DE202008008428U1 - processing device - Google Patents

Abstract

Processing device for the post-processing of defects (5), in particular depressions, in workpieces (3), in particular wooden parts, with a fluid material (10), characterized in that the processing device (2) comprises a detection device (6) for the defects (5) and a handling device (7) with a processing tool (8) for processing the defects (5) and a compression device (24) for the fluid material (10).

Description

The The invention relates to a processing device with the features in the preamble of the main claim.

Out In practice, it is in the production of wood parts with high quality high-quality surfaces, z. B. parquet planks, known, to subject the wood parts to a quality inspection and rework if necessary. This is done by hand, with knotholes, Cracks and the like. Other defects repaired and possibly with a Fill putty. These repairs are sometimes uneven in quality.

The US 4,614,555 A deals with the production of veneered panels, which are stacked and pressed in multiple layers. Subsequently, the veneer surface is scanned, wherein any defects are milled out with a first robot-guided tool and filled with a subsequent robot-guided tool with a pasty mending material. This material is a multi-component material which is prepared in an external mixing device and supplied to the filling tool on the robot ready mixed. The filling quantity is metered according to the measured defect volume. In a subsequent station, the boards are sawed or sanded, during which also any protrusions of filler material are removed.

From the DE 40 19 744 C2 is a repair device for composites made of fiber composites plastic components known. To repair identified defects, the defect is prepared with an upstream milling and grinding device and then fitted a finished blank made of a suitable fiber composite material in the defect. Subsequently, an injection unit consisting of a plurality of blended components existing resin mixture is applied. As a result, the previously inserted blank is soaked and connected to the base material.

It is the object of the present invention, such reworks to improve.

The Invention solves this problem with the features in the main claim.

The claimed processing device has the advantage that a durable, high quality and reproducible quality of Post-processing, in particular the filling of recessed defects, can be achieved. This is at a high speed and Precision feasible. Besides that is the claimed processing technology highly flexible and leaves on a wide variety of workpieces and types of defects and / or depressions. The claimed processing technique also allows secure capture and targeted Post-processing of all existing defects and / or depressions. It is also possible, especially disturbing Defects, z. B. unwanted knotholes or Like. In a pretreatment to remove, in particular ablate, and then the resulting well with a suitable Fill fluid material.

The inventive processing technology allows after processing, in particular repair or putty work execute so exactly that they then on the workpiece not or hardly visible anymore. In particular, an approximation to the high quality workpiece environment become.

Further Advantages lie in an optimal utilization of the backfilling pasty or liquid used by wells Filling compound. The wells are optimally filled in, wherein the fluid material is securely anchored and also Can achieve undercuts and fill out.

By guiding the machining tool by means of a handling device, especially a manipulator or robot, higher Loads as recorded during manual rework and to be moved. This makes it possible, the applicator technically complex and with more component fluid materials to work. A putty or the like can z. As a two-component or three-component mass, wherein the components be brought together and mixed just before the order. During breaks, the individual components can be safe and be sealed airtight. Excess consumption, Dirt and sticking to the tool and the like. Can be avoided. In addition, there is a higher temporal flexibility for the implementation post-processing and filling work. This brings in particular Advantages compared to the usual manual Technique in which more component masses are mixed in advance and then had to be processed within a given period of time. The curing z. T. already advanced be that processing is no longer of sufficient quality was possible. All this can be combined with the needs and application-appropriate mixing or compound of the various material components avoid.

The processing technique according to the invention is also highly flexible. In particular, the materials used can be changed quickly if necessary. Also a change of the processing plant tools or parts of the tool is possible, which can be done fully automatically. This reduces the changeover times to a minimum. This allows on the other hand, a higher flexibility in a change of workpieces that z. B. can differ in the wood or color. The workpiece batches can be relatively small and can be changed quickly. Also, a color matching of the fluid materials or fillers to the existing workpiece environment is possible with high quality. In particular, the flexibility in selecting and using the fluid or filling material can be increased and improved.

In The dependent claims are further advantageous embodiments of the invention.

The The invention is for example and schematically in the drawings shown. In detail show:

1 : a processing station with a processing device for wood parts in plan view,

2 : a side view of the workstation of 1 .

3 : A broken side view of a part of the processing device according to arrow III of 1 .

4 : a broken and enlarged plan view of the workplace with the processing device,

5 : a perspective view of a machining tool,

6 and 7 : different folded side and front views of the machining tool,

8th to 10 : different operating positions of the machining tool and

11 : A broken perspective view of a cleaning device.

The invention relates to a processing device ( 2 ) and a processing method for workpieces ( 3 ). The invention further relates to a processing station ( 1 ) associated with at least one such processing device ( 2 ) is equipped.

