JPH10166306A - Correction apparatus for positional dislocation of raw wood and grasping claw of raw-wood retaining mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a positional dislocation correction apparatus capable of making its correction readily in dislocation of a raw wood due to its dead weight. SOLUTION: The correction apparatus comprises (1) a raw-wood retaining means 175 for retaining the raw wood at its both ends in a state of being positioned at a predetermined position, (2) positional dislocation amount detecting means 164, 171 for detecting positional dislocation amount due to the dead weight of the raw-wood 1 accompanying retaining release of ancillary retaining means, and (3) a positional correction mechanism for driving the raw-wood retaining means 175 in the direction where the detected dislocation amount is reduced and thereby correcting the positional correction of the raw wood 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for correcting a positional shift of a log in the case of rotating and turning a log by veneer lace.

[0002]

2. Description of the Related Art Conventionally, in order to turn a log by veneer lace, a turning chuck of each cut is gripped by a spindle chuck which can move forward and backward with respect to both cut ends (both ends) of the raw wood, and then the spindle is turned. The plane table was sent along with the rotation to obtain veneer veneer. In this case, the turning of the raw wood is determined in a centering step performed prior to the turning step, and the raw wood is mounted at the spindle position of the veneer race at the turning axis. FIG. 40 shows an example of the mounting method. That is, as shown in (a), the cross-section center of the log 1 previously processed so that the cross-section becomes a perfect circular shape is obtained by measuring the cross-section diameter, and this is used as the turning axis OL.
The log 1 is placed on the pedestal 39 and raised and lowered to position the center OV of the veneer race spindle 170 and the turning axis OL at the same height. Then, in this state, as shown in (b), the transport claws (grip claws) 70 are bitten into both end surfaces of the log 1, and then the receiving table 39 is retracted downward as shown in (a), and Transport claw 7
By parallel movement with 0, the log 1 is mounted on the veneer race spindle 170.

[0003]

SUMMARY OF THE INVENTION In the above method,
As shown in FIG. 40 (b), in a state where the pedestal 39 supports the log 1, the turning axis OL of the log 1 is accurately positioned, but the pedestal 39 moves down. When the log 1 is retracted, the log 1 has a shape in which its own weight is supported only by the transport claws 70. In this case, as shown in FIG.
The upper part of 0 may be compressed by its own weight so as to be crushed, and the log 1 may hang down, and the axis OL may be displaced downward as shown in FIG. In addition, depending on the state of biting of the transport claws 70 into the log 1, a positional shift may have already occurred when the gripping claws 70 bite. In any case, the occurrence of such misalignment leads to an adverse effect on the turning accuracy, yield, and the like of the log 1.

[0004] An object of the present invention is to provide a misalignment correction device capable of easily correcting misalignment of a log due to its own weight or the like as described above, and to provide both ends of the log in order to retain the log. An object of the present invention is to provide a gripping claw of a log holding mechanism that is less likely to be displaced in the log when biting into the surface.

[0005]

Means for Solving the Problems and Action / Effect In order to solve the above-mentioned problems, a correction device according to the present invention comprises a log holding means for holding a log at both end faces while being positioned at a predetermined position; When the log is displaced from the predetermined position in a state where the log is held by the log holding means, the log holding means is driven in a direction in which the positional shift is eliminated, and the position of the log is corrected. And a position correcting mechanism.

That is, when the log held by the log holding means is displaced, the position correcting mechanism drives the log holding means to eliminate the positional shift. For example, when turning a log with a veneer race, Can be mounted in a state where the log is accurately positioned with respect to the veneer race, and the turning thereof can be performed with high accuracy and high yield.

[0007] Further, as a more specific configuration, when a log is displaced from a predetermined position in a state where the log is held by the log holding means, a positional deviation amount detecting means for detecting the deviation, It is also possible to provide a configuration including a position correcting mechanism for driving the log holder in the direction in which the shifted position is reduced to correct the position of the log. As a result, the amount of positional deviation can be accurately grasped and corrected, so that the positioning accuracy of the log can be further improved.

[0008] The raw wood holding means is provided corresponding to both end faces of the raw wood, and can be configured to include gripping claws for gripping the raw wood by biting into the raw wood at each end face. Further, a friction holding member that abuts against the end face of the log and holds the log by its frictional force can be used. Among these, in the aspect using the gripping claws, the log can be securely held by the bite of the claws, and the structure is less likely to be displaced.

For example, when a downward displacement due to its own weight of a horizontally held log is particularly problematic, the displacement detecting means is configured to detect a displacement of the log in the vertical direction (Y direction). If this is the case, the displacement can be accurately detected. If the displacement is detected in two or more directions different from each other, for example, the horizontal direction (X direction) in addition to the vertical direction, if the displacement includes a horizontal component in addition to the downward component. However, this can be accurately detected. Then, in response to this, the position correcting mechanism drives the log holding means in two or more different directions based on the detection result of the position shift amount detecting means, thereby improving the position shift correction. Can be performed precisely.

A plurality of displacement detecting means may be provided at predetermined intervals in the longitudinal direction of the log, and may be provided, for example, at positions corresponding to both ends of the log. Thereby, the displacement of the log can be grasped three-dimensionally, and the direction and amount of the displacement can be more accurately detected. In this case, the position correction mechanism
If the log holding means on both sides are configured to be driven independently of each other, it is possible to perform the displacement correction by different amounts or directions on both sides of the log, thereby further improving the correction accuracy.

Next, auxiliary holding means for holding the log with the axis thereof positioned at a predetermined height can be provided. In this case, the raw wood positioned by the auxiliary holding means is further held by the raw wood holding means, whereby the raw wood is held by both the raw wood holding means and the auxiliary holding means. When the holding unit releases the holding state, the log is shifted to a state where it is held only by the log holding unit. The position shift amount detecting means detects the position shift of the raw wood caused when the raw wood holding means further holds the raw wood positioned by the auxiliary holding means, and the position of the raw wood due to the release of the holding of the auxiliary holding means by its own weight. At least one of the shifts may be detected. The auxiliary holding means may be configured to support the log, for example, from below, or may be configured to hold the log at a position on the end face of the log that does not interfere with the log holding means.

[0012] The log held by the log holding means is
A log transporting means may be provided for integrally transporting together with the log retaining means from the holding position of the auxiliary holding means to the turning center in the veneer lace provided on the downstream side. In this case, the position correction mechanism is provided integrally with the log holding means, and while the log is moving on the transport path from the holding position of the auxiliary holding means to the turning center in the veneer race,
The position of the log can be corrected. According to this, since the displacement is corrected during the movement of the log, the log can be accurately and efficiently set in the veneer race. On the other hand, after the position correcting mechanism corrects the position of the log, the log transporting means can start transporting the log from the holding position of the auxiliary holding means to the turning center in the veneer race.

