JPS61220802A - Method and device for centering and supplying log - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention: "Industrial Application Field" The present invention determines the overall axis, which is the turning center of the raw wood, when rotary cutting the raw wood using a veneer race, and automatically supplies this to the veneer race. This relates to a method and an apparatus, in particular, after temporarily centering the raw wood to be carried in and detecting the temporary center, the raw wood is transported in parallel with the pedestal, and the raw wood is transported in parallel along the longitudinal direction, including the vicinity of both ends thereof. Three or more arbitrary positions are used as calculation standards to determine the coordinate values of the entire axis of the log, and based on the calculation results obtained by rotating the gripping claws around the temporary center of the log, the system waits at the retreat limit. The gripping claw is moved forward by the correction amount on the It is to match.

``Prior art'' Generally, in order to determine the turning center of a veneer lace on raw wood, the maximum inscribed circle common to the side end faces of the raw wood cut to an appropriate length is calculated, and the center of this circle is found. It is done by

Specifically, at each plywood factory, a worker places the property right on the side butt end of the log, measures the lengths of the major and minor axes that intersect at right angles, then calculates the median line of each major and minor axis and marks it in chalk. The center of turning was determined by finding the intersection of the median lines.

In addition, as another method, the vicinity of the side end of the log is supported by a pair of pedestals that can be moved up and down and back and forth, and concentric circles are projected onto the side end surface of the log from a pair of projectors placed above. Based on this, the center of the arbitrary concentric circle inscribed in the outer shape of the side butt end of the raw wood is adjusted by vertical movement of the pedestal on the y-axis of the side butt end of the raw wood, and longitudinal movement of the pedestal on the X axis, and the turning center is there was.

Furthermore, a method in which a pedestal on which the log is placed and a detector that detects the top surface of the log are placed facing each other near the side end of the log, and the log is held equidistantly close to each other from above and below, enables turning. I was looking for a center.

However, among the various methods described above, in the first method, the length and breadth of the end face of the log are set independently by the operator's subjectivity, and when calculating the median line from the measured length and breadth, , errors inevitably occur and it is difficult to ensure accuracy.Also, in the second method, the concentric circle diagram projected on the end face of the side butt end is a nine-dimensional image projected from a projector at a certain distance. Therefore, the plurality of concentric circles are in a widened state9, making it difficult for the operator to distinguish between the end face contour and arbitrary concentric circles. Further, in the third method as well, even if the amount of rise of the pedestal and the amount of fall of the detector are controlled to be equidistant, the cross section of each log is irregular, so the clamping state will be inaccurate.

In addition, each of the above methods uses both ends of the raw wood or the positions near them as calculation criteria for determining the center of turning, so bending or deformation in the longitudinal direction of the raw wood depends on the operator's intuition each time. Therefore, the error in the turning center is further increased. Therefore, when a veneer lace is actually rotary cut, a large amount of narrow veneer veneer that is less than the specified size is cut out.

``Problems to be Solved by the Invention'' In view of the above, the present invention has been developed to move the raw wood carried from the carry-in conveyor to the temporary centering position while placing it by the upward movement of the pedestal, while approaching the pedestal at an equal distance from the pedestal. The temporary center is determined by the upper surface detector, and then the pedestal is moved in parallel to the centering position, and the log is rotated in the longitudinal direction using the temporary center as the rotation center by the gripping claws waiting at the retreat limit. After detecting the cross-sectional contours at multiple locations and calculating the coordinate values of the overall axis, the gripping claws are first moved forward to make corrections on the After the grip is exchanged, the conveying claw is lowered to perform correction on the y-axis, and the conveying claw is further advanced a certain distance to align the overall axis of the log with the turning center of the veneer race.

"Example" Embodiments of the present invention will be described below with reference to the accompanying drawings.

