JP2004098556A - Method and apparatus for lumbering curved material - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus for automatically lumbering a curved material which can solve the problem of a low working accuracy or a low lumbering efficiency in a conventional apparatus for lumbering to automatically curve-saw the curved material. <P>SOLUTION: A method for lumbering a curved material includes the steps of recognizing an overall shape by measuring a surface shape of a square material W obtained from the curved material, calculating a target lumbering locus suitable for maximizing a yield rate of a square timber based on the recognition by a controller E, controlling a supplying attitude of the square material so that an axis of the square material passing through an intermediate mean position of the lumbering locus linearly passes through a central position of a sawing machine B, moving the sawing machine laterally to the square material supplying direction and controlling the turning in such a manner that a pair of band saws placed in the machine trace the target locus of the square material, thereby obtaining a curved square lumber. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
TECHNICAL FIELD The present invention relates to a sawing method and a sawing machine for sawing wood obtained by flattening both surfaces of a bent material on both sides on a less bent side with a good yield.
[0002]
[Prior art]
Due to the mountain topography and climate of Japan, it is inevitable that domestically produced timber contains a large amount of bent material and rails. However, if the bent material is processed into a straight rectangular bar (including a plate material), the amount of wasted waste material increases, which is too laborious and uneconomical. For this reason, bent wood has a low unit price for log transactions and does not even require transportation costs, and is often left behind in the mountains after being cut down without being effectively utilized.
[0003]
On the other hand, if the bent material is also bent along the curve, the yield is improved, and the plate material ground from the bent square material according to the bending is straight-lined if the bending is corrected and straightened. It is known that rails can be obtained with square members (including plate members) which are inferior to those of the above. However, to bend the bent material, place the large bent side on the table with both sides up and down, and the sawed surface will be bent in the direction of the bent material by the manual work of multiple experienced skilled workers. It was necessary to feed the bent material into the sawing machine while tilting it so that it was almost parallel to
[0004]
By the way, in order to bend a bent material, the work of sending the bent material to the sawing machine while manually operating it is labor intensive and inefficient, and the sawed surface can be corrected to a straight material in a later process Making a curved surface is an extremely difficult task that requires accuracy. Therefore, in order to solve such a problem, automation of the turning has been promoted, which enables the turning without requiring a skilled person, thereby enabling a significant reduction in labor.
[0005]
[Patent Document 1] Japanese Patent No. 2978473 The automatic bending method and apparatus described in the publication include a bending device that supports a bent material in a tiltable manner and feeds the bent material to a sawing machine, and a desired ground material in which the bent material is curved. It comprises a controller for commanding the tilting of the bending material so that the wire is inscribed in the sawing path. This bending machine is provided with a reciprocating plate that can move in a direction substantially perpendicular to the reciprocating direction of the revolving car at two places on the revolving car that can reciprocate toward the sawing machine. A pair of wooden grips is provided at the end of the swinging plate that can swing with respect to the provided shaft, and grips near both ends of the bent material, and both ends of the connecting rod are pivotally attached to two wooden grips. It is provided with a structure for interlocking the movements of.
[0006]
However, this automatic bending method and apparatus have the following problems.
(1) Each time one bending operation is completed, unless the bending device is retracted, the next bending operation cannot be performed, so that productivity does not increase.
(2) Since this device grasps one side of the bent material, both sides of the bent material cannot be bent at the same time.
Further, if the bent material is sawn from one direction, the balance becomes out of balance, causing a problem that the remaining material is warped, which is not suitable for board sawing.
(3) Since the wooden grip has a structure in which one side of the bent material is gripped, the gripping force is weak, and it is difficult to grip a heavy bent material.
(4) Since a large momentum based on the weight of the bent material is added to the movable and swingable wooden gripper, it is difficult to operate smoothly and it is difficult to obtain a highly accurate desired sawing wire. It is.
