JP2604977B2 - Automatic sawing system - Google Patents
Automatic sawing systemInfo
- Publication number
- JP2604977B2 JP2604977B2 JP6066121A JP6612194A JP2604977B2 JP 2604977 B2 JP2604977 B2 JP 2604977B2 JP 6066121 A JP6066121 A JP 6066121A JP 6612194 A JP6612194 A JP 6612194A JP 2604977 B2 JP2604977 B2 JP 2604977B2
- Authority
- JP
- Japan
- Prior art keywords
- ears
- plate
- shape
- plate material
- thickness
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Machine Tool Sensing Apparatuses (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manufacture Of Wood Veneers (AREA)
Description
【0001】[0001]
【産業上の利用分野】本発明は、原木を挽くことにより
得られた耳付き板材から両耳を切り落とし、板材、桁材
あるいは正角材などにするための自動製材システムに関
する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic lumbering system for cutting both ears from a lug obtained by grinding a log to produce a lumber, a girder or a square.
【0002】[0002]
【従来の技術】従来、原木を挽くことにより得られた耳
付き板材から両耳を切り落とし、板材、桁材あるいは正
角材などを製材可能にするための自動製材システムとし
て平成5年6月15日付けの「日刊木材新聞」で発表さ
れたものがある。この記事から推察するに、この自動製
材システムによれば、横バンドソ−から送り出されて来
る耳付き板材を一旦停止させた状態で、同材表面に対し
斜め上方から長さ方向の五箇所に対しレ−ザ光を照射し
た状態で、各箇所に設けられたテレビカメラが投影像の
稜線を真上から撮像することにより、各撮像における稜
点座標を求め、耳付き板材の幾何学的特徴を抽出したう
え、その形状に基づいて最適な歩留りが得られる鋸断位
置を自動的に決定し、その鋸断位置に沿って両耳を切り
落とすものである。2. Description of the Related Art Conventionally, as an automatic sawing system for cutting off both ears from an eared plate obtained by grinding a log, and making it possible to saw a plate, a girder or a square beam, June 15, 1993. Some were published in the attached "Daily Wood Newspaper". According to this article, it can be inferred from this article that, according to this automatic sawing system, the plate material with the ears sent out from the horizontal band saw is temporarily stopped, and the surface of the same material is obliquely moved from above to five places in the longitudinal direction. In the state where the laser light is irradiated, the television cameras provided at each location capture the ridge line of the projected image from directly above, thereby obtaining the ridge point coordinates in each image capturing, and determining the geometrical characteristics of the eared plate material. After the extraction, the cutting position at which the optimum yield is obtained is automatically determined based on the shape, and both ears are cut off along the cutting position.
【0003】[0003]
【発明が解決しようとする課題】上記従来の自動製材シ
ステムによれば、横バンドソ−から送り出されて来る耳
付き板材の形状をレ−ザ光照射手段とテレビカメラで認
識するため、耳付き板材の横移動を一旦止める必要があ
ることから、その時間分、生産性が低下するという問題
がある。また、一般的に製材工程は木材の厚みにより品
種別に振り分けられるが、前記の従来技術では厚みを検
出することが困難であり、従って、厚みが異なる耳付き
板材が混在し、且つ製材方法が厚みにより異なる場合、
従来技術では対応することが困難である。また、従来技
術ではレ−ザ光の直線性により稜点を認識しているが、
耳付き板材に幅方向の反り等が発生していた場合、許容
範囲が狭く、認識できない可能性がある。従って認識率
が落ちるとともに歩留りが悪くなる。更に、横バンドソ
−から送り出されて来る耳付き板材は幅が広い面を下
に、耳付き側を上にした状態でないと耳付き板材の形状
を認識できないため、耳付き板材が幅広面を上に、耳付
き側を下にした逆面状態で搬送されて来た場合には、作
業者または反転装置を介在させて同板材を裏返ししなけ
ればならないことから、生産性の向上を阻害するという
問題がある。According to the above-mentioned conventional automatic sawing system, the shape of the plate with ears sent from the horizontal band saw is recognized by the laser light irradiation means and the television camera. Since it is necessary to temporarily stop the lateral movement, there is a problem that the productivity is reduced by the time. Also, in general, the lumbering process is sorted according to varieties according to the thickness of the wood. However, it is difficult to detect the thickness by the above-mentioned conventional technology. Depending on
It is difficult to cope with the conventional technology. In the prior art, the ridge point is recognized based on the linearity of the laser light.
If warpage or the like in the width direction has occurred in the plate with ears, there is a possibility that the permissible range is narrow and cannot be recognized. Therefore, the recognition rate decreases and the yield decreases. Furthermore, the plate with ears sent out from the horizontal band saw cannot recognize the shape of the plate with ears unless the side with the wide side is down and the side with the ears is up. However, if they are transported in a reverse state with the ears facing down, the same plate material must be turned upside down by a worker or a reversing device, which hinders improvement in productivity. There's a problem.
【0004】そこで本発明では、耳付き板材が移動中で
も形状認識ができるようにするとともに、耳付き板材が
逆面で送られて来ても形状認識と厚み検出を可能にし、
自動化を実現するとともに生産性を向上させることを解
決すべき技術的課題とするものである。Accordingly, the present invention enables shape recognition even when the ear-attached plate is moving, and enables shape recognition and thickness detection even when the ear-attached plate is sent from the opposite side.
It is a technical problem to be solved to realize automation and improve productivity.
