JP7144066B2 - PRE-CUTTING DEVICE, CONTROL DEVICE FOR PRE-CUTTING DEVICE, AND PRE-CUTTING PROGRAM - Google Patents

Description

The present invention relates to a precut processing device, a control device for the precut processing device, and a precut processing program.

BACKGROUND ART Conventionally, there has been proposed a technique for manufacturing structural members such as horizontal members, pillars, and handle members used in buildings such as houses by cutting them by pre-cutting. According to this technology for manufacturing structural members by precut processing, it is possible to efficiently manufacture a large number of structural members corresponding to processing data generated by drawing with CAD.

As processed materials used to manufacture these structural members, for example, solid wood manufactured by drying wood and laminated wood manufactured by bonding thin wooden boards are used. This solid wood or laminated wood has a predetermined constant cross-sectional shape (for example, a square with a side length of 105 mm or 120 mm) and a predetermined length (for example, 3 m or 4 m in the longitudinal direction). is processed to produce a processed material (see Patent Document 1).

Japanese Patent No. 5362443

However, the workpiece may contain curvature, such as warpage, due to manufacturing variations and deformation of the workpiece. If a structural member is manufactured using a processed material that has a certain or greater curvature as its curvature, there is a possibility that the structural member cannot be properly manufactured even if the processed material is accurately processed. There was a problem.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems. An object of the present invention is to provide a processing device control device and a precut processing program.

In order to achieve this object, the precut processing device according to claim 1 is
a workpiece curvature detection device capable of outputting a detection result corresponding to the direction and magnitude of curvature when the workpiece is curved;
a processing device capable of processing a workpiece whose detection result is output by the workpiece curvature detection device;
member information storage means for storing processing data of a plurality of structural members manufactured by processing the processing material by the processing device;
a control device for processing the processing material by performing control corresponding to the processing data on the processing device;
The structural member can be manufactured from the processed material based on the detection result output by the processed material curvature detection device and the processing data,
A predetermined length that is equal to or more than half of the longitudinal length of the workpiece is set by using the workpiece whose detection result output by the workpiece curvature detection device satisfies a predetermined use condition. manufacture long structural members,
The processed material determined not to satisfy the predetermined usage conditions is not used for the manufacture of the long structural member, and the processed material is used to produce a predetermined length less than half of the longitudinal length of the processed material. characterized by manufacturing short structural members set to

A control device for a precut processing apparatus according to claim 2 is a control device for controlling the operation of the precut processing device according to claim 1, wherein the precut processing device is controlled based on the detection result output by the workpiece curvature detection device. It is characterized in that the structural member can be manufactured by performing processing corresponding to the processing data on the processing material.

The precut processing program according to claim 3 causes the control device of the precut processing device according to claim 2 to execute arithmetic processing.

According to the precut processing apparatus of claim 1, it is possible to cut a workpiece including a large curvature of a certain level or more into short pieces for use, and it is possible to efficiently manufacture a large number of structural members. be.

Further, according to the control device for the precut processing device according to claim 2, it is possible to provide a control device for the precut processing device that has the same effects as the precut processing device according to claim 1.

Further, according to the precut processing program according to claim 3, it is possible to provide a precut processing program having the same effects as the control device for the precut processing apparatus according to claim 2.

Schematic diagram for explaining the configuration of a precut processing device equipped with a processing material curvature detection device Schematic diagram for explaining the workpiece curvature detection device Schematic diagram for explaining the operation of the support part of the workpiece curvature detection device Sectional view schematically showing the results of bending measurement of workpieces with different bending directions Explanatory drawing showing control for manufacturing a structural member from a workpiece for which curvature measurement has been performed by the control device. A plan view schematically showing a skeletal structure of various structural members in a building (A) is an explanatory diagram showing the classification of the bending direction and size based on the arrangement information and bending measurement stored in the control device, and (B) is an explanatory diagram showing the control for matching the bending directions. Explanatory diagram of how to move the crosspiece by the operation of the adsorption part

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a schematic diagram for explaining the configuration of a pre-cutting device 1 having a workpiece curvature detection device 4, and shows a state in which the pre-cutting device 1 is viewed from above. In the following description and the drawings after FIG. 1, for ease of understanding, parts of the processed material 100 having a common ideal shape are represented by different alphabets (processed materials 100a to 100k). , and a case where curvature measurements are performed in alphabetical order.

A precut processing device 1 is a device for processing wood (structural members) such as pillars, beams, and handle materials used in houses. 4, a workpiece rotation device 5, and a control device 6 for controlling the operation of each device. In FIG. 1, communication lines used for communication of output results of sensors and the like and communication of control commands between the control device 6 and each device controlled by the control device 6 are indicated by arrows. It is shown schematically by a line.

The wood processing apparatus 2 is a processing apparatus capable of processing a material 100 that has been processed into a predetermined length with a constant cross-sectional shape, corresponding to each part used in a house. The wood processing device 2 includes a processing unit 21 and a conveying unit 22, and detects a deviation from the ideal shape of the processed material 100 detected by the processed material curvature detection device 4 (hereinafter also referred to as "deformed state"). It is configured to perform processing according to the bending situation as.

The processing unit 21 is a portion including a tool for cutting and a drive mechanism such as a motor for operating the tool. A cutting process is performed to form, etc., or a cutting process to shorten the length.

The conveying unit 22 includes a roller capable of supporting the lower side of the workpiece 100 to move the workpiece, and a driving mechanism capable of moving the workpiece 100 with respect to the processing unit 21 by driving a part of the roller. is composed of The conveying unit 22 conveys the workpiece 100 from the upstream side to the downstream side of the processing unit 21 and adjusts the position of the portion to be processed in the processing unit 21 .

The processed material input device 3 is a device that loads the processed material 100 into the wood processing device 2 and includes a supply section 11 , a standby section 12 , a retraction section 13 and a moving section 14 .

The supply unit 11 is a material storage area where the workpieces 100 are first supplied to the pre-cutting device 1, and is a support base that supports the lower sides of the plurality of workpieces 100 with the plurality of workpieces 100 arranged side by side. It is composed by A large number of workpieces 100 are supplied to the supply unit 11 in a stacking state in which a plurality of layers are stacked in the vertical direction via crosspieces 200 , and the workpieces 100 are supplied from the supply unit 11 to the workpiece curvature detection device 4 . 100 are conveyed one by one.

The standby section 12 is composed of a support table capable of supporting the lower side of the workpiece 100 for which the direction and magnitude of bending have been detected (hereinafter also referred to as "curvature measurement") by the workpiece curvature detection device 4. ing. A portion of the processed material 100 whose curvature has been measured is transferred from the processed material curvature detection device 4 to the standby section 12, and a plurality of processed materials 100 are arranged in a line in a direction perpendicular to the longitudinal direction thereof. supported by A workpiece 100 whose curvature satisfies a predetermined use condition with respect to an ideal shape is carried into the standby section 12 based on the result of curvature measurement by the workpiece curvature detection device 4 . For example, a work piece 100 whose length does not need to be shortened, such as having a certain degree of curvature with respect to an ideal shape, is carried into the standby section 12, and this work piece 100 is half the length in the longitudinal direction. It is used for manufacturing long structural members (long members) that satisfy manufacturing conditions such as

Similar to the standby section 12 , the retraction section 13 is composed of a support table capable of supporting the lower side of the workpiece 100 whose curvature is measured by the workpiece curvature detection device 4 . In the evacuation section 13, the processed materials 100 are arranged in a row in a direction orthogonal to the longitudinal direction thereof, and the processed materials 100 that have not been transported to the standby section 12 among the processed materials 100 for which the curvature measurement has been performed are loaded. be done. A processed material 100 whose curvature does not satisfy a predetermined usage condition with respect to an ideal shape is carried into the retracting section 13 based on the result of curvature measurement by the processed material curvature detection device 4 . The processed material 100 retracted to the retracting section 13 is used for manufacturing a short structural member (short material) that satisfies manufacturing conditions such as less than half the longitudinal length of the processed material 100 .

The moving part 14 is composed of a device capable of moving the workpiece 100, and is composed of, for example, an articulated robot 14a having a suction part 14b capable of absorbing the workpiece 100 attached to its tip. In FIG. 1, for reference, the positions corresponding to the center of the suction portion 14b and the center of rotation of the articulated robot 14a when viewed from the top are indicated by circle marks.

As indicated by the dashed line in FIG. 1, the suction unit 14b can move in a range that includes most of the workpiece curvature detection device 4, the supply unit 11, the standby unit 12, and the evacuation unit 13 when viewed from above. It is configured to be movable as a range, and is configured to include the transport section 22 of the wood processing device 2 in the movable range. The movement unit 14 moves the workpiece 100 from the supply unit 11 to the workpiece curvature detection device 4, moves the workpiece 100 from the workpiece curvature detection device 4 to the standby unit 12 and the evacuation unit 13, and moves the workpiece 100 from the workpiece curvature detection unit 4 to the standby unit 12 and the evacuation unit 13. The processed material 100 is moved from the 12 or the retracting section 13 to a part of the conveying section 22 of the wood processing device 2 (the position where the processed material rotating device 5 is provided).

Note that the moving unit 14 is not limited to the articulated robot, and may be a suspended crane or the like. Further, the movement of the workpiece 100 by the moving unit 14 is not limited to the configuration in which the workpiece 100 is moved by suction, and the configuration in which the workpiece 100 is moved by gripping the workpiece 100 or pressing the workpiece 100 is also possible. There may be. Moreover, it is not always necessary to use wood as the processed material 100, and metal or resin processed materials may be used. It may be moved by attracting a certain workpiece, or may be attracted by electromagnetic action.

In addition, in the processed material loading device 3, members such as a support table are arranged as the supply unit 11, the standby unit 12, and the evacuation unit 13 so as to support the processed material 100 in a state away from the floor surface. However, it is also possible to secure a space where the processed material 100 can be placed in the factory for pre-cutting and place the processed material 100 on the floor surface. Further, the processed material input device 3 does not necessarily have the standby unit 12, and the moving unit 14 directly moves the processed material 100 from the processed material curvature detection device 4 to the conveying unit 22 of the wood processing device 2. may be

The workpiece curvature detection device 4 is a device capable of outputting a detection result corresponding to the direction of curvature and the magnitude of curvature when the workpiece 100 is curved. The workpiece curvature detection device 4 is provided as a part of the precut processing device 1 . Therefore, even if the processed material 100 is processed into a straight columnar shape immediately after the processed material 100 is manufactured and is curved before the structural member is manufactured by pre-cutting, the direction of the curve is and the degree of curvature are detected immediately before pre-cut processing is performed, and processing corresponding to the state of the curvature is possible.

The workpiece curvature detection device 4 is provided between the supply section 11 and the standby section 12 . Moreover, the workpiece curvature detection device 4 is provided between the supply section 11 and the retraction section 13 . In the process in which the processed material 100 is supplied from the supply unit 11 that supplies the processed material 100 to the wood processing apparatus 2 via the standby unit 12 or the retraction unit 13, the direction and magnitude of the curve of the processed material 100 are detected. be done.

The workpiece curvature detection device 4 does not have to be provided between the supply section 11 and the standby section 12 or between the supply section 11 and the retraction section 13, and may be provided at another position. For example, the standby section 12 and the retraction section 13 may be provided at positions corresponding to both sides of the workpiece curvature detection device 4 intersecting in the longitudinal direction. Moreover, the workpiece curvature detection device 4 does not necessarily need to be provided as a separate device from the workpiece loading device 3 , and may be a part of the workpiece loading device 3 . Further, the workpiece curvature detection device 4 does not need to be able to detect only the direction and magnitude of the curvature of the workpiece 100 , and the torsion (torsion) deformed so that the cross-sectional shape rotates in the axial direction of the workpiece 100 . The configuration may be such that it is possible to detect deformation including twisting.

Further, the processed material curvature detection device 4 is provided between the wood processing device 2 and the processed material input device 3 so that the processed material 100 is detected while the processed material 100 is being moved from the processed material input device 3 to the wood processing device 2 . may be configured to detect the deformation state of. Moreover, the processed material curvature detection device 4 is integrated with the wood processing apparatus 2, and is configured to detect the deformation state of the processed material 100 after it is put into the wood processing apparatus 2 and before the processing by the processing unit 21 is started. may be

Moreover, it is not always necessary to load only the workpiece 100 having the same ideal shape into the workpiece curvature detection device 4 and detect the bending condition of only the workpiece 100 . A plurality of types of workpieces having at least one of different cross-sectional shapes and lengths may be carried into the workpiece curvature detection device 4 to detect the curvature of workpieces formed into a plurality of types of ideal shapes.

The workpiece rotation device 5 is a functional unit that realizes a workpiece orientation changing means for changing the orientation of the workpiece 100 , and the orientation of the workpiece 100 is detected by the workpiece curvature detection device 4 . Rotate appropriately according to the direction of bending and the magnitude of bending. The details of the workpiece rotation device 5 will be described after the configuration and operation of the workpiece curvature detection device 4 are described.

The processed material rotation device 5 does not necessarily have to be provided as a separate device from the wood processing device 2 and the processed material loading device 3, and may be a part of the wood processing device 2 or a part of the processed material loading device 3. Alternatively, the work piece 100 may be rotated by the work piece curvature detection device 4 . Further, by changing the direction of the processed material 100, the relative relationship between the direction of the processed material 100 and the direction of processing in the processing unit 21 is changed. A configuration may be employed in which processing is performed by changing the direction of processing (orientation of the tool) in the processing unit 21 according to the direction and magnitude of the curve of 100 .