Next, in the case of using a raw wood that has been processed in advance so that the axial cross-sectional shape is substantially a perfect circle,
The following device modes are possible. That is, the cross-sectional diameter detecting means for detecting the cross-sectional diameter of the log is provided, and the auxiliary holding means is such that the axis of the log determined based on the detected cross-sectional diameter substantially coincides with the height of the turning center of the veneer race. It is configured to hold the log at a height. In this way, the turning axis of the raw wood can be easily determined from its cross-sectional diameter, and the raw wood can be easily mounted on the center of turning to the veneer race simply by moving it substantially horizontally. Note that the cross-sectional diameter detecting means can also be used as the displacement amount detecting means. In this case, even after detecting the cross-sectional diameter of the log, the cross-section diameter detecting means continues to detect the position of the log, thereby further holding the log positioned by the auxiliary holding means. At this time, at least one of the displacement of the raw wood and the displacement of the raw wood due to its own weight due to the release of the auxiliary holding means is detected. This makes it possible to integrate the section diameter detecting means and the positional deviation amount detecting means, thereby making the apparatus more compact.

In the above configuration, the cross-sectional diameter detecting means includes a first measuring member provided so as to be able to approach / separate from a side surface of the raw wood held by the auxiliary holding means in a direction intersecting with the axis of the raw wood; A second measuring member is disposed on the opposite side of the first measuring member with respect to the axis, and is provided so as to be able to approach / separate from the side opposite to the first measuring member with respect to the side of the log in a direction intersecting the axis. It can be configured as having a measuring member. In this case, the cross-sectional diameter is, on the movement path of the first measuring member, a moving distance of the first measuring member from a predetermined first reference position separated from the side of the log to abut on the side of the log. And, on the movement path of the second measurement member, it is detected based on the movement distance of the second measurement member from a predetermined second reference position separated from the side surface of the log to contact with the side surface of the log. You. This simplifies the configuration of the section diameter detecting means,
Moreover, the cross-sectional diameter of the log can be accurately measured.

In this case, the first measuring member approaches and separates from the upper side with respect to the side of the raw wood held by the auxiliary holding means, and the second measuring member also has a lower side with respect to the side of the raw wood. It can be configured to approach / separate from. The diameter of the log can be measured efficiently by moving the measuring member close to and away from the horizontally held log. In this case, the auxiliary holding means may be an elevating pedestal supporting the log from below, and the second measuring member and the second measuring member may be moved closer to the pedestal with respect to the log. -The drive means for separating can be provided integrally. By providing the second measuring member and its driving means integrally with the pedestal, the log diameter measuring device can be made compact, and the diameter of the raw wood can be reduced during the process of raising and lowering the log with the pedestal. It is efficient because it can be measured.

On the other hand, when using a log whose cross section is not necessarily a perfect circle, the following configuration can be adopted. That is, a temporary rotation holding unit serving as auxiliary holding means for rotatably holding the log at the temporary axis positions on both end surfaces thereof, and a log for detecting the contour through the temporary rotation holding unit. A log rotation mechanism for rotating around a temporary axis, a contour detecting means provided corresponding to the outer periphery of the log, and detecting a cross-sectional contour of the log in accordance with the rotation of the log, and information on the detected cross-sectional contour. A turning center calculating means for calculating a turning axis of the raw wood; and a raw wood holding means for holding both ends of the raw wood after the turning axis is obtained at positions not interfering with the temporary rotation holding section. In order to mount the log on the turning center of the veneer lace in the turning axis, the position correcting mechanism performs both the deviation of the temporary axis position and the calculated turning axis position, and the positional deviation due to the own weight of the log. Is configured to correct the position of the log in a direction in which

As a result, it is possible to easily and accurately center the raw wood having a non-circular cross section,
In addition, since the elimination of the deviation between the provisional axis position and the turning axis position and the displacement correction due to the weight of the raw wood are performed simultaneously,
The process from centering to supply of the raw wood to the veneer lace can be performed efficiently and accurately. Note that the contour detecting means can also be used as the displacement amount detecting means.
In this case, the contour detecting means detects the position shift of the raw wood due to its own weight due to the release of the holding of the temporary rotation holding unit by continuously detecting the position of the raw wood even after detecting the cross-sectional diameter of the raw wood. It shall be. This makes it possible to integrate the detecting means for the cross-sectional contour and the detecting means for the amount of displacement, thereby making the apparatus more compact.

The displacement amount detecting means can be configured to include a contact type detector for detecting the displacement of the log by contacting the log. For example, a detector has a detector that is in contact with the outer peripheral surface of the log in a state where the detector is biased toward the log by the detector biasing means. As you move,
By measuring the amount of movement of the detection object, a configuration that detects the displacement of the log can be used. Specifically, an air cylinder can be used as the detector urging means, and the detector can be provided at the tip of a piston rod that expands and contracts by the air cylinder. Then, the amount of movement of the detection body can be detected using a length measuring device such as a magnetic scale or a linear encoder of the amount of expansion and contraction of the piston rod. On the other hand, a non-contact type displacement detecting device, for example, a device utilizing the fact that a radio wave medium such as a laser beam, an electromagnetic wave, or an ultrasonic wave is reflected or shielded on the surface of a log can be used.

In the configuration described above, the positional shift caused by holding the log by the log holding means, and / or
Or the misalignment due to the weight of the raw wood due to the release of the holding by the auxiliary holding means was corrected, but in the subsequent process, the same applies when setting the raw wood to the turning center of the veneer race May be displaced. Specifically, in a veneer race, when a log is held by a turning holding unit such as a spindle chuck, for example, when the turning holding unit is configured by gripping claws that bite into the end face of the raw wood, Digging into the log,
Alternatively, drooping of the log due to compression deformation around the biting portion of the gripping claw due to the addition of the weight of the log, and drooping of the log due to bending of the spindle of the veneer lace, etc., may cause a displacement of the log.

In this case, in addition to the above-described positional shift occurring in the log when the position correction mechanism is held by the log holding means, the log is positioned at the turning center of the veneer lace, and the log is placed on both end faces. In this case, when the veneer is held by the turning holding portion of the veneer race, the raw wood holding means is driven in such a direction that both of the positional shift from the turning center (turning holding position shift) expected to occur in the raw wood are eliminated. , The position of the log may be corrected. In other words, by correcting the misalignment expected after attaching the log to the veneer race, the turning can be performed with higher accuracy.

In the above configuration, it is possible to provide a turning holding position shift amount estimating means for predicting the amount of turning holding position shift in advance. In this case, the position correcting mechanism drives the raw wood holding means in a direction in which both the position shift amount detected by the position shift amount detecting means and the position shift amount predicted by the turning holding position shift amount predicting means are reduced. The position of the log is corrected.