【0005】[0005]
【課題を解決するための手段】上記課題を解決するため
本発明では、自動製材システムを、耳付き板材が横送り
されているときの送り量を検出する横送り量検出器と、
前記耳付き板材が横送りされているときに同耳付き板材
の長手方向の複数の上下対称位置で光もしくは超音波の
反射による距離検知に基づいて同耳付き板材の厚みを検
出する変位検出器と、前記横送り量検出器及び前記各変
位検出器から出力された検出信号に基づ いて前記耳付き
板材の全体形状を認識する形状認識手段と、その形状認
識手段で認識された前記耳付き板材の全体形状に基づい
て所定の板材を得るための鋸断位置を演算する鋸断位置
演算手段とを備えた構成にすることである。In order to solve the above problems, according to the present invention, an automatic sawing system is provided in which a plate with ears is fed sideways.
Traverse feed amount detector that detects the feed amount when
When the plate with ears is laterally fed, the plate with ears
Of light or ultrasonic waves at multiple vertically symmetrical positions in the longitudinal direction of
Detects the thickness of plate with ears based on distance detection by reflection
Displacement detector, the lateral feed amount detector, and each of the displacement detectors.
With the ear based on the detection signal outputted from the position detector
Shape recognition means for recognizing the overall shape of the plate, and its shape recognition
Based on the overall shape of the plate with ears recognized by the recognition means
Position to calculate the cutting position to obtain the specified plate material
And a computing means .
【0006】[0006]
【作用】上記構成の自動製材システムによれば、耳付き
板材が横送りされ、同耳付き板材の厚みが検出される
と、全体形状が認識され、その耳付き板材の全体形状に
基づいて鋸断位置が演算される。 また、変位検出器は、
耳付き板材の横送り過程で、耳付き板材の長手方向の複
数の上下対称位置で同耳付き板材の厚みを非接触式に検
出するため、耳付き板材が耳付き面を上にした状態で
も、下にした状態でも、あるいは耳付き板材に反りがあ
ったり、耳付き板材が横送り過程で振動しても耳付き板
材の厚み寸法を正確に検出することができる。 According to the automatic sawing system having the above-mentioned structure, the ear is provided.
The plate is fed sideways and the thickness of the plate with ears is detected.
And the overall shape is recognized, and the overall shape of the
The sawing position is calculated based on this. Also, the displacement detector is
During the transverse feeding process of the lug plate, the longitudinal
The thickness of the plate with ears is detected in a non-contact manner
To put out, with the plate with ears with the ears facing up
Or the plate with ears is warped
Plate with ears even if the plate with ears vibrates during the transverse feed process
The thickness dimension of the material can be accurately detected.
【0007】[0007]
【実施例】次に、本発明の一実施例を図面を参照しなが
ら説明する。図1は、自動製材システムの搬送機構の構
成を示した平面図である。原木から挽かれた複数の耳付
き板材1は、横送り状態で横搬送装置2の近接位置まで
搬送されると、第1のストッパ2Aが下り、第2のスト
ッパ2Bが上がった状態で、耳付き板材1は横搬送装置
2に搬入され、第2のストッパ2Bで停止される。この
状態で横搬送装置2に搬入された耳付き板材1は次の耳
付き板材と分離されるとともに、一方の端面がランバ−
ラインLLに一致するように位置決めされる。Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a plan view showing a configuration of a transport mechanism of the automatic sawing system. When the plurality of lug-like plate materials 1 ground from the log are conveyed to a position close to the lateral conveyance device 2 in a laterally-feeding state, the first stopper 2A is lowered and the second stopper 2B is raised. The attached plate 1 is carried into the horizontal transport device 2 and stopped by the second stopper 2B. In this state, the plate material with ears 1 carried into the horizontal transport device 2 is separated from the next plate material with ears, and one end face has a lumber.
Positioning is performed so as to match the line LL.
【0008】次に、第2のストッパ2Bが下りると、横
搬送装置2上の耳付き板材1は形状認識装置部3に横移
動で送り込まれる。この形状認識装置部3には、耳付き
板材1を横移動させる駆動機構が設けられており、この
横送り量を検出するために上記駆動機構に連動して回転
されるロ−タリエンコ−ダ4が設けられている。また、
形状認識装置部3の長手方向の7箇所に所要の間隔でレ
−ザ変位センサ5(変位検出器)が上下対称状に配設さ
れている。従って、このレ−ザ変位センサ5は上側に7
個、下側に7個、対称状に配設されている。Next, when the second stopper 2B descends, the lug-like plate 1 on the horizontal transport device 2 is fed into the shape recognition device unit 3 by lateral movement. The shape recognizing device 3 is provided with a drive mechanism for laterally moving the ear-attached plate 1, and a rotary encoder 4 which is rotated in conjunction with the drive mechanism to detect the lateral feed amount. Is provided. Also,
Laser displacement sensors 5 (displacement detectors) are vertically symmetrically arranged at seven positions in the longitudinal direction of the shape recognition device section 3 at required intervals. Therefore, this laser displacement sensor 5 is
And seven on the lower side are arranged symmetrically.
【0009】上記レ−ザ変位センサ5のそれぞれは、耳
付き板材1が形状認識装置部3上を横送りされている途
中で、耳付き板材1の上面及び下面までの距離に基づく
厚みを検出するもので、レ−ザ変位センサ5のそれぞれ
から出力される厚み検出信号は後述の材形状認識装置コ
ントロ−ラ11(図4参照)に入力されるとともにロ−
タリエンコ−ダ4から出力される横送り量検出信号も材
形状認識装置コントロ−ラ11に入力されるため、同コ
ントロ−ラ11は、後述するように横送り量検出信号及
び厚み検出信号に基づいて同耳付き板材1の所定の横送
り量毎に厚みのサンプリングを行い、同耳付き板材1の
全体的な形状を認識したうえ、両耳部を切り落とし、歩
留りの良い板材を得るための鋸断位置を決定するもので
ある。尚、形状認識装置部3上を横送りされる耳付き板
材1は、後述するように幅が広い面を下に、耳付き面を
上にした状態でも、あるいはその逆面で横移動されて
も、同耳付き板材1の幅方向の厚み(断面形状)を検出
することができる。Each of the laser displacement sensors 5 detects a thickness based on the distance between the upper surface and the lower surface of the lug plate 1 while the lug plate 1 is being traversed over the shape recognizing device 3. The thickness detection signal output from each of the laser displacement sensors 5 is input to a material shape recognizing device controller 11 (see FIG. 4), which will be described later, and is loaded.