The workpieces ( 3 ) can be of any type, shape and size and made of any materials. In the embodiment shown are workpieces ( 3 ) Of a naturally grown material, especially wood. Alternatively, the workpieces ( 3 ) consist of any other materials, in particular other natural materials, plastics, metals, stones or the like. Also composites are possible.

The workpieces ( 3 ) have at least one visible surface ( 4 ), for which in many cases a high surface quality is required. The latter can also be the case with non-visible surfaces. With many materials, in particular wood or other natural materials, however, there are defects ( 5 ) in the surface ( 4 ). This can z. As cracks, broken branches, resin galls or the like. Be. These defects ( 5 ) with the processing method and the processing device ( 2 ) and in particular repaired. This is possible in different ways.

On the one hand, depressions at defects ( 5 ), z. As cracks or the like., With a fluid material ( 10 ) completed. The fluid material ( 10 ) can be adapted in color and appearance to the surrounding workpiece areas. On the other hand, defects ( 5 ), the z. B. in branches, are removed, which can be done by a material removal. The resulting depressions are then in the aforementioned manner with the fluid mass ( 10 ). On the reworked workpiece ( 3 ) are the repaired misalignments ( 5 ) no longer visible or at least barely perceptible.

In the embodiment shown, the workpieces ( 3 ) Wooden floor boards, which are arranged in a plurality of strips at a mutual distance on a wooden support material in a multi-layer structure. The surface visible in the installed condition of the parquet ( 4 ) is at the top and may contain one or more of the defects ( 5 ) exhibit. 1 and 4 show this workpiece arrangement and the defects ( 5 ).

Alternatively, the workpieces ( 3 ) of other wood parts, eg. As furniture or wooden panels or the like. Be. It may be wood parts with naturally grown structure, in particular massive boards or the like. Act. Alternatively, glued chipboard, veneered boards or boards or the like. Be reworked. Furthermore, it is possible to rework metal or plastic parts or stone slabs etc. in the manner described below and to repair existing defects, in particular holes or other depressions. This can be used for metal parts z. B. voids. For stone slabs, there may be breakouts. The workpieces ( 3 ) do not have to use plate, strip or board form with even surfaces ( 4 ) to have. They can have any other shape and in particular have curved and uneven contours.

The fluid material ( 10 ) can be of different kinds. It may in particular be liquid, pasty or granulated or pulverized. The fluid material ( 10 ) can be introduced into a depression and adapts to the contours there. It can also get into undercut recessed areas, in particular flow.

The fluid material ( 10 ) may be a flowable filling material which consists of one or more components and which optionally also has a selectable color. In the illustrated embodiment of the wood part post-processing is a filler putty, which consists of one, two, three or more components. For multi-component materials, the matrix is z. As a hardener and also a color or pigmentation added and mixed. The fluid material ( 10 ) can be used for secure fixation and anchoring in the defect ( 5 ), the different components reacting with each other after mixing.

For processing, in particular post-processing or repair of workpieces ( 3 ) is a processing device ( 2 ) intended. This can be part of a processing station ( 1 ), as they are in 1 to 4 is shown. In the processing station ( 1 ), several processing devices ( 2 ) or their components may be arranged. In the 1 and 2 shown processing station ( 1 ) has a processing device ( 2 ) and a transport device ( 37 ) for the aforementioned workpieces ( 3 ) in the form of parquet planks.

The processing device ( 2 ) has a detection device ( 6 ) for the defects ( 5 ) and a handling device ( 7 ) with a processing tool ( 8th ) for editing the defects ( 5 ) on. Furthermore, the processing device ( 2 ) a controller ( 14 ) on. The detection device ( 6 ) is in the embodiment shown spatially separated from the handling device ( 7 ) and the editing tool ( 8th ) arranged. Alternatively, it may be located elsewhere and in particular at the handling device ( 7 ) or the editing tool ( 8th ) are located.

With the detection device ( 6 ) the defects ( 5 ) with their processing-relevant properties. This may in particular be the location, shape and size of the one or more existing defects ( 5 ) be. The detection device ( 6 ) has a suitable measuring device ( 16 ) for preferably multi-dimensional detection of these properties. In the exemplary embodiment shown, the detection device ( 6 ) a portal under which the plate-shaped workpieces ( 3 ), whereby their surface ( 4 ) with the measuring device ( 16 ) in a suitable manner, for. B. optically scanned. In the embodiment shown, the measuring device ( 16 ) formed as a 3D optical scanner. With the measuring device ( 16 ), the volume of the defect ( 5 ) or their depression determined and then the required volume of the fluid material ( 10 ). This can be done in the detection device ( 6 ) or in the connected controller ( 14 ) happen. To the controller ( 14 ), the shape, position and size of the defect ( 5 ) with respect to a workpiece reference, e.g. B. the outer contour, a corner region, a mark or the like. Of the workpiece ( 3 ) and saves.