In the case where the expected amount of the turning holding position shift changes according to the own weight of the log, weight reflection information detecting means for detecting information (weight reflection information) reflecting the weight of the log is provided. By configuring the turning holding position shift amount estimating means to estimate the amount of turning holding position shift based on at least the detected weight reflection information, highly accurate position correction can be performed. In this case, a displacement amount storage means for storing the value of the displacement amount in association with the weight reflection information is provided, and the predicted value of the displacement amount corresponding to the detected weight reflection information is stored in the stored position. It can be configured to be determined based on the value of the amount of deviation.
In addition, the weight reflection information detection means shall detect, as weight reflection information, a load of the drive means of the log holding means when the drive means of the log holding means moves the log against gravity to position the log. be able to. For example, when a motor is used as the driving means, the driving power, current or voltage of the motor can be used as the weight reflection information.

Next, the present invention relates to a log holding mechanism (including the above-described position) which is provided corresponding to both end faces of a log and includes gripping claws each of which grips the log by cutting into the log at the end face. The following configuration is provided as a specific configuration of the gripping claw that can function as a log retainer of the shift correction device. That is, the gripping claw is formed in a cylindrical shape, and a blade portion having an acute-angled cross section is formed along the outer edge of one end face thereof, and the blade bites into the log. In the gripping claw configured as described above, a positional shift due to biting into the log or a positional shift due to drooping of the log due to its own weight is unlikely to occur, which contributes to further improvement in positioning accuracy. In particular, if the blades of the gripping claws are formed in an axially symmetric shape, at least a part of the reaction that the blades receive from the log cancels out around the axis when the gripping nails bite into the log, the position of the log at the time of the bite Excellent shift prevention effect. More specifically, the gripping claw can be formed in a cylindrical shape, and in this case, along the outer edge of one end surface of the cylindrical gripping claw, an annular blade portion having an acute angle cross section is formed. be able to.

The blade portion of the gripping claw has an outer surface formed as a cut surface substantially parallel to the axis of the gripping claw, and an inner surface formed as a slope inclined from the tip of the blade portion toward the axis. Can be. With this configuration, when the gripping claw digs into the log, the portion located inside the blade portion of the log receives a substantially isotropic compressive force in a direction toward the axis by the inclined surface of the blade portion. In addition, the displacement of the log can be further reduced.

The tip angle of the blade of the gripping claw is 5 ° to 3 °.
It is desirable to adjust within the range of 0 °. The tip angle is 30
If it is larger than 0 °, the blade portion will not easily bite into the log, and if it is less than 5 °, the strength of the blade portion will be insufficient. The angle θ is desirably set at 15 to 25 °, and more desirably, approximately 20 °.

The gripping claw can be provided detachably with respect to the log holding mechanism.

[0027]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention will be described below with reference to some embodiments shown in the drawings. (Embodiment 1) FIG. 1 is a side view schematically showing an entire correction device 150 as one embodiment of the present invention. That is, in the correction device 150, the first receiving frame 4 and the second receiving frame 5 are provided close to each other near the end of the log hole conveyor 2 that transports the log 1. The rear end of the first receiving frame 4 has a vertical shape, and the upper surface has a downward slope with respect to the transport direction. The upper surface of the second receiving frame 5 is inclined upward with respect to the transport direction, and a log detector (not shown) such as a proximity switch, a limit switch, or a reed switch is mounted on the upper surface. The first receiving frame 4 and the second receiving frame 5 are moved up and down in the opposite directions by an elevating mechanism (not shown), and the raw wood 1 from the log hole conveyor 2 is directed toward the delivery conveyor 13 on the downstream side. A feeding device for feeding books one by one is configured. The raw wood 1 is supplied to the log hole conveyor 2 after being peeled in advance and then processed by cutting or the like so as to have a substantially circular cross section.

Next, corresponding to the exit of the delivery conveyor 13, a V-block-shaped receiving table 39 (auxiliary holding means) for receiving the log 1 supplied from the delivery conveyor 13 on the lower side and supporting the same is provided with: It is provided to be able to move up and down. As shown in FIG. 2A, the cradle 39 is composed of two logs 1
Are arranged so as to face each other in the longitudinal direction, and have projecting portions 151 and 152 formed so as to project outward integrally therewith. The projecting portions 151 and 152 are formed with guide insertion holes 151a and 152a penetrating vertically therethrough. Also, one of the overhangs 151 has a guide insertion hole 151.
A female screw hole 154 is formed substantially in parallel with a. Then, as shown in FIG. 2B, a screw shaft 155 is screwed into the female screw hole 154, and a servomotor 157 fixed to the frame 156 drives the screw shaft 155 to rotate in the forward or reverse direction. As a result, both receiving stands 39 move up and down while being guided via the linear blocks 151c and 152c by the guide members 151b and 152b inserted into the guide insertion holes 151a and 152a, respectively. In addition, as shown in FIGS. 1 and 2, the terminal side of the delivery conveyor 13 is disposed so as to enter between the receiving stands 39.

The receiving table 39 waits for the log 1 at a receiving position where the log supporting surface 39a is slightly lower than the transport surface of the delivery conveyor 13. On the other hand, delivery conveyor 1
On the side of the log support surface 39a corresponding to the vicinity of the center of the log 3 in the width direction, a log detection sensor 41 composed of a limit switch or the like which moves up and down integrally with the receiving table 39 is provided. When it arrives at the position just above the log support surface 39a, it is urged to detect this. As will be described later, when the raw wood detection sensor 41 detects the raw wood, the receiving table 39 starts to rise, receives the raw wood 1 on the conveyor 13 at the raw wood supporting surface 39a, and thereafter supports the raw wood 1. It will continue to rise.

As shown in FIGS. 1 (a) and 1 (b), the lower part of one end face of the log 1 supported by the receiving table 39 is located above the conveying surface of the delivery conveyor 13 by a predetermined height. At the position, a horizontally long log detection member 40a along the transport direction of the log 1 is provided. Log detection member 40
As shown in FIG. 1 (b), a is provided integrally with the end of the turning member 40b.
Is turned around the turning axis 40c, so that approach / separation from the end face of the log 1 is allowed. As the log 1 arrives at the end of the delivery conveyor 13, the log 1 is urged to push the log detection member 40a outward at a lower portion of the end face. Thereby, the turning member 40b turns downward, and the limit switch 40 provided near the switch urging portion 40d provided integrally rotatably at an intermediate portion of the turning member 40b is urged. Arrival is detected. On the other hand, as the log 1 is raised from the state by the cradle 39, the turning member 40b is moved by the weight member 40e provided at the end opposite to the log detection member 40a to the gravity acting on the log detection member 40a. When the lower edge of the log 1 is separated from the conveying surface of the delivery conveyor 13 by a certain height, the limit switch 40
Is released.