The control device 6 is a device that controls each part of the precut processing device 1 including the workpiece curvature detection device 4 . Specifically, the control device 6 is configured by, for example, a personal computer, and includes a connector, a display device, a keyboard, a mouse, etc. as an input/output unit for inputting data from an external device and outputting the input data. In addition, a CPU as an arithmetic processing unit that performs various calculations, a ROM, a RAM, etc. as a storage unit that stores various programs and drive control information, and stores information necessary for executing the program It has

Various programs for controlling the operations of the wood processing device 2 , the processed material input device 3 , the processed material curvature detection device 4 , and the processed material rotation device 5 are stored in the storage unit of the control device 6 . The control device 6 also stores processing data corresponding to the outer shape of structural members (for example, structural members 101 to 124 illustrated in FIG. 6) manufactured by processing the processed material 100 by the wood processing device 2, and structural Layout information corresponding to the layout position of the member (for example, information corresponding to the type of structural member illustrated in FIG. 5) is input to the control device 6 through the input/output unit, and the processing data and layout information are stored in the storage unit. stored in

Further, the storage unit stores information corresponding to the detection result by the workpiece curvature detection device 4, and information corresponding to the deformation state such as the direction of curvature and the magnitude of curvature of the workpiece 100 for which the curvature measurement was performed. (hereinafter also referred to as "deformation state information") is stored. Further, the storage unit stores a deformation state classification program for classifying the deformation state, and stores deformation state classification information corresponding to the deformation state classified by the deformation state classification program based on the deformation state information.

As the control device 6, it is not necessary for one computer to control the operations of the wood processing device 2, the processed material input device 3, the processed material curvature detection device 4, and the processed material rotation device 5. Alternatively, in addition to this, a device such as a sequencer using a relay circuit may be used, or a configuration in which a plurality of computers share control may be used. For example, a computer that controls the wood processing device 2 and the processed material rotating device 5 and a computer that controls the processed material input device 3 and the processed material curvature detection device 4 are separately provided, and the necessary information is transmitted between the computers by wire or A configuration that can be shared by wireless communication is exemplified.

Next, mainly with reference to FIG. 2, the workpiece curvature detection device 4 will be described in detail. FIG. 2A is a schematic diagram showing an example of the workpiece curvature detection device 4, and FIG. 2B is a schematic diagram showing another example of the workpiece curvature detection device 4. As shown in FIG. 2(A) and 2(B) show a measurement state in which the bending of the workpiece 100 is measured. As shown, an ideally shaped workpiece 100' with no curvature is shown in dash-dotted lines.

As shown in FIG. 2A, the workpiece curvature detection device 4 includes a first support portion 30a and a second support portion 30b that support the workpiece 100, and a surface position detection device that detects the position of the surface of the workpiece 100. Position detectors S1, S2a and S2b as means, and drive mechanisms 34a and 34b for operating the first support part 30a and the second support part 30b as first support part operation means and second support part operation means. there is

In the measurement state, the workpiece curvature detection device 4 detects the position of the surface of the workpiece 100 while the workpiece 100 is supported by the first support portion 30a and the second support portion 30b. Detected by S2b. The detection results of the position detection devices S1, S2a, and S2b are input to the control device 6, and based on the detection results, the direction and magnitude of the bending of the workpiece 100 can be detected by the control device 6. It is

Here, in the following description, the side where the first support portion 30a supports the workpiece 100 is the front side, and the side where the second support portion 30b supports the workpiece 100 is the rear side. Description will be given with "a" and parts and devices located on the rear side with "b". In addition, an axial view from the front side to the rear side along the longitudinal direction of the workpiece 100 (view from the left side to the right side of the workpiece 100 in FIGS. 2A and 2B) is simply It is also called "axial view". In addition, with reference to the axial view in the measurement state shown in FIGS. 2(A) and 2(B), the parts and devices located on the right side are marked with "R", and the parts and devices located on the left side are marked with "R". L" is added for explanation.

The first support portion 30a includes a lower left support portion 31L that supports the lower side of the workpiece 100 on the left side of the center of gravity C of the workpiece 100 corresponding to the center of the substantially square cross section when viewed in the axial direction in the measurement state. and a lower right side support portion 31R that supports the lower side on the right side of the center of gravity C (see FIG. 3(C)).

The first support portion 30a is formed in a substantially Y shape, the lower left support portion 31L is configured by a portion extending to the upper left side from the center portion of the substantially Y shape, and the lower right support portion 31R is formed in a substantially Y shape. It is composed of a portion extending to the upper right side from the central portion of the shape. Further, a drive mechanism 34a for operating the first support portion 30a is provided in a portion extending downward from the central portion of the substantially Y-shape corresponding to the base ends of the lower left support portion 31L and the lower right support portion 31R. (driving rotary shaft 35) is connected, and the lower left support portion 31L and the lower right support portion 31R are formed in a shape extending toward the distal end side (diagonally upward) centering slightly above the connection portion. there is As a result, the first support portion 30a including the lower left support portion 31L and the lower right support portion 31R can be configured to be small, and even if each portion is configured to be elongated, the processed material 100, which is heavy, can be supported. It can be made difficult to break. That is, the first support portion 30a can be easily manufactured at low cost, and other components can be easily arranged.

For example, since the thickness of the first support portion 30a in the line-of-sight direction (horizontal direction in FIG. 2) along the axial view can be made thin, the first support portion 30a of the workpiece curvature detection device 4 can be configured to be thin. The lower side of the workpiece 100 can be supported to facilitate the placement of the workpiece 100 between a plurality of longitudinally movable rollers, and the workpiece curvature detection device 4 can be easily combined with the conveying device. When the first support portion 30a of the workpiece curvature detection device 4 is arranged between a plurality of rollers, the lower left support portion 31L and the lower right support portion 31R protrude above the plurality of rollers for processing. It is preferable to configure the first support portion 30a so that the material 100 can be supported and the drive rotation shaft 35 of the drive mechanism 34a is positioned below the plurality of rollers.

The lower left support portion 31L is provided with a lower left protruding portion 32L and an upper left protruding portion 33L that protrude toward the side where the processed material 100 is positioned, as portions that contact the processed material 100 and support the processed material 100. . Further, the lower right side support portion 31R is provided with a lower right side protrusion portion 32R and an upper right side protrusion portion 33R that protrude toward the side where the processed material 100 is located.

Each projecting portion 32L, 33L, 32R, 33R is formed to extend linearly obliquely upward from the central portion of the first support portion 30a with a substantially constant cross-sectional shape (for example, a substantially square shape with a side length of 2 cm). It is configured to protrude obliquely upward (eg, upper right direction) on the opposite side perpendicular to the continuous direction (eg, upper left direction) of the arm portion. In addition, each projection 32L, 33L, 32R, 33R projects in a semi-cylindrical shape in which the centers of the semicircular shapes are continuous in the longitudinal direction of the workpiece 100, and can contact the workpiece 100 linearly. It is configured.

The arrangement and the amount of protrusion of each protrusion 32L, 33L, 32R, 33R are determined by a tangential plane contacting the lower left protrusion 32L and the upper left protrusion 33L, and a tangential plane contacting the lower right protrusion 32R and the upper right protrusion 33R. are set to form a right angle (90 degrees) that coincides with the angle formed by the two side surfaces (side surfaces 100L and 100R) of the workpiece 100' having an ideal shape.

The second support portion 30b is provided at a position separated from the first support portion 30a in the longitudinal direction of the workpiece 100. As shown in FIG. The second support portion 30b has the same shape as the first support portion 30a, and supports the lower left side of the center of gravity C of the workpiece 100 when viewed in the axial direction along the longitudinal direction of the workpiece 100. It is provided with a side support portion 31L and a lower right support portion 31R that supports the lower side on the right side of the center of gravity C of the processed material 100 .

The first support portion 30a and the second support portion 30b operate so as to overlap each other in the same position and orientation when viewed in the axial direction. The operation of the first support portion 30a and the second support portion 30b is controlled by the control device 6. As shown in FIG.

The ideal-shaped processed material 100′ has a lower left protruding portion 32L, an upper left protruding portion 33L, a lower right protruding portion 32R, and an upper right protruding portion in a state supported by the first support portion 30a and the second support portion 30b. It is configured to be able to abut on and support the entire portion 33R. In the curved workpiece 100, depending on the state of deformation, there are cases where some of the protrusions 32L, 32R, 33L, and 33R do not come into contact with one of the lower left protrusion 32L and the upper left protrusion 33L. Alternatively, the processed material 100 may be supported by coming into contact with either one of the lower right protrusion 32R and the upper right protrusion 33R.

Note that the lower left support portion 31L and the lower right support portion 31R are not limited to contacting the workpiece 100 at linear portions, and may be configured to contact the workpiece 100 at points. Any one or all of 32L, 32R, 33L, and 33R may be shaped such that the cross-sectional area gradually decreases toward the projecting direction side, such as a hemispherical shape or a semi-elliptical shape. Further, any one or all of the protruding portions 32L, 32R, 33L, 33R may be configured with a flat surface so as to be in contact with the workpiece 100 on the surface. Further, the structure is not limited to the configuration in which a plurality of protrusions are provided for each of the lower left support portion 31L and the lower right support portion 31R. You may make it provide three or more protrusion parts in both.

In addition, one projection is formed in a plane connecting the tip portions of the projections 32L and 33L in the lower left support portion 31L, and one projection is formed in a plane connecting the tip portions of the projections 32R and 33R in the lower right support portion 31R. Two projecting portions may be provided so that the lower left support portion 31L and the lower right support portion 31R and the processed material 100 can be in contact with each other in a rectangular planar shape. In this case, even if the workpiece 100 has a different cross-sectional size and shape, the lower side can be easily supported in a stable state. Therefore, it is possible to measure the curvature of workpieces having various cross-sectional shapes and sizes, thereby increasing versatility.

Further, in each support portion of the lower left support portion 31L and the lower right support portion 31R, the angle formed by the two tangential planes (intersecting angle) is the same as the angle at which the two side surfaces of the workpiece 100' are positioned. , the angle formed by the two tangential planes is set to be slightly larger than the angle formed by the two side surfaces of the workpiece 100' (for example, 1 degree or more and 5 degrees or less), mainly The workpiece 100 is supported by the lower left protrusion 32L and the lower right protrusion 32R, and one of the upper left protrusion 33L and the upper right protrusion 33R suppresses rotational deviation in the arrangement of the workpiece 100. You may do so. Conversely, the angle formed by the two tangential planes is set to be slightly smaller (for example, 1 degree or more and 5 degrees or less) than the angle formed by the two side surfaces of the processed material 100, and the processed material 100 is mainly positioned at the upper left. Support may be provided by the side protruding portion 33L and the upper right protruding portion 33R, and one of the lower left protruding portion 32L and the lower right protruding portion 32R may suppress rotational deviation in the placement of the workpiece 100. .

In addition, the second support portion 30b does not necessarily have the same configuration as the first support portion 30a. Different shapes may be used as long as they can be supported in a non-rotatable and stable state by the portion 30a and the second support portion 30b.

The first support portion 30a and the second support portion 30b are planes of the surface of the workpiece 100 that are continuous in the longitudinal direction of the workpiece 100 when the position of the surface of the workpiece 100 is detected as a measurement state. It is configured to support the lower sides of the two side surfaces 100L and 100R that are shaped in a substantially orthogonal direction. That is, the angle formed by the tangential plane in contact with the lower left protruding portion 32L and the upper left protruding portion 33L and the tangential plane in contact with the lower right protruding portion 32R and the upper right protruding portion 33R substantially coincides with the cross-sectional shape of the workpiece 100. Designed to be square.

The cross-sectional shape of the processed material 100 is not limited to a square as shown in FIG. The lower left support portion 31L and the lower right support portion 31R may be configured so as to be able to support the lower sides of the two side surfaces facing in substantially orthogonal directions.

Further, the configuration is not limited to the configuration in which the bending measurement is performed by supporting the lower sides of the two side surfaces 100L and 100R of the workpiece 100 that face substantially orthogonal directions. may be configured to support the bending measurement. For example, when the cross-sectional shape of the processed material is a regular hexagon, a tangential plane that contacts the lower left protrusion 32L and the upper left protrusion 33L, and a tangential plane that contacts the lower right protrusion 32R and the upper right protrusion 33R. It may be designed such that the angle formed by the The angle formed by the tangential plane is designed to be approximately 60°, the side facing downward is arranged to face vertically downward, and two separated side surfaces located on both sides of the side facing downward are supported. may be configured.

The position detection devices S1, S2a, and S2b detect at least two surfaces of the workpiece 100 located between the first support portion 30a and the second support portion 30b, which are spaced apart in the circumferential direction when viewed in the axial direction. is detected, and when the workpiece 100 is curved (warped), a detection result corresponding to the direction and magnitude of the curve can be output. Specifically, as shown in FIG. 2A, position detectors S1, S2a are detected by a combination of two laser displacement gauges 41L, 41R arranged at respective positions where position detectors S1, S2a, S2b are provided. , S2b are configured.

The laser displacement gauge 41L and the laser displacement gauge 41R are arranged so as to detect the position of the surface of each of the two side surfaces 100L and 100R of the workpiece 100 one by one. It is configured to be able to measure the bias (deviation amount) with respect to the position of the surface of the material 100', thereby detecting the positions of two surfaces spaced apart in the circumferential direction.