In particular, with elongated defects ( 5 ), z. As cracks, the length and direction detected. On the basis of the detection device ( 6 ), the handling equipment ( 7 ) with the editing tool ( 8th ) controlled.

The handling device ( 7 ) can have one or more axes of motion. Preferably, it is a multi-axially movable manipulator ( 17 ) educated. This can be z. B. the in 1 to 4 be shown four-axis articulated robot. This can also have six or more axes, possibly in the form of additional axes. The handling device ( 7 ) or the manipulator ( 17 ) can have rotational and / or translational motion axes in any suitable number and combination.

At the output end of the manipulator ( 17 ) a hand or robot hand ( 18 ) on which a machining tool ( 8th ) is arranged fixed or detachable. Again, an additional axis can be interposed. In the exemplary embodiments shown, an exchange coupling ( 45 ) present, with the manipulator ( 17 ) the editing tool ( 8th ) record and submit automatically and can change. In the working area of the manipulator ( 17 ) at least one magazine ( 9 ) can be arranged. This takes z. B. several different editing tools ( 8th ) on.

In the embodiment shown, the handling device ( 7 ) from a single manipulator ( 17 ), which is a single editing tool ( 8th ), which performs all post-processing functions. Alternatively, the handling device ( 7 ) several manipulators ( 17 ), the similar processing tools ( 8th ) carry with full functionality that together a workpiece ( 3 ) to edit. It is also possible to apply the editing functions to several appropriately adapted editing tools ( 8th ) and distribute them to several manipulators ( 17 ), which then work together and in a complementary manner. Post-processing can be done at a job ( 15 ) or distributed to several Jobs ( 15 ) respectively.

The processing device ( 2 ), a pretreatment device ( 12 ) and / or an aftertreatment device ( 13 ) exhibit. Furthermore, a cleaning device ( 11 ) in the working area of the handling device ( 7 ) can be arranged. The pre- and post-treatment equipment ( 12 . 13 ) can be separated from the handling device ( 7 ) and the editing tool ( 8th ), like this 1 illustrated schematically. Alternatively, you can use the handling device ( 7 ) and in particular on a machining tool ( 8th ) or form such in the above-mentioned divided tool and robot composite.

In the illustrated embodiment of 1 is the pretreatment facility ( 12 ) in the conveying direction ( 43 ) of the workpieces ( 3 ) in front of the workplace ( 15 ) and the editing tool ( 8th ) arranged. It consists z. B. from a portal with one or more axes of motion, in which a cutter or other pretreatment member is movably arranged. With a rotating cutter z. B. optically disturbing defects ( 5 ), z. B. branch outbreaks or the like. Removed and are in particular removed, which possibly recesses arise, which then with the fluid material ( 10 ). Alternatively or additionally, other pretreatment processes are possible, for. B. drying, cleaning, chemical pretreatment of the defects ( 5 ) or other parts of the workpiece ( 3 ) or the like. Possible.

The after-treatment device ( 13 ) in the conveying direction ( 43 ) behind the workplace ( 15 ) can be arranged. One or more postprocessing processes can be carried out here. The after-treatment device ( 13 ) can in particular a curing device for a possibly multiple components existing fluid mass ( 10 ) be. The curing can z. B. with UV light, ultrasound, hot air, infrared radiation or the like. Happen. Other aftertreatment processes may include application of a coating, surface post-coating or the like.

The editing tool ( 8th ) is in 5 to 9 presented in its details and functions. This is a fully functional editing tool ( 8th ). According to the abovementioned modification, the abovementioned individual functions or tool components can also be applied to a plurality of different processing tools ( 8th ) are distributed in a correspondingly slimmed-down version.

In the embodiment shown, the processing tool ( 8th ) a frame ( 20 ), z. B. in the form of a mounting plate on which a connection ( 21 ) for connection to the handling device ( 7 ) and in particular with their robot hand ( 18 ) having. As 6 clarified, between the connection ( 21 ) and the hand ( 18 ) an automatic change coupling ( 45 ) can be arranged.

The editing tool ( 8th ) has an applicator ( 22 ) for the filling material ( 10 ) on. It may also include a test device ( 26 ) after the application of the fluid mass ( 10 ) the result of the post-processing is checked. The editing tool ( 8th ) and its components are also connected to the controller ( 14 ) connected. The control ( 14 ) can z. B. a robot controller, from which except the manipulator ( 17 ) also all other components of the processing device ( 2 ) are controlled, for. B. also the pre- and post-treatment device ( 12 . 13 ) and the cleaning device ( 11 ). The robot controller can have several control options for additional axes for this purpose.