Next, as shown in FIG.
Pushers 158 are arranged at positions corresponding to both end faces of the log 1 received by the cylinder 9, and the piston rod 160 to which the pusher 158 is attached is driven to expand and contract by a hydraulic cylinder 159. It comes to approach and separate from it.

Further, as shown in FIG.
Has an air cylinder (cylinder on the pedestal side) 1
61 is provided to extend and retract the piston rod 162 up and down. Piston rod 162
By pressing the air cylinder 161 with the contracted position where the tip (second measuring member) 162a is located near the bottom surface of the V-shaped log support surface 39a as a reference position, the receiving table 39 When the tip 162a hits the log 1, the extension is stopped as shown in FIG. The extension amount of the piston rod 162 is detected by a length measuring device (a receiving side length measuring device) 163 such as a linear encoder incorporated in the air cylinder 161.

Returning to FIG. 1, above these receiving stands 39,
As shown in FIG. 6, Y-direction detectors (first detecting members) 164 approaching and separating from the upper surface of the log 1 supported by the receiving table 39 are arranged corresponding to both ends of the log 1 as shown in FIG. ing. As shown in FIG. 3, the Y-direction detector 164 includes a horizontal portion 164 that extends substantially horizontally in the transport direction of the log 1.
a, and the lower surface of one end of the horizontal portion 164a is in contact with the upper surface of the log 1. On the other hand, from the upper surface of the end opposite to that of the horizontal portion 164a, the vertical portion 16
4b extends vertically upward integrally therewith. And
The lateral portion 164a projects laterally from the end to form the overhang portion 1.
64c is formed, and the lower end of a vertically extending piston rod 166 is connected to the upper surface thereof. And
When the piston rod 166 expands and contracts by an air cylinder (Y detector cylinder) 165, the Y direction detector 1
64 moves up and down to approach and leave the log 1. On the other hand, the Y-direction detector 164 is, for example,
One end of a piston rod 166 is connected to 64b, and this is expanded and contracted by an air cylinder 165, so that the log 1 is driven forward and backward in the longitudinal direction. As a result, the Y-direction detector 164 is positioned at a predetermined position corresponding to the end side surface of the log 1 when the piston rod 166 is extended, and retracts outside the end surface of the log 1 when contracted. I have.

Here, as shown in FIG. 8, the extension amount of the piston rod 166 is detected by a length measuring device (Y detector length measuring device) 167 such as a magnetic scale or a linear encoder incorporated in the cylinder 165. . Then, the extension of the piston rod 166 is stopped by the horizontal portion 164a abutting on the upper surface of the log 1, and the air cylinder 165 urges the Y-direction detector 164 in a direction of pressing against the log 1. Then, as described later, when the log 1 is displaced in the vertical direction (Y direction) due to a positional shift, the Y-direction detector 164 moves following the log 1 by the urging force of the cylinder 165, and moves the Y of the log 1. It also functions as a displacement detection means for detecting the direction displacement.

The vertical movement of the Y direction detector 164 is guided by the vertical portion 164b moving in a guide groove (not shown) formed on the side surface of the case 165a of the cylinder 165. Also, as shown in FIGS. 1 and 6, a beam member 168 a extending in the transport direction of the log 1 on both sides in the longitudinal direction of the log 1 above the receiving table 39.
Is disposed, and the cylinder 165 is provided with a double beam member 168.
It is fixed to the frame 168 passed between a.

Then, as shown in FIG.
The cylinder 64 and the piston rod 162 of the pedestal 39 approach the log 1 by being actuated by the cylinders 161 and 165, respectively, to pinch the log 1 from above and from the amount of extension of the piston rods 162 and 166 at that time. The diameter of the section 1 will be measured.

Next, as shown in FIG. 1, a veneer race 169 is disposed downstream of the receiving table 39 in the transport direction of the log 1, and the log 1 is placed on a veneer race spindle 170 that provides a turning center thereof. By bringing the plane table 169a close to this while mounting and rotating, the log 1
Is to be turned. The pedestal 39 moves up and down while supporting the log 1, and performs positioning such that its axis is substantially the same height as the center of the veneer race spindle 170. An X-direction detector 171 is arranged above the pedestal 39 on the side of the elevating trajectory of the log 1 so that the lower end position is substantially the same height as the veneer race spindle 170.

The X-direction detector 171 is attached to the tip of a piston rod 173 that expands and contracts in the horizontal direction by an air cylinder 172 fixed to the frame 7, and
Reference numeral 9 indicates that the log 1 is approached or separated from the side from the aligned log 1. As shown in FIG. 8, a length measuring device 174 such as a magnetic scale or a linear encoder for detecting the amount of extension of the piston rod 173 is incorporated in the cylinder 172. And the Y-direction detector 1
Similarly to X, the X-direction detector 171 is also urged by the air cylinder 172 so as to be pressed against the log 1 while being in contact with the log 1, and the X-direction detector 171 moves in the horizontal direction (X
Direction), it moves following this, and X of the log 1
It also functions as a displacement detection means for detecting the direction displacement.

Next, as shown in FIG. 4, the aforementioned both beam members 168a (only one of them is shown in FIG. 4).
A moving beam 190 is disposed so as to straddle this, and the rails 1 laid on the beam members 168a are arranged.
A motor 193 rotatable in both forward and reverse directions reciprocates on the wheel 91 via wheels 192. Then, as shown in FIG. 1, on both sides of the moving beam 190,
A grip unit 175 as a log holding means for gripping the log 1 positioned at the both ends by the cradle 39.
Is provided. The grip unit 175 includes a moving arm 178 that is supported at an upper end side in a suspended state with respect to the moving beam 190 and extends substantially vertically downward, a base plate 177 that can be moved up and down on the moving arm 178, and a log of the base plate 177. 1 and a claw plate 176 that is slidable laterally with respect to the base plate 177 (transport direction of the log 1). Then, the moving beam 190 is moved to the beam member 168a.
By traveling on the upper side, the grip unit 175
As shown in (b), a constant stroke LT determined substantially horizontally between the log holding position K by the pedestal 39 and the center position Ov of the veneer race spindle 170, and according to the horizontal distance therebetween. (Hereinafter, a horizontal movement mechanism of the gripping claw unit 175 by the moving beam 190 and the motor 193 is referred to as a traverser 195).
).