Note that the side surfaces for detecting the position of the surface are not limited to the two side surfaces 100L and 100R supported by the first support portion 30a and the second support portion 30b on the lower side of the workpiece 100, and other two side surfaces. For example, it may be a combination of two sides facing the upper side (upper right side and upper left side) of the workpiece 100, and two sides facing the upper right side and the lower right side of the workpiece 100. It may be a combination of sides. In this case, if a combination of two sides facing in completely opposite directions is used as the side surface for detecting the position of the surface, the measurement results show that the bias (amount of deviation) with respect to the position of the surface is along the same direction. Since there is a possibility that the measurement results will be approximately the same, it is preferable to use two side surfaces excluding the combination of two side surfaces that face completely opposite directions, and the orthogonal direction side or the orthogonal direction side A combination of two sides facing the near direction is preferred.

When the position of the surface of the workpiece 100 is detected by the laser displacement meters 41L and 41R constituting the position detection devices S1, S2a and S2b, the longitudinal direction of the workpiece 100 is the first support portion 30a and the second support portion. It is arranged so as to be substantially the same as the separation direction from the portion 30b. In addition, the processed material 100 is arranged so that the center position in the longitudinal direction thereof is substantially the same as the center position in the separation direction between the first support portion 30a and the second support portion 30b, and is close to both end sides of the processed material 100. At the position, the workpiece 100 is configured to be supported by the first support portion 30a and the second support portion 30b.

When the contour shape (cross-sectional shape) of the workpiece 100 is a quadrangle, the position of the surface is detected with respect to two different side surfaces. A curvature measurement may be performed by detecting the position of the surface relative to the side of the . Further, when the cross-sectional shape of the workpiece 100 includes a curved surface shape such as an elliptical shape, the curvature measurement is performed by detecting at least two surface positions that do not form a combination of two locations facing in completely opposite directions. In this case, it is preferable to detect the position of the two surfaces facing orthogonal sides or sides close to orthogonal sides.

The position detection devices S1, S2a, and S2b are spaced apart along the direction in which the first support portion 30a and the second support portion 30b are separated from each other (the longitudinal direction of the workpiece 100'). Specifically, three laser displacement gauges 41L for measuring the position of the surface of the side surface 100L facing the lower left side, and three laser displacement gauges 41R for measuring the position of the surface of the side surface 100R facing the lower right side are the first. They are arranged so that the position of the surface corresponding to the overlapping position in the axial view can be detected in a state in which the supporting portion 30a and the second supporting portion 30b are separated along the separating direction.

Therefore, the three laser displacement gauges 41L can detect the surface positions at three points on a straight line along the longitudinal direction with respect to the side surface 100L facing the lower left side of the workpiece 100 when viewed in the axial direction. In addition, the three laser displacement gauges 41R can detect the surface positions at three points on a straight line along the longitudinal direction with respect to the side surface 100R facing the lower right side of the workpiece 100 when viewed in the axial direction.

The height and orientation of the three laser displacement gauges 41L are set so that the middle position in the width direction orthogonal to the longitudinal direction with respect to the side surface 100L of the workpiece 100 is the detection position. Similarly, the height and orientation of the three laser displacement gauges 41R are set so that the middle position in the width direction orthogonal to the longitudinal direction with respect to the side surface 100R of the workpiece 100 is the detection position. there is Therefore, when there is rotational deviation about the axis along the longitudinal direction of the workpiece 100 by the first support portion 30a and the second support portion 30b, that is, the workpiece 100 is deformed into a twisted shape in the axial direction. Even so, the detection error due to the rotational deviation can be suppressed as compared with the case where the detection position is away from the intermediate position.

The position detection device S1 is provided so as to be positioned near the center of the first support portion 30a and the second support portion 30b along the separation direction (longitudinal direction of the workpiece 100'). As a result, it is possible to detect the position of the surface near the center of the side surfaces 100L and 100R of the workpiece 100. It is possible to measure the amount of deviation from the ideal shape of the workpiece 100'.

For measuring the amount of displacement, it is sufficient to use a sensor capable of detecting the difference (displacement) in the surface position of the workpiece 100. Various sensors capable of measuring the distance from the sensor to the surface of the workpiece 100 may be used. available. For example, the laser displacement gauge 41R as a sensor emits inspection light on the optical path VR toward the workpiece 100, measures the light reflected by the surface of the workpiece 100, and measures the optical path VR of the workpiece 100 with respect to the workpiece 100'. can be measured. Further, the detection of the position of the surface of the workpiece 100 is not limited to detection using a laser. It is also possible to detect the position of the surface by Further, the detection of the position of the surface of the workpiece 100 does not necessarily have to be configured to detect the position of the surface at one point, and may be configured to detect the positions of the surface at two or more points. It may be configured to detect the position of the surface immediately. Further, when position detection devices (laser displacement gauges) are provided at a plurality of locations in the workpiece curvature detection device 4, sensors having a common configuration may be used, or multiple types of sensors with different methods may be combined.

Further, the position of the surface of the workpiece 100 does not need to be detected by one device (sensor). It may be possible to detect in a range divided into . For example, a switch that turns on when the surface is located on the side away from the position detection device S1 by more than 1 mm with respect to the ideal shape, and a switch that is closer to the position detection device S1 than 1 mm with respect to the ideal shape. separately providing a switch that is turned on when the surface is positioned on the surface, and if any switch is turned on in the measurement state, detecting that the surface is curved on the turned-on side; If none of the switches are on, it may be detected that the amount of deviation is within the range of ±1 mm with respect to the ideal shape.

When the bending measurement is performed by the position detection device S1 in a measurement state in which both ends in the longitudinal direction of the workpiece 100 are supported by the first support portion 30a and the second support portion 30b, the position detection device S1 (laser displacement meter 41L) is measured. and the laser displacement meter 41R), the bending direction and the bending magnitude of the workpiece 100 can be easily detected. In this case, since it is possible to detect the degree of curvature with respect to the distance supported by the first support portion 30a and the second support portion 30b (the length of the support section), the length of the support section can be detected. and the length of the workpiece 100, the magnitude of the curvature relative to the overall length of the workpiece 100 can be estimated.

The position detection device S2a is provided at a position closer to the first support portion 30a than the position detection device S1. Further, the position detection device S2b is provided at a position closer to the second support portion 30b than the position detection device S1. The detection results of these position detection devices S2a and S2b are obtained by, for example, detecting the position of the surface of the workpiece 100 in the vicinity of the first support portion 30a and the second support portion 30b, and determining that the position deviates by a predetermined amount or more. If so, it is determined that the workpiece 100 is not properly supported by the first support portion 30a and the second support portion 30b and that the position of the surface cannot be accurately measured. The program of the control device 6 may be configured such that the support portion 30b is operated to change the support state of the workpiece 100, and the bending measurement is performed again.

It should be noted that misalignment of the workpiece 100 may be detected based on the detection results of the position detection devices S2a and S2b. For example, the program of the control device 6 is configured to detect that the first support portion 30a is separated from the lower left support portion 31L, and to correct the detection result of the position detection device S1 in consideration of this misalignment. may As a result, it is possible to omit the re-execution of the bending measurement of the workpiece 100, shorten the bending measurement time, and improve the detection accuracy of the bending direction and the bending magnitude of the workpiece 100. be possible.

In addition, when the rotational deviation about the axis along the longitudinal direction of the workpiece 100 is more than a certain amount, the detection result of one of the position detection devices S2a and S2b may become larger than a certain value. Based on the detection results of the detection devices S2a and S2b, it may be detected whether or not there is a certain amount or more of rotational deviation about the axis along the longitudinal direction of the workpiece 100 . It should be noted that the position detection devices S2a and S2b may be configured to be able to detect the rotational deviation with higher accuracy. Detect the positions of two or more surfaces spaced apart in the width direction, and detect the positional deviation of the surfaces at the four corners at both ends along the longitudinal direction of each of the side surfaces 100L and 100R to detect the rotational deviation. good too. In addition, the position of the surface in the width direction is detected linearly or planarly on at least one of both ends along the longitudinal direction of each of the side surfaces 100L and 100R, and the detection result is used to detect rotational deviation. good too.

Further, the position detection devices S2a and S2b may detect the position of the surface between the position detection device S1 and the two support portions 30a and 30b. In this case, when the curvature of the curve is not constant, when the curve is partially generated, or when the workpiece 100 is not in the middle part, but is shifted from the middle in the longitudinal direction, the shape is most deviated from the ideal shape. is occurring, the situation can be made easier to detect. In addition to the position detection devices S2a and S2b, another position detection device is further provided between the two support portions 30a and 30b to enable detection of whether or not the support portions 30a and 30b are correctly supported, and It may also be possible to detect the positional deviation of the surface at a position other than the middle portion of the workpiece 100, and it may be possible to detect the bending situation in more detail.

Also, detection of the position of the surface of the workpiece 100 need not be performed only between the supports 30a and 30b. For example, as shown in FIG. 2B, the position detection devices S3a and S3b may be provided so as to be positioned outside the support portions 30a and 30b. In this case, the positions of the surface of the workpiece 100 are measured at positions near both ends of the workpiece 100, and the detection result of the position detection device S1 with respect to the central portion of the workpiece 100 and the position detection devices S3a and S3b of the workpiece 100 The magnitude and direction of the curvature of the workpiece 100 can be estimated from the detection results for both ends of the workpiece 100 .

Further, as shown in FIG. 2(B), separate position detection devices S4a and S4b are provided so as to be positioned closer to the two support portions 30a and 30b than the position detection devices S3a and S3b. good too. In this case, when the curvature of the workpiece 100 is not constant, the shape of the curvature can be easily estimated from the detection results of the position detection devices S4a and S4b. Further, the position detection devices S4a and S4b may be arranged so as to be positioned at both ends of another workpiece whose length is set shorter than that of the workpiece 100. In this case, a plurality of types of lengths can be set. With respect to the curvature of the processed material, it is possible to measure the curvature using the detection results of the surface positions at positions close to both ends, and to detect the curvature more accurately.

In addition, as the position detection device S1 positioned at the central portion of the two support portions 30a and 30b, the position detection device S1 including a laser displacement meter capable of detecting two or more surface positions near the central portion shifted in the longitudinal direction. may be configured. Further, the position detection device S1 positioned between the support portions 30a and 30b, the position detection devices S2a and S2b positioned between the support portions 30a and 30b on both end sides of the position detection device, and the position detection devices S2a and S2b positioned between the support portions 30a and 30b. A configuration including all of the position detection devices S3a, S3b, S4a, and S4b located outside may be provided, or a portion of these position detection devices may be omitted.

At least one of the position detection devices S1, S2a, S2b, S3a, S3b, S4a, and S4b can be moved along the longitudinal direction of the workpiece 100. 6, or may be manually movable by an operator, for example, by attaching a position detection device to a slide-type rail. In addition, lasers constituting the position detection devices S1, S2a, S2b, S3a, S3b, S4a, and S4b are electrically or operated by an operator in the width direction of the side surfaces 100L and 100R where the position of the surface of the workpiece 100 is measured. The displacement gauges 41L and 41R may be made movable to enable measurement of the widthwise center of workpieces having different widths, or to enable measurement of a position near one end in the widthwise direction of the workpiece 100. A plurality of surface positions in the width direction of the can be detected by one laser displacement meter.

At least one of the laser displacement gauges 41L and 41R constituting each of the position detection devices S1, S2a, S2b, S3a, S3b, S4a, and S4b is configured by one laser displacement gauge, It may be configured to be movable in the left and right directions in view. That is, the position detection device may be movable in the left and right direction when viewed in the axial direction below the workpiece 100, and the drive mechanism including the motor and the like may be controlled by the control device 6 to be electrically movable. The positions of the surfaces of the side surfaces 100L and 100R may be detectable.

In addition, based on the detection results of the surface positions of two or more of the position detection devices S1, S2a, S2b, S3a, S3b, S4a, and S4b, not only the magnitude of the curvature of the side surfaces 100L and 100R of the workpiece 100, The curved shape of the side surfaces 100L and 100R of the workpiece 100 may be estimated.

As shown in FIG. 2, the drive mechanisms 34a and 34b include a mechanism for operating the first support portion 30a and the second support portion 30b, and a drive source such as a motor and a pneumatic cylinder for operating the same. It is a device configured with The drive mechanisms 34a, 34b are separately provided for the two support portions 30a, 30b. The drive mechanisms 34a and 34b may be configured by one drive mechanism common to the two support portions 30a and 30b.

The drive mechanism 34a is a mechanism for operating the first support portion 30a, and includes a lower left support portion 31L (a lower left projecting portion 32L and an upper left projecting portion 33L) and a lower right support portion 31R (right At least one of the lower projecting portion 32R and the upper right projecting portion 33R) can be moved vertically. The drive mechanism 34a is provided with a drive rotation shaft 35 to which the first support portion 30a is fixed at one end side. It is controlled by controlling the pressure cylinder and the motor. By controlling the drive mechanism 34a by the control device 6, the first support portion 30a is in the initial state (FIG. 3A) in which the upper surface and the lower surface of the workpiece 100 are oriented vertically. state) to a measurement state rotated by 45 degrees (state shown in FIG. 3C).

The drive mechanism 34b is a mechanism for operating the second support portion 30b so that the second support portion 30b overlaps the operation of the first support portion 30a by the drive mechanism 34a when viewed in the axial direction, and has the same configuration as the drive mechanism 34a. It is By controlling the drive mechanism 34b by the control device 6, the second support portion 30b changes the orientation of the workpiece 100 in the axial direction from the initial state (the state shown in FIG. 3A) to the measurement state (the state shown in FIG. 3C). state).