[0007]
[Problems to be solved by the invention]
The present invention has been made in order to solve the above-described problem, and even if one bending is completed, the next bending can be continuously performed, and both sides of the bent material are simultaneously bent. It is an object of the present invention to provide a method for producing a bent material capable of producing a processed material with high accuracy, which can produce a processed surface with no deviation on both sides and high accuracy, and a device therefor.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, a method for producing a bent material according to the present invention is a method for producing a square bar from a Tyco material obtained by flattening opposing both side surfaces of the bent material with less bending, as described in claim 1. Measuring the surface shape of the Tyco material by a plurality of sensors and recognizing the overall shape, and calculating a target lumber trajectory suitable for maximizing the yield rate of the rectangular material based on the recognition by the controller, The feeding posture of the tine is controlled so that the axis of the tine passing through the intermediate average position of the target lumber traverses straight through the center position of the sawing machine, and the band saw follows the target lumber trajectory of the tine. Further, the movement and rotation of the sawing machine in a direction intersecting with the feeding direction of the Tyco material are controlled.
[0009]
In the bent material sawing method configured as described above, information obtained by measuring the shape of the unprocessed surface of the Tyco material with a sensor is sent to the controller, and the controller receiving this information recognizes the bent material shape and recognizes the bent material shape. The sawing material line to be bent is determined, and the movement control of the sawing machine and the turning control of the direction of the sawing machine are performed in synchronization with the straight feeding of the bending material, so that the bending material is automatically fed while being straightly fed. The best bends can be made.
[0010]
In the bent material sawing method, as described in claim 2, the sensor uses a measuring device that detects the surface position of the Tyco material using a laser beam, and the controller uses the scanning measurement result of the Tyco material surface. It is preferable to recognize the cross-sectional shape of the tycoon from the above and calculate the target trajectory.
[0011]
According to the configuration of claim 2, since the laser beam sensor can accurately measure the shape of the surface of the Tyco material, not only the curvature of the Tyco material but also the shape of the unprocessed surface can be measured with high accuracy. The controller receiving the measurement value can recognize the accurate sawing wire to be turned and can know the maximum width of the sawn bent material accurately.
[0012]
According to a third aspect of the present invention, there is provided a sawing apparatus capable of performing the above-described bent sawing method, wherein a plurality of sensors for measuring a surface position of the tycoon material and an apparatus for moving the tycoon material with respect to the sensor are provided. A sawing machine provided with a set of band saws capable of laterally moving in a direction intersecting with the feeding direction of the Tyco material and capable of rotating the direction of the saw; A straight-line feeder provided with a feed conveyor for feeding lumber toward the sawing machine, and calculating a target lumber trajectory suitable for maximizing the yield rate of the square lumber based on recognition of the shape recognition device, The feed posture of the tycoon material on the linear feeder is controlled such that the axis of the tycoon material passing through the intermediate average position of the target lumber locus passes straight through the center position of the sawing machine. Move the sawing machine laterally and follow the target sawmill trajectory. Constituting include a controller for controlling the rotation.
[0013]
The bending material sawing apparatus according to claim 3 moves the Tyco material relative to the plurality of sensors, so that the position and the surface shape of a plurality of locations of the Tyco material can be measured quickly and accurately, and the controller is provided. Calculates the target sawing locus and cutting position of the Tyco material from the measured values, and outputs a signal for controlling the operation of the band saw machine in a timely manner. Then, when the feeding conveyor on which the bent material is placed advances straight toward the sawing machine, the sawing machine which has received the command laterally moves and rotates in accordance with the target sawing locus, and turns the bent material. As a result, each time the feeding conveyer finishes turning, the next conveyed material can be received and railed, and automatic sawmilling can be performed continuously and efficiently.
[0014]
In the bending material sawing apparatus of the present invention, as described in claim 4, it is preferable that the rectilinear feeder is provided with an adjustment stopper for adjusting the posture of the tycoon on the feed conveyor. The position of the plywood placed on the feed conveyor of the linear feeder is precisely adjusted so that there is no error in the position of the rail when it is fed toward the sawing machine. Rails precisely ground according to the trajectory and cutting position.