The applicator ( 22 ) has a filling device ( 23 ) for the metered introduction of the fluid material ( 10 ) into the depression at the defect ( 5 ) on. The applicator ( 22 ), a compression device ( 24 ) for the injection and compression of the fluid material ( 10 ) in the defect ( 5 ) exhibit. It may also include a balancing device ( 25 ), with the possibly surplus of fluid material ( 10 ) are removed. The balancing device ( 25 ) may be a stripper. It also ensures a uniform surface finish and adjustment of the filler surface to the adjacent workpiece environment.

The applicator ( 22 ) can be designed differently. The aforementioned functions and facilities ( 23 . 24 . 25 ) can be separated from each other on the machining tool ( 8th ) and are located z. B. according to the embodiment shown in a row one behind the other on the frame ( 20 ), where they can be aligned in the row. The series arrangement is z. B. along frame axis or a feed direction ( 19 ), along which the handling device ( 7 ) the editing tool ( 8th ) moves during the machining process.

The filling device ( 23 ) may vary depending on the type of fluid material ( 10 ) may be designed constructively in a suitable manner. It also depends on how many components the fluid material ( 10 ) consists. The filling device ( 23 ), the delivery of a plurality of different fluid materials ( 10 ) and has z. B. according to 5 to 7 several, z. B. two, order heads. The filling device ( 23 ) has at least one 27 ), z. In the form of an application nozzle, for the fluid material ( 10 ) that is stationary or moving rack ( 20 ) is arranged. In the illustrated multiple arrangement of applicator heads, a corresponding number of applicators ( 27 ) available. They extend from the plate-shaped frame ( 20 ) z. B. vertically down and are on the the connection ( 21 ) opposite side.

The filling device ( 23 ) further comprises at least one metering device ( 28 ) and at least one material supply ( 30 ) for the fluid material ( 10 ) on. When the fluid material ( 10 ) consists of several components, the filling device ( 23 ) also at least one mixing device ( 29 ) for these components. The material supply ( 30 ) is adapted to the type and number of components. It may have entrained storage containers in the form of cartridges or the like. Alternatively, an external arrangement of storage containers in connection with a hose feed to the processing tool ( 8th ) possible. The material supply ( 30 ) For this purpose, one or more conveying members, for. As pumps or the like. On. The metering device ( 28 ), one or more suitable metering, z. B. valves or the like. Own. The mixing device ( 29 ), one or more mixing organs, for. B. have mixing screws.

The filling device ( 23 ) with the one or more applicator heads can be fixed or detachable on the machining tool ( 8th ) and its frame ( 20 ) can be arranged. Parts of the filling device ( 23 ), z. B. the complete applicator heads with metering device ( 28 ), Mixing device ( 29 ) and material supply ( 30 ) can be completely dismantled and changed. This can also be done fully automatically by means of a suitable machine coupling, wherein the change from the handling device ( 7 ) is carried out. The magazine ( 9 ) can for this purpose be complete filling devices ( 23 ) or their components, in particular applicator heads record. In a further modification, it is possible to change only parts of the order heads, z. B. the material supply ( 30 ). When changing the fluid material ( 10 ) then only the material supplies ( 30 ), z. B. entrained reservoir with integrated funding, changed. The filling device ( 23 ) may additionally contain, for such cases, a flushing device with which the 27 ) and the others with the fluid material ( 10 ) coming into contact device parts are rinsed in a material change and cleaned. This change of material supply ( 30 ) can be manual or fully automatic, possibly in conjunction with the magazine ( 9 ), respectively.

In operation at the workplace ( 15 ) is handled by the handling device ( 17 ) the editing tool ( 8th ) to the workpiece ( 3 ) delivered. Here, the one or more order organs ( 27 ) to the workpiece surface ( 4 ) and the defects there ( 5 ) and in the embodiment shown hovering at a small distance above it. The fluid material ( 10 ) gets into the depression ( 5 ) with a corresponding to the data from the detection device ( 6 ) filled metered amount. This can be done on the workpiece surface ( 4 ) a material supernatant be present as in 8th is indicated.

During filling, a relative movement between the applicator ( 27 ) and the workpiece ( 3 ) respectively. For this purpose, z. B. the workpiece ( 3 ) at the workplace ( 15 ) at rest and by a suitable positioning device ( 44 ) are held in a precisely predetermined position. The position and shape data of the defects ( 5 ) based. The positioning device ( 44 ) can be formed in any suitable manner by stops, slides, rollers or the like., And is in 1 for the sake of clarity only symbolized by an arrow. Alternatively, the workpiece ( 3 ) are in motion, whereby its movement and the changing position are accurately detected, about which also the corresponding position of the defects ( 5 ) in the conveying direction ( 43 ) is determined.

