• 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:

    公开号:BE1020915A3
    申请号:E201300462
    申请日:2013-07-02
    公开日:2014-09-02
    发明作者:Rafael Dequeker；Elsacker Jan Van；Pascal Degezelle
    申请人:Optidrive Nv；
    IPC主号:
    专利说明:

    METHOD AND INSTALLATION FOR ANGLE OF CORNERS Technical field
    The invention relates to a method for automatically chamfering corner edges of articles, more particularly a method for chamfering upstanding corner edges of articles from marble and related types of stone, ceramic materials and glass, such as plates and slabs. The invention also relates to an installation consisting of a grinding station and a manipulator for processing corner edges of articles according to the method.
    BACKGROUND OF THE INVENTION
    Edge machines or edge finishing cells are used for processing edges of slabs, such as marble slabs and slabs of related types of stone. The name "marble and related types of stone" refers to marble, travertine, granite, composite stone and similar materials of natural or non-natural origin. These materials are used in furniture such as kitchen tops, in buildings such as stairs, sills, window sills and in monuments such as tombs.
    The slices typically have a thickness that varies between 5 and 200 mm. The edges are formed, for example, by sawing operations of a sawing machine that brings the large slices to the desired size for the application. The resulting saw edges are rough and have a surface quality that is very inferior to that of the top surface of the slab that is typically polished, honed, bush hammered, etc.
    It usually requires several consecutive steps to arrive at a finished edge that has a surface quality that is similar to that of the top surface of the slab. Each step uses an abrasive medium with a specific grain size that varies from coarse to super fine.
    The linear edge that occurs where two surfaces with different orientation intersect, for example the top surface and the surface of the raised edge, are also processed by edge machines or edge finishing cells.
    Various types of edge machines are traditionally used in the brick industry. On the one hand, they can be divided according to the number of spindles that can be used, for example one spindle or multiple spindles. On the other hand, they differ according to the work table, either a work table on which the articles are fixedly arranged, or a work table on which the articles are arranged so as to be movable, for example via a feed-through system. Recently an installation consisting of a grinding station and a manipulator was introduced in the market for edge finishing devices.
    Single-spindle edge machines generally have a fixed work table on which the item is placed and a movable spindle that drives the grinding wheel. A edging machine with one spindle is a very versatile machine. It is possible to process a very wide range of edges, including straight and curved edges and different profiles, such as flat and rounded edges, as well as edges of a recess in the article. The successive sanding passes that are necessary to achieve the desired surface quality are carried out individually one after the other, the entire edge being machined each time and a tool change takes place between each sanding pass. The tool change occurs either manually or automatically. This type of edge machine is typically used for single piece production or for a small series.
    Multiple spindle edging machines generally have a work table on which the edges of one or more marble or related stone articles are subjected to a polishing operation by a plurality of grinding discs or similar abrasive media that are sequentially placed along one side of the work table. To perform the polishing operation, contact is required between the abrasive media and the workpiece. To this end, the workpiece is oriented with the edge to be machined towards the abrasive media and brought into light contact with it. Such machines are either equipped with a feed system that brings the articles via a linear movement close to each non-displaceably arranged abrasive medium, whereby each medium can process the edge to be polished over its entire length, or the multiple spindles are arranged so as to be movable together be able to finish the entire edge of the articles that are permanently arranged via a linear movement. Edging machines with multiple spindles can process edges in a highly automated manner and are therefore suitable for machining parts in large series. The loading and unloading of the machine is typically done manually.
    Although edging machines with multiple spindles can process edges of large-sized pieces, it is difficult to machine edges with small dimensions. EP 1 316 390 discloses a guidance system that can be used on edge machines for articles made of marble or related types of stone and that allows polishing edges with smaller dimensions in an automatic manner. To this end, the articles are placed parallel to each other, side by side, in the guide system, with the short side oriented towards the grinding wheels.
    The line-shaped edges between two raised edge surfaces, typically found at the corner of an article, such as a slab, are not machined on a multi-spindle edge machine because the machine design is not suitable for this finish.
    The edge finishing cell of Figure 8 consisting of a grinding station and an articulated robot with vacuum gripper is a fully automatic handling and edge finishing installation. The grinding station has a plurality of grinding discs or similar abrasive media that are sequentially placed along one side of the station. The robot manipulator takes an individual marble-like slab from a predetermined input side, such as a conveyor belt, a turntable or a pallet, moves the article for each edge to be machined through the grinding station and thereby rotates the edge to be machined to the abrasive media and thereby brings the edge to be machined edge in (light) contact with the aforementioned abrasive media. When all the desired edges have been processed, the robot manipulator brings the item to the output side, such as a conveyor belt, a turntable or a pallet. In order to be able to process all edges, including line-shaped edges, more specifically line-shaped edges between two upright edge surfaces typically present at the corners of an article, it is necessary, according to the prior art, to refocus the grinding station with respect to the articulated robot (Figure 9). The very short linear corner edge is machined in the same way as the long linear edges between the top surface of the slab and the raised edge surfaces. The linear edge is oriented substantially parallel to the feed direction F. Each spindle with grinding wheel has an axis of rotation R which is almost normal in the feed direction F. The linear edge is chamfered when it comes into light contact with at least one of the abrasive media of the spindles that are successively placed along one side of the station, said one side being substantially parallel to the feed direction F. In order for the robot to have the short linear edge could bring into contact with all abrasive media successively placed along one side of the station, a reorientation of the grinding station with respect to the robot through an angle of 90 ° is necessary.