A plurality of transport claws (gripping claws) 70 are provided in a protruding manner on the surface of the claw plate 176 on the side facing the log 1. As shown in FIGS. 9A and 9B, each transport claw 70 is formed in a cylindrical shape,
On the end face facing the log 1, an inverted truncated cone-shaped slope 70 b is formed so that the inside is depressed, and the slope 70
An annular blade portion 70a having an acute angle cross section is formed by b and the outer peripheral surface 70c which forms a cylindrical surface. here,
The tip angle of the blade portion 70a (the slope portion 70b and the outer peripheral surface 70c)
Is adjusted in the range of 5 ° to 30 °. When θ is larger than 30 °, the blade portion 70a
When the angle is less than 5 °, the strength of the blade portion 70a becomes insufficient. The angle θ is desirably set at 15 to 25 °, and more desirably, approximately 20 °. The transport claw 70 can be provided detachably with respect to the claw plate 176.

As shown in FIG. 4, the moving arm 178
The linear block 194 is configured to slide along a moving beam 190 on a rail 190a provided on the upper surface thereof. Further, a hydraulic cylinder (gripping claw chuck cylinder) 1 attached to the lower surface side of the moving beam 190
96 extends and retracts a piston rod 197 having a distal end connected to the moving arm 178, whereby the claw plate 17 is moved.
The entire gripping unit 175 including the base 6 approaches and separates from the end face of the log 1 supported by the receiving table 39. When the piston rod 197 contracts, the claw plate 17
6 approaches the log 1, and as shown in FIG. 9 (c), the transport claws 70 bite into the end face of the log 1 at the blade portion 70a to grip it. Then, as shown in FIG. 1, the traverser 195 horizontally moves the gripping claw unit 175 in this state, so that the raw wood 1 becomes a veneer race 169.
Transported to the side.

Next, as shown in FIGS. 5B and 5C, the base plate 177 has a nut member 199 provided integrally with the moving arm 178 on the side facing the moving arm 178.
The screw shaft 200 is screwed in the forward and reverse directions by a servo motor 198 provided on the moving arm 178 side, so that the screw shaft 200 moves in both the vertical direction (Y direction) along the moving arm 178. The claw plate 176 has a screw shaft 203 screwed to a nut member 202 provided integrally with the base plate 177 on the side facing the base plate 177.
Servo motor 20 provided on base plate 177 side
By being driven to rotate in both the forward and reverse directions by 1, it can be moved in both the left and right directions (X direction) with respect to the base plate 177. The moving arm 1 of the base plate 177
The movement with respect to 78 is guided by the guide rail 178a provided on the moving arm 178 side and the linear block 177a on the base plate 177 side engaged with the guide rail 178a. Also, the base plate 17 of the nail plate 176
The movement with respect to 7 is guided by the guide rail 177b on the base plate 177 side and the linear block 176a on the claw plate 176 side engaged with the guide rail 177b.

The servo motor 198, the nut member 199, and the screw shaft 200 constitute a Y moving mechanism 204 for moving the claw plate 176 in the Y direction in a direction along the end surface of the log 1. The servo motor 201, the nut member 2
02 and the screw shaft 203 constitute an X moving mechanism 205 for moving in the X direction. And these Y moving mechanisms 2
04 and the X moving mechanism 205 are used for the veneer lace spindle 170 of the log 1 gripped by the gripping unit 175.
, A position correction mechanism that corrects a position shift in two different directions.

FIG. 12 is a block diagram showing a configuration example of a control system of the correction device 150. That is, the control system includes the I / O port 213 and the CPU 21 connected thereto.
0, a central control unit 214 including a RAM 211, a ROM 212, and the like. The I / O port 213 has servo drive units 215, 222 to 224, cylinder drive units 216, 219, 221, 225, and an A / D converter. Units 217, 218 and 220 are connected respectively.
The servo drive units 215, 222 to 224 have the above-described servo motors 157, 193, 198, 2
01, and the rotational position of each motor,
9, a traverser 195 (gripping unit 175), and pulse generators (PG) 226 to 229 for knowing the current right positions of the transport claws 70 in the Y direction and the X direction, respectively.

On the other hand, the cylinder drive units 216 and 21
9, 221 and 225 have the air cylinder 161,
165, 172 and the hydraulic cylinder 196 are connected respectively. A / D converters 217, 218, 22
0 is connected to the receiver-side length measuring device 163, the Y-detecting object measuring device 167, and the X-detecting object measuring device 174, respectively. The I / O port 213 is connected to the above-described log detection sensor 4.
1 and the limit switch 40 are connected respectively.

Further, the ROM 212 stores the correction device 15
Control program 212a for performing overall operation control
Is stored. The RAM 211 has a work area 21 for executing the control program 212a.
1a, pulse counter memories 211b to 211d for counting pulse signals from the Y-detecting body length measuring device 167, the X-detecting body length measuring device 174, and the receiving side length measuring device 163; Memory 211g, also 3 cradle
Memory 2 of stop position (to be described later) when auxiliary 9 is raised
11h are respectively formed. The Y-detector cylinder 165, the Y-detector length measuring device 167, the X-detector cylinder 172, the X-detector length measuring device 174, and the servomotors 201 and 198 for XY movement of the gripping claws 70 correspond to each other. Although two sets are provided corresponding to both sides of the log 1 including the A / D converter and the servo drive unit, only one set is drawn in the above block diagram.

Next, from the servo drive unit 223 for Y movement of the gripper 70, the drive voltage of the corresponding servo motor 198 is supplied to the I / O port 2 via the A / D converter 300.
13 is input. This drive voltage value becomes weight reflection information reflecting the value of the weight of the log 1 gripped by the gripping claws 70. That is, when correcting the position of the log 1 in the Y direction, the gripper 70 gripping the
It must be driven upward (ie in the Y direction) against the weight of the log 1. In this case, if the rotation of the motor 198 is controlled so that the speed of the movement of the gripping claw 70 in the Y direction is substantially constant, the motor 198 during the constant speed operation is controlled.
Is higher as the load applied to the motor 198, that is, the weight of the log 1 is larger. Then, FIG.
As shown in (2), if the value of the winding resistance of the motor 198 is considered to be constant, the voltage drop in the motor 198, that is, the driving voltage of the motor 198 also increases as the weight of the log 1 increases.

Here, as shown in FIG. 38, the log 1 is placed against the veneer lace 169 with the axis of the log 1 (OL: FIG.
) Is installed so as to coincide with the center line of the veneer race spindle 170, that is, the turning center.
When the spindle chuck 170a bites into the end face of the log 1, a displacement may occur between the axis of the log 1 and the turning center. Also, the spindle chuck 170
After biting a, the log 1 may be compressed by the weight of the log 1 to compress the portion located above the spindle chuck 170a, and the log 1 may hang down, resulting in displacement. Further, as shown in FIG. 38A, the bending of the veneer race spindle 170 due to the addition of its own weight, or the bending of the raw wood 1 itself as shown in FIG. These displacements occur mainly vertically below the log 1, that is, in the Y direction.