In the embodiment shown, the handling device (FIG. 7 ) the editing tool ( 8th ) in the feed direction ( 19 ) relative to the preferred workpiece ( 3 ). The feed direction ( 19 ) can depend on the shape, position and orientation of the depression to be filled ( 5 ) judge. If this z. B. is a crack and has an elongated shape, the feed direction ( 19 ) aligned along the crack. The feed motion may be straight and / or curved. The positioning of the client ( 27 ) over the defect ( 5 ), the exit of the fluid material ( 10 ) and the leadership of the contracting authority ( 27 ) according to the defect shape is via the controller ( 14 ) is controlled on the basis of the previously detected defect data.

In the embodiment shown, the fluid mass ( 10 ) compacted after filling. This can be done with the 27 ) downstream compression device ( 24 ) happen. This has z. B. at least one compaction putty ( 31 ), which from above onto the protruding fluid material ( 10 ) and possibly over the defect ( 5 ) is moved away. The compaction putty ( 31 ) may be formed in any suitable manner. In the shown and in 6 illustrated embodiment, it has a mounted on the frame bottom bracket ( 33 ) with a bending elastic blade ( 34 ), which is directed obliquely downwards in working position. In the in 9 clarified non-contact starting position, the blade ( 34 ) have a straight extension and possibly even or slightly curved shape. When the slants off standing blade ( 34 ) to the workpiece ( 3 ) and this contacts, it bends and lays with the free end of the blade possibly a piece of plan to the workpiece surface ( 4 ) at.

The blade ( 34 ) consists of a resilient material, for. As metal, in particular spring steel and is designed as a thin-walled metal or steel sheet. The bend of the blade ( 34 ) and thereby exerted by the overlying blade end pressure force on the workpiece surface ( 4 ) or the material surface depends on the distance of the frame ( 20 ) opposite the workpiece ( 3 ). The closer the approach, the greater the contact pressure. For compacting, the blade ( 34 ) about the at the defect ( 5 ) filled fluid material ( 10 ) travels slowly, which is preferably in the aforementioned feed direction ( 19 ) happens while pushing the fluid material ( 10 ) into the depression ( 5 ). The fluid material ( 10 ) fills the depression ( 5 ) completely and also reaches possibly undercuts. The fluid material ( 10 ) may also be compressed something.

In a modification of the embodiment shown, a compression of the fluid material ( 10 ) be done in another way, for. B. when filling. Here, subsets can be filled in and then compressed immediately. The commissioning body ( 27 ) can with appropriate approaches or the like. Create a compression and thereby in the normal direction on the workpiece surface ( 4 ) or the defect ( 5 ). Alternatively, a compression when filling by rolling or the like. Possible.

The balancing device or stripper ( 25 ) is in the illustrated embodiment in the row behind the compaction putty ( 31 ) arranged. It has z. B. a peel-off spatula ( 32 ) on. This one has a blade ( 35 ) stored in a holder ( 33 ) is arranged on the frame bottom. About the self-adjustable holder ( 33 ) is a setting of position and orientation of both blades ( 34 . 35 ) possible. The scraper blade ( 35 ) is rigid and bends in contact with the workpiece surface ( 4 ) not or only slightly. It can have a straight or curved shape and is straight or inclined downwards. It has at the bottom a straight blade edge, which from the handling device ( 7 ) on the workpiece surface ( 4 ) with pressure and then on the defect ( 5 ) is moved away, preferably in the feed direction ( 19 ). As a result, an excess of the fluid material which may be present after the compression ( 10 ) and the material surface at the defect ( 5 ) to the workpiece surface ( 4 ) adjusted and leveled.

The pullers ( 35 ) has a higher bending stiffness than the compacting blade ( 34 ) and on the other hand has a smaller length in the downward direction.

With the illustrated arrangement of the filling device ( 23 ), the compacting device ( 24 ) and the balancing device ( 25 ) is a filling, compression and removal of the fluid or filling material ( 10 ) in a continuous movement in the feed direction ( 19 ) possible.

The test facility ( 26 ) is behind the stripper ( 25 ) arranged. It checks the repaired and filled defect ( 5 ) and possibly the adjacent workpiece environment and can be designed for this purpose in any suitable constructive manner. In particular, it determines whether the deepening ( 5 ) or if there are any holes left. Furthermore, any material overhangs or incorrectly deducted material areas or other errors are detected. With suitable training also color deviations between fluid material ( 10 ) and workpiece ( 3 ) be recognized. In the exemplary embodiment shown, the test device ( 26 ) a profile scanner ( 36 ) for optically scanning and testing the surface ( 4 ) and the material ( 10 ) on. The profile scanner ( 36 ) can z. B. work with a light-slit method, with multiple visible light beams from different angles on the workpiece and material surface ( 4 . 10 ). Any height differences form visually recognizable and measurable luminous steps.