The control device 6 stores a program for controlling the operation of the power source of the drive section for operating the first support section 30a and the second support section 30b, and controls the operations of the position detection devices S1, S2a, and S2b. program is stored. The control device 6 also receives the measurement results of the position of the surface output from the position detection devices S1, S2a, and S2b, the direction and magnitude of the curvature detected based on these measurement results, and the like. It is stored as deformation correspondence information corresponding to the deformation state of the material 100 . Further, the control device 6 performs calculations for determining the direction of bending, calculations for deciding the magnitude of bending, etc. based on the measurement results output from the position detection devices S1, S2a, and S2b. program is stored. Details of the control of the operation of the first support portion 30a and the second support portion 30b by the control device 6 and the control of the measurement results of the position detection devices S1, S2a, and S2b will be described later.

Next, a specific operation example of the first support portion 30a and the second support portion 30b operated by the driving mechanisms 34a and 34b will be described mainly with reference to FIG. 3A and 3B are schematic diagrams for explaining the operation of the support portions 30a and 30b of the workpiece curvature detection device 4. When viewed in the axial direction, the first support portion 30a operates to change the direction of the workpiece 100. FIG. Each state of the process is shown schematically. The second support portion 30b operates so as to overlap with the first support portion 30a, and illustration and description of the configuration related to the operation of the second support portion 30b are omitted.

When the curvature of the workpiece 100 is to be measured by the workpiece curvature detection device 4, the workpiece 100 to be measured is detected from the supply section 11 (see FIG. 1) by the moving section 14 (see FIG. 1). It is moved to device 4 . As shown in FIG. 3A, the workpiece curvature detection device 4 is provided with a mounting table (not shown) capable of supporting the lower side of the workpiece 100 so that the upper surface and the lower surface face the vertical direction. and the workpiece 100 is once placed on the placing surface PS of the placing table. For example, the mounting table has a plurality of positions shifted in the longitudinal direction of the workpiece 100 with respect to the positions where the first support portion 30a, the second support portion 30b, and the position detection devices S1, S2a, and S2b are arranged. It is configured by providing a support portion for supporting the lower side of the workpiece 100 .

The mounting table of the workpiece curvature detection device 4 may be configured to only support the lower side of the workpiece 100, or may include a plurality of rollers spaced apart in the longitudinal direction of the workpiece 100. , and a drive mechanism for driving the rollers, and may be configured to include a transport mechanism capable of moving the processed material 100 in the longitudinal direction. The workpiece 100 may be moved to the initial position where the bending measurement is performed, or the workpiece 100 after the bending measurement may be moved to another position near the waiting section 12 or the retracting section 13. good too.

In the initial state, in the first support portion 30a, the lower right support portion 31R (more specifically, the tangential plane between the lower right protrusion 32R and the upper right protrusion 33R) is substantially parallel to the mounting surface PS, The lower left support portion 31L (more specifically, the tangential plane between the lower left protruding portion 32L and the upper left protruding portion 33L) assumes an initial posture substantially perpendicular to the mounting surface PS. After the work piece 100 is placed in the initial state, the center position of the drive rotation shaft 35 is set to the center position (initial position) corresponding to the initial state, as indicated by an arrow in FIG. SP), while moving in the horizontal direction where the processed material 100 is arranged, it rotates in the direction of rotating the first support portion 30a to one side.

Here, the moving direction of the drive rotation shaft 35 in the horizontal direction (right direction in FIG. 3A) is the center of gravity C of the workpiece 100 due to the rotation in the direction of rotating the first support portion 30a. is set in the direction opposite to the direction in which the will move (to the left). Therefore, the center of gravity C of the processed material 100 is less likely to shift in the horizontal direction, and the center of gravity C of the processed material 100 can be easily moved only in the vertical direction by the movement of the first support portion 30a. It is preferable that the amount of movement in the horizontal direction is such that the position of the center of gravity C of the workpiece 100 hardly moves in the horizontal direction. It is preferably about 1/10 or less of the width, and preferably about 1/20 or less of the width. , 10 mm or less.

The direction in which the first support portion 30a rotates is the direction in which one end side (the right side in FIG. 3A) of the surface facing downward of the workpiece 100 rises. The position and posture change, and as shown in FIG. 3B, the workpiece 100 rotates when viewed in the axial direction. When rotating the workpiece 100, the lower right support portion 31R (specifically, the lower right protruding portion 32R and the upper right protruding portion 33R) moves upward including an upward component in the vertical direction. , one end side (right side in FIG. 3(B)) of the lower surface (side surface 100R) of the workpiece 100 in the initial state is raised more than the opposite side (left side in FIG. 3(B)) to change the direction of the workpiece 100. Let

When the amount of rotation of the driving rotary shaft 35 reaches 45 degrees from the initial state, as shown in FIG. In this measurement state, the center position of the drive rotation shaft 35 is positioned vertically below the center (center of gravity C) of the workpiece 100, and the operation of the drive rotation shaft 35 is stopped. At this time, in the first support portion 30a, a tangential plane between the lower left protrusion 32L and the upper left protrusion 33L and a tangential plane between the lower right protrusion 32R and the upper right protrusion 33R are the placement surface PS. , both are inclined at 45 degrees. As a result, the center of gravity C of the workpiece 100 can be lowered downward in a well-balanced manner as viewed in the axial direction, making it easier to approach a stable state. can.

After entering the measurement state, the position of the surface of the lower right side surface 100R and the position of the surface of the lower left side surface 100L are detected by the position detection devices S1, S2a, and S2b, and the detection results are sent to the control device 6. is entered. By inputting this detection result, the bending direction and bending magnitude of the workpiece 100 are detected by the control device 6, and bending measurement is performed. A method of using the result of bending measurement by the control device 6 will be described later.

After the curvature measurement is performed, the workpiece 100 is rotated from a state in which the two downward-facing side surfaces 100L and 100R are tilted so that one of the side surfaces is vertically downward. The directions of this rotation are the direction in which the workpiece 100 is returned to its initial state, and the direction in which the workpiece 100 is further rotated so that the workpiece 100 is rotated 90 degrees from its initial state. There is. In addition, the control device 6 has control to operate in the direction to return the workpiece 100 to the initial state, and to rotate in the direction to rotate the workpiece 100 in the initial state by 90 degrees. It is also possible to provide both control to operate and control by switching the direction of rotation as necessary, or control to rotate in only one of them.

When control is performed by the control device 6 in the direction of returning the workpiece 100 to the initial state, the drive rotation shaft 35 is moved as indicated by the solid-line arrow in FIG. As shown, while moving in the returning direction (left side in FIG. 3(C)), the drive rotary shaft 35 is controlled to rotate in the returning direction (clockwise direction in FIG. 3(C)). A device 6 controls the movement of the drive pivot shaft 35 . As a result, the position and posture of the first support portion 30a return to the initial state shown in FIG. 3(A). After that, the workpiece 100 whose curvature has been measured is moved to the standby section 12 or the retracting section 13 (see FIG. 1) by the control device 6 controlling the operation of the moving section 14 .

When the workpiece 100 is further rotated so that it rotates 90 degrees from the orientation of the workpiece 100 in the initial state, in the direction shown by the dashed-dotted arrows in FIGS. 3(C) to 3(E) The control device 6 controls the position and attitude of the first support portion 30a. In this case, the control device 6 controls the operation of the drive rotation shaft 35, and the drive rotation shaft 35 moves further in the direction of transition from the initial state to the measurement state (right side in FIG. 3(C)). The rotation shaft 35 is further rotated in the direction (counterclockwise in FIG. 3C) to shift from the initial state to the measurement state. As a result of the movement and rotation of the drive rotary shaft 35, the drive rotary shaft 35 rotates 90 degrees from the initial state as shown in FIG. The direction is rotated by degrees.

After the orientation of the workpiece 100 is changed, the drive rotation shaft 35 is moved downward to move the first support portion 30a downward, and then, as shown in FIG. 35 is moved to one side (left side in FIG. 3(E)) and rotated to one side (clockwise in FIG. 3(E)) so as to approach the position of the initial state. As a result, the workpiece 100 and the first support part 30a are prevented from coming into contact with each other, and the first support part 30a can move under the workpiece 100. As shown in FIG.

When the center position of the driving rotation shaft 35 reaches the vertical direction lower side of the initial position SP, the driving rotation shaft 35 is moved upward so that the first support portion 30a returns to the initial state shown in FIG. return. This allows the workpiece 100 to be oriented 90 degrees with respect to its initial orientation. By repeating the operations shown in FIGS. 3A to 3E, the operations of the first support portion 30a and the second support portion 30b are utilized to move the workpiece 100 from the initial state by 180 degrees or 270 degrees. However, the workpiece 100 can be rotated, and the workpiece 100 can be positioned so that either side faces a predetermined direction.

Here, the workpiece curvature detection device 4 is configured such that the relative position between the first support part 30a and the workpiece 100 changes in the process in which the first support part 30a shifts from the initial state to the measurement state. there is Specifically, in the initial state in which the workpiece 100 is carried into the workpiece curvature detection device 4, as shown in FIG. The supporting portion 31R is arranged at a position that does not come into contact with the workpiece 100 at all.

Further, in the process in which the first support portion 30a shifts from the initial state to the measurement state, as shown in FIG. 31L goes through a non-contact state (one-sided contact state), after which the workpiece 100 also contacts the lower left support portion 31L and the workpiece 100 is supported. As a result, the workpiece 100 can be slid between the lower left support portion 31L and the lower right support portion 31R. In this case, the lower left support portion 31L and the lower right support portion 31R contact the workpiece 100 in an irregular order or at the same time. It is possible to improve the accuracy of arranging so that the center of gravity C of is located at the lowest position, and it is possible to measure the curvature with high accuracy.

In the process from the initial state to the measurement state, the period during which the lower left support portion 31L does not come into contact with the workpiece 100 is preferably at a certain angle or more, for example, at least 5 degrees or more. It is preferable that the lower left support portion 31L does not come into contact with the workpiece 100 until it rotates. 31L can be easily brought into contact. This angle is preferably about 5% or more (e.g., 3 degrees or more) of the angle (e.g., 45 degrees) from the initial state to the measurement state, and about 10% or more (e.g., 5 degrees or more). It is preferable that

Further, in the process from the initial state to the measurement state, the period in which the lower left support portion 31L does not come into contact with the workpiece 100 is preferably set to a certain angle or less. It is preferable to configure the lower left support portion 31L to reliably contact the workpiece 100 when the workpiece 100 is rotated by more than 10 degrees. It is possible to avoid situations in which the surface of the workpiece 100 is damaged and the workpiece 100 does not fall due to variations in the surface roughness of the workpiece 100 . This angle is preferably about 40% or less (e.g., 15 degrees or less) of the angle (e.g., 45 degrees) from the initial state to the measurement state, and about 30% or less (e.g., 10 degrees or less). It is preferable that

Note that during the period from the initial state to the measurement state in which the lower left support portion 31L does not contact the workpiece 100, the contact portion between the lower left support portion 31L and the lower right support portion 31R and the workpiece 100 is The material, the acceleration of the movement of the first support portion 30a by the drive mechanism 34a, and the like can be adjusted and changed. For example, a member made of a material different from that of the main body is attached to the contact portions of the lower left support portion 31L and the lower right support portion 31R with the processed material 100 to change the contact portions from metal to resin, The length of the non-contact period can be changed by applying a surface treatment or changing the acceleration of the operation of the first support portion 30a by the drive mechanism 34a.

Alternatively, at least one of the lower left support portion 31L and the lower right support portion 31R may contact the workpiece 100 in the initial state. For example, the first support is arranged so that the support surface of the workpiece 100 by the lower right support portion 31R (the tangential plane between the lower right protrusion 32R and the upper right protrusion 33R) is substantially the same as the placement surface PS. The vertical position of the portion 30a and the amount of protrusion of the lower right protrusion 32R and the upper right protrusion 33R may be set.

Further, in the initial state, the workpiece 100 does not necessarily need to be placed on the mounting table, and the workpiece 100 may be supported by at least one of the first support portion 30a and the second support portion 30b. In this case, the mounting table may be omitted.

Further, a mechanism may be provided to facilitate downward movement of the workpiece 100 in the measurement state supported by the lower left support portion 31L and the lower right support portion 31R. , 33R may be formed by rotating rollers that tend to move the workpiece 100 downwards in the measuring state.

Moreover, it is preferable to apply vibration to the workpiece 100 at the stage of being in the measurement state. For example, the first support portion 30a may be suddenly stopped at the stage of the measurement state so that the workpiece 100 is vibrated. Specifically, as a mechanism for rotating the first support portion 30a such as the first support portion 30a and the drive rotation shaft 35 in the workpiece curvature detection device 4, a cylinder that operates with air pressure is provided. The drive mechanism 34a may be configured so that the position where it reaches the maximum stroke and touches the stopper is the measurement state.

In addition, if the first support part 30a and the second support part 30b are configured to move at least a part of the workpiece 100 upward or downward in the process of reaching the measurement state, It is good also as a structure which carries out and moves. For example, the lower left support portion 31L and the lower right support portion 31R are configured by separate members, and the lower left support portion 31L is fixedly arranged at the angle shown in FIG. Only the portion 31R may rotate to shift from the initial state to the measurement state, and the workpiece 100 may be supported by the first support portion 30a and the second support portion 30b.

In addition, it is not always necessary for the lower right support portion 31R to change the orientation of the workpiece 100 by the pivoting motion. , and the workpiece 100 may be rotated from the initial state to the direction corresponding to the measurement state by moving the upper right protrusion 33R farther upward than the lower right protrusion 32R.

