JP2005178171A - Wood precutting processing machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To apply precise processing to worked timber obtained from aged wood. <P>SOLUTION: This wood precutting processing machine has centripetal vises 321 and 351 for clamping worked timber and is constituted so that upper press devices 320 and 350 for pressing the upper surface side of the worked timber from both side surfaces in a centripetal state are provided above the centripetal vises (1). The upper press devices are constituted so that lift bodies 334 and 364 moving in an up and down direction are provided (2-1), the fanwise guide rails 337 and 367 are attached to the lift bodies (2-2), right pressing bodies 341 and 371 coming into contact with the upper surface and right side surface of the worked timber are attached to one of the guide rails (2-3) and left pressing bodies 344 and 374 coming into contact with the upper surface and left side surface of the worked timber are attached to the other guide rail (2-4). <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a wood precut processing machine, and more particularly, to a wood precut processing machine suitable for processing a horizontal member having a high material composition with respect to the material width.

In a conventional horizontal member pre-cut processing machine, the horizontal member is centripeted from the lateral direction by a centripetal vise and clamped to perform various processes (Patent Document 1).
No. 3-40543 (Example)

  Some horizontal members have a square cross section, but there are many rectangular materials with high material such as beams and girders. Moreover, because it is made of wood, some of them are warped or crooked instead of being the correct rectangle due to warping or the like.

  By the way, in a horizontal member processing machine, when processing a workpiece having a rectangular cross section, the long side is often clamped from the width direction with the short side as the upper and lower surfaces.

  If the cross section is correct, there is no problem, but if it is warped or distorted, the centripetal accuracy of the part above the height of the centripetal vice becomes worse.

  Here, in order to improve the centripetal accuracy, the height of the centripetal vice should be equivalent to the height of the workpiece for those that are warped or distorted.

  However, such a tall centripetal vise has a problem of rigidity, which causes a problem that the centripetal accuracy deteriorates or interferes with peripheral devices.

  Moreover, in a processing machine that performs position control by a transfer positioning device that grips a workpiece and moves it on the conveyor, it is difficult to increase the height of the centripetal vice in the first place so as not to interfere with the transfer positioning device. It is.

  For this reason, there are many processing machines where the height of the centripetal vice is half of the maximum workpiece height, at the expense of centripetal accuracy when it is warped or distorted by a tall horizontal material. In addition, there is a problem in terms of accuracy and strength.

  Then, an object of this invention is to provide the wood precut processing machine which can perform a process with sufficient precision with respect to a processed material with high materiality.

The wood precut processing machine of the present invention made to achieve the above object has a centripetal vise for clamping a workpiece at a processing position, and further has the following configuration.
(1) An upper pressing device is provided above the centripetal vise to press the upper surface side of the workpiece in a centripetal state from both side surfaces.

  According to the wood pre-cut processing machine of the present invention, the workpiece can be centripetally clamped from the lower surface side by the centripetal vise, and the workpiece can be machined from the upper surface side by the centripetal clamp. Therefore, the processing accuracy does not deteriorate even for a processed material having a high material composition and warping.

Here, more specifically, the upper pressing device may have the following configuration.
(2-1) A lifting body that moves in the vertical direction is provided.
(2-2) A guide rail that widens toward the end of the workpiece conveying path is attached to the lifting body.
(2-3) A right pressing body having an upper surface abutting portion that abuts on the upper surface of the workpiece and a side abutting portion that abuts on the right side surface of the workpiece is movably disposed along one of the guide rails that spreads outwardly. Having contacted.
(2-4) A left pressing body having an upper surface abutting portion that abuts on the upper surface of the workpiece and a side abutting portion that abuts on the left side surface of the workpiece is movably disposed along the other of the end-spread guide rails. Having contacted.

  In the wood precut processing machine configured as described above, when the lifting body is lowered, the upper surface contact portions of the right pressing body and the left pressing body are in contact with the upper surface of the workpiece. Then, even after the upper surface abutting portion comes into contact with the upper surface of the workpiece, the left and right pressing bodies are moved toward each other by the divergent guide rails by lowering the lifting body. Then, when the side contact portion of each presser body comes into contact with the workpiece, the presser body is locked by the workpiece, thereby stopping the lifting body, and the upper surface side of the workpiece is automatically pushed by the upper presser. Clamped to centripetal. On the other hand, when the elevating body is raised, the wide part of the widening guide rail is raised, so that the pressing bodies move away from each other, and the clamp in the width direction on the workpiece is released. When the lifting body further rises, each pressing body starts to rise together with the lifting body after moving to the maximum opening position of the lower end of the guide rail. As a result, the press against the workpiece is also released, and unclamping is executed. As described above, since the centripetal clamping and unclamping operation on the upper side of the workpiece can be executed only by lowering and raising the lifting body, it can be operated by a simple actuator such as an air cylinder.