Since the traverse feed amount detection signal output from the tally encoder 4 is also input to the material shape recognition device controller 11, the controller 11 uses the traverse feed amount detection signal and the thickness detection signal as described later. Sampling of the thickness for each predetermined lateral feed amount of the plate material with ears 1 to recognize the overall shape of the plate material 1 with ears and cutting off both ears to obtain a plate material with good yield. This is for determining the cutting position. Incidentally, the plate material with ears 1 laterally fed on the shape recognizing device section 3 is laterally moved with a wide surface down, with the ear surfaces up, or on the opposite surface as described later. Also, the thickness (cross-sectional shape) in the width direction of the plate material 1 with ears can be detected.
【0010】形状認識装置部3上を横送りされた耳付き
板材1は、待機コンベヤ6に送り込まれる。待機コンベ
ヤ6には複数のストッパ6Aが設けられ、耳付き板材1
が待機コンベヤ6上に待機される場合は複数のストッパ
6Aが上がっている。尚、待機コンベヤ6の次の工程の
給材装置7に先行の耳付き板材1が無い場合は、待機無
しで形状認識装置部3から、直接、給材装置7に送られ
る。[0010] The plate with ears 1 fed sideways on the shape recognition device 3 is sent to the standby conveyor 6. The standby conveyor 6 is provided with a plurality of stoppers 6A,
Are stopped on the standby conveyor 6, the plurality of stoppers 6A are raised. If there is no preceding ear-attached plate material 1 in the material supply device 7 in the process following the standby conveyor 6, the material is directly sent from the shape recognition device unit 3 to the material supply device 7 without waiting.
【0011】上記給材装置7に待機コンベヤ6から耳付
き板材1が搬入されると、後述の材形状認識装置コント
ロ−ラ11により認識された同耳付き板材1の全体的な
形状に基づいて、次の工程の歩出装置(幅可変の2枚の
鋸歯8A,8Bを有する鋸装置)8が、前記鋸断位置に
沿って耳付き板材1を切断できるように、同耳付き板材
1を送るための姿勢制御が行われる。この姿勢制御のた
めに、給材装置7には出没式の位置決め定規ピン7Aが
4箇所に配設されている。これらの位置決め定規ピン7
Aは、個々に、位置決めモ−タの駆動により耳付き板材
1の幅方向に位置決めされ、出現した各定規ピン7Aに
耳付き板材1の幅方向端面が当接され、その位置で耳付
き板材1の姿勢が決定される。尚、位置決め定規ピン7
Aは、図面上、左(ランバ−ラインLL)から材先端
用、2メ−トル材用、3メ−トル材用、4メ−トル材用
の順に配設されており、耳付き板材1の長さが2メ−ト
ル物、3メ−トル物、4メ−トル物それぞれに応じて材
先端用とその他の定規ピン7Aとが適宜選択され、2箇
所の定規ピン7Aで姿勢制御される。When the eared plate 1 is carried into the feeder 7 from the standby conveyor 6, the eared plate 1 is recognized based on the overall shape of the eared plate 1 recognized by the material shape recognition device controller 11, which will be described later. In order to allow the stepping device (saw device having two saw blades 8A and 8B of variable width) 8 in the next step to cut the plate 1 with ears along the sawing position, Attitude control for feeding is performed. For this attitude control, the feeding device 7 is provided with four retractable positioning ruler pins 7A. These positioning ruler pins 7
A is individually positioned in the width direction of the lug plate 1 by driving the positioning motor, and the end face in the width direction of the lug plate 1 is brought into contact with each of the ruler pins 7A that have appeared, at which position 1 is determined. The positioning ruler pin 7
A is arranged in the order from the left (lumbar line LL) to the tip of the material, 2 meters, 3 meters, and 4 meters from the left in the drawing. The length of the material tip and other ruler pins 7A are appropriately selected according to the length of each of the 2-meter, 3-meter, and 4-meter objects, and the posture is controlled by the two ruler pins 7A. You.
【0012】上記のように給材装置7上で耳付き板材1
の姿勢が決定されると、同耳付き板材1は次の工程のツ
インソ−を含む歩出装置8に縦送りされる。この歩出装
置8では、2枚の鋸歯8A,8Bが前記鋸断位置に沿っ
て耳付き板材1を切断し、両耳部を切り落とすための幅
に一致するように制御され、この状態で耳付き板材1が
縦送りされるため、耳付き板材1は前記鋸断位置に沿っ
て切断され、仕分け装置9上で両耳部が廃材として落下
仕分けされたあと、板材1Aとなり、図示していない、
例えばギャング工程などに送られる。As described above, the plate material 1 with the ears on the material feeding device 7 is used.
Is determined, the same-attached plate 1 is fed vertically to the step-out device 8 including the twin saw in the next step. In this step-out device 8, the two saw teeth 8A, 8B are controlled so as to cut the ear-attached plate 1 along the sawing position and to match the width for cutting off both ears. Since the attached plate 1 is fed vertically, the eared plate 1 is cut along the sawing position, and both ears are dropped and sorted as waste material on the sorting device 9, and then become the plate 1A, which is not shown. ,
For example, it is sent to a gang process.