The amount of positional deviation of the log 1 that can be expected at the time of or after mounting on the veneer race 169 (hereinafter referred to as the turning holding position deviation) is, for example, apart from the portion that occurs when the spindle chuck 170a bites in. It is expected that as the weight of 1 increases, it will increase. Here, the amount of deviation of the turning holding position for each weight of the log can be obtained, for example, by experiment or calculation. In the present embodiment, as shown in FIG. 12, the value of the turning holding position shift amount obtained in advance by this experiment or calculation is associated with the drive voltage value of the Y movement motor 198 (that is, the weight of the raw wood). In this manner, the turning holding position shift amount conversion table 211i is stored in the RAM 211 in the form described above. FIG. 39 (a) shows an example of a turning holding position shift amount conversion table 211i, in which ranges of drive voltage values (V0 to V1, V1 to V2, V2 to V3, V3) that are continuous with each other.
ＶV4, ‥‥; the turning holding position deviation amount is stored as β11, β12, β13, β14, ‥‥, etc. for each of V0 <V1 <V2 <V3 <‥‥, and is output from the servo drive unit 223. The value of the displacement amount corresponding to the value of the driving voltage is read out, and this value is used as a displacement prediction value when the log 1 is mounted on the veneer race 169.

As shown in FIG. 6B, the turning holding position deviation amounts β11, β12, β13, 、 are not the driving voltage range but discrete driving voltage values V0, V1, V2 ‥.対 応 is stored in correspondence with 、, and the turning holding position shift amount corresponding to any driving voltage value that is not stored, based on the stored driving voltage value and the turning holding position shift amount,
For example, it may be determined by an interpolation method. When a certain relational expression is established between the value of the turning holding position deviation amount and the drive voltage value (the value of the weight reflection information), the relational expression is stored, and the detected drive voltage value is stored. May be applied to the relational expression to calculate the turning holding position shift amount.

Here, as shown in FIGS. 38 (a) and 38 (b),
Deflection of veneer race spindle 170 or log 1
The positional shift amount based on the deflection of itself may vary depending on the length w of the log as well as the weight of the log 1. For example, when the veneer race spindle 170 is extended by a predetermined length by driving a cylinder or the like (not shown) and bites into the end face of the log 1 to hold it, as shown in FIG. When the length W of the one is short, the amount of extension of the veneer race spindle 170 increases, and the spindle 170 is easily bent. Therefore, the turning holding position shift amount conversion table 21 shown in FIG.
1i, various length ranges (W0 to W1,
W1 to W2, W2 to W3, W3 to W4,...; W0 <W1 <W2
Regarding <W3 <‥‥), the turning holding position deviation amount for each drive voltage value (log weight) is stored, and the value of the deviation amount corresponding to the log length W is used. ing.

The log length W can be input, for example, from the input unit 301 connected to the I / O port 213 in FIG. Is done. On the other hand, motor 1
The value of the turning holding position shift amount read from the conversion table 211i according to the drive voltage value of 98 and the log length W is:
This is stored in the turning holding position deviation amount storage memory 211m.

The operation of the correction device 150 will now be described with reference to the flowcharts of FIGS. 13 to 15 and FIGS.
The process will be described with reference to FIGS. First, the control program 212a is activated in FIG.
Is input. Next, in S1, the respective counter values N1 to N1 of the pulse counter memories 211b to 211d are set.
N3 is cleared. Then, as shown in FIG. 16, when the log 1 is conveyed by the log hole conveyor 2 and the delivery conveyor 13 and reaches a position immediately above the receiving table 39, the log detection sensor 41 detects the log 1 in S2, and
To stop. At this time, as shown in FIG. 1 (b), the log 1 urges the limit switch 40 via the log detection member 40a at the lower end of the log.

Next, in S4, the pedestal 39 starts to rise together with the log 1 as shown in FIG. Then, in the log 1, the bias of the limit switch 40 is released at a position where the lower edge of the log 1 has risen by a predetermined height from the transport surface of the delivery conveyor 13. Here, assuming that the distance from the transfer surface of the delivery conveyor 13 to the bias release point of the limit switch 40 is LS ', the pedestal 39 is raised to a height LS (= LS' + γ) further increased by a height γ. Is set. Elevating motor 15 for cradle 39
7 starts deceleration when the bias of the limit switch 40 is released, and the PG 226 (FIG. 12) after the release of the bias.
Is controlled to stop when a certain number of pulses corresponding to the height γ are output. Thus, the pedestal 39 stops in a state where the lower edge of the log 1 is positioned at the ascending reference position (S5). Then, as shown in FIG. 17 (b), the cylinder 159 of FIG. 2 is operated, and the pushers 158 on both sides move in a direction approaching each other, and move the log 1 on the pedestal 39 to center it. (S6).

Next, in S7 of FIG. 13, the Y-detector cylinder 165 and the pedestal-side cylinder 161 are turned on, respectively, and as shown in FIG.
62 extend to the log 1 side, and the pulse counters N1 and N3 start counting pulse signals from the Y detector length measuring device 167 and the receiving side length measuring device 163. Each of the piston rods 166 and 162 attempts to extend from the contracted position to the extended position. However, since the Y-direction detector 164 and the rod tip 162a hit the log 1, the extension is performed in a state where it is sandwiched. After that, the state where the cylinders 165 and 161 are urged toward the log 1 by the air pressure is maintained. Then, the extension amounts L1 and L2 of the piston rods 166 and 162 are calculated from the count values of the pulse counters N1 and N3 at this time. Here, in the state where the pistons 166 and 162 are located at the contracted position (corresponding to the first and second reference positions, respectively), the Y-direction detector 164 and the rod tip 162
is fixed, the diameter D of the log 1 is fixed.
Is calculated as follows: D = L0− (L1 + L2) ‥‥‥ (1) (S8).