  The diverging guide rail is preferably attached to be inclined at an angle that is symmetric with respect to a vertical line, and is installed so that the center of symmetry coincides with the center of the centripetal vise. It is desirable. The guide rail may be gently curved.

Moreover, the wood precut processing machine of the present invention may further have the following configuration.
(3-1) A multi-joint robot is provided in the processing machine body.
(3-2) The centripetal vise and the upper holding device are respectively provided at the end of the upstream conveyance path and the end of the downstream conveyance path of the articulated robot.

  According to the wood pre-cut processing machine of the present invention, the centripetal accuracy is inferior even if the height of the centripetal vice that clamps the lower side is lowered in centripetal clamping of a workpiece having a rectangular section having a high material width relative to the material width. And there is no shortage of clamping force. Therefore, the possibility of interference of the centripetal vice with the articulated robot can be reduced when the workpiece is processed by applying the blade from various directions by the articulated robot, and free movement of the articulated robot is allowed. be able to. Further, since both the lower side and the upper side are centripetally clamped from the width direction and are also firmly clamped in the vertical direction, the overhang length when positioned in a cantilever shape can be increased. As a result, it is possible to avoid interference between the articulated robot and the clamping device, and it is possible to perform processing that maximizes the ability of the articulated robot.

Moreover, the wood precut processing machine provided with a robot processing machine shall have the following structures further.
(4-1) A workpiece transfer positioning device that can travel on the downstream conveyance path and can move to at least the position of the centripetal vise at the end of the upstream conveyance path while holding the workpiece. Being.
(4-2) The vise height of the centripetal vice provided at least at the end of the downstream conveyance path is 60 mm or less.

  By adopting such a configuration, the following useful actions and effects are exhibited.

  For example, the minimum material formation when considered with a horizontal member processing machine is about 90 mm. In order to grip and transfer and position the horizontal member of the minimum material, it is necessary to take about 30 mm as a clamp margin, so the lower end height of the gripping claw of the workpiece transfer and positioning device is about 60 mm. Therefore, by adopting the configuration of (4-2), interference between the centripetal vise and the workpiece transfer positioning device can be avoided, and the gripping claws of the workpiece transfer positioning device can be moved to the vicinity of the end of the upstream conveyance path. It will be possible to face. As a result, it is not necessary to install a transport roller or the like in a space where the arm of the articulated robot can move, and the movable range of the arm can be increased. Therefore, it is possible to make full use of the function of the articulated robot and apply the blade to the workpiece from various directions. And even if the height of the vice is lowered in order to exert such an action, the upper pressing device can perform centripetal clamping on the upper surface side of the work material, so that the clamping force on the work material with high material strength is reduced. There is nothing.

  According to the present invention, the upper presser device also has a lateral centripetal function and can be machined while being fixed in a centripetal state at the lower end and the upper end of the workpiece. As a result of improved accuracy, machining accuracy increases. In addition, since the workpiece is stably fixed at the lower end and the upper end, it becomes difficult for deviation and vibration due to cutting resistance to occur, and this effect also exhibits the effect of improving the machining accuracy. Furthermore, since the height of the centripetal vice can be reduced, there is an effect that interference with other devices is reduced, and the degree of freedom of functions, positions, shapes, etc. of other devices is increased.

  Embodiments of the present invention will be described below with reference to the drawings. The embodiment relates to a horizontal member pre-cut processing machine 1. As shown in FIG. 1, the horizontal member precut processing machine 1 is roughly composed of an input conveyor unit 100, a processing machine main body unit 300, and a take-out conveyor unit 500. And this horizontal member processing machine 1 is the structure which throws in a processed material from the right side in FIG. 1, throws in a processed material from the left side, processes it while transferring and positioning to the right side. Moreover, the horizontal member pre-cut processing machine 1 of the embodiment targets a horizontal member in a range from a minimum material formation of 90 mm to a maximum material formation of 450 mm.

  The input conveyor unit 100 includes a material stock conveyor 110, a take-in device 130, an input conveyor 150, and an input carry device 170.