In addition, the driving rotary shaft 35 is configured to move and rotate when the initial state changes to the measuring state. The first support portion 30a and the second support portion 30b may be rotated to enter the measurement state.

Further, when the initial state shifts to the measurement state, either the left lower support portion 31L or the lower right support portion 31R moves downward instead of upward, and the orientation of the workpiece 100 changes. For example, in the initial state of FIG. 3(A), the workpiece 100 is directly supported by the first support portion 30a, and the state in which the workpiece 100 is supported by the first support portion 30a is shifted to the lower right side. The first support portion 30a may be rotated approximately 45 degrees counterclockwise about the right portion corresponding to the tip portion of the side support portion 31R to enter the measurement state.

Further, the first support part 30a and the second support part 30b may be configured to move without changing the posture of the measurement state, and may move downward toward the workpiece 100 supported on the placement surface PS. From the side, the first support portion 30a and the second support portion 30b may be moved upward to support the workpiece 100 while maintaining the posture of the measurement state.

Further, in the measurement state in which the workpiece 100 is supported by the first support part 30a and the second support part 30b, the first support part 30a and the second support part 30b can be moved along the longitudinal direction of the workpiece 100, The position of the workpiece 100 in the measurement state can be changed with respect to the position detection devices S1, S2a, S2b, S3a, S3b, S4a, and S4b (see FIG. 2), and the plurality of side surfaces 100R and 100L of the workpiece 100 are measured. may be detected by at least part of the position detection devices S1, S2a, S2b, S3a, S3b, S4a, and S4b.

Next, the detection of the bending direction and magnitude by the workpiece bending detection device 4 will be described with reference to FIG. FIG. 4 is a cross-sectional view schematically showing the results of bending measurement of the workpiece 100 having different bending directions. A state in which the second support portion 30b can be seen on the far side is shown.

4(A) and 4(B) show that the bending direction of the workpiece 100 is perpendicular to one side of the profile of the workpiece 100 on the cut surface perpendicular to the longitudinal direction of the workpiece 100 (one side FIG. 10 is a cross-sectional view showing a measurement state in the case of a vertical direction). 4(C) and 4(D) are measurements in the case where the direction of curvature of the workpiece 100 is the direction between the orthogonal direction of one side of the contour and the diagonal direction along the diagonal line of the contour. It is sectional drawing which shows a state. 4(E) and 4(F) are cross-sectional views showing the state of measurement in the case of the diagonal direction of the outline. 4(A) to 4(F), the direction of curvature is indicated by the direction of the arrow from the center position (the position of the center of gravity C) of the workpiece 100. As shown in FIG.

Two side surfaces 100L and 100R of the workpiece 100 supported by the first support portion 30a and the second support portion 30b in the measurement state are provided with laser displacement meters 41L and 41R (see FIG. 2) constituting the position detection device S1. Inspection light is irradiated along optical paths VL and VR substantially perpendicular to the side surfaces 100L and 100R, and detection results corresponding to the surface positions of the side surfaces 100L and 100R are output. As a result, the laser displacement gauge 41L can measure the lower left deviation amount ZL along the optical path VL, and the laser displacement gauge 41R can measure the lower right deviation amount ZR along the optical path VR.

In FIGS. 4(A) to 4(F), the deviation amounts ZL and ZR as the measurement results are given different letters corresponding to each figure, and are exemplified as deviation amounts ZLb to ZLf and ZRa to ZRf. ing. The measurement results of the laser displacement meters 41L and 41R take positive values when the distances along the optical paths VR to the side surfaces 100L and 100R are longer than the distances to the reference cross section CS, and negative values when they are close. The case where it is set to take is exemplified.

First, when the workpiece 100 matches the ideal shape, the surface of the portion between the two ends supported by the first support portion 30a and the second support portion 30b, where the position detection device S1 is provided, , coincides with the distance to the reference cross section CS, and the displacement amounts ZL and ZR are both zero. By inputting this measurement result to the control device 6, the control device 6 can identify that the workpiece 100 has no curvature, and neither the magnitude of the curvature nor the direction of the curvature.

As shown in FIG. 4A, when the direction of curvature of the workpiece 100 is perpendicular to the side surface 100R facing the lower right side, the side surface 100R is the lower right support portion of the second support portion 30b. 31R (the lower right protrusion 32R and the upper right protrusion 33R) are arranged so as to partially overlap. In this case, the position of the cross section KS of the workpiece 100 measured by the position detection device S1 is along the direction of the curve with respect to the position of the reference cross section CS corresponding to the cross section of the ideal shaped workpiece 100'. That is, it shifts to the lower right side along the optical path VR of the laser displacement meter 41R. At this time, the displacement amount ZR measured by the laser displacement gauge 41R becomes a negative value (-ZRa), and the displacement amount ZL (ZLb) measured by the laser displacement gauge 41L becomes zero. From this measurement result, it can be identified that the bending direction of the workpiece 100 is the lower right side when viewed in the axial direction, and that the bending magnitude of the workpiece 100 corresponds to the absolute value of the displacement amount ZRa. can.

Even when the bending direction of the workpiece 100 is perpendicular to the other side surface, the magnitude and direction of the bending can be identified in the same manner as the case perpendicular to the side surface 100R described above. For example, as shown in FIG. 4B, in the case where the direction is perpendicular to the side surface 100L facing the lower left side, the bending direction of the workpiece 100 is such that the amount of deviation ZR is 0 and the amount of deviation ZL is a positive value, it can be identified that it is on the upper right side, and it can be identified that the magnitude of the curvature of the workpiece 100 corresponds to the absolute value of the amount of displacement ZLb.

FIGS. 4(C) to 4(F) illustrate the case where the bending direction of the workpiece 100 is different from the direction in which the side surfaces 100L and 100R face. In this case, the direction of curvature of the workpiece 100 can be identified by the ratio of the amount of displacement ZR and the amount of displacement ZL. Thus, when the amount of deviation ZR and the amount of deviation ZL match, the direction is inclined approximately 45 degrees from the direction of the side surfaces 100L and 100R (the direction toward the corners of the square cross section KS). Identifiable.

Further, as shown in FIGS. 4C and 4D, when the amount of deviation ZR and the amount of deviation ZL are different, the direction of curvature of the workpiece 100 depends on the direction in which the side surfaces 100L and 100R face and This is the case where the direction is between the direction tilted approximately 45 degrees from the direction. Even in this case, the direction of curvature and the magnitude of curvature of the workpiece 100 can be identified from the ratio of the amount of displacement ZR and the amount of displacement ZL. That is, as the direction of curvature, an oblique angle (inclination with respect to the side surfaces 100L and 100R) between the corner portion of the square cross section KS and the direction perpendicular to the side surfaces 100L and 100R can be identified. A specific direction can be identified depending on whether ZR and the amount of deviation ZL are positive or negative values.

In this manner, the direction of curvature of the workpiece 100 can be identified by the ratio of the displacement amount ZL and the displacement amount ZR, and whether the value is positive or negative. In addition, the magnitude of the curvature of the workpiece 100 is the length obtained by combining the amount of displacement ZL and the amount of displacement ZR (specifically, the square of the amount of displacement ZL and the amount of displacement ZR added together, (magnitude calculated by the square root of the added value).

As the displacement amount ZR and the displacement amount ZL, not only the value of the position detection device S1 but also the value of at least one of the position detection devices S2a, S2b, S3a, S3b, S4a, and S4b are used to obtain the displacement amount ZR and the displacement amount ZL. may be calculated. For example, when calculating the direction of curvature and the magnitude of curvature using the values of the position detection device S1 and the position detection devices S3a and S3b, the measurement results of the position detection device S1 are used as the displacement amounts ZL1 and ZR1 and the position detection device Assuming that the measurement results of S3a and S3b are deviation amounts ZL3a, ZR3a, ZL3b, and ZR3b, the deviation amount ZL can be calculated by "ZL1-(ZL3a+ZL3b)/2", and the deviation amount ZR is "ZR1-(ZR3a+ZR3b )/2”. The calculation for this calculation may be executed by providing a calculation unit in the workpiece curvature detection device 4, or the measurement result is output from the workpiece curvature detection device 4 to the control device 6, and the calculation is performed in the control device 6. It may be configured to perform.

As described above, according to the processed material curvature detection device 4, after the processed material 100 is supported by the first support portion 30a and the second support portion 30b, the position detection device S1 detects the first Two surface positions spaced apart in the circumferential direction when viewed in the axial direction are detected with respect to the central portion of the workpiece 100 located between the support portion 30a and the second support portion 30b. When the workpiece 100 matches the ideal shape, the position of the surface of the portion between which the position detection device S1 is provided with respect to both end sides supported by the first support portion 30a and the second support portion 30b. is detected by the position detection device S1, and a detection result corresponding to the result that the workpiece 100 is not curved, has no magnitude of curvature, and has no direction of curvature is output.

On the other hand, when the workpiece 100 has a shape that includes a certain amount of curvature with respect to the ideal shape, the position detection device is positioned on both ends supported by the first support portion 30a and the second support portion 30b. The position of the surface of the intermediate portion where S1 is provided is different from the position of the surface detected by the position detecting device S1 in the ideal shape, and is biased toward the direction of curvature. The position detection device S1 outputs a detection result different from the detection result in the ideal shape in accordance with the bias (deviation) of the position of the surface. When the output detection result is input to the control device 6, the control device 6 can identify the bending direction and the bending magnitude of the workpiece 100. FIG.

Further, the first lower left support portion (lower left support portion 31L) and the first lower right support portion (lower right support portion 31R) of the first support portion 30a can be moved in the vertical direction by the drive mechanism 34a. The second lower left support portion (lower left support portion 31L) and the second lower right support portion (lower right support portion 31R) of the second support portion 30b are moved in the vertical direction by the drive mechanism 34b. It is possible. When the first support portion 30a and the second support portion 30b are moved in the vertical direction by the drive mechanisms 34a and 34b, and the workpiece 100 is rotated in the axial direction, the center of gravity of the workpiece 100 is moved in the vertical direction. After the movement, the first support part 30a and the second support part 30b are stationary, and the workpiece 100 is in a measurement state supported by the lower left support part 31L and the lower right support part 31R. With this structure that supports the lower side of the workpiece 100 while allowing the center of gravity of the workpiece 100 to move easily, the center of gravity of the workpiece 100 moves downward due to the weight of the workpiece 100 in the measurement state, and the workpiece 100 is in a stable state. It is easy to approach, and the center of gravity of the workpiece 100 is likely to be located at the maximum downward position.

After the center of gravity of the processed material 100 is moved downward as much as possible and stabilized, the position of the surface of the processed material 100 is detected by the position detection device S1, thereby producing a large amount of manufactured material aiming at an ideal shape. It is possible to easily bring the workpiece 100 closer to the state in which the workpiece 100 is supported at an appropriate position in a similar manner by the first support portion 30a and the second support portion 30b. In a state in which the workpiece 100 is supported at an appropriate position, if the workpiece 100 to be measured whose surface position is detected with respect to the ideal shape includes curvature, the direction of the curvature and the magnitude of the curvature are , a specific deviation occurs in the position of the surface of the workpiece 100 detected by the position detecting device S1. Therefore, by detecting the position of the surface of the workpiece 100 with the position detecting device S1 after the workpiece 100 is supported at an appropriate position, the direction of curvature and the magnitude of the curvature with respect to the workpiece 100 can be determined. can be made easier to detect accurately.

As described above, according to the workpiece curvature detection device 4 of the precut processing apparatus 1, the workpiece 100 is in a state in which the workpiece 100 is supported by the first support portion 30a and the second support portion 30b, and the surface position is detected by the position detection device S1. By detecting , it is possible to detect the bending direction and the bending magnitude as the bending situation of the workpiece 100 . Therefore, when the workpiece 100 includes a curve, it is possible to easily detect the condition of the curve in a short time.

Further, the first support portion 30a and the second support portion 30b can be operated by the drive mechanisms 34a and 34b to bring the workpiece 100 closer to a state in which it is supported at an appropriate position. Therefore, when the position of the surface of the workpiece 100 is detected by the position detection device S1, it is possible to accurately detect the direction and magnitude of the curvature. Therefore, in the case of manufacturing a structural member, it is possible to easily detect the state of bending and to perform processing according to the state of bending.

In addition, in the workpiece curvature detection device 4, the first support portion 30a and the second support portion 30b are arranged to detect the surface of the workpiece 100 in a measurement state in which the position of the surface of the workpiece 100 is detected by the position detection device S1. Among them, the lower side of two side surfaces 100L and 100R that are planar and continue in the longitudinal direction of the processed material 100 and face in a substantially orthogonal direction are positioned at the center in the horizontal direction where the center (center of gravity C) of the processed material 100 is located. Support it in an inclined state so that the side is low. For this reason, the processed material 100 easily slides down along the planar side surfaces 100L and 100R toward the center of the center of gravity C, and the center of gravity of the processed material 100 is easily used to position it at the lowest position. can do.

The drive mechanisms 34a and 34b of the workpiece curvature detection device 4 are configured to be able to rotate the workpiece 100 supported by the first support portion 30a and the second support portion 30b when viewed in the axial direction. , the workpiece curvature detection device 4 can be used as the workpiece rotating device 5 . Therefore, it is possible to easily add, at a low cost, a function capable of detecting the bending state of the processed material 100 to a conventional precut processing apparatus having a lumber rotating function.