A plurality of pairs of machine frames 1 are erected in the vertical direction at arbitrary intervals left and right, and cross beams 2 are horizontally suspended between the upper parts of the machine frames 1 to form a gate shape, and extend in the longitudinal direction. Horizontal beams 3 are fixed and connected between the upper parts of the machine frame 1, respectively.

A pair of vertical guides 5, two in this embodiment, are attached at arbitrary intervals to the log 4 loading side of the cross beam 2. A plurality of chain wheels 6t are supported on the upper and side parts of the chain wheels 6, and both ends of a chain wheel 7 suspended between these chain wheels 6 are fixed to an elevating body 8, and this elevating body 8 is rolled along the vertical guide 5. 9 is used as a guide to support it so that it can be raised and lowered freely. In addition, a support rod 11 to which a lock nut 10 is attached is loosely inserted into the perforation at the tip of the elevating body 8, and a top detector 1 is attached to the tip of the support rod 11.
2 is installed.

On the other hand, the pair of machine frames 1 located on both left and right sides and facing each other
The lifting rails 13t are horizontally mounted between them, and the ends of the piston rods 15 of the lifting rail fluid cylinders 14 installed in opposite directions on the sides of the machine frame 1 are attached to the lifting rails 13, and the lifting rails 13' are It can be moved up and down along the machine frame 1 via guide rollers 16.

Further, a chain wheel 18 is connected to the chain wheel 6 supported on the cross beam 2 by the same shaft 17, and a chain wheel 19 is located at a position facing vertically.
A chain wheel 20 is supported and suspended between these chain wheels 18 and 19, and is fixed to the tip of the lifting rail 13, so that the upper surface detector 12 and the lifting rail 13 can be moved toward and away from each other at the same distance.

Further, this lifting rail 13 is provided with a pedestal 22 whose lower limit is below the surface of the carry-in conveyor 21 for carrying in the logs 4,
This pedestal 22 is connected to a piston rod 24K of a pedestal fluid cylinder 23 installed on the lifting rail 13, and is movable in the horizontal direction.

Next, a pair of opposing guide shafts 25 are respectively attached between the left and right machine frames 1, and the pair of guide shafts 25 have the following features:
Insert the perforated parts at both ends of the upper part of the bearing box 26, and
I support you. A gripping fluid cylinder 4 is attached to the rear part of the support body 27 extending from the lower end of the bearing box 26, and the tip of the piston rod 29 is fitted into and supported by the substantially central part of the bearing box 26. It is attached to the rear end of 30.

At the tip of this spindle 30, there is a butt end surface 31 of the log 4.
A gripping pawl 32 is attached to grip the support body 27, and a cheno wheel 35 is attached near the center thereof and receives the rotation of a motor 33 installed at the bottom of the support body 27 via a chino wheel 34, which slides in the axial direction. It is movable and integrally inserted in the direction of rotation. At this time, the driven side spindle 30, which is fitted and supported by the other bearing box 26 located opposite to each other, has the following features as shown in FIG.
As shown in FIG. 10, a large gear 36 is slidable in the axial direction and is fitted integrally with respect to the rotational direction, and a small-diameter linkage gear 37 is meshed with this large gear 36. A log rotation angle detector 41 measures the rotation angle of the log 40 at arbitrary angles by meshing the pinion 40 of the rotary encoder 39 attached to the support 27 with the small gear 38 fitted on the shaft of the log. I have placed it.

Further, an X-axis correction fluid cylinder 42 is attached to the center of the bearing box 26, and the tip of its piston rod 43 is attached to one machine frame 1, and is arranged parallel to the guide shaft 25. An X-axis correction device 47 is disposed on the optical rack 44, which meshes with a pinion 46 of an encoder 45 attached to a support 27, and regulates the amount of movement of the bearing box 26 from the backward limit.

On the other hand, displacement detectors 48 for detecting arbitrary cross-sectional contours in the longitudinal direction of the log 4 are installed on the cross beam 2 at a plurality of locations, in this embodiment, at three locations near the center and both ends.