    EP 1 491 288 describes a method for chamfering a plate-like article, in particular a peripheral edge of a plate-like article, wherein use is made of a robot and a chamfering machine with a grinding wheel. To this end, the peripheral edge of the article is brought into contact with the peripheral edge of the grinding wheel. The method describes the trajectory traversed by the robot hand to process a full peripheral edge of a plate-shaped article. The chamfering machine described in EP 1 491 288 and the way in which the peripheral edges are finished on the sheath or circumference of the grinding wheel clearly differ from the grinding station and the way in which the grinding wheels are used to finish the edges of articles as stated in this document. The grinding station is more versatile than a bending machine. With the grinding station, edges can also only be ground flat, without the line-shaped edges being chamfered. The method and arrangement as described in EP 1 491 288 would orient an upright linear corner edge along the axis of rotation of the grinding wheel.
    Summary of the invention
    The present invention offers a solution to the difficulties concerning the finishing of the line-shaped edge between two upright edge surfaces of articles, ie an upright corner edge or line-up upright edge edge, by using an installation consisting of a grinding station with at least one abrasive medium, for example at least one two sanding media, and a manipulator that handles the article; a method in which said linear edge comes into light contact with said at least one grinding medium, said linear edge being oriented substantially parallel to the direction N which is substantially normal on both the feed direction F and on the axis of rotation R of said grinding medium.
    The line-shaped edge between two upright edge faces of the article being processed can also be moved during the processing in the direction N. By working in this way, a second feeding direction N is defined.
    The invention has the very interesting consequence that a refocusing of the grinding station with respect to the manipulator is eliminated in order to bring the short linear edge into contact with all abrasive media which are successively placed along one side of the station.
    In a first aspect, the present invention provides a method for chamfering an upright corner edge 5 of a plate-shaped article 1 by means of an installation comprising: a grinding station 8 with at least two rotating sanding media 10 arranged in line, or substantially in line, which feed direction Define F, parallel, or nearly parallel, with the center line 11 of the abrasive media 10 arranged in line, and an axis of rotation R, orthogonal, or substantially orthogonal, with the surface of the abrasive media 10, where F and R are orthogonal, or substantially orthogonal to be; and a manipulator 13 that uses the article 1; the method comprising contacting the upstanding corner edge 5 with the surface of an abrasive medium 10 or at least one abrasive medium 10; wherein the orientation of the upstanding corner edge 5 is parallel, or is substantially parallel, with an axis N which is orthogonal, or substantially orthogonal, with F and R.
    In another aspect, the present invention provides an installation for chamfering an upstanding corner edge 5 of a plate-shaped article 1, comprising: a grinding station 8 with at least two rotating sanding media 10 arranged in line, or substantially in line, which feed direction F, define parallel, or substantially parallel, with the center line 11 of the abrasive media 10 arranged in line, and an axis of rotation R, orthogonal, or substantially orthogonal, with the surface of the abrasive media 10, wherein F and R are orthogonal, or are substantially orthogonal; and a manipulator 13 suitable for handling the article 1; wherein the base of the manipulator 13 relative to the grinding station 8 is arranged in a plane orthogonal, or substantially orthogonal, on the center line 11 of the abrasive media 10 arranged in line.
    In a further aspect, the present invention provides for the use of an installation comprising: a grinding station 8 with at least two rotating sanding media 10 arranged in line, or substantially in line, which feed direction F, parallel, or substantially parallel, to the center line 11 of the abrasive media 10 disposed in line and an axis of rotation R, orthogonal, or substantially orthogonal, with the surface of the abrasive media 10, wherein F and R are orthogonal or substantially orthogonal; and a manipulator 13 suitable for handling the article 1; wherein the base of the manipulator 13 relative to the grinding station 8 is arranged in a plane orthogonal, or substantially orthogonal, on the center line 11 of the abrasive media 10 arranged in line; for chamfering a raised corner edge 5 of a plate-shaped article 1.
    In an embodiment of the method, installation or use according to the invention as described herein, the plate-shaped article is marble or a related type of stone, ceramic material or glass.