[0015]
The bending material sawing apparatus according to the present invention is preferably provided with a pressing roller for pressing the tycoon material onto the mounting surface of the feeding conveyor, as described in claim 5. By adding this configuration, the Tyco material is securely fixed on the feed conveyor, so there is no displacement or vibration during feeding of the feed conveyor or cutting of the sawing machine, as instructed The bend can be performed accurately.
[0016]
According to the sixth aspect of the present invention, the sawing machine of the bent material sawing apparatus can finely adjust the distance between the sawing machine and the platform that can be moved and rotated with respect to the feeding direction of the Tyco material. It is preferable that a pair of band sawing machines are provided. With this configuration, it is possible to finely adjust the interval between the pair of band sawing machines and accurately set the width of the square bar obtained by sawing the bent member. Further, since the lateral movement amount and the rotation angle of the pair of band sawing machines are always equal, the curved surfaces can be maintained in an accurate parallel without any deviation.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to specific examples in the drawings.
1 to 11 are views showing a bent material sawing apparatus according to the present invention, and FIG. 12 is a view showing an order of a bent material sawing method. FIG. 13 is a perspective view for explaining a sensor measurement position of a Tyco material, FIG. 14 is a drawing for explaining a measuring method using a sensor, and FIG. 15 is a drawing for explaining a cutting position of the Tyco material.
[0018]
As shown in FIG. 1, the bending material sawing apparatus of the present invention includes a shape recognition device A that measures the shape of the Tyco material W while placing the Tyco material W and moving in the lateral direction, and bending the Tyco material W. A sawing machine B for sawing, a linear feeder C for feeding the tycoon material W toward the sawing machine B, and an unloading device D for unloading the back plate separated from the bent material to the back of the sawing machine B; Receiving the information from the recognition device A, it calculates the turning position by the sawing machine B, that is, the target sawing locus and cutting position, and instructs a controller E for automatically controlling each device and a start and end of automatic operation. Rail composed by operation panel F.
[0019]
The shape recognition device A is provided with two chain conveyors 1 on which both ends of a Tyco material W are placed and laterally fed toward a linearly moving device C, and is provided on a drive shaft 2 of the chain conveyor 1. The rotary encoder 3 detects the transport amount of the Tyco material W in units of 0.5 mm. Above and below the chain conveyor 1, a plurality of (up to seven in FIG. 3) upper laser sensors 4 and lower laser sensors 5 are disposed facing each other (see FIGS. 2 and 3). ), So that the surface position of the Tyco material W can be detected.
[0020]
In the present invention, the upper laser sensor 4 and the lower laser sensor 5 are fixed, and the shape of the surface of the Tyco material W is measured while moving the Tyco material W. Here, even when the upper laser sensor 4 and the lower laser sensor 5 are moved, the shape of the surface of the Tyco material W can be measured in exactly the same manner.
[0021]
A first stopper 7 is pivotally mounted on a support shaft 6 provided below the chain conveyor 1, and the first stopper 7 can be protruded and retracted in the lateral feed path of the Tyco material W by the operation of the air cylinder 8. ing. The Tyco material W can be temporarily stopped before passing through both laser sensors 4 and 5 for measuring the surface shape (see FIG. 4). Further, a second stopper 10 is also pivotally mounted on a support shaft 9 provided below the chain conveyor 1, and the second stopper 10 can be protruded and retracted in the lateral feed path of the tycoon material W by the operation of the air cylinder 11. It has become. The Tyco material W after passing through the two laser sensors 4 and 5 can be temporarily stopped and made to stand by.
[0022]
At the unloading end of the chain conveyor 1, a transfer conveyor 14 for supplying the tycoon material W to the feed conveyor 13 of the linear feeder C is provided (see FIGS. 1 and 4). The transfer conveyor 14 is made up of two chain conveyors, and can be moved up and down by a small amount. Therefore, after the Tyco material W is conveyed onto the feeding conveyor 13, it is lowered to supply the Tyco material W. It can be placed on the conveyor 13.