【0013】尚、図2は、図1を参照して説明した自動
製材システムの搬送機構を略体的に示した平面図であ
り、図3はその側面図である。図2、図3に示すよう
に、横搬送装置2において分離された耳付き板材1は、
耳付き面、あるいはその逆面の幅広面のどちらが上面の
状態でも形状認識装置部3を横移動されているとき、ロ
−タリエンコ−ダ4とレ−ザ変位センサ5から出力され
る検出信号に基づいて後述の材形状認識装置コントロ−
ラにより全体的な形状が認識される。そして、耳付き板
材1が形状認識装置部3から待機コンベヤ6に移載さ
れ、複数のストッパ6Aで停止されて待機状態にあると
き、既に給材装置7に先行搬送され、各位置決め定規ピ
ン7Aで位置決めされた耳付き板材1は、歩出装置8に
対して縦送りされ、歩出装置8の2枚の鋸歯8A,8B
により前記鋸断位置に沿って両耳部が切り落とされる。
そして待機状態にある次の耳付き板材1が給材装置7に
搬送され、前記同様に各位置決め定規ピン7Aで位置決
めされる。FIG. 2 is a plan view schematically showing a transfer mechanism of the automatic sawing system described with reference to FIG. 1, and FIG. 3 is a side view thereof. As shown in FIGS. 2 and 3, the plate material with ears 1 separated in the horizontal transport device 2 is
The detection signal output from the rotary encoder 4 and the laser displacement sensor 5 when the shape recognizing device 3 is laterally moved regardless of which of the upper surface and the opposite wide surface is the upper surface. Based on the material shape recognition device control
The overall shape is recognized by the laser. Then, when the eared plate material 1 is transferred from the shape recognition device unit 3 to the standby conveyor 6 and stopped by the plurality of stoppers 6A and is in the standby state, it is already transported to the material supply device 7 in advance, and each positioning ruler pin 7A The plate material with ears 1 positioned in the step is vertically fed to the step-out device 8, and the two saw teeth 8A, 8B of the step-out device 8
Thereby, both ears are cut off along the sawing position.
Then, the next eared plate material 1 in the standby state is conveyed to the material supply device 7, and is positioned by the positioning ruler pins 7A in the same manner as described above.
【0014】図4は、本実施例の自動製材システムの制
御ブロック図である。図4に示すように、形状認識装置
部3に設けられた前記ロ−タリエンコ−ダ4及び14個
のレ−ザ変位センサ5は、材形状認識装置コントロ−ラ
11と電気的に接続されている。この材形状認識装置コ
ントロ−ラ11は前述したように、ロ−タリエンコ−ダ
4からの横送り量検出信号及び14個のレ−ザ変位セン
サ5からの厚み検出信号に基づいて耳付き板材1の所定
の横送り量毎に厚みのサンプリングを行い、同耳付き板
材1の全体的な形状を認識したうえ、歩留りの良い板材
1A(図1参照)を得るための鋸断位置を決定するもの
である。FIG. 4 is a control block diagram of the automatic sawing system of this embodiment. As shown in FIG. 4, the rotary encoder 4 and the 14 laser displacement sensors 5 provided in the shape recognition device section 3 are electrically connected to a material shape recognition device controller 11. I have. As described above, the material shape recognizing device controller 11 controls the plate material with ears 1 based on the lateral feed amount detection signal from the rotary encoder 4 and the thickness detection signal from the 14 laser displacement sensors 5. That samples the thickness for each predetermined lateral feed amount, recognizes the overall shape of the plate 1 with ears, and determines the cutting position for obtaining a plate 1A (see FIG. 1) with a good yield. It is.
【0015】材形状認識装置コントロ−ラ11にはシ−
ケンサ12が電気的に接続されている。そしてシ−ケン
サ12は材形状認識装置コントロ−ラ11で認識された
耳付き板材1の全体的な形状に基づいて決定された前記
鋸断位置に沿って、歩出装置8の2枚の鋸歯8A,8B
が耳付き板材1を切断するように、材形状認識装置コン
トロ−ラ11からのデ−タに基づいて前記給材装置7の
位置決め定規ピン7A及び縦送り駆動を制御する。The material shape recognition device controller 11 has a seal
The sequencer 12 is electrically connected. Then, the sequencer 12 moves the two saw teeth of the step-out device 8 along the sawing position determined on the basis of the overall shape of the eared plate material 1 recognized by the material shape recognition device controller 11. 8A, 8B
Controls the positioning ruler pin 7A and the longitudinal feed drive of the material supply device 7 based on data from the material shape recognition device controller 11 so that the plate material 1 with the ear is cut.
【0016】材形状認識装置コントロ−ラ11には、ま
た、RS232C通信回線を介して前記歩出装置8の2
枚の鋸歯8A,8B間の幅を制御する幅決め装置コント
ロ−ラ13と接続されている。従って、幅決め装置コン
トロ−ラ13は、RS232C通信回線を介した材形状
認識装置コントロ−ラ11からのデ−タに基づいて歩出
装置8の2枚の鋸歯8A,8B間の幅を可変する各モ−
タを制御し、2枚の鋸歯8A,8B間の幅を鋸断位置の
幅に一致させる。The material shape recognizing device controller 11 is connected to the step-out device 8 via an RS232C communication line.
It is connected to a width determining device controller 13 for controlling the width between the saw teeth 8A and 8B. Therefore, the width determining device controller 13 changes the width between the two saw teeth 8A and 8B of the step-out device 8 based on the data from the material shape recognizing device controller 11 via the RS232C communication line. Each mode
And the width between the two saw teeth 8A and 8B is made to match the width of the sawing position.
【0017】図5は、前記材形状認識装置コントロ−ラ
11などを内蔵するとともに、パネル面には各種のデ−
タを表示するカラ−のLCD、及び各種パラメ−タを入
力するためのシ−トスイッチSWが配設されたコントロ
−ラ盤14の斜視図である。尚、コントロ−ラ盤14に
対する電源は外部のスイッチによりオンオフされ、前記
RS232C用コネクタはコントロ−ラ盤14の本体下
部に接続される。FIG. 5 shows a structure in which the material shape recognizing device controller 11 and the like are built in, and various data are provided on the panel surface.