8th to 10 illustrate different procedures in the post-processing. 8th shows the aforementioned post-processing process with a singular movement. The plate-like frame ( 20 ) is substantially parallel to the workpiece surface ( 4 ) and to the extent that the filling, compression, stripping and testing operations can be carried out in one go, whereby the associated devices also have a corresponding position and orientation on the frame (FIG. 20 ) to have.

9 illustrates a tool position for a material application without putty process. The editing tool ( 8th ) is set with its frame in this case so far that compression and Abziehspachtel ( 31 . 32 ) of the workpiece ( 3 ) and only the commissioning body ( 27 ) for filling the fluid material ( 10 ) corresponding to the workpiece ( 3 ) is approximated. Such a working position is z. B. taken when multiple defects ( 5 ) in a first operation in groups or in total. Such a job may also be required if the location and size of defects ( 5 ) multi-axial movements of the client ( 27 ) opposite the defect ( 5 ), z. B. a pendulum, a circular movement, etc.

10 indicates a tool orientation with opposite skew 9 , Here the compaction and stripping putties ( 31 . 32 ) to the workpiece ( 3 ) and press with increased force, the applicator ( 27 ) at one end of the rack and the test device ( 26 ) is lowered at the other frame end.

11 illustrates an embodiment for a cleaning device ( 11 ). As a result, with the filler ( 10 ) coming into contact parts of the machining tool ( 8th ), in particular the contracting authority ( 27 ) and the spatula ( 31 . 32 ) getting cleaned. The cleaning device ( 11 ) has z. As spray nozzles for the targeted application of a cleaning agent and rotating brushes. Alternatively, cleaning tapes, dipping baths or the like can be used. It is also possible to strip off the kit residues on a stationary friction plate with a corresponding tool movement.

The transport device ( 37 ) may be designed constructively in any suitable manner. In the variant shown, it is designed as a roller conveyor. Alternatively, belt conveyors, feed conveyors or the like are possible. Via a workpiece feed ( 38 ) get the workpieces ( 3 ) into the processing station ( 1 ). About a workpiece delivery ( 39 ) on the opposite side they are discharged again to the outside and fed to a further processing. The transport device ( 37 ) can be a main line ( 41 ), which the workpiece feed ( 38 ) and the workpiece delivery ( 39 ) connects directly. About one or more points ( 40 ), the workpieces ( 3 ) to one or more secondary lines ( 42 ) and possibly recirculated to the main line ( 41 ) to be led back. The transport device ( 37 ) and their components can also be connected to the controller ( 14 ).

The detection device ( 6 ) is in 1 on the workpiece feed ( 38 ) and scans all incoming workpieces ( 3 ). Depending on the detection result, a switch ( 40 ) are operated downstream. If a workpiece ( 3 ) no defects ( 5 ) and otherwise requires no further processing, it can on the main line ( 41 ) directly to the workpiece delivery ( 39 ) be transported. If a workpiece ( 3 ) Defects ( 5 ) or for other reasons needs processing, it is controlled by the controlled switch ( 40 ) on the branch line ( 42 ) and to the handling device ( 7 ) with the editing tool ( 8th ) and possibly a pre- and post-treatment. Then the workpiece ( 3 ) again via another switch ( 40 ) in the main line ( 41 ) and for workpiece delivery ( 39 ) brought.

The transport lines in the main and branch line ( 41 . 42 ) may be arranged in one or more planes. In this case, intermediate storage, lifting devices or the like. May be present to the workpieces ( 3 ) from one transport level to another. A buffer memory can, for. B. the handling device ( 7 ) upstream in order to reach a minimum number of faulty workpieces ( 3 ) to record the processing. In addition, at the end of the branch line, a further buffer memory may be present to allow the reworked workpieces ( 3 ) only at a desired time, for. B. at the end of a workpiece batch to reintegrate into the workpiece flow.

modifications the embodiments shown and described are possible in different ways. In particular, you can the described individual features of the embodiments be combined with each other and swapped.

The workpieces ( 3 ) may have a coding, wherein the station and transport system has a material flow control, so that for quality control purposes, etc., each workpiece ( 3 ) is customizable via the coding and can receive a workpiece-related data record in which the processing, number, type and size of the defects ( 5 ) and other relevant work related data for quality or other reasons. For each additional process step, this workpiece data can be read out and taken into account. In the processing station shown ( 1 ) is also a separation and a separate removal of the reworked workpieces ( 3 ) as a second quality possible.