[0023]
The feed conveyor 13 feeds the tycoon material W toward the sawing machine B. The feed conveyor 13 is a multi-endless endless chain wound around a driving sprocket 15 and a driven sprocket 16 (in FIG. 7, the case of five ends is shown). 17. The feeding conveyor 13 is divided into two parts in the longitudinal direction in order to avoid interference with the transfer conveyor 14 intersecting with the feed conveyor 13, and the first rail is provided inside the two chain conveyors of the transfer conveyor 14. A feed conveyor 13a, a rail second feed conveyor 13b disposed between the transfer conveyor 14 and the sawing machine B, and an endless chain 13c for transmitting rotation of the first feed conveyor 13a to the second feed conveyor 13b. (See FIG. 6).
[0024]
The position and orientation of the tycoon material W on the transfer conveyor 14 is corrected by two sets of adjustment stoppers 18 provided in front of and behind the first feed conveyor 13a before the rails are transferred to the feed conveyor 13. rail. The adjustment stopper 18 is configured in the same manner as the first stopper 7, and is provided so as to be able to protrude and retract on both sides near the end of the transfer conveyor 14. The adjustment stopper 18 is parallel to the transfer conveyor 14 by the hydraulic cylinder 12. To adjust the set position (see FIG. 5). Therefore, the set positions of the two sets of adjustment stoppers 18 are adjusted based on the command from the controller E, and the position and orientation of the rail die material W transferred to the feeding conveyor 13 are supplied to the sawing machine B described later. It can be in an optimal state for sending.
[0025]
Above the feeding conveyor 13, a plurality (three in FIG. 6) of pressing rollers 19 are provided. The pressing roller 19 includes a lever 22 having one end pivotally mounted on a support shaft 20 and a roller 21 rotatably provided at the other end, and a cylinder 23 for driving the lever 22, and receives a command from the controller E. Then, the Tyco material W placed on the feeding conveyor 13 is pressed downward (see FIG. 6).
[0026]
The endless chain 17 of the feed conveyor 13 has a large number of triangular protrusions 24 protruding toward the transfer surface (see FIG. 8). The protrusions 24 are provided when the tycoon material W is placed on the feed conveyor 13. When the pressing roller 19 presses down on the Tyco material W, the protrusion 24 cuts into the lower surface of the Tyco material W. The protrusion 24 and the pressing roller 19 are for securely fixing the tycoon material W on the feeding conveyor 13 so as not to cause shaking or slipping. However, since the protrusions 24 are extremely small, scars do not disappear over time on the surface of the Tyco material W, which is a raw material having high elasticity, and there is no problem in the quality of the bent material.
[0027]
As shown in FIGS. 9 and 10, the structure of the sawing machine B that bends the tycoon material W is such that a screw shaft 27 is supported by a plurality of bearings 26 provided on the upper surface of a base 25. Is a rail that is driven to rotate by the servomotor 28. Further, since the nut 30 screwed to the screw shaft 27 is fixed to the lower surface of the horizontal moving table 29, when the servo motor 28 rotates forward and backward, the horizontal moving table 29 moves laterally (feed of the Tyco material W). (Moving in a direction perpendicular to the direction).
[0028]
A pivot table 32 is rotatably provided on a pivot 31 that stands on the upper surface of the lateral table 29, and a servo motor 33 fixed on the lateral table 29 is driven via a kind of universal joint. Rail transmitted to screw shaft 34. Further, since a nut screwed to the screw shaft 34 is supported on the spherical bearing 35 provided at the end of the turntable 32, the turntable 32 is driven by the servomotor 33 so that the turntable 32 is supported on the pivot 31. Will be rotated.