  The material stock conveyor 110 is configured by a chain conveyor that moves in the front-rear direction. Then, the workpiece placed on the upper surface is transferred in the front-rear direction toward the capturing device 130. The top one of the workpieces placed on the material stock conveyor 110 is moved to a position where it abuts against the stopper of the take-in device 130 by this transfer operation, and is put on standby at the take-in position.

  The capturing device 130 is configured to move up and down and back and forth. Then, the take-in device 130 lifts the top work material on the material stock conveyor 110 that is in contact with the stopper and stands by from the material stock conveyor 110 by the ascending operation, and laterally moves upward of the input conveyor 150 by the advance operation. It is comprised so that it can perform the operation | movement which transfers and delivers a workpiece | work material on the input conveyor 150 by descent | fall operation | movement. When the leading workpiece on the material stock conveyor 110 is lifted by the workpiece loading operation by the loading device 130, the next workpiece is supplied to the loading position by the forward movement of the chain conveyor of the material stock conveyor 110, and waits. It will be in the state.

  The input conveyor 150 is a free roller conveyor. The input conveyor 150 has a role of placing the processing material on the roller and transferring the processing material to the processing machine main body 300.

  The input carry device 170 includes two air cylinders and a workpiece gripping device. One of the air cylinders is for moving the main body of the input carry device 170 from side to side, and the other air cylinder is for operating the workpiece gripping device. The workpiece W taken in on the input conveyor 150 is gripped on the upper surface by the gripping device of the input carry device 170 and transferred in the left-right direction until it abuts on the left-side stopper device 380 provided on the processing machine main body 300. Is done. Note that the input carry device 170 does not control the position of the workpiece W during the transfer in the left-right direction.

  The processing machine main body 300 includes table roller groups 310 and 310 installed on the left and right, a left clamping device 320, a right clamping device 350, a left stopper device 380, a right stopper device 390, and a processing machine main body 400. The blade storage place 450 is provided.

  The table roller group 310 is constituted by a rotatable roller group, and is mounted on the vise table or the front part of the processing machine main body 300. The table roller group 310 has a role of transferring a workpiece placed on the roller in the longitudinal direction (left and right direction). The drive for transferring the workpiece is performed by the input carry device 170 or the workpiece transfer positioning device 510 described later. Note that the front roller group of the processing machine main body 300 is configured to be retracted downward in order to avoid interference with the blade during processing.

  As shown in FIGS. 2 and 3, the left clamp device 320 includes a centripetal vise 321 at the lower portion and an upper pressing device 323 having a centripetal function at the upper portion. The left clamp device 320 plays a role of fixing the workpiece when machining the right end portion and the intermediate portion of the workpiece. The workpiece is fixed by clamping from the front-rear direction (the left-right direction of the workpiece cross-section, the same applies hereinafter) by the centripetal vice 321 and pressing from the upper and front-rear directions by the upper pressing device 323.

  As shown in FIGS. 2 and 3, the right side clamp device 350 also includes a centering vise 351 at the lower portion and an upper pressing device 353 having a centering function at the upper portion. The right side clamp device 350 plays a role of fixing the workpiece when machining the left end portion of the workpiece. The workpiece is fixed by clamping from the front-rear direction by the centripetal vice 351 and pressing from the upper side and the front-rear direction by the upper pressing device 353.

  As shown in FIGS. 2 and 3, the left stopper device 380 includes an abutting plate 381 that abuts against the end surface of the workpiece that has been transferred to the processing machine body 300 from the left side in the right direction. The contact plate 381 is attached so as to be movable in the right direction. The left stopper device 380 includes a sensor 387 (see FIGS. 8 to 10) that detects the amount of movement of the contact plate 381 in the left-right direction. The contact plate 381 plays a role of bringing the right end surface of the workpiece transferred from the left side into contact and stopping. Then, by detecting the amount of movement of the contact plate 381 at the time of contact / stop by the sensor 387, the tip position of the workpiece can be obtained. The position where the workpiece has stopped becomes the reference position for the right end face machining and the subsequent middle machining. The left stopper device 380 is configured to be retracted to the front of the processing machine main body 300 by the air cylinder 389 so as not to hinder these operations during processing or when passing the workpiece.