If the Y-direction detector 164 does not reach the log 1 even if the piston rod 166 is extended to the limit position when the diameter D of the log 1 is equal to or less than a certain value, the receiving stand 3
It is also possible to additionally increase 9 so that the measurement of the diameter D is made. In this case, as shown in FIG. 17A, the auxiliary sensor 42 (in this embodiment, a light emitting unit 42a and a light receiving unit 42b are provided) corresponding to the limit position where the Y-direction detector 164 does not reach the log 1 A transmission optical sensor). The operation flow at this time is shown in FIG.
In the flowchart of FIG. 3, steps S51 to S55 are added. That is, if the log 1 is not detected by the auxiliary sensor 42 in S51, the process proceeds to S52.
Then, the pedestal 39 rises, and when the upper edge of the log 1 is detected by the auxiliary sensor 42, deceleration is started, and the pedestal 39 is stopped at an additional ascending position located at a certain height therefrom. Then, the drive of the motor 157 is controlled based on the pulse output of the PG 226 (FIG. 12). The distance L0 between the Y-direction detector 164 and the rod tip 162a is equal to the distance between the above-described ascending reference position and the additional ascending position.
17 is replaced by L0-L4 obtained by subtracting the rise amount L4 of FIG. 17 (c). On the other hand, when the log 1 is detected by the auxiliary sensor 42 in S51, the process proceeds to S56, and the aforementioned L0
Is adopted as it is. The following processing is the same.

When the D of the log 1 is measured in this way, the axis OL of the log 1 can be obtained as the midpoint of its diameter by regarding the cross section as a perfect circle. At this timing, the grip unit 175 holds the log 1 (position of the cradle 39).
Move up to. Subsequently, the height of the shaft center OL is raised by raising the receiving stand 39, so that the veneer race spindle 170
(FIG. 1). The movement amount LA of the receiving table 39 at this time is as shown in FIG. 18 when the distance to the center Ov with respect to the lower surface position of the Y-direction detector 164 in the contracted state of the piston 166 is Lv.
As shown in FIG. 13, LA = (L1 + D / 2) -Lv ‥‥‥ (2) (FIG. 13: S9 to FIG. 14: S1
1). The Y-direction detector 164 moves following the log 1 by the urging of the cylinder 165.

In this state, in S12, the hydraulic cylinder 196 (FIG. 4) of the holding unit 175 which has been waiting is actuated, and the transport claws 70 are brought into contact with both end surfaces of the log 1 as shown in FIG. Each bites into a load state and grips it. As a result, the log 1 of the log 1 is positioned at the same position as the center Ov of the veneer race spindle 170 in the height direction (Y direction), and in the horizontal direction (X direction) by the traverser 195 by the traverser 195. When the constant stroke movement is performed toward the center position, the shaft center OL is positioned so as to coincide with the center Ov. Further, as shown in FIG. 19A, the X detector cylinder 172 is turned on at S13, and the X direction detector 171 comes into contact with the log 1 in a state where the X direction detector 171 is urged by the cylinder 172. At this point, both the pulse count values N1 and N2 of the Y-detector length measuring device 167 and the X-detector length measuring device 174 (FIG. 8) are cleared (S
14), the receiving table 39 is lowered to the original position, and the log 1 is supported only by the transport claws 70 (S15).

Here, the log 1 may be displaced from the position where the axis OL is positioned as the transport claws 70 bite. Also, as shown in FIG.
Is displaced so as to hang down by its own weight against the gripping force of the transport claw 70 with the release of the support by the receiving table 39. Then, the axis OL positioned as described above.
Are caused to be displaced to OL 'by the displacement U based on these, and the Y-direction detector 164 and the X-direction detector 17
1 moves following the log 1, and the Y direction component UY and the X direction component UX of the displacement U are calculated from the pulse counter values N1 and N2 at that time (S16). These component values UY and UX are stored in memory areas 211e and 211f of the RAM 211 (FIG. 12), respectively. In addition,
Each of the Y-direction detectors 164 and the X-direction detectors 171 on both sides of the log 1 is a displacement U of the log 1 on the corresponding side.
And the values of the displacement components (UX, UY) are individually stored in the RAM 211.

In this state, as shown in FIG. 20, the traverser 195 (FIG. 1, etc.) starts transporting the log 1 together with the gripping unit 175 toward the veneer race 169 (S).
17). Then, during the transport of the log 1, the gripping units 175 corresponding to the Y moving mechanisms 204 and the X moving mechanisms 205 (FIG. 5) on both sides are independently driven so that the above-described displacement U is canceled. Then, the state of displacement of the log 1 is eliminated (S18).

Next, the process proceeds to the turning holding position deviation correction processing in S19. The details are as shown in FIG. That is, in S191, the drive voltage of the motor 198 (FIG. 12) at the time of the Y-direction correction in S18 (FIG. 14) is read from the servo drive unit 223. Here, as the value of the drive voltage to be read, for example, as shown in FIG. 37B, a voltage value VS when the rotation speed of the motor 198 reaches a steady value can be adopted. On the other hand, in the case where the log 1 is gripped while being positioned at a predetermined height, the motor 1
Reference numeral 98 denotes a state in which the rotation is stopped, but a constant voltage VS 'for generating a rotational torque in a direction in which the log 1 is pulled up is added, and the torque is used to position the log 1 against the gravity acting on the log 1. Will be held in position. In this case, since the voltage VS 'for generating the torque increases as the weight of the log 1 increases, it may be read as the drive voltage.

Next, in S192, the turning hold position deviation amount β corresponding to the read drive voltage VS and the log length W
Are read from the positional shift amount conversion table 211i (FIGS. 12 and 39), and are set as predicted values of the shift amounts in the memory 211m (FIG. 12).
In 93, as shown in FIG. 21A, the position of the axis OL of the log 1 is added by −β in the Y direction by each of the Y moving mechanisms 204 on both sides so that the turning holding position shift amount β is canceled. to correct. In this case, when the turning holding position shift amounts expected to occur at the left and right ends of the log 1 are substantially equal to each other, the amount of the above-described additional correction may be applied by a value substantially equal to the left and right of the log. On the other hand, when the expected turning holding position shift amount has different values on the left and right of the log, additional correction of the corresponding amounts can be performed independently for the left and right. In this case, it is necessary to store two sets of the data of the turning holding position shift amount corresponding to the left and right of the raw wood. On the other hand, as a simpler method, it is also possible to perform additional correction corresponding to the average value on the left and right of the expected displacement amount by the same amount on the left and right of the log. In this case, it is sufficient to store only one set of the data of the turning holding position shift amount corresponding to the average value.

When the log 1 reaches the position of the veneer race spindle 170, the traverser 195 stops moving (S22), as shown in FIG.
Is a state in which the displacement U generated at the time of attachment to the gripping unit 175 has been eliminated, and an additional correction has been made to the turning holding position deviation β expected when attached to the veneer race 169, that is, the shaft center OL is While being displaced in the Y direction by -β from a position corresponding to the center (turning center) Ov of the race spindle 170, it is delivered to and mounted on the veneer race spindle 170 (S2).
3). When the delivery is completed, the process proceeds to S24, where the gripping unit 175 enters the unloading state and releases the gripping of the log 1. As a result, the log 1 is displaced downward by an amount corresponding to the above-mentioned turning holding position shift amount β due to the droop etc. due to its own weight, but this almost cancels out the displacement −β due to the additional correction. As a result, the log 1 is in a state where its axis OL is accurately positioned at the turning center OV.
Attached to the veneer race 169.

