting the procedure.
    [0129] Fig. 7 shows a perspective view of the cyber-physical system of the invention where the robotic arm has already picked up the rigid isolation panel.
    [0131] Fig. 8 shows a perspective view where the robotic arm introduces the rigid insulation panel in the machining position inside the machine tool.
    [0133] Fig. 9 shows a perspective view of the interior of the machine tool where the head has just picked up the cutter from the tool magazine.
    [0134] Fig. 10 shows a perspective view of the interior of the machine tool during the profiling process of the rigid insulation panel.
    [0136] Fig. 11 shows a perspective view of the interior of the machine tool during the process of detecting the position of the edges of the rigid insulation panel.
    [0138] Fig. 12 shows a perspective view of the interior of the machine tool at the beginning of the machining of the groove in the rigid insulation panel.
    [0140] Fig. 13 shows a perspective view of the interior of the machine tool during the machining process of the groove of the rigid insulation panel.
    [0142] Fig. 14 shows a perspective view of the system of the invention where the robotic arm has picked up the rigid insulation panel from inside the machine tool.
    [0144] Fig. 15 shows a perspective view of the system of the invention during the process of removing the rigid insulation panel.
    [0146] Fig. 16 shows a perspective view of the system of the invention with the rigid insulation panel already positioned again in the starting position.
    [0148] PREFERRED EMBODIMENT OF THE INVENTION
    [0150] An example of a cyber-physical system and method according to the present invention is described below with reference to the attached figures. In this specific example, the cutting machine is a machine tool (2), although it is important to note that it would be possible to use other types of machines as a cutting machine.
    [0152] Fig. 4 schematically shows the system of the present invention formed by the robot manipulator (1), the conveyor belt (4), the machine tool (2), and the central processing means (C2). The figure shows the electromechanical devices (D), actuators (A), sensors (S) and computing devices (C) that each one of said elements includes.
    [0154] The conveyor belt (4) is controlled by a computing device (C4) with wireless communication capacity, and which is also connected to the corresponding electromechanical actuators and devices. Specifically, the conveyor belt (4) comprises an electromechanical device (D8) for the longitudinal movement of the belt, an actuator (A8) configured to activate the motor that causes the movement of the belt, and a first presence sensor (S1) configured to detect the presence of the panel in the home position (PI) adjacent to the robot manipulator (1).
    [0156] The manipulator robot (1) is controlled by a computing device (C3) with wireless communication capacity, and which is also connected to the different actuators and electromechanical devices that comprise it. Specifically, an electromechanical device (D6) that allows the manipulator robot (1) to move with six degrees of freedom within its six degrees of freedom, an actuator (A6) configured to activate the motor that causes the movement of the robot, and a actuator (A7) configured to activate the pneumatic grip drive of the free end, or gripper, of the robot manipulator (1).
    [0158] The machine tool (2) is controlled by a computing device (C1) also capable of wireless communication and connected to the corresponding actuators and electromechanical devices. In this case, it includes two devices (D1, D2, D3) respectively for the longitudinal movement of the cutting tool on the X axis, on the Y axis, on the Z axis, and the rotation on the Z axis, and respective actuators ( A1, A2, A3, A4) of the respective motors for the movement in the X axis, in the Y axis, in the Z axis, and for the rotation around the Z axis, an actuator (A5) for the activation of the pneumatic drive grip of the panel on the work table, the second presence sensor (S2) of the panel on the work table, the distance sensor (S3) that detects the position of the edges of the panel. The machine tool (2) also comprises a magazine that stores at least the two cutting tools that will be used when carrying out the process of the invention, specifically a cutter (H1) whose length is greater than the height of the panel, and a cutting disc (H2) whose diameter is greater than the maximum grooving depth (both elements are shown in Figs. 9-13).
    [0160] Finally, the central processing means (C2) is in wireless communication with the computing devices (C1, C3, C4) of each of the elements to control their operation according to the procedure described in this document.
    [0162] The following table shows in a compact way a list of all the electromechanical devices (D), actuators (A), sensors (S) and computing devices (C) of the system of this example:
    [0163] Devices Devices Electromechanical tools Actuators (A) Sensors (S) for cutting computation
    [0165] D1 - Device A1 - Actuator S1 - Sensor of C1-Device H1-Milling cutter for motor movement for the presence of the longitudinal length computation in the movement in the panel on the machine belt of 3 greater than the X axis of the X axis conveyor axes total height tool of cut panel on panel A2 - S2 actuator - C2 sensor - rigid.