The editing tool ( 3 ) and its components can be designed in a different constructive manner. The filling device ( 23 ) and, in particular, the contracting authority ( 27 ) can be arranged to be movable or adjustable, in order to achieve greater misalignments by means of pendulum movements or the like. 5 ) in a straight feed motion to be able to fill. The commissioning body ( 27 ) may also be heated in order to achieve a higher efficiency in material processing, especially in multi-component cement. When filling the fluid material ( 10 ) can be a pressure measurement in the material ( 10 ), by means of which the dosage can be alternatively or additionally controlled. This is z. B. advantageous to from the detection device ( 6 ) unrecognizable undercuts at the defect ( 5 ) with greater certainty while optimizing the use of materials or to minimize the surplus. The compaction and stripping putty ( 31 . 32 ) can be arranged elsewhere and in size number can be present. The test facility ( 26 ) can be edited by the editing tool ( 8th ) and elsewhere on the processing device ( 2 ) can be arranged. This may possibly be waived. The pre-treatment and / or after-treatment device ( 12 . 13 ) can also be omitted. Furthermore, it is possible to remove any material residues after compaction and stripping by a subsequent grinding operation of the entire workpiece surface ( 4 ) with remove. If such a general reworking of all workpieces ( 3 ), may possibly affect the removal operation and the compensation device ( 25 ) are waived.

1

processing station

2

processing device

3

Workpiece, piece of wood

4

surface

5

Defect, deepening

6

detector

7

handling device

8th

processing tool

9

Magazine, tool magazine

10

Fluid material, Filling material, putty putty

11

cleaning device

12

Pretreatment equipment, milling cutter

13

Aftertreatment device, curing

14

control

15

place of work

16

Measuring device, scanner

17

Manipulator, robot

18

Hand, robotic hand

19

feed direction

20

Frame, mounting plate

21

connection handling device

22

applicator

23

filling

24

compacting device

25

Balancer, stripper

26

test equipment

27

Applicator, jet

28

metering

29

mixing device

30

material supply

31

compression spatula

32

trowel

33

holder

34

Blade, scraper

35

Blade, compacting blade

36

profile scanner

37

transport means

38

Workpiece feed

39

Workpiece delivery

40

switch

41

main line

42

Nebenstrecke

43

conveying direction

44

positioning

45

change coupling

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - US 4614555 A [0003]
• - DE 4019744 C2 [0004]

Claims (36)