[0029]
A pair of band saws 36, 36 are provided on the upper surface of the turntable 32 so as to be slidable in a lateral direction (a direction perpendicular to the feeding direction of the tycoon material W). A servomotor 39 is connected to an end of a screw shaft 38 supported by a plurality of bearings 37 (only one bearing 37 is shown in FIG. 10) provided on the upper surface of the horizontal moving table 29. The screw shaft 38 is provided with a right-hand thread on one side and a left-hand thread on the other side. The right-hand and left-hand threads are fixed to the lower surfaces of the pair of band saws 36, 36. Female screws are screwed together. Therefore, when the servo motor 39 rotates forward or backward, the interval between the pair of band saws 36, 36 expands or contracts.
[0030]
In the sawing machine B having the above-described configuration, the carry-in side sensor 40 for detecting that the tip of the tycoon material W has approached the band sawing machine 36, and the rear end of the square material after the sawing has the band sawing machine 36 An unloading-side sensor 41 that detects the completion of the passage is provided (see FIG. 1). These carry-in side and carry-out side sensors 40 and 41 are each constituted by a pair of light emitting and receiving devices, and detect the presence or absence of the tycoon material W on the transfer surface.
[0031]
The unloading device D is configured by a chain conveyor 42 for unloading the bent timber, and running pallets 43 for rail back plate unloading provided on both sides of the chain conveyor 42 (see FIGS. 1 and 11). . The chain conveyor 42 is composed of a plurality of (two in FIG. 11) endless chains wound around a driving sprocket and a driven sprocket provided on a conveyor base 44. A press roller 19 is provided above the linear feeder C, and a projection similar to the projection 24 of the endless chain 17 is provided on the transport surface of the chain conveyor 42.
[0032]
The running pallets 43 for carrying out the backboard are provided on both sides of a gantry 44, and a carriage 46 is slidably provided on rail sliding rails 45. The carriage 46 is moved by a driving device (not shown) to the chain conveyor 42. And reciprocate in parallel. A fulcrum pin 47 is provided on the upper part of the carriage 46, one end of a tilting plate 48 is pivotally connected to the fulcrum pin 47, and an end of a rod 49 of a cylinder is pivotally connected to an intermediate portion of the tilting plate 48. (See FIG. 11). When the rod 49 of the cylinder is extended, the tilting plate 48 is held substantially horizontally, and when the rod 49 of the cylinder is shortened, the tilting plate 48 is tilted to a downward tilt position 48 'shown by a chain line.
[0033]
Using the bending material sawing apparatus of the present invention configured as described above, when sawing a Tyco material, a state in which the Tyco material W is placed on the shape recognition device A of the bending material sawing apparatus is used. When the operation is started, first, when the automatic start button of the operation panel F is pressed, the automatic operation starts as shown in FIG. 12 (step S1). That is, the chain conveyor 1 of the shape recognizing device A rotates, and the tycoon material W on the chain conveyor 1 is conveyed toward the linear feeder C. Then, since the first stopper 7 protrudes into the transport path by the operation of the air cylinder 8, the Tyco material W stops before the upper and lower laser sensors 45.
[0034]
When the preparation for performing the shape recognition by the upper laser sensor 4 is completed, the first stopper 7 is retracted downward, and the conveyance of the Tyco material W is started on the rail. At this time, the rotary encoder 3 starts counting the transport amount of the Tyco material W in units of 0.5 mm, and the upper laser sensor 4 synchronizes with the rotary encoder 3 from when the Tyco material W is detected, and The upper half surface is measured, and measurement points P ₁ , P ₂ , P _3, ... Of the upper half of the surface of the Tyco material W are obtained as shown in FIG. Recognize.
[0035]
The lower laser sensor 5 is located at a position shifted from the measurement position of the upper laser sensor 4 in order to avoid interference with the upper laser sensor 4 (see FIG. 2). Recognize the shape of the lower half of W. Thus, the profile shape of the cross section of the Tyco material W can be recognized by numerical values (step S2).