    In an embodiment of the method, installation or use according to the invention as described herein, the manipulator comprises an articulated robot, preferably with a vacuum gripper. In a further embodiment as described above, axis 1 of the articulated robot is arranged with respect to the grinding station in a center perpendicular plane, or substantially in a center perpendicular plane, of the center line of the abrasive media arranged in line.
    In an embodiment of the method, installation or use according to the invention as described herein, the abrasive media comprise grinding wheels.
    In an embodiment of the method, installation or use according to the invention as described herein, the manipulator brings the raised corner edge in a direction parallel, or substantially parallel, with axis of rotation R in contact with the surface of the respective abrasive media, or brings the manipulator the raised corner edge in contact with the surface of the respective abrasive media according to a vector composed of F and R.
    In one embodiment of the method, installation or use according to the invention as described herein, the manipulator moves the raised corner edge parallel, or substantially parallel, with axis N during contact with the surface of the respective abrasive media.
    In an embodiment of the method, installation or use according to the invention as described herein, the manipulator moves the raised corner edge parallel, or substantially parallel, with axis F during contact with the surface of the respective abrasive media.
    In an embodiment of the method, installation or use according to the invention as described herein, the length of the raised corner edge is 2% to 150%, preferably 2% to 50% of the diameter of the surface of the abrasive medium, the abrasive medium preferably has a circular, or substantially circular, surface.
    In an embodiment of the method, installation or use according to the invention as described herein, the raised corner edge is sequentially brought into contact with the surface of the abrasive media, the orientation of the raised corner edge being parallel, or substantially parallel, with an axis N which is orthogonal, or substantially orthogonal, with F and R.
    In an embodiment of the method, installation or use according to the invention as described herein, the base of the manipulator is arranged with respect to the grinding station in a center perpendicular plane, or substantially in a center perpendicular plane, of the center line of the abrasive media arranged in line.
    In an embodiment of the method, installation or use according to the invention as described herein, the term substantially permits a deviation of maximum 30 °, preferably maximum 20 °, more preferably maximum 5 °.
    In an embodiment of the method, installation or use according to the invention as described herein, the term substantially permits a deviation of maximum 35%, preferably maximum 20%, more preferably maximum 5%.
    Description of the figures
    The features and advantages of the invention are elucidated with reference to the following figures.
    Figure 1A shows an article of marble or related types of stone with straight edges, raised corner edges, and flat edge profiles.
    Figure 1B shows an article from marble or related types of stone with beveled straight edges and beveled corner edges.
    Figure 2 outlines a typical layout of a grinding station with multiple spindles. Figure 3 shows the standard weighing process of a flat edge of a marble-like slab at a multi-spindle grinding station where the manipulator handles the slab.
    Figure 4 shows the standard weighing process of a linear straight edge of a marble-like slab at a multi-spindle grinding station with the manipulator handling the slab.
    Figure 5 shows the standard balancing process of a line-up upright corner edge of a marble-like slab on a multi-spindle grinding station with the manipulator handling the slab.
    Figure 6A shows the finish of a short linear raised corner edge of a marble-like slab where the short linear raised corner edge is oriented according to the method of the invention to a multi-spindle grinding station where the manipulator handles the slab and moves from abrasive medium to abrasive medium.
    Figure 6B shows the finish of a short linear raised corner edge of a marble-like slab where the short linear raised corner edge is oriented according to the method of the invention to a multi-spindle grinding station where the manipulator handles the slab and moves from abrasive medium to abrasive medium according to an alternative manner.
    Figure 6C shows the finish of a short linear raised corner edge of a marble-like slab where the short linear raised corner edge is oriented according to the method of the invention to a grinding station with multiple spindles where the manipulator handles the slab and moves from abrasive medium to abrasive medium according to a still in a different way.
    Figure 7 shows an alternative finish of a short line-up upright corner edge of a marble-like slab according to the method of the invention on a grinding station with multiple spindles where the manipulator handles the slab.
    Figure 8 shows an edge finishing cell consisting of a grinding station and an articulated robot with vacuum gripper that processes a straight edge.
    Figure 9 shows an edge finishing cell consisting of a grinding station and an articulated robot with vacuum gripper that processes a short line-up upright corner edge of an article according to the prior art.
    Figure 10A depicts an edge finishing cell consisting of a grinding station and an articulated robot with vacuum gripper, at the start of finishing a short linear corner edge of an article.
    Figure 10B shows an edge finishing cell consisting of a grinding station and an articulated robot with vacuum gripper during the processing of a short linear corner edge of an article.
    Figure 11 shows an edge finishing cell consisting of a grinding station and an articulated vacuum-gripping robot that processes a short line-up upright corner edge of an article according to the method of the invention.
    Figure 12 shows a grinding station with a vertical axis of rotation.
    Figure 13 shows a grinding station with a robust anchoring to the floor.
    Figure 14 indicates that the orientation of the raised edge, according to the method of the invention, can vary with respect to the direction N, also during processing of the raised edge.