  As shown in FIGS. 2 and 3, the right stopper device 390 includes an abutment plate 391 that abuts against the end surface of the workpiece that has been transferred to the left from the right side of the processing machine body 300. The contact plate 391 is attached so as to be movable in the left direction. The right stopper device 390 includes a sensor 397 (see FIG. 10) that detects the amount of movement of the contact plate 391 in the left-right direction. The contact plate 391 plays a role of bringing the left end surface of the workpiece transferred from the right side into contact and stopping. Then, by detecting the movement amount of the contact plate 391 at the time of the contact / stop by the sensor 397, the rear end position of the workpiece can be obtained. The position where the workpiece stops is the reference position for the left end face machining. The right stopper device 390 is also configured to be retracted to the front of the processing machine main body 300 by the air cylinder 399 so as not to hinder these operations during processing or when passing the workpiece.

  As shown in FIGS. 1 and 2, the processing machine main body 400 includes an articulated robot 410 having 6 degrees of freedom and an auto tool changer (ATC) 430. The multi-joint robot 410 attaches the cutting tool selected by the ATC 430 to the machining spindle 413 at the tip of the head 411, and processes the joint at both end surfaces and four side surfaces of the workpiece.

  The blade storage place 450 is equipped with a plurality of types of cutters, drills, saws, router bits, and the like. The ATC 430 selects and takes out a blade necessary for processing from the blade storage place 450, attaches it to the articulated robot 410, and after the processing is finished, removes the blade from the articulated robot 410 and returns to the original position of the blade storage place 450. Return to.

  As shown in FIG. 1, the take-out conveyor unit 500 includes a work material transfer positioning device 510, a take-out conveyor 530, a take-out device 550, and a processed material stock conveyor 570.

  The workpiece transfer positioning device 510 is position-controlled by a servo motor, and moves the workpiece in the longitudinal direction. The moving range is from the vicinity of the left stopper device 380 to the vicinity of the right end portion of the take-out conveyor 530. The workpiece positioning device 510 includes two air cylinders, and the workpiece gripping device is opened and closed by one of the air cylinders, and clamping / unclamping of the workpiece is executed. Further, the workpiece gripping device can be retracted upward by another air cylinder. The workpiece transfer positioning device 510 grips the right end (tip) of the workpiece and transfers and positions it in the longitudinal direction (left-right direction). Thereby, positioning, such as a processing position and the discharge position of a processed material, can be performed. In addition, it is responsible for the subsequent transfer positioning process of the workpiece transferred to the left stopper device 370 by the input carry device 170. In order to detect the left end surface of the workpiece, the workpiece is sent until the left end surface of the workpiece contacts the contact surface of the right stopper device 390.

  The take-out conveyor 530 is constituted by a free roller conveyor, and places the processing material fed from the processing machine main body 300.

  The take-out device 550 takes the processed material on the take-out conveyor 530 onto the processed material stock conveyor 570.

  The processed material stock conveyor 570 is constituted by a wheel conveyor inclined forward, and places the processed material taken out by the take-out device 550. Then, using the inclination of the wheel conveyor, the processed material is moved forward by its own weight.

  Next, the detailed structure of the left clamp device 320 and the right clamp device 350 will be described with reference to FIGS. Since the clamp devices 320 and 350 are structurally the same, only the right clamp device 350 will be described, and the description of the left clamp device 320 will be omitted.

  The centripetal vise 351 provided in the right side clamp device 350 is a vise device that receives a supply of hydraulic oil from a hydraulic power source and operates a pair of vise to clamp a workpiece, and each of the pair of vise is fixed. And two rams that slidably support the other of the vices, and the center shaft portion of each ram has a cracking pressure lower than the pressure of the hydraulic power source and 1/2 of the pressure of the hydraulic power source. A hydraulic passage provided with a check valve set higher is formed over the entire length of the ram, and both ends of the ram are respectively connected to the hydraulic passage, and are provided with cylinders formed with hydraulic chambers through which the ram is slidably inserted. In addition, a port for supplying hydraulic oil from the hydraulic source to the respective hydraulic chambers of the cylinder is formed in one of the cylinders, and the other Be those of the respective hydraulic chamber of the cylinder, characterized in that in communication, it has the same structure as for example the actual fair 3-40543. For a more detailed structure, refer to Japanese Utility Model Publication No. 3-40543.