FIG. 3 is a perspective view of a controller board 14 provided with a color LCD for displaying parameters and a sheet switch SW for inputting various parameters. The power to the controller board 14 is turned on and off by an external switch, and the RS232C connector is connected to the lower part of the main body of the controller board 14.
【0018】図6は、前記材形状認識装置コントロ−ラ
11が前記ロ−タリエンコ−ダ4からの横送り量検出信
号及び14個のレ−ザ変位センサ5からの厚み検出信号
を一定周期でサンプリングし、そのサンプリングデ−タ
に基づいて材形状寸法を測定する耳付き板材1の斜視図
である。尚、測定される寸法Lは耳付き板材1の全長で
あり、寸法WAは両耳部が切断されたあとの材幅、寸法
WBは両耳部付きの耳付き板材1の全幅、寸法AA,A
Bは耳部の幅である。また、寸法Hは耳付き板材1の平
面部の平均厚みである。FIG. 6 shows that the material shape recognizing device controller 11 transmits the lateral feed amount detection signal from the rotary encoder 4 and the thickness detection signal from the 14 laser displacement sensors 5 at a constant period. FIG. 2 is a perspective view of a plate material with ears 1 for sampling and measuring the shape and size of the material based on the sampling data. The dimension L to be measured is the total length of the plate material 1 with ears, the size WA is the width of the material after the both ears are cut, and the size WB is the total width of the plate material 1 with both ears, dimensions AA, A
B is the width of the ear. The dimension H is the average thickness of the flat part of the plate material 1 with ears.
【0019】図7は、コントロ−ラ盤14のカラ−表示
器LCDに表示される測定画面図である。図7に示した
測定画面において、画面上部に表示される「停止」、
「測定中」「測定終了」、「自動」、「手動」、「異
常」は動作情報であり、現在の装置動作状態を表示す
る。また、耳付き板材の平面画像及び正面画像は、前記
材形状認識装置コントロ−ラ11がロ−タリエンコ−ダ
4からの横送り量検出信号及び14個のレ−ザ変位セン
サ5からの厚み検出信号を一定周期でサンプリングし、
そのサンプリングデ−タに基づいて材形状寸法を測定し
た結果をグラフィック表示したものである。また、「ピ
ン位置」表示は、耳付き板材の測定情報及び各パラメ−
タより求められた前記位置決め定規ピン7Aの位置をグ
ラフィック表示したものである。その他、現在の進行状
況及び各パラメ−タ、日時情報、メッセ−ジなどが表示
される。FIG. 7 is a diagram showing a measurement screen displayed on the color display LCD of the controller board 14. As shown in FIG. In the measurement screen shown in FIG. 7, "stop" displayed at the top of the screen,
“Measurement”, “Measurement end”, “Automatic”, “Manual”, and “Abnormal” are operation information, and display the current device operation state. Further, the flat shape image and the front image of the plate material with ears are detected by the material shape recognizing device controller 11 by the lateral feed amount detection signal from the rotary encoder 4 and the thickness detection by the 14 laser displacement sensors 5. The signal is sampled at regular intervals,
This is a graphic representation of the results of measuring the material dimensions based on the sampling data. In addition, the “pin position” display shows the measurement information of the plate material with ears and each parameter.
7 is a graphic representation of the position of the positioning ruler pin 7A obtained from the data. In addition, the current progress status, various parameters, date and time information, messages and the like are displayed.
【0020】図8は、14個のレ−ザ変位センサ5が耳
付き板材1の横移動過程で、同耳付き板材1の厚みを検
出する状況を示したものである。図8に示すように、耳
付き板材1の横移動過程での先端面から厚みの検出を開
始し、以後、耳付き板材1が一定距離、例えば0.5m
m移動する毎に14個のレ−ザ変位センサ5から出力さ
れる厚み検出信号が前記材形状認識装置コントロ−ラ1
1によりサンプリングされる。各レ−ザ変位センサ5か
ら出力される厚み検出信号は、実際には耳付き板材1の
上下両面までの距離に対応した信号であり、上下対称状
に配設された各組のレ−ザ変位センサ5から出力される
上下両面までの距離対応信号により材形状認識装置コン
トロ−ラ11が各サンプリングポイントでの厚みを認識
し、全サンプリング終了後に耳付き板材1の全体的な形
状を認識する。尚、図中、n+1は耳付き板材1の横移
動過程での先端面から0.5mmの位置に相当し、n+
2は1mm、n+3は1.5mm、n+4は2mmの位
置に相当する。この移動距離はロ−タリエンコ−ダ4か
らの横送り量検出信号によって認識される。また、図9
はロ−タリエンコ−ダ4からの横送り量検出信号の波形
図であり、1パルスの距離は0.25mmであるため、
2パルス毎に14個のレ−ザ変位センサ5から出力され
る厚み検出信号が前記材形状認識装置コントロ−ラ11
によりサンプリングされる。FIG. 8 shows a state in which fourteen laser displacement sensors 5 detect the thickness of the ear-attached plate 1 during the lateral movement of the ear-attached plate 1. As shown in FIG. 8, the detection of the thickness is started from the front end surface of the ear-attached plate 1 in the lateral movement process.
The thickness detection signal output from the 14 laser displacement sensors 5 every m movements is transmitted to the material shape recognition device controller 1.
Sampled by 1. The thickness detection signal output from each of the laser displacement sensors 5 is actually a signal corresponding to the distance to the upper and lower surfaces of the plate material 1 with ears, and each set of lasers arranged vertically symmetrically. The material shape recognizing device controller 11 recognizes the thickness at each sampling point based on the signal corresponding to the distance to the upper and lower surfaces output from the displacement sensor 5, and recognizes the overall shape of the lug 1 after all samplings are completed. . In the drawing, n + 1 corresponds to a position 0.5 mm from the front end surface of the ear-attached plate 1 in the lateral movement process, and n +
2 is 1 mm, n + 3 is 1.5 mm, and n + 4 is 2 mm. This moving distance is recognized by a lateral feed amount detection signal from the rotary encoder 4. FIG.