    Figure 15 is a plan view indicating that the first axis of rotation of the articulated robot is in the center perpendicular plane of the center line connecting the centers of rotation of the abrasive media.
    Figure 16 shows an articulated robot as used in a special embodiment of the invention.
    DETAILED DESCRIPTION OF THE INVENTION
    As described herein, the singular forms "a," "an," or "the" include both singular and plural references, unless explicitly stated otherwise herein.
    The term "comprising" as used herein is synonymous with "containing", and is inclusive or open and does not exclude additional, non-recited members, elements or process steps. It will be understood that the term "comprising" as used herein also includes the terms "consisting of" and "consisting essentially of".
    The recitation of numerical ranges by end points includes all values, numbers, and fractions within the respective ranges, as well as the stated end points.
    The term "approximately", "substantial", "substantially", or "approximately" as used herein to refer to a measurable value, such as a parameter, an amount, a duration, and the like, includes variations of +/- 35% or less, +/- 20% or less, preferably +/- 10% or less, more preferably +/- 5% or less, and most preferably +/- 1% or less of the declared value, as far as such changes are suitable for carrying out the described invention. It will be appreciated that the value to which the assay "approximately", "substantial", "nearly" or "approximately" refers itself is also specifically and preferably described. The terms "substantially parallel" and "substantially orthogonal (or perpendicular)" as used herein refer to units with a parallel (or parallel) or orthogonal orientation relative to each other, and include variations of +/- 30 ° or less, + / -20 ° or less, preferably +/- 10 ° or less, more preferably +/- 5 ° or less, and most preferably +/- 1 ° or less of the declared value relative to the parallel or orthogonal orientation, insofar as such changes are suitable for carrying out the described invention. By way of example, two axes, lines, or planes that are substantially parallel to each other can form an angle of up to a maximum of 30 ° (in each direction). By way of example, two axes, lines or planes that are substantially orthogonal can form an angle of at least 60 ° to each other (in each direction). By way of example, the above is illustrated in Figure 14.
    An interesting advantage of varying the orientation of the raised corner edge, according to the method of the invention, during processing of said raised edge with different abrasive media, is that the same articulated robot with a given range can process larger slices without the need for resumption of the slab, because a limited reorientation of the slab leads to a more favorable mutual position of the different ranks of the aforementioned articulated robot.
    Although the expressions "one or more" or "at least one", such as one or more or at least one member (s) of a group of members are clear per se, for further clarification, this term includes a reference to one of these members, or any two or more of these members, such as, for example,> 3,> 4,> 5,> 6 or> 7 etc. of the said members, to all members.
    All references cited in the present description are hereby incorporated by reference in their entirety. In particular, the specific references of the references cited herein are explicitly incorporated by reference.
    Unless defined otherwise, all terms used in this specification, including technical and scientific terms, have the meaning commonly understood by one skilled in the art to which this invention belongs. For further clarification, additional definitions are included.
    Various aspects of the invention are further described in the following passages. Any aspect defined herein can be combined with any other aspect or aspects unless the contrary is clearly indicated. In particular, a feature designated as being preferential or advantageous may be combined with another feature or features listed as being preferential or advantageous.
    Reference in this specification to "an embodiment" means that a particular feature, structure, or feature associated with the described embodiment is included in at least one embodiment of the present invention. Thus, displays of "in one embodiment" at various places in this description do not necessarily all refer to the same embodiment, although this is possible. In addition, the specific, structures or characteristics may be combined in one or more embodiments in any suitable manner as is apparent to one skilled in the art. For example, in the appended claims, any of the claimed embodiments can be used in any combination.
    In the following detailed description of the invention, reference is made to the accompanying drawings which form a part thereof and which by way of illustration describe specific embodiments in which manner the invention can be carried out. It will be appreciated that other embodiments may be used and structural or logical changes may be made without prejudice to the scope of the present invention. The following detailed description, therefore, is not to be taken in a limiting sense, and the scope of the present invention is defined by the appended claims.
    As used herein, the term "chamfer" refers to chamfering, chamfering, abrading, or grinding the edge or end of a material to prevent a right angle from being formed.
    As used herein, the term "plate-shaped article" refers to a plate or slab, and is a flat article, preferably but not limited to a polygon, preferably a convex polygon, such as a rectangle or square consisting of an upper side, a lower side and sides between the top and bottom, wherein the surface of the top and bottom is substantially larger than the surface of each of the sides.
    As used herein, the term "raised corner edge" refers to the connecting line between the top and the bottom of a plate-shaped article. The upstanding corner edge is preferably orthogonal to the top and bottom of a plate-shaped article.