    [0166] of the motor for the presence of the
    [0167] D2 - Movement device on the panel in the calculation H2 - disk for the movement of the Y axis of the general table for longitudinal cutting in the machine the diameter of the Y axis of the A3 - Coordination actuator and greater than tool on the motor for the S3 - Panel movement depth synchronization sensor in the maximum distance of the Z axis C3- grooved. D3 - Device Device
    [0168] for movement A4 - Longitudinal and motor counting actuator for the robot
    [0169] rotatable on the Z axis rotated on the manipulator axis
    [0170] of the Z tool.
    [0171] on panel C4 -A5 - Actuator
    [0172] D6 - Device for the computation of the
    [0173] for belt activation movement
    [0174] within its 6 conveyor attachment
    [0175] pneumatic degrees of freedom
    [0176] rigid panel robot
    [0177] manipulator on the table or
    [0178] bench of the
    [0179] D8 - Machine device 3
    [0180] for movement axes.
    [0181] longitudinal of the
    [0184] Fig. 5 schematically shows the communication between each of the elements described above. As can be seen, the central processing means (C2) is in direct communication with the computing devices (C1, C3, C4) respectively of the machine tool (2), the conveyor belt (4) and the manipulator robot (one). In turn, each of the computing devices (C1, C3, C4) in communication with the different actuators (A) and sensors (S). Finally, the actuators (A) activate the electromechanical devices (D) that cause the actions carried out by the machine tool (2), the conveyor belt (4) and the manipulator robot (1). Additionally, the sensors (S) provide information about said actions.
    [0186] Next, the process of the invention is described in a simplified manner with reference to Figs. 6-16.
    [0188] In the first place, the conveyor belt (4) initially receives the panel (100) to be machined at a constant speed that is synchronized with the output of the previous stage of the industrial process. When the panel (100) has reached the start position (PI) at the end of the conveyor belt (4) adjacent to the robot manipulator (2), the presence sensor (S1) detects it and sends a signal to the detection device. compute (C4) of the conveyor belt (4).
    [0189] Then, the computing device (C4) orders, through the actuator (A8), the stopping of the electromechanical device (D8), that is, of the motor that moves the belt. This situation is shown in Fig. 6.
    [0191] Next, the computing device (C4) communicates to the central processing means (C2) that the panel (100) is correctly positioned at the end of the conveyor belt (4). The central processing means (C2) then communicates this fact to the computing device (C3) of the manipulator robot (1). The computing device (C3) activates the actuator (A6) to start the electromechanical device (D6) corresponding to the arm of the robot manipulator (1). As a consequence, the electromechanical device (D6) activates a program / sequence of movements to go to the initial position (PI) of the panel (100) on the conveyor belt (4) and, when it is located on it, the computing device ( C3) commands the activation of the actuator (A7) corresponding to the suction on the gripper (see Fig. 7). This causes pneumatic gripping of the panel (100) with the gripper of the manipulator robot (1). As can be seen in Fig. 8, the sequential program continues with the transfer of the panel (100) to the work table (23) of the machine tool (2) by the manipulator robot (1). Once the panel is on the table, the computing device (C3) of the robot manipulator (1) deactivates the actuator (A7) and commands through the actuator (A6) that the electromechanical device (D6) return to its rest position . Finally, the computing device (C3) informs the central processing means (C2) that the panel (100) is correctly positioned on the work table (23) of the machine tool (2).
    [0193] Once the panel (100) is positioned, the central processing means (C2) indicates to the computing device (C1) of the machine tool (2) to start the next step. The second presence sensor (S2) sends a signal to the computing device (C1) that indicates that the presence of the panel (100) has been detected in the machining position (PM) on the work table, and it is there instant when the computing device (C1) of the machine tool (2) orders to activate the actuator (A5) corresponding to the pneumatic fixing of the panel (100) on the work table (23).
    [0195] Subsequently, as shown in Fig. 9, the computing device (C1) of the machine tool (2) orders the head (21) to take the milling cutter (H1) from the tool magazine (24) for profiling. It then instructs the actuators (A1, A2, A3, AR) of the motor for movement in the X, Y, Z axis and rotation on Z to activate the respective electromechanical devices (D1, D2, D3) so that they continue the reference of positions / trajectory with the previously set speeds to perform the profiling or contouring of the panel (100).
    [0196] This path comprises traversing each of the side faces (100L) of the panel (100), as represented in Fig. 10.