[0036]
FIG. 13 shows the shape recognition points by the upper and lower laser sensors 4 and 5 by dotted lines. When the Tyco material W is 4 m long, it is measured at 9 places and when the Tyco material W is 3 m material, it is measured at 7 places. It is appropriate, and the curvature of the Tyco material W can be obtained from the measurement results by the plurality of laser sensors. In addition, since the contour shape of the cross section of the tycoon material W can be recognized over the whole, as shown in FIG. 15, not the A1 position or the B2 position where the black scale remains, but the A2 position or the B1 position which is the accurate cutting position. You can choose. On the other hand, in the controller E, from the recognition of the contour and the shape of the bending of the Tyco material W, a cutting position at which the yield rate of the rectangular material sawn out of the Tyco material W is maximized, Further, the axis position of the tycoon material W passing through the intermediate average position of the target lumber trajectory is calculated and stored (step S3).
[0037]
The Tyco material W whose shape has been recognized in this way is temporarily stopped by the second stopper 10, but when the feeding conveyor 13 is in a receivable state, the second stopper 10 moves to the retreat position, and the Tyco material W Rails transferred onto the feed conveyor 13 by the transfer conveyor 14. At this time, the transfer position of the Tyco material W is regulated by the adjustment stopper 18, and the optimum sawing posture on the feeding conveyor 13, that is, the above-mentioned axial position passes through the center of the sawing machine B (Step S4). . The Tyco material W whose position is thus controlled on the feeding conveyor 13 is pressed by the pressing roller 19 and is fixed by the projection 24 of the feeding conveyor 13, and waits for feeding to the sawing machine B. .
[0038]
Next, when the feeding conveyor 13 is operated, the Tyco material W is fed straight toward the sawing machine B while maintaining the posture on the feeding conveyor 13, and when the Tyco material W reaches the loading-side sensor 40, a pair of The band saw machine 36 starts operating. The interval between the pair of band sawing machines 36 is adjusted based on the cutting width of the tycoon material W. According to a control output signal that matches the target sawing trajectory of the controller E, lateral movement and rotation for changing the direction of the band saw are performed. While the tycoon material W is being turned into square material (step S5), the rail is unloaded by the chain conveyor 42 of the unloading device D.
[0039]
The backboard sawed by the sawing machine B and separated from the bent material falls on the left and right sides of the chain conveyor 42 onto a running pallet 43 for carrying out the backboard traveling in the same direction, and the product of the square wood and the backboard is obtained. Rails that automatically separate (step S6). When the running pallet 43 moves to a predetermined position, the tilting plate 48 tilts downward to discharge the back plate.
[0040]
When the end of the sawn timber passes through the unloading-side sensor 41, the sawing machine B, the linear feed device C, and the unloading device D stop, and one cycle of the automatic sawing operation of the bent material is completed (step). S7).
[0041]
【The invention's effect】
Since the present invention is configured as described above, it has the following effects.
(1) In the conventional bending apparatus, the bending apparatus is retracted every time one bending processing is completed. However, the bending method and the saw apparatus of the present invention enable continuous bending. So it is efficient.
(2) Since both side surfaces of the bent material are processed at the same time, there is no processing distortion in the Tyco material, and a highly accurate lumber can be produced.
(3) The sawing method and the sawing machine of the bent material of the present invention are excellent in the function of maintaining the posture of the sawing material of the straight feeder for feeding the sawing material toward the sawing machine, so that the sawing can be performed with high accuracy. It can be performed.
(4) The sawing method and the sawing machine of the bent material of the present invention automatically measure the shape of the Tyco material and output the control so as to match the sawing position and the target sawing locus calculated based on the shape recognition. Since the rails are operated in accordance with the signal, highly accurate lumber can be automatically, continuously and efficiently performed.
[Brief description of the drawings]
FIG. 1 is a plan view of the entire bent sawing apparatus of the present invention.
FIG. 2 is a side view of a sensor of the shape recognition device.
FIG. 3 is a front view of a sensor of the shape recognition device.