    As used herein, the term "grinding station" refers to a device that can be used to polish, or abrade, plate-shaped articles as described herein. In this context, the term "abrasive medium" as described herein refers to an entity suitable for polishing, or abrading, plate-shaped articles as described herein. The person skilled in the art will understand that the type of abrasive medium that can be used according to the present invention depends on the type of plate to be processed (ie the material comprising the plate), as well as on the desired degree of finishing (e.g. coarse or fine). . The surface of the rotary abrasive medium as described herein refers to the surface that may come into contact with the plate-shaped article to be treated, and is orthogonal, or substantially orthogonal, to the axis of rotation of the abrasive medium.
    As described herein, the term "manipulator" refers to an installation that can handle, ie move, orient, the plate-shaped article as described herein. As described herein, the term "base" of the manipulator refers to the anchor point of the manipulator, preferably on the substrate, but can also be located on a wall or ceiling, for example.
    The present invention is situated within the domain of edge finishing cells consisting of a grinding station and a manipulator for processing articles from marble and related types of stone and glass.
    The invention is elucidated on the basis of an embodiment with a grinding station with multiple spindles and a marble-like article, more specifically a marble-like slab, and the processing of an edge of a marble-like slab, more specifically a straight edge, and even more specifically a linear straight edge between two surfaces that have a different orientation from one another, ie a raised corner edge or line-shaped raised corner edge.
    A linear edge that is processed by the abrasive media of a grinding station is converted into a chamfer between the two surfaces that formed the linear edge.
    A grinding station with multiple spindles for working marble-like articles typically consists of a plurality of grinding discs or similar abrasive media that are sequentially placed along one side of the station. Each spindle with an abrasive medium has an axis of rotation R that is almost normal on the surface of the abrasive medium. The rotational axes of the different spindles are all substantially parallel to each other. The feed direction F is substantially parallel to the surfaces of the various abrasive media and more specifically is substantially parallel to the imaginary center line connecting the centers of the various abrasive media, the line being between the first and last aligned abrasive media, as indicated, for example, in Figure 2. The person skilled in the art will understand that the terms "first" and "last" in this context are relative, and do not constitute a value judgment with regard to the nature of the abrasive medium. A third direction N is almost normal on both the feed direction F and on the rotation axis R of one of the spindles. As described herein, the term center perpendicular plane (or perpendicular perpendicular plane) of the center line refers to a plane orthogonal to the center line, the plane being midway between the first and last abrasive medium (ie, midway between the utmost abrasive media aligned) found.
    The manipulator of the edge finishing cell orientates the linear edge to be processed substantially parallel to the feed direction F and brings the edge into light contact with the abrasive media. The edge finishing cell is assembled in such a way that the edge can be processed along its entire length by all sanding media. To make this possible, the manipulator moves the line-shaped edge (and slice) along the feed direction F. During the passage, the manipulator aligns one end of the edge to be processed near the first abrasive medium and moves the slice to the last abrasive medium in line. The manipulator continues the feed movement until the other end of said edge to be machined has reached the last abrasive medium in line. The result of this procedure is that every millimeter of the aforementioned edge was machined by each individual abrasive medium placed along one side of the station.
    The procedure described in the previous section is applicable to all straight edges of marble-like articles, such as linear edges, regardless of the length of the edge.
    The invention introduces a new method for machining upright linear edges (i.e. upright corner edges or linear upright corner edges) with a grinding station with multiple spindles. These upright linear edges typically occur at the corners of slices where two upright edge faces intersect. Instead of orienting the upright linear edge substantially parallel to the feed direction F, the linear edge is oriented substantially parallel to the direction N. The upright linear edge is machined by moving it to the abrasive surface of an individual abrasive medium and thus bringing said upright linear edge into light contact with said individual abrasive medium.
    The manipulator can bring the raised linear edge to an individual sanding medium in various ways. A first way is approaching in a direction that is substantially parallel to the axis of rotation R. Another way is to make a combined movement in the direction F and the direction R. As a result, the linear raised edge makes a kind of wave movement, for example a sinusoidal movement, wherein said raised linear edge moves in a gradual manner towards the abrasive medium and also moves away from the abrasive medium in a gradual manner. During said wave movement, said edge according to direction F can remain in contact with said abrasive medium for a certain distance, for example a few millimeters to a few centimeters. The manipulator performs this procedure for each individual sanding medium of the grinding station that is used to achieve the desired degree of finishing of the linear edge.
    The method described above is particularly advantageous for processing short upright linear edges. Short upright linear edges are edges that have a length that typically varies from a few percent of the diameter of the abrasive medium to 2 to 50% of the diameter of the abrasive medium.
    Longer upright linear edges - up to, for example, 150% of the abrasive medium diameter - are machined in a slightly different way because their length typically exceeds the dimensions of the available abrasive surface of the abrasive medium. The longer linear edges, which are oriented substantially parallel to direction N, are moved to the abrasive surface of an individual abrasive medium, in a direction which is substantially parallel to the axis of rotation R, and thus brought into light contact with said individual abrasive medium. In addition, the full length of said linear edge does not typically come into contact with said abrasive medium. Subsequently, the manipulator moves said edge in a direction that is substantially parallel to the direction N until said edge is fully machined by said abrasive medium. This way of working defines a second feed direction for the grinding station - in addition to the already existing feed direction F - according to the previously defined direction N. The manipulator performs this procedure for each individual sanding medium of the grinding station that is used to achieve the desired degree of finishing. from the linear edge.