  In the present embodiment, the vice height of the centripetal devices 321 and 351 (the height from the table surface to the tip of the vice) is 50 mm. This is because the minimum material of 90 mm of the horizontal material scheduled to be processed by the horizontal material pre-cut processing machine 1 of the present embodiment is reduced to 60 mm or less by subtracting the clamp margin of 30 mm by the transfer positioning device 510. This is to avoid interference when the formed horizontal member is transferred beyond the centripetal vise 351. In this way, the height of the vice is lowered so as to avoid the interference of the centripetal vise 351, so that the transfer positioning device 510 can perform the transfer positioning of the horizontal member of the minimum material. In addition, since the vise height can be lowered by the transfer positioning device 510, it is not necessary to provide a conveying roller at the processing position. As a result, a space in which the articulated robot 410 can freely move can be secured. In addition, the reduced vice height also enables machining by the articulated robot 410 in the vicinity of the clamp position by the centripetal vises 321 and 351.

  The upper pressing device 353 provided in the right side clamp device 350 is installed in a gate-shaped column 361 that is erected so as to be positioned directly above the centripetal vise 351. An upper presser cylinder 362 for operating the upper presser device 353 is erected on the upper surface of the portal column 361. A guide rail 363 extending in the vertical direction is attached to the side surface of the column 361. The guide rail 363 is for guiding the lifting body 364.

  The elevating body 364 is connected to the rod of the upper pressing cylinder 362 and moves up and down by the operation of the cylinder. Two linear bearings 365 are attached to both ends of the lifting body 364. The elevating body 364 is attached to the guide rail 363 via the linear bearing 365. As a result, the elevating body 364 moves up and down along the guide rail 363 via the linear bearing 365 by the operation of the upper pressing cylinder 362. A centripetal guide plate 366 is attached to the elevating body 364. Note that a part 364a indicated by a dotted line in FIG. 4 is a seat provided on the elevating body 364 for attaching the centripetal guide plate 366.

  On both sides of the centripetal guide plate 366, centripetal guide rails 367 are attached in a letter C shape (45 degrees in the embodiment). A right bracket 369 and a left bracket 370 are attached to the centripetal guide rail 367 via linear bearings 368, respectively. A right pressing body 371 having an L-shaped cross section is attached to the right bracket 369, and a left pressing body 374 having an L-shaped cross section is also attached to the left bracket 370. Note that the right presser 371 and the left presser 374 both have their own weight along the centripetal guide rail 367 under the condition that the work material is not in contact with the upper surface contact portions 373 and 376. It is in the state of opening to the maximum.

  When the workpiece W is clamped by the right side clamping device 350, the centripetal vice 351 is operated to clamp the lower portion of the workpiece W in the centripetal state, and the upper holding cylinder 362 is operated. Then, the elevating body 354 is lowered integrally with the right pressing body 371 and the left pressing body 374. At this time, each of the pressing members 371 and 374 is lowered to the bottom of the centripetal guide rail 367 by its own weight as described above, and is therefore in the most open state. When the upper surface abutting portions 373 and 376 of the pressing bodies 371 and 374 are in contact with the upper surface of the workpiece W, the pressing bodies 371 and 374 can no longer be lowered. However, the lifting body 364 is further lowered by the stroke operation of the cylinder 362. By the descending operation of the elevating body, the pressing bodies 371 and 374 move toward each other according to the inclination of the centripetal guide rail 367 and execute the centripetal operation so as to close in the width direction of the workpiece W. Then, the side surface abutting portions 372 and 375 of the left and right pressing bodies 371 and 374 abut on the side surface of the workpiece W, so that the upper surface side of the workpiece W is also centripetally clamped.

  The installation positions of the centripetal vise 351 and the upper pressing body 353 are adjusted so that the centers of their centripetal movements coincide. As a result, the workpiece W is firmly sandwiched between the centripetal vice 351 and the upper presser 353 having a centripetal function from the vertical direction, and is firmly sandwiched between the lower surface side and the upper surface side from the width direction. Centered and clamped.

  Next, the left side stopper device 380 and the right side stopper device 390 will be described with reference to FIGS. 3 and 7 to 9.

  The left-side stopper device 380 plays a role of positioning the workpiece W transferred in the right direction by the input carry device 170. Even after the right end surface of the workpiece W transferred by the input carry device 170 comes into contact with the contact plate 381, it slightly overruns with the contact plate 381 and stops. At this time, the tip position of the workpiece W can be obtained by detecting the displacement of the contact plate 381 by the sensor 387. The position at which the workpiece W has stopped becomes the reference position for the right end surface processing and the subsequent intermediate processing. The arm 388 supporting the left stopper device 380 is swung by the air cylinder 389 so that the left stopper device 380 is retracted to the front of the processing machine main body 300 so that the left stopper device 380 is not hindered during processing or when passing the workpiece.