That is, between a pair of side plates 49 attached to the side surfaces of the cross beam 2 in the direction in which the logs 4 are carried in, the vicinity of the base of the dogleg-shaped swinging arm 5° is pivoted by a pin 51, and the swinging arm 5° The rear part of the piston rod 53 is pivoted to the displacement fluid cylinder 52, and the tip of the piston rod 53 is pivoted to the upper part of the pair of side plates 49, and the tip of the swing arm 50 is moved by fluid movement using the contact part of the bottle 51 as a fulcrum. , is constantly pressed against the outer peripheral surface of the log 4. moreover,
A semicircular measuring plate 54 fitted to the contact portion of the pin 51 of the swinging arm 50 and a pinion 56 of the encoder 55 attached to the side plate 49 are brought into mesh to measure the swinging displacement of the swinging arm 50. Detected.

In addition, as shown in the illustrated example, the displacement detectors 48 located at both ends have side plates 49 attached to a pair of adjustment shafts 57 attached to the cross beam 2 so that the detection position can be moved freely according to the length of the log 4. The tip of the piston rod 59 of the adjusting fluid cylinder 58 attached to the cross beam 2 may be connected to the side plate 49 by fitting.

Next, a traveling body 61 with wheels 60 supported at its four corners is horizontally suspended parallel to the cross beam 2 as left and right horizontal beams 3t-rails, and is capable of reciprocating up to the veneer race 62.

On both left and right sides of this running body 61, hanging bodies 64 are fitted and inserted oppositely to horizontal shafts 63 arranged parallel to the cross beam 2, and each hanging body 64 has a The piston rods 66 of a pair of suspension fluid cylinders 65 are pivotally supported in the direction.
The ends of the suspension members 64 are attached to each other so that each suspension member 64 is movable along the horizontal axis 63.

Further, a transport claw 68 is fitted into a pair of guide shafts 67 hanging from the lower end of each suspension member 64, and the rear end of the transport claw 68 is attached to the suspension member 64 in the opposite direction. An encoder 71 is attached to the piston rod 70 of the y-axis correction fluid cylinder 69 and attached to the side of the suspension body 64.
A y-axis correction device 74 is provided that meshes the pinion 72 with a rack 73 attached to the side of the transport claw 68 and regulates the amount of descent of the transport claw 6B.

At this time, the y-axis correction fluid cylinder 69 restricts the transport claw 68 from its upper limit position to two stages: a first stage downward movement T for y-axis correction, and a second stage downward movement after gripping the log 4. . Therefore, in order to restrict the position after descending from the second stage to either the middle stage or the lower stage depending on the size of the diameter of the log 4, a slide is placed on the outer periphery of the piston door 0 in the cylinder chamber, as shown in Figures 15 and 16. A moving circumscribed piston rod 75 may also be included.

In order to restrict the two-stage descent of the transport claw 68, a fluid cylinder (not shown) for second-stage descent is further suspended in series from the piston door 0 of the y-axis correction fluid cylinder 69. The rear end of the conveying claw part is connected to the tip of the piston rod (not shown), and the first stage lowering T and the second stage lowering of the y-axis correction fluid cylinder 69 are mechanically performed. It is also possible to provide a restricting movable stop (not shown).

Note that 76 in the figure is a chuck for the veneer lace 62.

"action" Next, the action will be explained.

When confirming the absence of log 4 at the temporary centering position,
The piston rod 15 of the lifting rail fluid cylinder 14 is extended, and the upper surface detector 12 and the pedestal 22 are retracted to the open limit.

Under this condition, the raw wood 4 carried in by the carry-in conveyor 21 is temporarily stopped at the upper surface position of the pedestal 22, and the piston rod 15 of the lifting rail fluid cylinder 14 is contracted. Along with this contraction movement, the pedestal 22 rises via the lifting rail 13, and on the way up, it receives the logs 4 from the top of the carry-in conveyor 21. Chain wheel 18, chain wheel 6, chain wheel 7 rotating to
This is converted into a synchronous amount of descent to the elevating body 8, causing the pedestal 22 and the upper surface detector 12 to approach each other at an equal distance.