    The method described in the paragraph above can also be used for short linear edges with a length of up to 2 to 50% of the diameter of the grinding medium. In addition, it is usually the case that such short, linear edges immediately come into contact with the abrasive medium along their entire length. It may be advantageous to use the latter method for short line-shaped edges to obtain a better polishing result.
    The method according to the invention to process upright linear corner edges with a grinding station with multiple one-sided (in-line) spindles and a manipulator makes it possible to finish all straight edges of the article for a given maximum article size in accordance with the specifications of an edge finishing cell. working and thereby using all available abrasive media without the grinding station having to reorient with respect to the articulated manipulator and without the need to resume the article with the manipulator.
    This means that the edge finishing cell needs a degree of freedom less to realize the finishing of all straight edges of an item. The machining of all straight edges of an article, more specifically a slice, comprises flat edges and line-shaped edges of all dimensions, ranging from a few millimeters to a few meters in length, the line-shaped edges hemming the top surface of the slice, as well as standing up, such as for example may be oriented perpendicularly or substantially perpendicularly to the top surface of the slice.
    A degree of freedom less provides an economic advantage in the first place because a drive system - steering, engine, transmission, clutch and the like - and a bearing system are needed less. This one degree of freedom is typically provided at the grinding station in the prior art. Because the degree of freedom mentioned above is eliminated by the method of the invention, it is technically easier to make the grinding station larger - for example with an additional abrasive medium or by choosing abrasive media with a larger diameter - because said abrasive station no longer needs to be around a central vertical axis. rotate. The grinding station also becomes more stable because the anchoring with the environment - for example the floor of the production area - is done on a much broader basis. A more stable grinding station makes it possible to finish higher edges - for example more than 40 mm high.
    Examples
    In the following detailed description of an embodiment of the present invention, numerous specific details are mentioned in order to enable a thorough understanding of the invention and how the invention can be applied in certain embodiments. However, it is clear that the implementation of the described invention does not depend on these specific details. In other cases, well-known methods, procedures and techniques have not been described in detail in order not to lose the focus on the invention. Although the present invention is described with reference to special embodiments and specific drawings, the invention is not limited thereto. The accompanying drawings and the description thereof are schematic and in no way limit the scope of the invention. It is also noted that in the drawings the size of some elements was exaggerated and therefore not to scale, this only for illustrative purposes.
    The invention will be specifically explained with reference to an edge finishing cell comprising a grinding station with multiple spindles and a six degree of freedom articulated robot with vacuum gripper. The articulated robot can for example be a robot as described in EP 2 492 062. An embodiment of an articulated robot as can be used is shown in Figure 16. The different degrees of freedom are determined on the basis of the rotation axes as shown below and shown in Figure 16.
    A1 first axis of rotation of an articulated robot A2 second axis of rotation of an articulated robot A3 third axis of rotation of an articulated robot A4 fourth axis of rotation of an articulated robot A5 fifth axis of rotation of an articulated robot A6 sixth axis of rotation of an articulated robot
    As described herein, the first axis (i.e., axis 1 or A1) refers to the central axis perpendicular to the base (i.e., the anchor point or face) of the robot.
    1. plate-shaped article, eg marble-like article 2. top surface 3. straight edge 4. flat edge profile 5. raised corner edge 6. chamfered straight edge 7. chamfered raised corner edge 8. grinding station 9. side along which the sanding media are placed successively 10. sanding medium 11 imaginary center line connecting the centers of the abrasive media 12. collection vessel for splash water 13. manipulator 14. collision between a member of the articulated robot and the slab 15. vertical axis of rotation of the grinding station 16. robust support
    Figure 1A shows a marble-like article 1, more specifically a marble-like slab with straight edges 3 with a flat edge profile 4. Figure 1B shows a marble-like slab 1 with straight edges and beveled linear edges 6 and 7 respectively between the upper surface 2 and the flat edges 4 and between the two upright flat edges 4 at the height of the angle 5.
    The typical layout of a grinding station with multiple spindles 8 is shown in Figure 2. The abrasive media 10 are placed sequentially along side 9 of grinding station 8. The abrasive media 10 are arranged alongside each other along a straight line, which is illustrated by center line 11. Because the finishing process for edges of marble-like articles typically requires water, a grinding station generally also contains a splash-water collecting tray 12. Figure 2 also shows the main process directions again. Direction F is the feeding direction. The manipulator moves the marble-like article in this direction to bring the edge to be worked lightly into contact with all necessary abrasive media that are successively positioned along side 9 to thereby finish said edge. Feeding direction F is almost parallel with center line 11. Direction R is along the axis of rotation of one of the abrasive media 10. Direction F and direction R are by definition orthogonal. Direction N defines together with direction F and direction R a three-dimensional orthogonal coordinate system. Direction N is the additional feed direction introduced by the method according to the invention.