  The right stopper device 390 plays a role of positioning the workpiece W transferred in the left direction by the workpiece positioning device 510. The workpiece W transferred by the workpiece positioning device 510 stops with a slight overrun along with the contact plate 391 even after the left end surface thereof contacts the contact plate 391. At this time, the rear end position of the workpiece W can be obtained by detecting the displacement of the contact plate 391 by the sensor 397. The position where the workpiece W has stopped becomes the reference position for the left end face machining. The arm 398 supporting the right stopper device 390 is swung by the air cylinder 399 so as not to hinder the processing and the workpiece passing, and the left stopper device 380 is retracted to the front of the processing machine main body 300.

  The left stopper device 380 and the right stopper device 390 have the same structure, but the contents of control are different as follows.

  The workpiece W that is in contact with the left stopper device 380 is transferred by the carry device 170. Since the carry device 170 uses an air cylinder as a drive source, it does not perform accurate position control of itself. For this reason, in the present embodiment, a stop signal is output to the carry device 170 when the sensor 387 detects that the contact plate 381 of the left stopper device 380 is pushed downstream. For this reason, the workpiece W that has come into contact with the contact plate 381 of the left stopper device 380 stops together with the carry device 170 with a slight overrun. The amount of movement due to this overrun increases as the workpiece W is longer and the inertia is larger. Therefore, the amount of overrun is not constant, and has a width of several mm to several tens mm, for example. The tip position of the workpiece W thus stopped is specified by the amount of movement from the origin position of the contact plate 381 of the left stopper device 380.

  On the other hand, the workpiece W abutted against the right stopper device 390 is transferred by the workpiece transfer positioning device 510. Since the workpiece transfer positioning device 510 is controlled by a servo motor, the workpiece transfer positioning device 510 itself has a function of accurately positioning the workpiece W. Moreover, since the workpiece transfer positioning device 510 holds the tip of the workpiece W, the positioning is based on the tip position. Therefore, it can be said that the positioning accuracy is accurate. However, when the overall length of the workpiece W is out of order, the position of the rear end portion is shifted according to the length. This total length error affects the processing accuracy of the rear end. The right stopper device 390 plays a role of detecting the rear end position due to the error of the total length. Even if the rear end of the workpiece W comes into contact with the contact plate 391, the transfer operation by the workpiece transfer positioning device 510 is not immediately stopped, but is stopped by further sending a certain amount (for example, 10 mm). Create a situation that is deliberately overrun. Then, the amount of displacement of the contact plate 391 due to this intentional overrun is detected, and the rear end position of the workpiece W is detected.

  The contact plates 381 and 391 of the stopper devices 380 and 390 are long in the vertical direction and have a maximum height of the workpiece W of 450 mm. In the present embodiment, a processing material that has been subjected to full length cutting and processing on the front, middle, and rear ends in the previous process is supplied to the processing machine 1, and processing that cannot be processed in the previous process is performed. . Therefore, the front end or the rear end is not only cut, but the joint and finish are processed. In order to stably abut the tip, the abutting plate is required up to the maximum height of the workpiece as described above.

  Next, the structure of the stopper devices 380 and 390 will be described using the left-side stopper device 380 based on FIGS.

  As described above, the left-side stopper device 380 includes a contact plate 381 having a contact surface 382 that contacts the tip of the workpiece W, and is disposed so as to be positioned above the input conveyor 150. Is configured to evacuate.

  A guide shaft 383 is attached to the contact plate 381. The guide shaft 383 is guided in the axial direction (working material transfer direction) by a guide 384. The left stopper device 380 includes an air cylinder 385. The air cylinder 385 includes a linear sensor 387 that detects the movement of the rod 386 and inputs the detected motion to the control device 700. The contact plate 381 is connected to the rod 386 of the air cylinder 385.

  The air cylinder 385 is configured to always control the rod 386 to be in the extended state. Accordingly, a leftward pressing force acts on the contact plate 381. Therefore, the contact plate 386 is controlled to return to the leftmost state when the workpiece W is not in contact.