Next, when the upper surface detector 12 first contacts the upper surface of the log 4, the amount of fluid supplied to and discharged from the lifting rail fluid cylinder 15 is adjusted to temporarily reduce the approaching speed. Therefore, the upper surface detector 12 is gradually pushed up against the log 4 until the support rod 11 ascends the perforated part of the elevating body 8 and is detected. We are working to improve this.

At this time, the temporary center of the log 4 on the X-axis is detected by the V-shaped inclined surface of the pedestal 22, and the temporary center on the X-axis is detected by the clamping movement of the top detector 12 and the pedestal 22. has been done.

Next, if the log 4 carried in last time has already been centered and is not present at the centering position, the piston rod 24 of the pedestal fluid cylinder 23 is reduced, and the pedestal 22 is moved onto the lifting rail 13. It is moved in parallel by a predetermined distance A.

During this parallel transfer, the pair of gripping claws 32 are in the retracted position, and the bearing box 26 is waiting at the retraction limit on the guide shaft 25. The positions of both ends have been adjusted. Therefore, the tentative center of the log 4 on the pedestal 22 and the center of the pair of gripping claws 32 are on the same line.

Next, the piston rods 29 of the pair of gripping fluid cylinders 28 are extended to grip the rainwater outlet end face 31 of the log 4 with the pair of gripping claws 32, and the displacement fluid cylinder 52 is operated to retreat to the upper limit. Each swinging arm was 50
Using the contact portion of the pin 51 as a fulcrum, it is pressed against the outer circumferential surface of the thick wood 4 in the longitudinal direction with a constant pressure.

In addition, in synchronization with this, the lifting rail 13 is returned to the lower limit position, and the pedestal 22 is returned to the backward limit position below the surface of the carry-in conveyor 21.

When the drive of the motor 33 is transmitted to the cheno wheel 35 via the chenno 34, the spindle 30 is rotated, and the log 4 is rotated once around the temporary center. At this time, the amount of rotation of the log 4 is detected by the log rotation angle detector 4.
1, each arbitrary cross section near both ends and the center of the log 4 is synchronized by each displacement detector 48 as the displacement from the line connecting the tentative centers of the side end faces 31 of the log 4. That is, in the log rotation angle detector 41, the rotation angle of the spindle 300 on the driven side is sequentially detected by the rotary encoder 39 via the pinion 40, and on the other hand, in each displacement detector 48, The radius and deviation angle from the rotation center axis for each arbitrary cross section are taken as the amount of displacement of the swinging arm 50 that swings around the contact portion of the pin 51 as a fulcrum, and this amount of displacement is determined by the meshing with the measuring plate 54. It is sequentially detected by the encoder 55 via the pinion 56.

Therefore, the electric signal of the arbitrary angle detected by the log rotation angle detector 41 and the electric signal of the amount of displacement detected by the displacement amount detector 48 are taken out synchronously, and a plurality of cross-sectional contours are detected. . Each of these cross-sectional contours is calculated by the calculation unit (
(not shown) and is appropriately calculated based on each data to obtain the coordinate values of the entire body axis of the log 4.

Furthermore, this coordinate value and the temporary center, that is, the X from the rotation center
The deviations of the axes and the y-axis are determined and instructed to the X-axis correction device 47 and the y-axis correction device 74, respectively.