FIG. 5 is a waveform diagram of the lateral feed amount detection signal from the rotary encoder 4. Since the distance of one pulse is 0.25 mm,
The thickness detection signal output from the 14 laser displacement sensors 5 every two pulses is transmitted to the material shape recognition device controller 11.
Is sampled by
【0021】図10及び図11は、1回の測定でn+7
0回サンプリングしたデ−タに基づいて耳付き板材1の
厚み(断面形状)を検出する説明図である。図11に示
した各サンプリング毎のデ−タは、実線が上下対称位置
に配設された上部レ−ザ変位センサ5からのデ−タであ
り、破線が下部センサ5からのデ−タであって、サンプ
リング毎に耳付き板材1の厚みを算出する。尚、各レ−
ザ変位センサ5から出力される信号はアナログ値である
ため、その値をデジタルに変換したA/D値で図11の
グラフィック表示をしている。FIGS. 10 and 11 show n + 7 in one measurement.
FIG. 9 is an explanatory diagram for detecting the thickness (cross-sectional shape) of the plate material with ears 1 based on data sampled 0 times. As for the data for each sampling shown in FIG. 11, the solid line is the data from the upper laser displacement sensor 5 disposed at the vertically symmetric position, and the broken line is the data from the lower sensor 5. Then, the thickness of the lug 1 is calculated for each sampling. In addition, each
Since the signal output from the displacement sensor 5 is an analog value, the value is converted into a digital value and the A / D value is graphically displayed in FIG.
【0022】各サンプリングタイミングにおける耳付き
板材1の厚みを算出するため、次の式を用いる。 板厚=〔(上部センサA/D値−上部センサから基準面
のA/D値)−(下部センサから基準面のA/D値−下
部センサA/D値〕×A/D値に対する距離変化量The following equation is used to calculate the thickness of the lug 1 at each sampling timing. Plate thickness = [(A / D value of upper sensor-A / D value of reference surface from upper sensor)-(A / D value of lower sensor to A / D value of lower surface-lower sensor A / D value] x distance to A / D value Change
【0023】図12は、耳付き板材1の両耳部A,C
と、平面部分Bとの境界を決めるための説明図である。
図12に示すように、耳付き板材1の板厚は平面部分B
を中心に分布し、その両側に耳部A,Cが分布してい
る。そして分布量の多いB部を平面部分と確定し、B部
の平均値を求めたあと、その平均値と全デ−タとを比較
して両耳部A,Cを確定する。 従って、A部の長さ=A部でのサンプリング回数×サンプリング距離であり、 C部の長さ=C部でのサンプリング回数×サンプリング距離である。 尚、当然のことながら、各サンプリングタイミングにお
ける耳付き板材1の厚み、及び両耳部A,Cと平面部分
Bとの境界を決めるための演算は、上下対称状に配設さ
れた各組のレ−ザ変位センサ毎に行われる。FIG. 12 shows both ears A and C of the plate material 1 with ears.
FIG. 9 is an explanatory diagram for determining a boundary between a flat portion and a plane portion B.
As shown in FIG. 12, the thickness of the plate material 1 with ears is
, And ears A and C are distributed on both sides thereof. Then, the portion B having a large distribution amount is determined as a plane portion, an average value of the portion B is determined, and the average value is compared with all data to determine the binaural portions A and C. Therefore, the length of section A = the number of samplings in section A × sampling distance, and the length of section C = the number of samplings in section C × sampling distance. Naturally, the calculation for determining the thickness of the lug 1 at each sampling timing and the boundary between the both ears A and C and the plane portion B are performed for each pair of symmetrically arranged vertically. This is performed for each laser displacement sensor.
【0024】以上のように、前記材形状認識装置コント
ロ−ラ11により耳付き板材1の全体的な形状が認識さ
れると、同材形状認識装置コントロ−ラ11は、平面部
分Bを最も多く残すような歩留りの良い板材1A(図1
参照)を得ることができるような鋸断位置を演算し、そ
の鋸断位置に沿って前記鋸歯8A,8Bが耳付き板材1
を切断するように前記シ−ケンサ12(図4参照)に対
して指令信号を出力する。シ−ケンサ12は、この指令
信号に基づいて前記給材装置7の位置決め定規ピン7
A、及び歩出装置8の鋸歯8A,8B間の幅を制御する
ため、耳付き板材1は鋸断位置に沿って切断され、歩留
りの良い板材1Aが得られる。As described above, when the overall shape of the plate material 1 with ears is recognized by the material shape recognizing device controller 11, the material shape recognizing device controller 11 has the largest number of flat portions B. Plate material 1A with good yield to leave
) Is calculated so that the saw teeth 8A and 8B can move along the sawing position.
A command signal is output to the sequencer 12 (see FIG. 4) so as to cut off. The sequencer 12 determines the position of the positioning ruler pin 7 of the material supply device 7 based on the command signal.
In order to control A and the width between the saw teeth 8A and 8B of the step-out device 8, the eared plate 1 is cut along the sawing position, and a plate 1A with a good yield is obtained.
【0025】前述したように、14個のレ−ザ変位セン
サ5は、上下対称状に2個1組で7箇所に取り付けられ
ている。一方、耳付き板材1が形状認識装置部3上を横
移動されているとき、万一、形状認識装置部3に振動が
発生しても、レ−ザ変位センサ5は、上下対称状に2個
1組が一体的に形状認識装置部3に取り付けられている
ため、形状認識装置部3が振動しても耳付き板材1に対
する厚み検出値は非振動時と殆ど変わらない。As described above, the fourteen laser displacement sensors 5 are vertically symmetrically mounted at seven locations in pairs. On the other hand, if the ear-attached plate 1 is laterally moved on the shape recognizing device 3, even if the shape recognizing device 3 is vibrated, the laser displacement sensor 5 will be vertically symmetrical. Since one set is integrally attached to the shape recognizing device 3, even when the shape recognizing device 3 vibrates, the thickness detection value for the ear-attached plate 1 is almost the same as when no vibration occurs.