  Next, a schematic configuration of the control device 700 will be described based on the block diagram of FIG. The control device 700 is configured by a computer that executes arithmetic processing according to a program. In addition to the machining data, the input unit 710 includes detection signals from the sensors 387 and 397 of the stopper devices 380 and 390, servo motors, and the like. An actuator operation signal or the like is input. From the output unit 720, based on the result of the arithmetic processing executed by the arithmetic unit 730 based on the input data and detection signal, the take-in device 130, the input conveyor 150, the carry device 170, the clamp devices 320 and 350, the stopper device 380, 390, articulated robot 410, ATC 430, work material transfer positioning device 510, take-out conveyor 530, and take-out device 550 are outputted to output various control processes to the horizontal member.

  When it is time to input the workpiece, the control device 700 outputs a control signal to the air cylinder 172 of the input carry device 170 as shown in FIG. 11, and causes the input carry device 170 to grip the workpiece (S10). ). When the control device 700 detects that the workpiece W has been gripped by the elapsed time or the input of a stop signal from the air cylinder 172 or the like (S20: YES), the control device 700 controls the air cylinder 171 of the input carry device 170. A signal is output and the making carry device 170 is moved rightward (S30).

  As the input carry device 170 moves in the right direction, the workpiece W is transferred in the right direction, and the tip of the workpiece W comes into contact with the contact surface 382. Since the force for transferring the workpiece W is stronger than the pushing back force of the air cylinder 385 with a linear sensor, the contact plate 381 is pushed by the workpiece W and starts to move in the right direction. The rod 386 is pushed into the air cylinder 385 as the contact plate 381 moves. The control device 700 detects that the rod 386 has started to be moved (being pushed) by starting to change the input signal from the linear sensor 387 (S40: YES), and stops the making carry device 170. Is output (S50).

  After overrun by an amount corresponding to the inertia of the workpiece W until it is actually stopped by this stop control, the workpiece W stops and both the contact plate 381 and the rod 386 stop. The signal from the linear sensor 387 continues to be input to the control device 700 even after the stop control command. When it is detected that the detection signal from the linear sensor 387 is not changed after instructing the stop control (S60: YES), the control device 700 determines the left direction of the contact plate 381 based on the signal value at that time. Is calculated by calculation (S70), and the right tip position of the workpiece W is calculated based on the calculation result (S80) and stored (S90). Thereafter, the control device 700 outputs a drive signal to the air cylinder 389 to move the stopper device 380 to the retracted position (S100). The control device 700 executes processing control and transfer positioning control for the right end surface portion and the intermediate portion using the right tip position data stored in S90 as a reference position (S110).

  On the other hand, as shown in FIG. 12, when the processing timing for the left end surface portion of the workpiece W is reached, the control device 700 temporarily moves the transfer positioning device 510 to the right machine origin position once (S210). Subsequently, a control signal is output to the air cylinder 399 of the right stopper device 390 and moved from the retracted position to the position detection position (S220). Then, the transfer positioning device 510 is moved leftward (S230), and the process waits for the left end surface of the workpiece W to come into contact with the contact plate 391 of the right stopper device 390 (S240). The fact that the left end surface of the workpiece W has come into contact with the contact plate 391 can be known when the signal input from the linear sensor 397 changes. When the control device 700 detects that the input signal from the linear sensor 397 has changed (S240: YES), the control device 700 further moves the transfer positioning device 510 by 10 mm and then stops (S250). Then, the amount of movement of the contact plate 391 is calculated from the value of the detection signal from the linear sensor 397 at this time (S260), and the position obtained by subtracting the calculated result from the right stopper origin position is the rear end position of the workpiece W. Is calculated as (S270). The rear end position of the workpiece W calculated in this way is stored as a reference position (S280), the right stopper device 390 is moved to the retracted position (S290), and then processing control to the left end surface portion is executed (S300).

  Although one embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and can be implemented in various modes without departing from the scope of the invention.

  Since the present invention is particularly suitable for a processing machine that is expected to process wood of various materials, for example, the present invention is applied to a processing machine for other types of structural materials such as a pillar material processing machine. It can also be applied, and is not limited to processing with an articulated robot.