Next, with reference to FIGS. 5 to 7, a configuration for manufacturing a structural member in the precut processing apparatus 1 using the results of curvature measurement detected by the workpiece curvature detection device 4 will be described.

FIG. 5 is an explanatory diagram showing control for manufacturing a structural member from a workpiece on which curvature measurement has been performed by the control device 6. As shown in FIG. FIG. 6 is a plan view schematically showing an example of a skeletal structure of various structural members in a building. FIG. 7A is an explanatory diagram showing the classification of the direction and magnitude of curvature set based on the arrangement information and the direction and magnitude of curvature detected by the workpiece curvature detection device 4. FIG. B) is an explanatory diagram showing an example of control for matching the directions of these curves.

The precut processing device 1 detects a direction of curvature (hereinafter also abbreviated as a “set direction of curvature”) set based on the arrangement information stored in the storage unit of the control device 6 and the direction of curvature detected by the workpiece curvature detection device 4 . The wood processing apparatus 2 is controlled in accordance with the processing data stored in the storage unit of the control device 6 so as to match the direction of bending (hereinafter also referred to as the "detected bending direction") to produce the processed material. It is a configuration provided with a control device for processing 100 . As a specific example, the bending direction set by the workpiece rotation device 5 based on the arrangement information stored in the storage unit of the control device 6 and the bending direction detected by the workpiece curvature detection device 4 are combined. It is a configuration in which the orientation of the workpiece 100 can be changed so as to match.

In manufacturing each structural member, the precut processing apparatus 1 processes the workpiece 100 so that the set bending direction of the structural member and the detected bending direction of the workpiece 100 are aligned, so that the magnitude of the curvature is a constant value ( For example, even if the processed material exceeds 0.5 mm/3000 mm, which is a value indicated by the ratio of the degree of curvature to the total length of the structural member, it can be used as a material for manufacturing a structural member as a long member. to That is, the precut processing device 1 considers not only the magnitude of the curve but also the direction of the curve, and expands the usable range. Expand the available range while varying it.

The storage unit of the control device 6 (see FIG. 1) stores, as part of the arrangement information, a structural member number that is different for each structural member for identifying the arrangement position of each structural member that constitutes the building, and a structural member number. Information corresponding to the type is stored. Specifically, as shown in FIG. 5, the storage unit of the control device 6 stores arrangement information corresponding to the type of each structural member in association with each structural member number. Arrangement as a type of structural member, for example, "1" for the horizontal members 101 to 106, and "2" for the vertical pillars arranged with the vertical direction as the longitudinal direction. Different arrangement information is stored corresponding to the longitudinal direction (orientation of arrangement).

Further, the storage unit of the control device 6 (see FIG. 1) stores, as a part of the arrangement information, arrangement information corresponding to usage locations further classified by type with respect to the vertical pillar material. For the corner posts 111, 118, 120, and 121 arranged at the corners of the outer contour of the building, for example, "1" and "1" to divide the main space (room, entrance, corridor, stairs, etc.) For the partition pillars 114, 117, 119, 122, and 124 to be arranged, for example, the arrangement information "2" is stored separately from the information corresponding to the orientation of arrangement. Similarly, window door pillars 112, 113, 115, 116 for fixing opening and closing members 131, 132 such as windows and doors, and an exposed pillar 123 arranged so that at least one side surface is exposed in the main space. Also, different arrangement information is assigned and stored.

Here, the arrangement information may be input to the precut processing apparatus 1 as a part of the processing data and assigned by the CAD based on the skeletal structure drawn by the CAD. The assignment may be performed by the control program of the control device 6 of the precut processing apparatus 1 based on the information, or the operator may manually perform the operation of storing in the storage unit. For example, as part of the processing data, the numbering (coordinate positions) indicating the positions of both ends where the structural members are installed is used to indicate the position of the structural members. It may be determined whether the tenon is a corner pillar in a vertical pillar material based on the shape formed by one side of the tenon, and may be used as the layout information. , the control device 6 may be provided with a program for performing this determination.

In the storage unit of the control device 6, as part of the arrangement information, information corresponding to the direction of the wall along the horizontal member 101 to be joined (for example, "1" for east) , "2" for north, etc.) are stored. As a result, the workpiece 100 can be processed so that the direction of curvature of the workpiece 100 matches the direction along the direction of the wall. However, it is possible to avoid the problem of deformation of the wall surface due to contact of the upright material with the members forming the surface of the wall.

Based on the direction of the wall and the type of the erecting pillar, the control device 6 sets the direction and magnitude of the allowable curvature. Specifically, as shown in FIG. 6, for each corner pillar 111, information corresponding to only one direction is stored as the direction of the wall in order to allow the projection due to bending. Layout information corresponding to one direction indicated by the illustrated arrow is stored as information corresponding to the direction of the wall.

For each partition pillar 114 and the like, layout information corresponding to the two directions indicated by the arrows shown in the vicinity thereof is stored as information corresponding to the direction of the wall. Layout information corresponding to one direction indicated by is stored as information corresponding to the orientation of the wall. For the exposed pillars 123 as vertical pillars that are not placed in contact with the wall, the arrangement information corresponding to the direction of the wall is not stored, for example, the information of "0" is stored as the arrow is not shown. .

The storage unit of the control device 6 may store information for designating the orientation of the wall for each type of component in another manner. For example, the direction of the wall with respect to the corner post 111 is not limited to one direction facing the other end side of the horizontal member 101 (the right side in FIG. (lower side in FIG. 6) may also be allowed.

In addition, it is not limited to the configuration in which the wall orientation that is allowed for each type of structural member is uniquely determined, but the configuration that allows different wall orientations depending on the placement location even for the same type of structural members. may be For example, when a plurality of partitioning pillars 114 are arranged on the same horizontal member, the storage unit of the control device 6 does not allow two adjacent partitioning pillars to have two wall orientations. For example, if one side allows the right side of the walls of two adjacent partition pillars, the other may be configured to set the curved section so as to allow the left side of the wall.

In addition, in the storage unit of the control device 6, information corresponding to the orientation of the horizontal member 101 to be joined (extracted from the arrangement in the assembly drawing) is stored in place of the information corresponding to the orientation of the wall for each type of each structural member. possible information) may be stored. In addition, in the storage unit of the control device 6, instead of the information corresponding to the orientation of the wall, the processing shape characteristic for each type of structural member, for example, information regarding the longitudinal direction of the width of the tenon when viewed from the projecting direction ( information that can be extracted from the processed data) and the like may be stored. In this case, it is not necessary to store dedicated information in the control device 6, and processing data may be referred to.

The storage unit of the control device 6 stores a program for setting the set bending direction for each structural member based on the arrangement information corresponding to each structural member. Specifically, according to the program, the control unit of the control device 6 sets the set bending directions to one bending section A, four bending sections B1 to B4, and four bending sections Ca Set by selecting at least one curvature section from ~Cd. By this setting, one or a plurality of bending sections (hereinafter referred to as set bending sections) selected by the control section of the control device 6 are stored in the storage section of the control device 6 as information specifying the set bending direction. . However, the control section of the control device 6 sets a different set bending section for each type of structural member, as described below.

The storage unit of the control device 6 may store a program for setting a plurality of bending sections different from the nine bending sections described above and determining the set bending section by combining the plurality of bending sections. For example, the curved section A may be omitted, or the curved section may be configured by a different shape, omitting the range of 2 mm to 3 mm of curvature for the curved sections Ca to Cd. The storage unit of the control device 6 also stores a program for selecting the same combination for some types of structural members, not limited to the program for differentiating the combination of bending sections depending on the type of structural member. For example, the same combination of curved sections may be selected for the partition post 114 and the exposure post 123 .

The control unit of the control device 6 sets the set bending section so that each horizontal member 101 or the like is allowed to bend upwards in the vertical direction to a certain degree or more. Assuming that the side surface facing the back side of the paper surface in FIG. is the upper side in the vertical direction and corresponds to the upper side (positive value side of ZR) in FIG. For example, in order to allow the horizontal member 101 to bend upward in the vertical direction, the control unit of the control device 6 controls, in addition to the bending section A, two of the four bending sections B1 to B4 corresponding to the upper side. Adjacent curved sections B1 and B2 are selected, and one curved section Cb corresponding to the upper side is selected among the four curved sections Ca to Cd.

By this selection control, the storage unit of the control device 6 stores (sets) four bending sections, namely, the bending section A, the bending section B1, the bending section B2, and the bending section Cb, as the set bending sections for the horizontal member 101. be done. Similarly, for the other horizontal members 102 and the like, the control unit of the control device 6 selects the curved section A and any one of the four curved sections B1 to B4 based on the arrangement direction of each horizontal member 101 and the like. or two adjacent curved sections and one curved section selected based on the arrangement direction of each horizontal member from curved sections Ca to curved sections Cd. By this selection control, the storage section of the control device 6 stores the selected four bending sections as the set bending sections.

In a building, generally, the load increases toward the center when viewed from above, and a greater load is likely to be applied to each horizontal member 101 or the like at the center in the longitudinal direction than at both ends. If the horizontal member 101 or the like is used, it can be deformed so that the magnitude of the curve is reduced by the load applied to the central side. It can maintain the structural strength of things. On the other hand, in the case of adopting horizontal members manufactured without matching the upward vertical direction of each horizontal member 101 and the like with the detected bending direction of the processed material 100, the load applied to the horizontal member It also deforms so that the magnitude of the curve becomes larger due to the deformation, and there is a possibility that various standing pillars joined to the horizontal member cannot be stably supported. For this reason, as the set curved section for each horizontal member 101, not only the curved section A but also two adjacent curved sections among the curved sections B1 to B4 corresponding to the upward direction in the vertical direction and one of the curved sections Ca to Cd By selecting one curve segment corresponding to the vertical upward direction, the magnitude of the vertical upward curve is reduced to a predetermined tolerance (e.g., curve segment B1 , curved segment B2 and curved segment Cb). In addition, even in the direction perpendicular to the vertical direction, a predetermined allowable range exceeding the above constant value (for example, the curved section B1 and the curved section B2) is allowed, but each horizontal member 101 etc. In order not to protrude more than a predetermined amount in the vertical direction of the surface of the wall formed along , the selection from the curved sections B1 to B4 is limited to two adjacent curved sections, and the curved sections Ca to Cd is limited to one curved section, and the curved section P and the curved section Q are not selected, so that the range of values is kept smaller than the allowable range in the vertical direction.

In addition, the control unit of the control device 6 controls each window door pillar 112 and the like in the direction indicated by the arrow shown in the vicinity of each window door pillar 112 and the like in FIG. The setting curve section is set so as to allow even a wall formed along the line to curve in the direction of the wall on which the opening/closing member 131 and the like are formed. For example, the control unit of the control device 6, as shown in FIG. , the two curved sections B1 and B4 corresponding to the right side of the four curved sections B1 to B4 are selected as part of the set curved sections. Further, one curved section Ca corresponding to the right side of the four curved sections Ca to Cd is selected as part of the set curved section. By this selection, the storage section of the control device 6 stores the four sections of the curved section A, the curved sections B1 to B4, and the curved section Ca as the set curved sections. Similarly, for other window door posts 112 and the like, in addition to the curved section A, the control unit of the control device 6 selects two adjacent curved sections among the four curved sections B1 to B4 according to the direction of the wall. and one of the curved sections Ca to Cd according to the direction of the wall. By this selection control, the storage unit of the control device 6 stores the selected four bending sections as the set bending sections.

The opening/closing member 131 and the like are fixed at the left and right ends by the two window door pillars 112, 113, etc., and the upper and lower ends are lintel members that are stretched across the two window door pillars 112, 113, etc. (not shown). At this time, even if the window door pillars 112, 113, etc., are curved so as to protrude toward the opening/closing member 131, etc., both ends of the lintel material are inserted into the notch grooves 112b, 113b of the window door pillars 112, 113. Thus, the lintel material and the opening/closing member 131 can be stably fixed to the window door pillars 112 and 113 .

On the other hand, if the window door pillars 112, 113, etc. are curved so as to protrude in the opposite direction to the opening/closing member 131, there is a possibility that the lintel and the opening/closing member 131 cannot be stably fixed. . Therefore, two adjacent curved sections from among the curved sections B1 to B4 and one curved section from among the curved sections Ca to Cd are selected as the set curved sections for each window door post 112 and the like. By controlling this selection, one of the two walls formed along the horizontal members 101 and the like to be joined to each window door post 112 and the like is oriented on the side where the opening/closing member 131 and the like are formed. A magnitude for the curvature of orientation is allowed up to a predetermined tolerance range (eg, curved segment B1, curved segment B4, and curved segment Ca) exceeding the above constant value (curved segment A).

In addition, in the direction perpendicular to the direction (arrow direction in FIG. 6) in which the walls (outer wall, inner wall) attached to the outside and inside of the window door pillar 112 etc. are continuous (the direction perpendicular to the surface of the wall) , the magnitude of the curvature is allowed up to a predetermined allowable range (for example, the curved section B1 and the curved section B4) exceeding the above-mentioned constant value, but the window door post is placed on the side perpendicular to the wall surface. In order to prevent a part of 112 or the like from protruding, the control device 6 is configured so that the selection from the curved sections Ca to Cd is limited to one curved section and the curved section P and the curved section Q are not selected. Selection control is performed. As a result, the allowable range for the magnitude of curvature is set to a smaller value range for the direction perpendicular to the surface of the wall than the allowable range for the continuous direction of the wall.