    [0198] Once the profiling of the four lateral faces (100L) of the panel (100) is completed, the computing device (C1) activates the process of measuring the height of the panel (100) by means of the distance sensor (S3). To do this, the actuators (A1, A2, A3, A4) are activated which, in turn, start the devices (D1, D2, D3) to follow the reference of previously set positions that allow the scanning or measurement of the panel height (100) along its upper edges. This step is shown schematically in Fig. 11.
    [0200] Once the position of the upper edges of the panel (100) has been determined, the computing device (C1) uses that information to determine the height at which the slot should be made. For this, a simple algorithm can be used, for example, a simple mathematical operation or based on Fuzzy Logic. Then, it orders the head (21) to approach the tool magazine (24) again to change the cutter (H1) and replace it with a cutting disc (H2). Once the change is made, the computing device (C1) orders the head (21) to follow a path around the panel (100) in order to make the slot. Figs. 12 and 13 show two moments of the machining process of the slot (110). When the perimeter groove (110) has already been completed, the counting device (C1) deactivates the actuator (A5) to deactivate the pneumatic clamping and alerts the central processing medium (C2) that the machining process (profiling and grooving) is over.
    [0202] Finally, the central processing means (C2) orders the collection of the panel to the computing device (C3) of the manipulator robot (1). Then, the computing device (C3) orders the actuation of the actuator (A6) so that the electromechanical device (D6) picks up the already profiled and grooved panel (100) from inside the machine tool (2). When the gripper is close to the panel, the counting device (C3) activates the actuator (A7) to actuate the pneumatic grip of the panel. When the panel is fixed, as shown in Fig. 14, the counting device (C3) commands the electromechanical device (D6), through the actuator (A6), to move the panel (100) already profiled and grooved from the work table (23) back to the starting position (PI) on the conveyor belt (4), as seen in Figs. 15 and 16.
    权利要求:
    Claims (12)
    [1]
    1. Procedure for handling and machining a rigid panel, where the panel (100) has a parallelepiped shape with an upper main face (100S), a lower main face (100I), and four lateral faces (100L) between the main faces upper and lower (100S, 100I), and where the panel (100) is supplied through a conveyor belt (4), characterized in that it comprises:
    - stopping the conveyor belt (4) when the panel (100) reaches a starting position (PI);
    - picking up, by means of a manipulator robot (1), the panel (100) from the starting position (PI) and placing said panel (100) resting on its lower main face (100I) in a machining position (PM) on a work table (23) inside a cutting machine (2);
    - fixing the panel (100) to the work table (23) of the cutting machine (2);
    - taking, by means of a head (21) of the cutting machine (2), a milling cutter (H1) of a tool magazine (24) and making with it a profiling of the side faces (100L) of the panel (100);
    - determining, by means of a distance sensor (S3) fixed to the head (21) of the cutting machine (2) and oriented vertically downwards, the position of the edges of the panel (100) between the upper main face (100S) and the side faces (100L);
    - releasing, by means of the head (21) of the machine tool (2), the cutter (H1) in the tool magazine (24) and replace it with a cutting disc (H2) also stored in the tool magazine;
    - Machining, by means of the cutting disc (H2) coupled to the head (21) of the cutting machine, a perimeter groove (110) along the side faces (100L) of the panel (100), where the position of the edges of the panel (100) determined in the previous step is used to ensure that the perimeter groove (110) is parallel on each side face (100L) to the corresponding edge between said side face (100L) and the upper main face (100S) ;
    - release the fastening of the panel (100) to the work table (23) of the cutting machine (2); Y
    - Using the manipulator robot (1), pick up the panel (100) from the machining position (PM) and drop it at the starting location (PI) on the conveyor belt (4).
    [2]
    2. Method according to claim 1, wherein the step of stopping the tape conveyor (4) when the panel (100) reaches a start position (PI) is carried out when a first presence sensor (S1) detects that the panel (100) has reached the start position.
    [3]
    3. Method according to any of the preceding claims, wherein the step of picking up and releasing the panel (100) by the manipulator robot (1) is performed by activating or deactivating a pneumatic actuator (A7) that causes suction cups (11) arranged at a free end of the robot manipulator (1).
    [4]
    4. Method according to any of the preceding claims, further comprising a step of detecting, by means of a second presence sensor (S2), that the panel (100) is on the work table (23) before proceeding to the step of fixing the panel (100) to said work table (23).