It is a top view of the horizontal member precut processing machine of an embodiment. It is a top view of the processing machine main-body part of the horizontal member precut processing machine of embodiment. It is a top view of the clamp apparatus and stopper apparatus of the horizontal member precut processing machine of an embodiment. It is a front view of the upper pressing apparatus of the horizontal member precut processing machine of an embodiment. It is a top view of the upper pressing device of the horizontal member precut processing machine of an embodiment. It is a right view of the upper pressing apparatus of the horizontal member precut processing machine of embodiment. It is a right view shown in the partial cross section of the right side stopper apparatus of the horizontal member precut processing machine of embodiment. It is a top view of the right side stopper apparatus of the horizontal member precut processing machine of embodiment. It is a rear view of the right side stopper apparatus of the horizontal member precut processing machine of embodiment. It is a block diagram which shows schematic structure of the control system of the horizontal member precut processing machine of embodiment. It is a flowchart which shows the content of the control processing which the control apparatus of the horizontal member precut processing machine of embodiment performs in a workpiece supply timing. It is a flowchart which shows the content of the control processing which the control apparatus of the horizontal member precut processing machine of embodiment performs in a left end surface part process timing.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Horizontal material precut processing machine 100 ... Input conveyor part 110 ... Material stock conveyor 130 ... Taking-in apparatus 150 ... Input conveyor 170 ... Input carry apparatus 300 ... Processing machine main body Numeral 310: Table roller group 320: Left side clamp device 321: Centripetal vise 323: Upper pressing device
331 ... Column
332 ... Upper holding cylinder
333 ... guide rail
334 ... Lifting body
335 Linear bearing
336 ... Centripetal guide plate
337 ... Centripetal guide rail
338 ... Linear bearing
341 ... Right presser
344: Left presser 350 ... Right clamp device 351 ... Centripetal vise 353 ... Upper presser
361 ... Column
362 ... Upper holding cylinder
363 ... Guide rail
364 ... Lifting body
364a ... seat
365 ... Linear bearing
366 ... Centripetal guide plate
367 ... Centripetal guide rail
368 ... Linear bearing
369 ... Right bracket
370 ... Left bracket
371 ... Right presser
372 ... Side contact portion
373 ... Upper surface contact portion
374 ... Left presser
375 ... Side contact portion
376... Upper surface contact portion 380... Left side stopper device
381 ... Contact plate
382 ... Contact surface
383 ... Guide shaft
384 ... Guide
385 ... Air cylinder
386 ... Rod
387 ... Linear sensor
388 ... Arm
389 ... Air cylinder 390 ... Right-side stopper device
391 ... Contact plate
392 ... Contact surface
397 ... Linear sensor
398 ... Arm
399 ... Air cylinder 400 ... Processing machine body 410 ... Articulated robot
411 ... head
413 ... Machining spindle 430 ... Auto tool changer (ATC)
450 ... Cutting tool storage 500 ... Extraction conveyor unit 510 ... Work material transfer positioning device 530 ... Extraction conveyor 550 ... Extraction device 570 ... Processed material stock conveyor 700 ... Control device 710 ... Input unit 720 ... Output unit 730 ... Calculation unit W ... Working material

Claims (4)

A wood precut processing machine having a centripetal vise for clamping a workpiece at a processing position and further comprising the following configuration.
(1) An upper pressing device is provided above the centripetal vise to press the upper surface side of the workpiece in a centripetal state from both side surfaces. The wood precut processing machine according to claim 1, wherein the upper pressing device has the following configuration.
(2-1) A lifting body that moves in the vertical direction is provided.
(2-2) A guide rail that widens toward the end of the workpiece conveying path is attached to the lifting body.
(2-3) A right pressing body having an upper surface abutting portion that abuts on the upper surface of the workpiece and a side abutting portion that abuts on the right side surface of the workpiece is movably disposed along one of the guide rails that spreads outwardly. Having contacted.
(2-4) A left pressing body having an upper surface abutting portion that abuts on the upper surface of the workpiece and a side abutting portion that abuts on the left side surface of the workpiece is movably disposed along the other of the end-spread guide rails. Having contacted. Furthermore, it has the following structures, The wood pre-cut processing machine of Claim 1 or Claim 2 characterized by the above-mentioned.
(3-1) A multi-joint robot is provided in the processing machine body.
(3-2) The centripetal vise and the upper holding device are respectively provided at the end of the upstream conveyance path and the end of the downstream conveyance path of the articulated robot. Furthermore, it has the following structures, The wood precut processing machine of Claim 3 characterized by the above-mentioned.
(4-1) A workpiece transfer positioning device that can travel on the downstream conveyance path and can move to at least the position of the centripetal vise at the end of the upstream conveyance path while holding the workpiece. Being.
(4-2) The vise height of the centripetal vice provided at least at the end of the downstream conveyance path is 60 mm or less.