Next, correction of each deviation will be specifically explained based on FIGS. 13 to 16. Suppose that the center of rotation O is the origin on the coordinates (
0, 0) and the coordinate values of the overall axis axis are (Gx, -Gy), the correction amount on the X axis is the predetermined advance amount B1 of the bearing box 26. The amount of movement is obtained by subtracting (G x) from the amount of advance up to. In addition, the correction amount on the y-axis is determined by the predetermined lowering amount C1 of the transport claw 68, for example, from the distance from the lower end of the transport claw waiting at the upper limit position to the y-coordinate (0) to the radius of the chuck 76+α
, that is, the gripping margin of the chuck 76, is the descending amount, and (-Gy)t- is subtracted from this to obtain the first
I am looking for step descent T.

Therefore, if the coordinate values of the overall axis G are (0, O), that is, the same as the rotation center 0, the amount of movement of the bearing box 26 on the The first step of lowering T of the pawl 68 is a predetermined lowering amount C.

The calculated correction amount is first transmitted to the X-axis correction fluid cylinders 42 of the X-axis correction devices 47 located on the left and right, and the bearing boxes 26't-- are advanced individually along the guide shaft 25, and the encoder 45 The amount of advance sequentially detected by this method is returned to the arithmetic unit to accurately control the amount of correction.

Next, the correction amount is transmitted to the X-axis correction fluid cylinders 69 of the y-axis correction device 74 located on the left and right, and the conveyance claws 68 are respectively lowered along the guide shaft 67, and the lowering amount sequentially detected by the encoder 71 is transmitted. is returned to the arithmetic unit to accurately control the amount of correction.

After the correction is completed, the pair of suspension fluid cylinders 65 are operated to cause the conveyance claws to bite into the side end faces 31 of the raw wood 4, and then the grip claws 32 are removed from both wood end faces 31. At this time, the raw wood 4 is held in a relatively centered state by the pair of transport claws 68 on the geometric coordinates of the side end face 31 .

Under this condition, the X-axis correction fluid cylinder 69 is operated,
The piston rod 70 is extended to perform the second stage descent of the conveying claw 68, and the height of the entire axis of the log 4 gripped by the conveying claw 68 is set to be the same as the turning center S of the chuck 76 of the veneer race 62. It is something to do.

In FIG. 14, since the length of the X-axis correction fluid cylinder 69 is the same as the total distance of the first stage lowering T and the second stage lowering, it is sufficient to set the piston Ron door 0 to the extension limit. In addition, if the X-axis correction fluid cylinder 69 is included in the circumscribed piston rod 75, the gripping margin is made variable according to the diameter of the log 4, and as shown in FIGS. 15 and 16, the circumscribed piston rod 75 This restricts the downward movement of the second stage, and the piston portion of the piston rod 70 is brought into contact with the tip of the rod.

Then, the traveling body 61 is advanced by a fixed distance E on the horizontal beam 3, and the overall axis G of the log 4 and the turning center S of the chuck 76 are aligned, and the log 4 is gripped by the chuck 76 from the conveying jaws 68. It is an exchange.

Incidentally, if the second stage lowering of the transport claw 68 and the forward movement of the traveling body 61 by a fixed distance E are carried out at the same time, the log 4 can be moved to the veneer race 62.
This means that the supply time can be shortened.

"Effects of the Invention" As described above, according to the present invention, at the temporary centering position,
The pedestal on which the log is placed and the top surface detector that detects the top surface of the log are brought close to each other from above and below at equal distances to once detect the temporary center, and then the pedestal with the log placed thereon is transported in parallel to the centering position. , With the temporary center as the rotation center, the log is rotated completely using the gripping claws that are on standby at the retreat limit, and the cross-sectional contours at multiple locations in the longitudinal direction are detected, and the coordinate values of the entire axis of the log are calculated.
Based on this coordinate value, first move the gripping claws forward to make corrections on the
Furthermore, the conveyor claws are advanced a certain distance to align the overall axis of the logs with the turning center of the veneer race, so the logs carried onto the conveyor are automatically centered to the veneer race. In addition, in the case of veneer veneers cut by veneer lace, the acquisition rate of continuous veneer veneers is improved compared to those obtained by the various conventional methods described above. The amount of veneer discharged is reduced, and the workability of subsequent processes can be improved.