In addition, the control unit of the control device 6 controls each corner post 111 and the like in the direction indicated by the arrow shown in the vicinity of each corner post 111 and the like in FIG. The set curvature section is selected to allow for even curvature in the direction of the wall formed by the wall. For example, as shown in FIG. 6, the control unit of the control device 6 designates the corner pillar 111 in one right-facing direction as shown in FIG. In addition to curved segment A, curved segment B1 and curved segment B4 corresponding to the right half of curved segments B1 to B4 are selected. Similarly for the other corner posts 118 and the like, the control unit of the control device 6 controls the adjacent curved sections B1 to B4 according to the direction of the wall near each corner post 118 and the like in addition to the curved section A. Select any two curved segments. By this selection control, the storage section of the control device 6 stores three bending sections corresponding to the bending section A and any two of the adjacent bending sections B1 to B4 as the set bending sections.

Each corner post 111 or the like is provided at the end of the horizontal member 101 or the like to be joined. , and the direction in which another horizontal member 102 is arranged. In this case, two adjacent curved sections along the direction in which the horizontal members 101 to be joined are continuous are selected from the curved sections B1 to B4 as the set curved sections for each corner post 111 and the like. By controlling this selection, for each corner post 111, etc., the workpiece 100, which includes a large curvature along the direction of the continuous wall along the horizontal member 101, etc. to be joined, is adjusted to the above constant value ( Up to a predetermined tolerance range (eg, B1, B4) beyond the curved segment A) is available. In addition, since each corner post 111 greatly contributes to the structural strength of the building compared to other standing pillar materials, not only the curved section P and the curved section Q but also the curved sections Ca to Cd should not be selected. preferably.

In addition, the control unit of the control device 6 controls the horizontal members 101 to be joined in the directions indicated by the arrows shown in the vicinity of the partitioning pillars 114 and the like in FIG. The curved section is set so as to allow a certain or greater curve in which one direction from one end toward the other end along the longitudinal direction is the direction of curvature. For example, the control unit of the control device 6 designates the orientation of the partitioning pillar 117 in two directions, upward and downward, as indicated by the arrows near the partitioning pillar 117 in FIG. , in addition to the curved section A, of the four curved sections B1 to B4, two curved sections B1 and B2 corresponding to the upper side and two curved sections B3 and B4 corresponding to the lower side are selected. . Furthermore, of the four curved sections Ca to Cd, one curved section Cb corresponding to the upper side and one curved section Cd corresponding to the lower side are selected. As a result, the storage unit of the control device 6 stores the four sections of the bending section A, the bending sections B1 to B4, and the bending sections Cb and Cd as the set bending sections. Similarly, the control unit of the control device 6 controls the four curved sections B1 to B4 in addition to the curved section A and the curved sections Ca to Cd for the other partition columns 117 and the like. Select the curved sections corresponding to the two directions of curvature along, ie the combination of curved sections Ca and Cc or the combination of curved sections Cb and Cd. By this selection control, the storage section of the control device 6 stores the selected seven bending sections as the set bending sections.

Further, the control unit of the control device 6 selects only the curved section A for the exposed pillar 123 as an example of the pillar for which the allowable range of curvature size is set to be the smallest among the upright pillar materials. As shown in FIG. 6, unlike other structural members, arrows are not shown in the vicinity of the exposed pillar 123, and the exposed pillar 123 is exemplified as a pillar without a wall on the surface side. This type of pillar may be placed in a position where it is directly visible to the user of the building without going through the wall, and the user may not care whether it is a straight pillar. Therefore, only the curved segment A that is curved below a certain level is selected. Only the curved section A is stored in the storage section of the control device 6 by this selection control. The control section of the control device 6 selects only the curved section A in the same manner for the other exposed columns (not shown). By this selection control, only the bending section A is stored in the storage section of the control device 6 as the set bending section.

Next, the classification of the workpiece 100 according to the direction and magnitude of the curvature detected by the workpiece curvature detection device 4 will be described.

A storage unit of the control device 6 stores a program for determining the direction and magnitude of bending of the workpiece 100 based on the amount of deviation ZL and the amount of deviation ZR detected by the workpiece curvature detection device 4 . Specifically, in the storage unit of the control device 6, the workpiece 100 is divided into curved sections A having different ranges specified by the direction and size of the curve, depending on the combination of the above-described deviation amount ZL and deviation amount ZR. A program for classifying into four curved sections B1-B4, four curved sections Ca-Cd, curved section P, or curved section Q is stored. The control unit of the control device 6 assigns each workpiece 100 to one of the bending sections as shown in the upper right table of FIG. 5 according to the program. Based on this assignment, the storage of the control device 6 stores the assigned bending sections.

Various curved sections will now be described.

As shown in FIG. 7A, the curved section A is defined by the magnitude of curvature (corresponding to √(ZL ² +ZR ² )) regardless of the direction of curvature, and the magnitude is a constant value ( For example, the area is 0.5 ^mm or less, and specifically, the area satisfies ZL ² +ZR ² ≦0.52. In the control device 6, the workpiece 100 belonging to this bending section A is used as a material for manufacturing all kinds of structural members, and cutting can be performed without rotating in the direction corresponding to the bending direction. done.

Each of the curved sections B1 to B4 is a region having a greater degree of curvature than the curved section A. For example, in the curved section B1, ZL ² +ZR ² >0.5 ² , 0<ZL≦1.0, Moreover, it is a region defined by 0<ZR≦1.0. While the curve segment A is divided into the inside and outside of the range based on the size of the curve, the magnitude of the deviation amount in two orthogonal directions (the absolute value of the deviation amount ZL and the absolute value of the deviation amount ZR ) are defined as areas divided according to whether they are within the first allowable range (maximum 1.0 mm). In the control device 6, the workpiece 100 belonging to any one of the bending sections B1 to B4 may be rotated according to the bending direction allowed according to the type of structural member before being machined. A workpiece 100 that includes a certain or greater curvature can be used to manufacture a variety of structural members.

Each of the curved sections Ca to Cd is a region having a large amount of displacement in one of two orthogonal directions with respect to the curved sections B1 to B4. a ^first region satisfying ZL ^{2 +} ZR ² ≦ ^{2.0 2} , ZL>1.0, and ^−1.0 ≦ZR≦1.0; It is a region defined by a region including a second region that satisfies −0.5≦ZR≦0.5 and ZL>1.0. Specifically, the first region of the curved section Ca is the magnitude of the amount of deviation ( The absolute value of the deviation amount ZL) is expanded to a second allowable range (maximum value of 2.0 mm) larger than the first allowable range, and the bending direction is aligned in the specific one direction. It is an area that expands so that the allowable range for the magnitude of curvature increases as it approaches. In the control device 6, the workpiece 100 belonging to any one of the bending sections Ca to Cd may be rotated in an allowable bending direction according to the type of structural member before being machined. A workpiece 100 comprising a can also be used to manufacture a structural member.

In addition, the curved sections Ca to Cd are set to a third allowable range (maximum value of 3.0 mm) with a large curved size with respect to the first region set on the small curved side in each section. is defined to contain a second region defined by For example, the curved section Ca is curved in a specific direction (the right side of FIG. 7A: the positive value side of the deviation amount ZL) among the magnitudes of the deviation amounts perpendicular to the side surfaces 100L and 100R, respectively. Depending on whether the magnitude of the amount of deviation (absolute value of the amount of deviation ZL) is small or large, another direction (vertical direction side in FIG. 7A) perpendicular to the specific one direction The absolute value of the permissible displacement amount ZR is different in the direction in which the vertical displacement amount is small. That is, when the direction of curvature increases in a specific direction, the allowable range for the magnitude of curvature (absolute value of displacement) in the direction perpendicular to the side surface where the displacement is small is set small. There is. As a result, even if the processed material 100 includes a large curvature in one specific direction (one side surface), the large curvature can reduce inconvenience when used as a structural member, and can include a larger curvature. The workpiece 100 may also be used to manufacture structural members.

The curved section Cb is a section in which the above specific one direction is the upper side (positive value side of the shift amount ZR), and the curved section Cc is a section in which the above specific one direction is the left side (negative value of the shift amount ZL). ), and the curved section Cd is a section in which the above specific one direction is the lower side (negative value side of the deviation amount ZR).

The curved section Q is determined by the magnitude of the curvature, and is a region where the magnitude is larger than the third allowable range (maximum 3.0 ^mm ), specifically, a region where ZL ² +ZR ² >3.02 be. The workpiece 100 belonging to the curved section Q is not used in the control device 6 as a material for manufacturing a structural member that is a long material, but is used as a material for manufacturing a plurality of structural members (short materials), for example.

The curved segment P is a region smaller than the third allowable range (maximum 3.0 mm), but is not included in any of the curved segment A, the curved segments B1 to B4 and the curved segments Ca to Cd. The workpiece 100 belonging to the curved section P is not used in the control device 6 as a material for manufacturing a structural member that is a long material, but is used as a material for manufacturing a short material, for example.

The numerical values in the relational expressions for determining the boundaries of the curved sections A, B1 to B4, Ca to Cd are not limited to the above example, and can be changed in design as appropriate. Numerical values for determining this boundary may be stored as fixed values in advance in the control program, may be manually set by the operator to the control device 6, or may be set together with input of machining data. , a numeric value may be entered.

In addition, arc-shaped portions of the outer contour defining the allowable range of the curved section A, the curved sections Ca to Cd, etc. may be defined by straight lines parallel to the ZL axis or the ZR axis. Conversely, even for portions forming straight lines in the outer contour such as the curved sections B1 to B4, the outer contour may be defined by a circle or an arc defined by the magnitude of the curve.

In addition, in each of the curved sections B1 to B4, the area including all of them is divided vertically and horizontally, but the area may be divided by two diagonal lines. .

Further, in each of the curved sections Ca to Cd, the amount of displacement in two directions orthogonal to a specific direction of the second region is restricted to be smaller than that of the first region. good.

Further, in each of the curved sections Ca to Cd, the amount of deviation in two directions orthogonal to one specific direction (the absolute value of the amount of deviation ZL or the absolute value of the amount of deviation ZR) is calculated as a polygonal line shape at the boundary of the direction. Although the configuration is such that the area and the second area are changed stepwise, it may be configured such that the boundary in the direction is linear or curved, and the boundary is gradually changed.

Further, the configuration is not limited to the configuration in which each of the curved sections Ca to Cd includes the first region and the second region. It may be configured as follows.

In addition, although the processed material 100 belonging to the curved section Q is configured not to be used as a material for manufacturing a structural member that is a long material, it is configured to be used as a material for manufacturing a specific structural member that is a long material. good too.

A program for determining a structural member to be manufactured from the processed material 100 is stored in the storage section of the control device 6 . The control unit of the control device 6 executes arithmetic processing according to the program, determines a structural member to be manufactured from each workpiece 100 whose bending direction and magnitude are detected by the workpiece curvature detection device 4, and determines the determined structural member. Information (workpiece number) that associates the structural member with the work piece 100 is stored in the storage unit.

Specifically, the storage unit of the control device 6 stores a program for determining the structural member to be manufactured from the workpiece 100 based on the detected bending section to which the workpiece 100 belongs and the set bending section to which the structural member belongs. It is When the workpiece 100 belongs to the curved section A, the control unit of the control device 6 selects one structural member from the structural members including the curved section A in the set curved section, and selects the workpiece 100 and the selected structure. Information indicating the correspondence with the member is stored in the storage unit. Also, if the workpiece 100 belongs to any one of the four curved sections B1 to B4, one structural member is selected from the structural members including any of the curved sections B1 to B4 as the set curved section. Further, if the workpiece 100 belongs to any one of the four curved sections Ca to Cd, one structural member is selected from the structural members including any of the curved sections B1 to B4 as the set curved section.

However, when the workpiece 100 belongs to the curved section P or the curved section Q, the control unit of the control device 6 controls the horizontal member 101 manufactured as a long member, the corner post 111 and the like, the window door post 112 and the like. , partitioning pillars 114 and the like, and exposed pillars 123 are not assigned.

A storage unit of the control device 6 stores a program for matching the set bending direction of the workpiece 100 with the detected bending direction of the workpiece 100 . Specifically, based on the detected curved section to which the workpiece 100 belongs and the set curved section to which the structural member belongs, the rotation required to match the detected curved section to any one of the set curved sections included in the set curved section A program for determining the number of times (amount of rotation) is stored. For example, as shown in FIG. 7B, the control unit of the control device 6 selects the processed material 100 whose detected curved section is determined to be the curved section Cb based on the result of the curvature measurement of the processed material curvature detection device 4. , the workpiece 100 is rotated 3 times by 90 degrees to align the curved section Cb with the curved section Ca, according to the program, when the set curved section does not include the curved section Cb but does include the curved section Ca. decide to do it once. Based on this determination, information corresponding to the determined number of revolutions is stored in the storage unit of the control device 6, and the number of times corresponding to the number of revolutions is stored before the wood processing device 2 performs cutting processing. , the control device 6 controls the workpiece rotation device 5 to rotate the workpiece 100 .

The storage unit of the control device 6 stores the detected bending section of the workpiece 100 and the set bending section of the structural member as a program for matching the set bending direction of the workpiece 100 and the detected bending direction of the workpiece 100. As shown in FIG. 7(B), it is specified by the direction and magnitude of the curvature of the workpiece 100, as shown in FIG. The structural member is determined and the number of rotations is determined depending on whether or not the detection point PK can be moved into the area specified by the set curve section by a predetermined rotation, for example, one or more rotations in units of 90 degrees. may store a program for determining

Here, the control device 6 controls the movement section 14 to convey the workpiece 100 whose curvature has been measured by the workpiece curvature detection device 4 to the standby section 12 or the evacuation section 13 . When executing this transport control, the control device 6 determines the structural member to be manufactured from the transported processed material 100 (the correspondence between the structural member number and the processed material number), as shown in the table on the lower left of FIG. ), and determines the number of revolutions for rotating the workpiece 100 prior to machining by the machining unit 21 (see FIG. 1).