【0026】以上のように構成された自動製材システム
によれば、形状認識装置部3で形状認識される耳付き板
材1は、横移動しながら形状認識されるため、前記従来
のシステムのように耳付き板材を停止させた状態で形状
認識する手段に比較して生産性が高くなる。また、形状
認識装置部3に送られる耳付き板材1は、両耳付き面が
上面の状態でも、あるいはその反対に両耳付き面が下面
の状態でも、材形状認識装置コントロ−ラ11は形状認
識装置部3を横移動する耳付き板材1の形状を認識する
ことができるため、前記従来のシステムのように耳付き
板材が逆面状態で送られてきた場合、人為的、もしくは
反転装置などにより耳付き板材を裏返さなければならな
いという作業が不要になり無人化が可能になるととも
に、生産性も向上する。尚、上記実施例では、厚みを検
出するのにレ−ザ変位センサを用いたが、超音波センサ
等、その他の変位センサを用いてもよい。According to the automatic sawing system configured as described above, the plate material with ears 1 whose shape is recognized by the shape recognition device 3 is recognized while moving laterally. The productivity is higher as compared with the means for recognizing the shape in a state where the plate material with ears is stopped. The plate material with ears 1 sent to the shape recognizing device section 3 has the shape of the material shape recognizing device controller 11 regardless of whether the surfaces with both ears are on the upper surface or conversely, the surfaces with both ears on the lower surface. Since the shape of the ear-attached plate 1 that moves laterally through the recognition device unit 3 can be recognized, when the ear-attached plate is sent in an inverted state as in the above-described conventional system, an artificial or reversing device is used. This eliminates the need to turn over the plate with the ears, thereby enabling unmanned operation and improving productivity. In the above embodiment, a laser displacement sensor is used to detect the thickness, but another displacement sensor such as an ultrasonic sensor may be used.
【0027】[0027]
【発明の効果】以上のように本発明によれば、耳付き板
材が移動中でも形状認識ができるとともに、耳付き板材
の両耳付き面が上面の状態でも、あるいはその反対に両
耳付き面が下面の状態で送られて来ても形状認識が可能
であるため、製材の生産性が向上する。 また、耳付き板
材の厚み寸法を検出し、平面部及び耳部の形状を認識し
たうえ、全体形状に基づいて鋸断位置が演算され、鋸断
位置に沿って耳付き板材が切断できるため、歩留りの高
い製材を得ることができる。 更に、耳付き板材に反りが
あっても、全体形状を認識することができる。 As described above, according to the present invention, a plate with ears
The shape can be recognized even while the material is moving, and the plate with ears
With both ears facing up or vice versa
Shape recognition is possible even when the ear-attached surface is sent with the bottom surface
Therefore, the productivity of lumber is improved. Also, a plate with ears
Detects the thickness of the material and recognizes the shape of the flat and ear parts
In addition, the cutting position is calculated based on the overall shape,
The plate with ears can be cut along the position, resulting in high yield
The lumber can be obtained. Furthermore, the board with ears is warped
Even if there is, the entire shape can be recognized.
【図1】自動製材システムの全体的な機構構成を示した
平面図である。FIG. 1 is a plan view showing an overall mechanism configuration of an automatic sawing system.
【図2】自動製材システムの搬送経路を略体的に示した
平面図である。FIG. 2 is a plan view schematically showing a transport path of the automatic sawing system.
【図3】自動製材システムの搬送経路を略体的に示した
側面図である。FIG. 3 is a side view schematically showing a transport path of the automatic sawing system.
【図4】自動製材システムの制御ブロック図である。FIG. 4 is a control block diagram of the automatic sawing system.
【図5】自動製材システムのコントロ−ラ盤の斜視図で
ある。FIG. 5 is a perspective view of a controller board of the automatic sawing system.
【図6】耳付き板材の斜視図である。FIG. 6 is a perspective view of a plate member with ears.
【図7】コントロ−ラ盤の液晶表示部の表示図である。FIG. 7 is a display diagram of a liquid crystal display unit of the controller board.
【図8】耳付き板材の厚みを検出する説明図である。FIG. 8 is an explanatory diagram for detecting the thickness of a plate material with ears.
【図9】ロ−タリエンコ−ダの出力パルス波形図であ
る。FIG. 9 is an output pulse waveform diagram of a rotary encoder.
【図10】耳付き板材の厚みをサンプリング検出する説
明図である。FIG. 10 is an explanatory diagram for sampling detection of the thickness of a plate material with ears.
【図11】耳付き板材の厚みをサンプリング検出したと
きのグラフィック図である。FIG. 11 is a graphic diagram when the thickness of an eared plate material is detected by sampling.
【図12】耳付き板材の厚みをグラフィック表示した図
面である。FIG. 12 is a drawing that graphically displays the thickness of a plate material with ears.