In particular, the movement of the raw wood from the temporary centering position to the centering position and from the centering position to the veneer race is regulated to a certain forward distance, and when making corrections, the bearing box adjusts the correction amount on the X axis from the predetermined forward amount. Further, the conveying claw is constantly regulated by subtracting the correction amount on the y-axis from the predetermined descending amount.
Since the downward movement is constantly regulated, the control method and mechanism are simple.

[Brief explanation of the drawing]

Fig. 1 is a schematic explanatory diagram of an embodiment of the present invention, Fig. 2 is a perspective explanatory diagram of a temporary centering part, Fig. 3 is a partially cutaway front view of the temporary centering part, and Fig. 4 is a centering diagram. Partially cutaway side view of the part;
Fig. 5 is a cutaway front view of the same part, Fig. 6 is a front view of the X-axis correction device, Fig. 7 is a plan view of the same, Fig. 8 is a side view of the same, Fig. 9 is a front view of the log rotation angle detector. 10 is the same side view, FIG. 11 is a left side view of FIG. 3, FIG. 12 is a front view of the X-axis correction device, and FIGS. 13 to 16 are correction amount explanatory diagrams. 1...Machine frame, 2...Horizontal beam, 3...Horizontal beam, 4...
・Log wood, 12... Top surface detector, 13... Lifting rail, 21... Loading conveyor, 22... cradle, 26...
・Bearing box, 32...Gripping claw, 41...Log rotation angle detector, 47...X-axis correction device, 48...Displacement amount detector, 50...Swinging arm, 61...・Traveling body, brocade...Transportation claw, 74...X-axis correction device, patent applicant Taihei Seisakusho Co., Ltd. Height: 5 mm, height: 6 mm, 815 included, bulk: 16ヱ

Claims (1)

[Claims] 1. At the temporary centering position, the pedestal on which the log is placed and the top surface detector that detects the top surface of the log are brought close to each other from above and below at equal distances to once detect the temporary center, and then the pedestal The log is transported parallel to the centering position with the log placed there, and with the temporary center as the rotation center, the log is rotated by the gripping claws waiting at the retreat limit to detect the cross-sectional contour at multiple locations in the longitudinal direction. The coordinate value of the overall axis of the log is calculated, and based on this coordinate value, the gripping claw is first advanced to perform correction on the x-axis, and then, after gripping and exchanging the log from the gripping claw to the conveying jaw, the conveying jaw is A method for centering and supplying logs, which comprises lowering the logs to make corrections on the y-axis, and further advancing the conveying claws a certain distance to align the overall axis of the logs with the turning center of the veneer lace. 2. A cross beam is installed horizontally between the machine frames installed in the vertical direction, and a top detector is suspended from the cross beam so that it can be raised and lowered;
An elevating rail that can be moved up and down along the equipment and on which a pedestal is provided so that it can move forward and backward can be moved toward and away from the equipment at equal distances via a connecting body, and inside the machine frame that is arranged side by side on the left and right. , x
A spindle with a gripping claw attached to the tip and a rotation angle detector is slidably inserted into a pair of bearing boxes that can move forward and backward in the horizontal direction using an axis correction device, and the upper part of the machine frame Transport claws that can be raised and lowered by a y-axis correction device are suspended from both sides of the traveling body, which is horizontally suspended so that it can travel a fixed distance up to the veneer race using the horizontal beam as a guide.
Displacement detectors are attached to the base ends of each of the plurality of swinging arms arranged on the cross beam at arbitrary intervals in the longitudinal direction of the raw wood, and the displacement detectors are connected with pins, and the displacement detectors are connected to the rotation angle detectors. Based on the coordinate values of the total body axis calculated from each data of the detector,
A log centering/supplying device characterized in that the forward correction amount of the bearing box is outputted to an x-axis correction device, and the downward correction amount of the conveyance claw is outputted to a y-axis correction device.