Processing device for post-processing of defects ( 5 ), in particular recesses, in workpieces ( 3 ), in particular wooden parts, with a fluid material ( 10 ), characterized in that the processing device ( 2 ) a detection device ( 6 ) for the defects ( 5 ) and a handling device ( 7 ) with a processing tool ( 8th ) for editing the defects ( 5 ) and a compacting device ( 24 ) for the fluid material ( 10 ) having. Machining device according to claim 1, characterized in that the handling device ( 7 ) as a multi-axially movable manipulator ( 17 ) is trained. Machining device according to claim 1 or 2, characterized in that the machining tool ( 8th ) an application device ( 22 ) for a fluid material ( 10 ), in particular a liquid or pasty filling material. Machining device according to claim 1, 2 or 3, characterized in that the filling material ( 10 ) is formed as a colored multi-component putty. Machining device according to one of the preceding claims, characterized in that the machining tool ( 8th ) a frame ( 20 ) with a connection ( 21 ) for the handling device ( 7 ) having. Machining device according to one of the preceding claims, characterized in that the application device ( 22 ) a filling device ( 23 ) for the metered introduction of the fluid material ( 10 ) into the depression ( 5 ) having. Machining device according to one of the preceding claims, characterized in that the filling device ( 23 ) at least one contractor ( 27 ), at least one metering device ( 28 ) and at least one material supply ( 30 ) having. Machining device according to one of the preceding claims, characterized in that the filling device ( 23 ) several material supplies ( 30 ) for various components of the fluid material ( 10 ) or for several fluid materials ( 10 ) having. Machining device according to the preamble of claim 1, characterized in that the processing device ( 2 ) a detection device ( 6 ) for the defects ( 5 ) and a handling device ( 7 ) with a processing tool ( 8th ) for editing the defects ( 5 ), wherein the processing tool ( 8th ) a filling device ( 23 ) with at least one mixing device ( 29 ) for a plurality of separately supplied material components of the fluid material ( 10 ) or for several fluid materials ( 10 ) having. Machining device according to one of the preceding claims, characterized in that the application device ( 22 ) a compacting device ( 24 ) having. Machining device according to one of the preceding claims, characterized in that the compacting device ( 24 ) at least one compaction putty ( 31 ) having. Machining device according to one of the preceding claims, characterized in that the compaction putty ( 31 ) a holder ( 33 ) and in working position obliquely downward bending elastic blade ( 34 ) having. Machining device according to the preamble of claim 1, characterized in that the processing device ( 2 ) a detection device ( 6 ) for the defects ( 5 ) and a handling device ( 7 ) with a processing tool ( 8th ) for editing the defects ( 5 ), wherein the processing tool ( 8th ) a balancing device ( 25 ) for removing any surplus of fluid material ( 10 ) having. Machining device according to one of the preceding claims, characterized in that the machining tool ( 8th ) a compacting device ( 24 ), a filling device ( 23 ) and a compensation device ( 25 ) having. Machining device according to one of the preceding claims, characterized in that the compensating device ( 25 ) a peel-off filler ( 32 ) having. Machining device according to one of the preceding claims, characterized in that the stripping putty ( 32 ) a holder ( 33 ) and a working blade downwardly bending rigid blade ( 35 ) having. Machining device according to one of the preceding claims, characterized in that the processing device ( 2 ) a testing device ( 26 ) having. Machining device according to one of the preceding claims, characterized in that the test device ( 26 ) as profile scanner ( 36 ) for optically scanning and inspecting the reworked surface ( 4 ) of the workpiece ( 3 ) it is. Machining device according to one of the preceding claims, characterized in that the filling device ( 23 ), the compacting device ( 24 ), the balancing device ( 25 ) and the test facility ( 26 ) in a row one behind the other on the frame ( 20 ) are arranged. Machining device according to one of the preceding claims, characterized in that the detection device ( 6 ) a measuring device ( 16 ) for the multi-dimensional recording of properties relevant to processing, in particular the position, shape and size of the defect (s) ( 5 ) having. Machining device according to one of the preceding claims, characterized in that the measuring device ( 16 ) is designed as an optical 3D scanner. Machining device according to one of the preceding claims, characterized in that the processing device ( 2 ) a positioning device ( 44 ) for the workpiece ( 3 ) at the workplace ( 15 ) having. Machining device according to one of the preceding claims, characterized in that the processing device ( 2 ) a pretreatment device ( 12 ) for the workpiece to be machined ( 3 ) having. Machining device according to one of the preceding claims, characterized in that the pretreatment device ( 12 ) as a removal device, in particular as a rotating cutter, for defects ( 5 ) is trained. Machining device according to one of the preceding claims, characterized in that the processing device ( 2 ) an aftertreatment device ( 13 ) for the machined workpiece ( 3 ) having. Machining device according to one of the preceding claims, characterized in that the aftertreatment device ( 13 ) as a curing device for the fluid material ( 10 ) is trained. Machining device according to one of the preceding claims, characterized in that the detection device ( 6 ) and / or testing device ( 26 ) and / or the pretreatment device ( 12 ) and / or the aftertreatment device ( 13 ) externally or on the editing tool ( 8th ) is / are arranged. Machining device according to one of the preceding claims, characterized in that the processing device ( 2 ) a cleaning device ( 11 ) in the working area of the handling device ( 7 ) having. Machining device according to one of the preceding claims, characterized in that the handling device ( 7 ) and the editing tool ( 8th ) an exchange coupling ( 45 ) for automatic tool change. Machining device according to one of the preceding claims, characterized in that the processing device ( 2 ) at least one magazine ( 9 ) for editing tools ( 8th ) or tool parts in the working area of the handling device ( 7 ) having. Machining device according to one of the preceding claims, characterized in that the processing device ( 2 ) a controller ( 14 ) connected to the detection device ( 6 ), the handling device ( 7 ) and the test facility ( 26 ) and if necessary with the processing tool ( 8th ) and the pretreatment and / or after-treatment device ( 12 . 13 ) connected is. Processing station for post-processing of defects ( 5 ), in particular recesses, in workpieces ( 3 ), in particular wooden parts, characterized in that the processing station ( 1 ) a transport device ( 37 ) for workpieces ( 3 ) and at least one processing device ( 2 ) for editing the defects ( 5 ), wherein the processing device ( 2 ) a detection device ( 6 ) for the defects ( 5 ) and a handling device ( 7 ) with a processing tool ( 8th ) and a compacting device ( 24 ) for the fluid material ( 10 ) having. Processing station according to claim 32, characterized in that the processing device ( 2 ) is designed according to one of claims 2 to 31. Processing station according to claim 32 or 33, characterized in that the transport device ( 37 ) at least one main line ( 41 ) and at least one via a controllable switch ( 40 ) connected branch line ( 42 ) having. Processing station according to claim 32, 33 or 34, characterized in that the detection device ( 6 ) on the main line ( 41 ) in the conveying direction ( 43 ) in front of the switch ( 40 ) is arranged. Processing station according to one of claims 32 to 35, characterized in that on the branch line ( 42 ) at least one handling Facility ( 7 ) with a processing tool ( 8th ) is arranged.