1 耳付き板材 1A 板材 2 横搬送装置 3 形状認識装置部 4 ロ−タリエンコ−ダ 5 レ−ザ変位センサ 6 待機コンベヤ 7 給材装置 7A 位置決め定規ピン 8 歩出装置 9 仕分け装置 11 材形状認識装置コントロ−ラ 12 シ−ケンサ DESCRIPTION OF SYMBOLS 1 Plate material with ears 1A Plate material 2 Horizontal conveyance device 3 Shape recognition device part 4 Rotary encoder 5 Laser displacement sensor 6 Standby conveyor 7 Feeding device 7A Positioning ruler pin 8 Step-out device 9 Sorting device 11 Material shape recognition device Controller 12 Sequencer
───────────────────────────────────────────────────── フロントページの続き (72)発明者 大村 光仁 静岡県浜北市内野台3丁目2の17番地 (56)参考文献 特開 平7−178701(JP,A) 特開 昭49−61798(JP,A) ────────────────────────────────────────────────── ─── Continuation of the front page (72) Mitsuhito Omura 3-17-2, Nodai, Hamakita City, Shizuoka Prefecture (56) References JP-A-7-178701 (JP, A) JP-A-49-61798 ( JP, A)
Claims (1)
り量を検出する横送り量検出器と、前記耳付き板材が横
送りされているときに同耳付き板材の長手方向の複数の
上下対称位置で光もしくは超音波の反射による距離検知
に基づいて同耳付き板材の厚みを検出する変位検出器
と、前記横送り量検出器及び前記各変位検出器から出力
された検出信号に基づいて前記耳付き板材の全体形状を
認識する形状認識手段と、その形状認識手段で認識され
た前記耳付き板材の全体形状に基づいて所定の板材を得
るための鋸断位置を演算する鋸断位置演算手段とを備え
たことを特徴とする自動製材システム。(1) feeding when a plate material with ears is being fed sideways;
The lateral feed amount detector for detecting the feed amount and the
When feeding multiple plates in the longitudinal direction of the
Distance detection by reflection of light or ultrasonic waves at vertically symmetric positions
Detector for Detecting the Thickness of a Plate with Ears Based on the Sensor
Output from the lateral feed amount detector and each of the displacement detectors
The overall shape of the plate with ears is determined based on the detected detection signal.
The shape recognition means to be recognized, and the shape recognition means
A predetermined plate material is obtained based on the entire shape of the plate material with ears.
Cutting position calculating means for calculating a cutting position for
Automatic timber system characterized by a.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6066121A JP2604977B2 (en) | 1994-04-04 | 1994-04-04 | Automatic sawing system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6066121A JP2604977B2 (en) | 1994-04-04 | 1994-04-04 | Automatic sawing system |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH07276303A JPH07276303A (en) | 1995-10-24 |
JP2604977B2 true JP2604977B2 (en) | 1997-04-30 |
Family
ID=13306736
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP6066121A Expired - Fee Related JP2604977B2 (en) | 1994-04-04 | 1994-04-04 | Automatic sawing system |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2604977B2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100366409C (en) * | 2003-04-25 | 2008-02-06 | 株式会社名南制作所 | Method for centering a log and device thereof |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW201242735A (en) * | 2011-04-19 | 2012-11-01 | Ren-Wen Zhang | Plate size measurement and processing method |
CN103538113B (en) * | 2012-12-07 | 2015-01-07 | 曹守海 | Full-automatic numerical control panel edge trimming saw |
KR102249503B1 (en) * | 2020-07-06 | 2021-05-07 | 서문팀버 주식회사 | Process method of laminate wood for floor panel |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA1000832A (en) * | 1972-05-09 | 1976-11-30 | Black Clawson Company (The) | Automatic edger set works method and apparatus |
JPH07178701A (en) * | 1993-12-22 | 1995-07-18 | C K S Chiyuuki:Kk | Log feeding apparatus |
-
1994
- 1994-04-04 JP JP6066121A patent/JP2604977B2/en not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100366409C (en) * | 2003-04-25 | 2008-02-06 | 株式会社名南制作所 | Method for centering a log and device thereof |
Also Published As
Publication number | Publication date |
---|---|
JPH07276303A (en) | 1995-10-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US4557019A (en) | Automatic portion-cutting method and machine | |
JP2604977B2 (en) | Automatic sawing system | |
KR950015115B1 (en) | Device and method for measauring shape and dimensions of workpiece in sawing machine and device for automatically adjusting blode guide | |
JP5698960B2 (en) | Cutting method and cutting apparatus for workpiece | |
CA2516179C (en) | Method and apparatus for visually indexing objects upon a moving surface | |
CN112074368B (en) | Workpiece processing device, method for operating a workpiece processing device, and control device | |
CN108731588B (en) | Device and method for measuring length and diagonal line of machine vision steel plate | |
JPH09226019A (en) | Method for centering of belt feed device and device therefor | |
US7422042B2 (en) | Method and apparatus for centering a log | |
JP2596482B2 (en) | Plate thickness measuring device | |
JPH09210754A (en) | Weighing/cutting method of synthetic rubber and apparatus thereof | |
WO1994027793A1 (en) | Method and apparatus for cutting a mineral wool web and arrangement by such a cutting apparatus | |
JPH05177345A (en) | Method and device for cutting | |
JPH0776688B2 (en) | Automatic plate thickness measuring device | |
CN214925906U (en) | Building block cutting device | |
JPH06246631A (en) | Automatic polishing machine | |
JP2837356B2 (en) | Jointing device | |
JP2728555B2 (en) | Automatic thickness gauge | |
JPH06142912A (en) | Device for working bar stock | |
KR970028438A (en) | Moving object length measuring device using laser device | |
JP2715450B2 (en) | Cutting length learning device for cutter / sorter system | |
RU2037375C1 (en) | Device for control of surface defects of hot blank at casting | |
JP2001001139A (en) | Gas cutting device and method for cast metal | |
JPH05285647A (en) | Method and device for welding stiffener | |
JP2023106184A (en) | Bar steel sample collection apparatus and bar steel sample collection method |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100129 Year of fee payment: 13 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110129 Year of fee payment: 14 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110129 Year of fee payment: 14 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120129 Year of fee payment: 15 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120129 Year of fee payment: 15 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130129 Year of fee payment: 16 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20140129 Year of fee payment: 17 |
|
LAPS | Cancellation because of no payment of annual fees |