    [5]
    5. Procedure according to any of the preceding claims, wherein the step of fixing and releasing the panel (100) on the work table (23) of the machine tool (2) is carried out by activating or deactivating a pneumatic actuator (A5 ) that causes the suction of some suction cups arranged on the work table (23).
    [6]
    6. Method according to any of the preceding claims, wherein the step of determining the position of the edges of the panel (100) comprises:
    - positioning the head (21) so that the distance sensor (S3) is in a position located vertically above an edge of the panel (100);
    - move the head (21) in parallel to the edges of the panel (100) so that a distance sensor measurement zone (S3) runs along the edges of the panel (100), determining at all times the distance between the distance sensor (3) and the edges of the panel (100).
    [7]
    7. Cyberphysical manipulation and machining system of a rigid panel (100) configured to implement the method of any of the preceding claims, where the panel (100) has a parallelepiped shape with an upper main face (100S), a main face ( 100I) lower, and four lateral faces (100L) between the upper and lower main faces (100S, 100I), characterized by comprising:
    - a conveyor belt (4) on which the panel (100) is supplied;
    - a cutting machine (2) configured to receive the panel (100) in a machining position (PM) on a work table (23) resting on the main face (100I) lower, where the cutting machine (2) comprises a distance sensor (S3) fixed to the head (21) and oriented vertically downwards to determine the position of the edges of the panel (100) between the upper main face ( 100S) and the lateral faces (100L), and where the cutting machine (2) comprises a milling cutter (H1) attachable to the head (21) to profile the panel (100) and a cutting disc (H2) attachable to the head ( 21) to machine a perimeter groove (110) along the side faces (100L) of the panel (100), where the position of the edges of the panel (100) determined above is used to ensure that the perimeter groove (110) it is parallel on each lateral face (100L) to the corresponding edge between said lateral face (100L) and the upper main face (100S);
    - a manipulator robot (1) configured to, before the machining process, pick up the panel (100) from a starting position (PI) of the conveyor belt (4) and insert it on a work table (23) of the machine -tool (23) and to, after the machining process, pick up the panel (100) from the machining position (PM) on the work table (23) of the cutting machine (2) and place it back in the start position (PI) of the conveyor belt (4), and
    - a processing means (C2) that controls the operation of the conveyor belt (4), the cutting machine (2) and the manipulator robot (1).
    [8]
    Cyber-physical system according to claim 7, wherein the conveyor belt (4) comprises a first presence sensor (S1) configured to detect that the panel (100) has reached the starting position.
    [9]
    9. Cyber-physical system according to any of claims 7-8, wherein the manipulator robot (1) comprises a pneumatic actuator (A7) configured to cause suction of suction cups (11) arranged at its free end to collect the panel ( 100).
    [10]
    10. Cyber-physical system according to any of claims 7-9, where the cutting machine (2) further comprises a presence sensor (S2) oriented towards the machining position (PM) on the work table (23) to detect the presence of a panel (100) inside.
    [11]
    11. Cyber-physical system according to any of claims 7-10, wherein the work table (23) of the cutting machine (2) comprises a pneumatic actuator (A5) configured to cause the suction of suction cups arranged on it. in the machining position (PM).
    [12]
    12. Cyber-physical system according to any of claims 7-11, wherein the manipulator robot (1) has six degrees of freedom.
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    同族专利:
    公开号 | 公开日
    ES2800799B2|2021-05-13|
    WO2020260740A1|2020-12-30|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US3757617A|1972-03-16|1973-09-11|J Fabbri|Foam cutting apparatus|
    US5943775A|1995-11-13|1999-08-31|Qb Technology|Synthetic panel and method|
    US20100011701A1|2008-07-17|2010-01-21|Greensteel Technology, Inc.|Automated foam panel apparatus, blade, and associated method|
    EP2409818A1|2010-07-20|2012-01-25|2BG S.r.l.|Automated system and device for trimming photovoltaic modules|
    法律状态:
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    申请号 | 申请日 | 专利标题
    ES201930579A|ES2800799B2|2019-06-24|2019-06-24|Procedure and cyber-physical system for manipulating and machining a rigid panel|ES201930579A| ES2800799B2|2019-06-24|2019-06-24|Procedure and cyber-physical system for manipulating and machining a rigid panel|
    PCT/ES2020/070412| WO2020260740A1|2019-06-24|2020-06-25|Cyber-physical method and system for the manipulation and machining of a rigid panel|
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