In this case, in order to specify the workpiece 100 whose curvature has been measured by the workpiece curvature detection device 4, and to control the rotation by the control device 6 at the number of revolutions corresponding to the result of the curvature measurement. , individual information (work material individual information) is stored (recorded) in the workpiece 100, and the individual information and the result of bending measurement are associated with each other and stored in the control unit of the control device 6. preferable. As this method, for example, an individual IC chip may be attached to the workpiece for management, or before or after the curvature measurement is performed by the workpiece curvature detection device 4, the workpiece 100 may be By printing a bar code or a QR code (registered trademark) and reading the printed result, the workpiece 100 and the result of bending measurement are associated and stored in the control device 6, and the workpiece corresponding to the bending measurement result is stored. It is preferable to rotate 100 as needed for processing.

The workpiece 100c or the like belonging to the curved section P or the curved section Q is conveyed to the evacuation section 13 (see FIG. 1) based on the direction and magnitude of the curve detected by the workpiece curve detection device 4. FIG. The machining of the short material on the workpiece 100c conveyed to the evacuation section 13 may be performed after the machining of the long material on the workpiece 100b conveyed to the standby section 12, or the machining of the long material and the machining of the short material may be performed. You may make it mix with processing. In addition, it is not limited to the case where the workpieces 100b belonging to different curved sections are mixed and arranged in a row, and a plurality of sections are determined between the conveying section 22 side and the opposite side, and the sections are changed according to the curved sections. You may adopt the structure which arrange|positions so that it may carry out. Moreover, the processed material 100 is not limited to being arranged in a row, and may be arranged in multiple layers. Alternatively, the retraction section 13 may be used as the second standby section, and the arrangement location may be selected from the standby section 12 and the second standby section according to the curved section.

As described above, according to the pre-cutting apparatus 1, the bending direction set based on the arrangement information is matched with the bending direction detected by the workpiece curvature detection device 4, and the workpiece 100 is cut from the workpiece 100. Structural members can be manufactured. For this reason, for the processed material 100 including a certain amount of large curvature, the structural member is manufactured by matching the direction of curvature so that the direction of large curvature is oriented in one or more directions of curvature that are allowed according to the arrangement information. be able to. Therefore, it is possible to increase the number of structural members for which the processed material 100 having a certain or greater curvature can be used among many structural members for assembling a building. Therefore, even if the processed material 100 includes a large curvature of a certain value or more, it is possible to efficiently manufacture a large number of structural members by reducing the situation in which it is judged as an unusable product as a defective product or cut short and used. can do.

Next, a suitable method of moving the crosspiece 200 used for stacking a large number of processed materials 100 supplied to the supply section 11 will be described. 8A and 8B are explanatory diagrams of a method of moving the crosspiece 200 by the action of the adsorption section 14b, and FIG. 8A is a perspective view of the adsorption section 14b integrated with the crosspiece removal section 51. 8B is a front view showing the suction portion 14b while the workpiece 100 is moving, and FIG. 8C is a front view showing the suction portion 14b while the crosspiece 200 is moving. 8(A) to 8(C) show only a part of the moving part 14, which is the tip side of the movable part (arm) of the articulated robot 14a. In A), the state switching mechanism 53 is shown in a simplified form.

The crosspieces 200 are arranged between the vertically overlapping processed materials 100 when the processed materials 100 are stacked, and the method for removing the crosspieces 200 is automated without manual operation by an operator. is preferred. However, providing a dedicated device for removing the crosspiece 200 increases the cost of the precut processing apparatus 1 as a whole. It is preferable to add a configuration of parts so that the removal of the crosspiece 200 can be automated at a low cost.

In the precut processing apparatus 1, the crosspiece 200 is moved using the motion control of the multi-joint robot 14a (see FIG. 1) as a moving mechanism of the adsorption portion 14b and the control device 6 (see FIG. 1) that controls the motion thereof. configured as possible. Specifically, as shown in FIG. 8A, a crosspiece removing portion 51 capable of moving vertically is attached to one end of the suction portion 14b formed in a substantially rectangular parallelepiped shape in the longitudinal direction. there is

Specifically, two rotating members 52 are rotatably attached to the adsorbing portion 14b on both side surfaces that intersect the longitudinal direction of the adsorbing portion 14b. A removal portion 51 is integrally attached. As a result of the rotation of the rotating member 52, as shown in FIG. 8(B), the crosspiece removing unit 51 is positioned at the upper side to move the processed material 100 in the processed material moving state (see FIG. 8(B)). The state of the solid line) and the moving state of the crosspiece 200 positioned on the lower side (the state of the dashed line in FIG. 8B) can be switched. Switching between the processed material moving state and the crosspiece moving state is controlled by a state switching mechanism 53 attached to the upper side of the adsorption portion 14b, and the control of switching between these states is performed by the control device 6. FIG. The state switching mechanism 53 includes, for example, an operating body 54 that contacts the end of the rotating member 52 and transmits a rotating force to the rotating member 52, and a moving body 54 that is connected to the operating body 54 to move the operating body 54 up and down. It is configured by a pneumatic cylinder 55 .

The crosspiece material removing portion 51 is formed in a horizontally long thin plate shape having a thickness along the longitudinal direction of the adsorption portion 14b, and at its lower end portion is a brush having a large number of elongated deformable fibers implanted therein. )-shaped crosspiece contact portion 56 is provided. As shown in FIG. 8(C), in a state where the processed material 100 in a stacking state is supplied onto the supply unit 11 of the processed material loading device 3, and the crosspiece 200 is exposed at the top, The material removing portion 51 (the crosspiece contact portion 56) is brought into contact with the upper surface of the processed material 100 located below the crosspiece 200, and horizontally in the direction of pushing out the crosspiece 200 (the direction of the arrow in FIG. 8(C)). When moved, the crosspiece removing portion 51 moves along the longitudinal direction of the processed material 100 (horizontal direction in FIG. 8(C)). Removed from above 100. The operation control of the crosspiece removing unit 51 including its horizontal movement can utilize the movement control of the adsorption unit 14 b by the control device 6 .

In addition, a non-contact type sensor SK capable of detecting the position of the processed material 100 in the stacking state is provided in the adsorption portion 14b, and the state in which the crosspiece 200 is exposed is detected using the detection result of the sensor SK. can be detected. For example, when one stage of the processed materials 100 is removed from the stacked processed materials 100, the height and position of the upper surface of the remaining processed materials 100 are measured from above by the non-contact sensor SK. , the state in which the crosspiece 200 is exposed can be detected by detecting that the vertical height position fluctuates by the thickness of the crosspiece 200 . In addition, the sensor SK detects the state in which one step of the processed material 100 is transferred to the stacked processed material 100, and the presence or absence of the crosspiece 200 is detected each time the one step of the processed material 100 is moved. Regardless, the crosspiece removing unit 51 may be configured to move along the uppermost stage of the stacked processed materials 100 and remove the crosspiece 200 when the crosspiece 200 is exposed. can.

It should be noted that the configuration in which the workpiece 100 is moved by another method such as gripping the workpiece 100 is not limited to the case of moving the workpiece 100 by suction. It is preferable to integrally provide the crosspiece removing portion 51 at the contact portion that contacts the .

Further, it is not always necessary to separately provide the crosspiece removing part 51 for the suction part 14b, and the crosspiece 200 may be removed by suction using the function of lifting the object by the suction force of the suction part 14b. Even in this case, it is possible to use the movement mechanism of the adsorption section 14b and the control of the movement of the adsorption section 14b and the state switching between adsorption and non-adsorption by the control device 6, so that the crosspiece 200 can be removed at low cost. can be done.

Further, in the case where the crosspiece 200 is sucked and moved, it is not limited to the case where the crosspiece 200 is sucked and removed. After arranging, it may be used as a function to move the crosspieces 200 so as to attract and line up the crosspieces 200 to put the processed materials 100 in a stacked state. When the structural members are stacked, the suction force of the suction portion 14b may be used to place the crosspieces 200 on a plurality of horizontally arranged structural members.

When the crosspiece 200 is sucked and moved, a plurality of crosspieces 200 are sucked in a direction intersecting the longitudinal direction of the adsorption portion 14b so as to be lined up with a gap in the longitudinal direction. It is preferable that a plurality of crosspieces 200 are conveyed in one movement from the stacking position to the location where the crosspieces 200 are removed and put together. Further, even when the crosspieces 200 are moved from a location where the crosspieces 200 are collectively stored onto a plurality of processed materials 100 in the process of stacking the crosspieces 200, the multiple crosspieces 200 are collectively transported. preferably.

In addition, the present invention is not limited to the above embodiments, and for example, may be modified and implemented as described below. In this case, each configuration described below may be added to the above embodiments. may be applied, and a plurality of configurations described below may be combined and applied to the above embodiment.

In the above-described embodiment, the case where the precut processing device 1 and the processed material curvature detection device 4 are used for processing horizontal members and pillar members was exemplified. It may be used when performing processing according to the state of curvature of the material.

Further, in the above-described embodiment, the case where the bent state of wood is detected by the workpiece curvature detection device 4 has been exemplified. may be used.

Further, the curvature measurement for performing processing according to the bending situation by the precut processing device 1 in the above-described embodiment is not limited to the curvature measurement by the workpiece curvature detection device 4 described above, and the surface shape is measured using a laser beam. Other methods of curvature measurement may be used, such as measuring the curvature situation by

Further, in the above-described embodiment, the bending measurement is performed on the workpiece 100 carried into the wood processing device 2 provided in the precut processing device 1, and the cutting is performed by performing rotation according to the result of the curvature measurement. has been described, but the workpiece curvature detection device 4 may be used not only for pre-cutting, but also for workpieces that are carried into another processing apparatus that performs cutting on workpieces. The workpiece loading device 3, the workpiece curvature detection device 4, and the workpiece rotation device 5 are combined to form a workpiece moving device. detection program) is configured in the same manner as in the above-described embodiment, the workpiece moving device measures the curvature of the workpiece, rotates the workpiece in accordance with the results of the curvature measurement, and performs cutting in accordance with the curvature status. The processed material may be moved in the same way, and this processed material moving device may be used as a device for moving the processed material of materials other than wood.

In addition, in the precut processing device 1, the configuration for performing processing control corresponding to the processing data stored in the storage unit of the control device 6 so as to match the set bending direction and the detected bending direction is as described above. The configuration is not limited to aligning the directions of the workpiece 100 by changing the orientation thereof. For example, by controlling the processing direction in the processing unit 21, specifically, by changing the cutting direction of processing by an articulated robot or the like in the processing unit 21 (see FIG. 1), the directions are aligned. good too. In addition, although the structural member is manufactured in the planned processing order, the structural member whose bending direction is scheduled to be manufactured next from the plurality of processed materials placed in the standby section 12 (see FIG. 1) By selecting a workpiece that matches the set bending direction for the , these directions may be aligned. In addition, although the structural members are manufactured by processing the workpieces in the order in which the direction and magnitude of bending are detected, the workpiece whose bending direction is the next to be processed is selected from among the plurality of structural members scheduled to be manufactured. The directions may be aligned by selecting a structural member that matches the detected bending direction with respect to the .

INDUSTRIAL APPLICABILITY As described above, the present invention is suitable for a precut processing device, a control device for a precut processing device, and a precut processing program.

1: Precut processing device 2: Wood processing device (processing device)
3: Processing material input device (part of processing material moving means, part of processing material moving device)
4: Workpiece curvature detection device (part of workpiece moving device)
5: Processing material rotating device (part of processing material moving means, part of processing material moving device)
6: Control Device 30a: First Support Section 30b: Second Support Section 31L: Lower Left Support Section (First Lower Left Support Section, Second Lower Left Support Section)
31R: Lower right support (first lower right support, second lower right support)
34a, 34b: Drive Mechanism (First Support Operating Means, Second Support Operating Means)
41L, 41R: laser displacement gauges S1, S2a, S2b, S3a, S3b, S4a, S4b: position detection device (surface position detection means)

Claims (3)

a workpiece curvature detection device capable of outputting a detection result corresponding to the direction and magnitude of curvature when the workpiece is curved;
a processing device capable of processing a workpiece whose detection result is output by the workpiece curvature detection device;
member information storage means for storing processing data of a plurality of structural members manufactured by processing the processing material by the processing device;
a control device for processing the processing material by performing control corresponding to the processing data on the processing device;
The structural member can be manufactured from the processed material based on the detection result output by the processed material curvature detection device and the processing data,
A predetermined length that is equal to or more than half of the longitudinal length of the workpiece is set by using the workpiece whose detection result output by the workpiece curvature detection device satisfies a predetermined use condition. manufacture long structural members,
The processed material determined not to satisfy the predetermined usage conditions is not used for the manufacture of the long structural member, and the processed material is used to produce a predetermined length less than half of the longitudinal length of the processed material. A pre-cutting device for manufacturing short structural members set to . A control device for controlling the operation of the precut processing device according to claim 1,
Pre-cutting, wherein the structural member can be manufactured by performing processing corresponding to the processing data on the processing material based on the detection result output by the processing material curvature detection device. Equipment control unit. 3. A precut processing program configured to allow execution of arithmetic processing of the control device of the precut processing apparatus according to claim 2.

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