    Figures 3, 4 and 5 illustrate the standard method of finishing a flat edge and a line-shaped edge using a grinding station with multiple spindles, respectively. The marble-like article is moved by the manipulator according to the feed direction F while the edge is brought into light contact with the abrasive media 10. Figure 6A illustrates the process of finishing short linear corner edges according to the method of the invention. The articulated vacuum gripper robot first brings the short linear corner edge substantially parallel to the direction N. The dashed line on the Figure shows the trajectory of said corner edge during finishing, when the manipulator brings said corner edge into light contact with the various abrasive media. The linear corner edge approaches the abrasive medium substantially parallel to the rotation axis R.
    Figure 6B illustrates an alternative approach to an individual abrasive medium, this according to a wave-shaped trajectory. This ensures a smoother and faster transfer through the grinding station.
    Figure 6C illustrates a third variant for approaching and bringing into light contact the upright linear edge with an individual abrasive medium. The raised line-shaped edge hereby remains in contact with the abrasive medium for a certain distance. In addition to a faster transfer through the grinding station compared to the transfer method of Figure 6A, this method offers a longer processing time in relation to the total transfer time.
    Figure 7 illustrates an additional process step, according to the method of the invention, that undergoes an upstanding corner edge during finishing. The additional process step is performed during machining of the aforementioned edge on each individual abrasive medium. The manipulator feeds the line-shaped corner edge, which is already oriented substantially parallel to the direction N, according to the aforementioned direction N, while the edge is in light contact with the abrasive medium. This additional process step is applicable to all raised linear edges, but is particularly advantageous for raised linear edges that have a length between 2% and 150% of the grinding wheel diameter because this method ensures that the raised linear edge is machined over its entire length.
    Figure 8 shows the complete image on an edge finishing cell consisting of a grinding station and an articulated robot with vacuum gripper that handles a slab and thereby finishes a linear edge. This constellation corresponds to the detail image of Figure 4 on which the robot is not visible.
    Figure 9 shows an edge finishing cell in which the articulated robot handles a slice and thereby finishes the raised corner edge in accordance with the method of the prior art (see detail in Figure 5). The figure shows that the grinding station takes a different orientation with respect to the robot than in Figure 8; the grinding station is rotated 90 ° around the vertical axis. This reorientation makes it possible for the raised corner edge to be processed by all available abrasive media from the grinding station.
    Figures 10A and 10B illustrate what happens during machining of the upstanding corner edge of large-sized slices when the grinding station is not rotated about the vertical axis. Figure 10A shows the start of the machining process with the raised corner edge ready to approach the first abrasive medium in line. No problem occurs in this configuration. Figure 10B shows the situation during processing of the aforementioned upstanding corner edge. The figure clearly illustrates that the slab collides with a member of the articulated robot before all available abrasive media can process the aforementioned raised edge.
    Figure 11 shows an edge finishing cell where the articulated robot handles a slice and thereby processes the upright corner edge according to the method of the invention (Figures 6A, 6B, 6C and 7 contain detail images thereof). The figure illustrates that when applying this method there is no risk of collision between the articulated robot and the wafer.
    At the grinding station of Figure 12, the abrasive media are rotatably arranged with respect to the base of the grinding station. The vertical axis of rotation 15 is centrally located in the grinding station. For reasons of volume limitation and cost limitation, such a rotary connection is made compact. The abrasive media of the grinding station of Figure 13 maintain a fixed orientation with respect to the environment. As a result, it is easily possible to connect the abrasive media to the floor via a robust support 16. Figures 12 and 13 illustrate that it is technically much more difficult to achieve comparable stability for a grinding station with rotatably arranged abrasive media.
    权利要求:
    Claims (20)
    [1]
    Method for chamfering a raised corner edge 5 of a plate-shaped article 1 by means of an installation comprising: a grinding station 8 with at least two in-line rotating abrasive media 10 which have a feed direction F, substantially parallel to the center line 11 of the abrasive media arranged in line 10, and an axis of rotation R, substantially orthogonal to the surface of the abrasive media 10, wherein F and R are substantially orthogonal; and a manipulator 13 that uses the article 1; the method comprising contacting the raised corner edge 5 with the surface of an abrasive medium 10; the orientation of the upstanding corner edge 5 being substantially parallel to an axis N which is substantially orthogonal to F and R.
    [2]
    Method according to claim 1, wherein the manipulator brings the raised corner edge in contact with the surface of the respective abrasive media in a direction substantially parallel to the axis of rotation R, or wherein the manipulator brings the raised corner edge into contact with the surface of the respective abrasive media according to a vector composed of F and R.