FIG. 4 is a side view of a conveyor of the shape recognition device.
FIG. 5 is a partially enlarged view of FIG. 4;
FIG. 6 is a side view of the rectilinear feed device.
FIG. 7 is a plan view of the rectilinear feed device.
FIG. 8 is a front view of a projection provided on an endless chain of the linear feed device.
FIG. 9 is a plan view of the sawing machine.
FIG. 10 is a front view of the sawing machine.
FIG. 11 is a front view showing a main part of the unloading device.
FIG. 12 is a diagram illustrating the order of the method of manufacturing a bent material according to the present invention.
FIG. 13 is a perspective view for explaining a measurement position of a Tyco material.
FIG. 14 is a drawing for explaining a method of measuring the shape of a Tyco material.
FIG. 15 is a cross-sectional view illustrating a cutting position of a Tyco material.
[Explanation of symbols]
W Tyco material A Shape recognition device B Saw machine C Linear feed device D Unloading device E Controller F Operation panel 1 Chain conveyor 3 Rotary encoder 4 Upper laser sensor 5 Lower laser sensor 7 First stopper 10 Second stopper 13 Feeding conveyor 14 Transfer conveyor 17 Endless chain 18 Adjustment stopper 19 Press roller 24 Protrusion 25 Base 29 Horizontal moving table 32 Rotating table 36 A pair of band saw machines 40 Loading side sensor 41 Outgoing side sensor 42 Chain conveyor 43 Running pallet 46 for carrying back plate 46 Carriage carriage 48 Tilting plate

Claims (6)

This is a method of sawing a rectangular piece of a bar with less bending of both sides of the bent material into a square bar, measuring the surface shape of the bar with a plurality of sensors to recognize the entire shape, and performing the recognition. The controller calculates a target lumber trajectory suitable for maximizing the yield rate of the square lumber based on the target lumber trajectory so that the axis of the Tyco material passing through the intermediate average position of the target lumber trajectory passes straight through the center position of the sawing machine. Controlling the feeding attitude of the coconut material, and further controlling the movement and rotation of the sawing machine in a direction intersecting the feeding direction of the tycoon material so that the band saw follows the target sawing locus of the tycoon material. A sawing method of a bent material characterized by the following. The sensor is a measuring device that detects a surface position of the Tyco material by a laser beam, and the controller recognizes a cross-sectional shape of the Tyco material from a scan measurement result of the surface of the Tyco material by the sensor, and The sawing method according to claim 1, wherein the sawing locus is calculated. A shape recognition device including a plurality of sensors for measuring the surface position of the tyco material and a device for moving the tyco material with respect to the sensor; and a laterally movable member in a direction intersecting the feeding direction of the tyco material. A sawing machine provided with a set of band saws having a rotatable saw direction, a linear feeder having a feeding conveyor for feeding the tycoon toward the sawing machine, and the shape recognition Based on the recognition of the apparatus, a target lumber trajectory suitable for maximizing the yield rate of the square lumber is calculated, and the axis of the tycoon passing through the intermediate average position of the target lumber trajectory passes straight through the center position of the sawing machine. A controller for controlling the feeding posture of the tycoon material on the linear feed device, and further controlling the lateral movement and rotation of the sawing machine so that the band saw follows the target sawing locus of the tycoon material. A sawing device for bent materials, characterized by comprising: The sawing machine according to claim 3, wherein the straight-moving feed device is provided with an adjustment stopper for adjusting a posture of the tycoon material on the feed conveyor. The sawing machine for bent materials according to claim 3 or 4, wherein the linear feed device is provided with a press roller that presses a Tyco material against a mounting surface of the feed conveyor. The said sawing machine is characterized in that a pair of sawing machines whose mutual distance can be finely adjusted is provided on a base plate capable of laterally moving and rotating with respect to the feeding direction of the Tyco material. Item 6. A sawing device for a bent material according to any one of Items 3 to 5.

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