    [3]
    Method according to claim 1 or 2, wherein the manipulator moves the upright corner edge substantially parallel to axis N during contact with the surface of the respective abrasive media.
    [4]
    Method according to claims 1 to 3, wherein the manipulator moves the upright corner edge substantially parallel to axis F during contact with the surface of the respective abrasive media.
    [5]
    Method according to claims 1 to 4, wherein the length of the raised corner edge is 2% to 150%, preferably 2% to 50% of the diameter of the surface of the abrasive medium, wherein the abrasive medium preferably has substantially a circular surface .
    [6]
    Method according to claims 1 to 5, wherein the plate-shaped article is marble or a related type of stone, ceramic material or glass.
    [7]
    Method according to claims 1 to 6, wherein the manipulator comprises an articulated robot, preferably with a vacuum gripper.
    [8]
    The method of claims 1 to 7, wherein the abrasive media comprise grinding wheels.
    [9]
    An installation for chamfering an upright corner edge 5 of a plate-shaped article 1, comprising: a grinding station 8 with at least two in-line rotating sanding media 10 which have a feed direction F, substantially parallel to the center line 11 of the in-line sanding media 10, and define an axis of rotation R, substantially orthogonal to the surface of the abrasive media 10, wherein F and R are substantially orthogonal; and a manipulator 13 suitable for handling the article 1; wherein the base of the manipulator 13 relative to the grinding station 8 is arranged in a plane substantially orthogonal to the center line 11 of the abrasive media 10 arranged in line.
    [10]
    Installation according to claim 9, wherein the base of the manipulator is arranged relative to the grinding station substantially in a center perpendicular plane of the center line of the abrasive media arranged in line.
    [11]
    Installation according to claim 9 or 10, wherein the manipulator comprises an articulated robot, preferably with a vacuum gripper.
    [12]
    12. Installation as claimed in claim 11, wherein axis 1 of the articulated robot is arranged relative to the grinding station substantially in a center perpendicular plane of the center line of the abrasive media arranged in line.
    [13]
    Installation according to claims 9 to 12, wherein the abrasive media comprise grinding wheels.
    [14]
    Use of an installation comprising: a grinding station 8 with at least two in-line rotating sanding media 10 which have a feed direction F, substantially parallel to the center line 11 of the in-line sanding media 10, and an axis of rotation R, substantially orthogonal to the surface of define the abrasive media 10 wherein F and R are substantially orthogonal; and a manipulator 13 suitable for handling the article 1; the base of the manipulator 13 relative to the grinding station 8 being arranged in a plane substantially orthogonal to the center line 11 of the abrasive media 10 arranged in line; for chamfering a raised corner edge 5 of a plate-shaped article 1.
    [15]
    Use according to claim 14, wherein the base of the manipulator is arranged relative to the grinding station substantially in a center perpendicular plane of the center line of the abrasive media arranged in line.
    [16]
    Use according to claim 14 or 15, wherein the manipulator comprises an articulated robot, preferably with a vacuum gripper.
    [17]
    Use according to claim 16, wherein axis 1 of the articulated robot is arranged relative to the grinding station substantially in a center perpendicular plane of the center line of the abrasive media arranged in line.
    [18]
    The use according to claims 14 to 17, wherein the abrasive media comprise grinding wheels.
    [19]
    Use according to claims 14 to 18, wherein the plate-shaped article is marble or a related type of stone, ceramic material or glass.
    [20]
    Method, installation, or use according to claims 1 to 19, wherein the term substantially permits a deviation of maximum 30 °, preferably maximum 20 °, more preferably maximum 5 °.
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    同族专利:
    公开号 | 公开日
    BE1020915B1|2019-09-16|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5372536A|1993-05-21|1994-12-13|Bialek; John S.|Glass bevelling machine|
    EP0875341A1|1997-04-28|1998-11-04|Seiko Seiki Kabushiki Kaisha|Position and/or force controlling apparatus using sliding mode decoupling control|
    JPH10296600A|1997-04-30|1998-11-10|Asahi Glass Co Ltd|Chamfering method for plate type body and device therefor|
    JP2002120134A|2000-10-13|2002-04-23|Asahi Glass Co Ltd|Chamfering device of plate body and robot control system of chamfering device|
    US20060217036A1|2003-03-27|2006-09-28|Jean-Marc Meunier|Machine for grinding optical lenses|
    EP1491288A1|2003-06-26|2004-12-29|Asahi Glass Company, Limited|Method for chamfering a plate-like member|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    BE201300462|2013-07-02|
    BE20130462A|BE1020915B1|2013-07-02|2013-07-02|METHOD AND INSTALLATION FOR CORNER BEAMING.|BE20130462A| BE1020915B1|2013-07-02|2013-07-02|METHOD AND INSTALLATION FOR CORNER BEAMING.|
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