As shown in FIG. 14, the displacement of the log 1 may be corrected before moving to the veneer race 169 (S60, S61), or after reaching the veneer race spindle position. (S70, S
71).

In the turning holding position deviation correction processing of the above embodiment, only the correction in the Y direction is performed.
It can be configured to also perform direction correction. In this case, in the turning holding positional deviation amount conversion table 211i (FIG. 12), in addition to the positional deviation amount in the Y direction, the positional deviation amount in the X direction may be stored. Further, the weight of the log 1 is detected by the drive voltage of the Y movement motor 198, but this is detected by a drive current, or as shown in FIG.
A method is also possible in which the detection is performed based on the time change rate ΔV / Δt of the drive voltage (or the time change rate of the drive current) until 8 reaches the steady operation state. Alternatively, the weight of the log 1 may be measured in advance using a weigher or the like, and the turning holding position deviation amount may be determined based on the measured value. On the other hand, when it is not necessary to perform the turning holding position shift correction processing, for example, when the position shift amount of the log 1 when attached to the veneer race 169 is sufficiently small, an apparatus configuration in which the correction processing function is omitted can be used. is there.

Next, as the transport claw 70, for example, FIG.
A conical shape shown in FIG. 9A or a knife shape shown in FIG. 9B can be used. However, as shown in FIG. Blade part 70
a, the contact area with the log 1 is large, and as shown in FIG. 4D, the blade portion 70a cuts into the fiber cell wall C of the log 1 so that there is an advantage that a strong gripping force can be obtained. . Further, as shown in FIG. 9C, the fibers F of the raw wood 1 enter the inside of the transport claw 70 while being compressed isotropically in the radial direction of the cross section thereof. The compression of the fiber F due to its own weight is less likely to occur, and as a result, the degree of displacement of the log 1 after the support by the pedestal 39 is released can be suppressed to a small extent. In addition,
As shown in FIG. 11, it is also possible to use a rectangular cylindrical transporting claw 70.

Note that, as shown in FIG.
The 64 and the X-direction detectors 171 may not be provided on both sides of the log 1, but may be provided, for example, only in one set corresponding to the vicinity of the center of the log 1 in the longitudinal direction. In this case, log 1
The Y-moving mechanism 204 and the X-moving mechanism 205 on both sides of the log 1 do not perform the left and right independent operations as in the above-described embodiment. Position correction in the same amount and in the same direction can be performed. Further, as shown in FIG. 8, it is also possible to provide the detection body 210 so as to abut on the log 1 obliquely.

Here, the log 1 accompanying the release of the support of the pedestal 39
In the case where the displacement U of the positional deviation is mainly composed of only the Y-direction (vertical direction) component and substantially no X-direction (horizontal direction) component, the X-direction detector 171 can be omitted. Furthermore, if the amount and direction of the displacement U are always substantially constant,
A configuration is also possible in which both of the detectors 164 and 171 are omitted by correcting the positional deviation of the log 1 in a predetermined amount and direction.

In the above embodiment, the Y-direction detector 164 and the X-direction detector 171 are provided with air cylinders 165 to 165.
Although the raw wood 1 is urged by the 72, it may be urged using an elastic member such as a spring. On the other hand, as means for detecting the displacement of the log 1, the Y direction detector 164 and the X direction detector 171 are used.
Instead of using a contact-type sensing object as shown in FIG. 22, these may be replaced with a non-contact type detector 215 as shown in FIG.
It is also possible to replace with This includes laser light, electromagnetic waves (eg, far-infrared, light from a phototube, etc.) or
A medium that projects a propagation medium such as an ultrasonic wave onto the outer peripheral surface of the log 1 and uses the reflection thereof can be employed. Alternatively, like the detector 215 of FIG. 2B, a plurality of light beams or light bands having a predetermined width in the height direction are projected from the light projector 215A toward the outer periphery of the log 1 in the height direction, Log 1
It is also possible to adopt a method of measuring the amount of light that reaches the light receiver 215B on the opposite side without being shielded by the outer peripheral portion of the log 1 to obtain the displacement of the log 1. Further, as shown in FIG.
It is also possible to take an image of the end face of the log 1 by using the method 16 and detect the displacement displacement from the change of the image.

(Embodiment 2) FIG. 23 schematically shows another embodiment of the correcting device of the present invention and the entire configuration of a log centering and feeding device incorporating the correcting device. That is, in the raw wood centering and feeding device 250, the log hole conveyor 2 and the delivery conveyor 1 having substantially the same configuration as the device of the first embodiment.
3, the log 1 is supplied, but the log 1 discharged from the delivery conveyor 13 is conveyed obliquely upward by the hook conveyor 32, and further transferred to the pedestal 39 provided so as to be able to move up and down. It has become. A plurality of sets of upper detectors 42 (L1, L2,...) Are provided above the pedestal 39 to provide measurement points at a plurality of stages according to the diameter of the log 1. . The upper detector 42 is, for example, a photoelectric type, and includes a light projector 42A and a light receiver 42B facing each other.
The light emitted from A is blocked by the upper surface of the log 1 raised by the pedestal 39, so that an upper surface detection signal is output.

Then, as shown in FIG. 24, the log from when the lower detector K detects the lower surface of the log 1 (lower surface detector 31B) to when the upper detector L1 or L2 detects the upper surface of the log 1. Based on the amount of rise Y1 or Y3, the diameter d1 of the log 1
Alternatively, d2 is calculated. That is, since H1 and H3 are fixed distances, d1 or d2 can be obtained by subtracting Y1 or Y3 therefrom. Based on this, the provisional axis O1 or O2 is determined, and thereafter, the log 1 is raised by the pedestal 39 until the provisional axis coincides with the center (O51) of the gripping claw 51 described later.

Next, as shown in FIG. 25, above the hook conveyor 32, the log 1
A raw wood centering device 300 for detecting the cross-sectional contours at a plurality of locations in the longitudinal direction by rotating the raw wood 1 and obtaining the turning axis of the raw wood 1 based on the detected cross sectional contour is installed. That is, as shown in FIG. 26, the base 45 is placed on a pair of right and left guides 44 arranged in the longitudinal direction of the log 1 and this base 45 is screwed to a screw-like transverse feed shaft 46, and one end of the base 45 is screwed. The base 4 is driven by the motor 47 connected to the base 4.
5 is configured to be able to approach and separate in the length direction of the log 1.

A pair of gripping cylinders 48 are provided on the pair of left and right bases 45 so as to face each other. Connected to the rear end of the spindle 50,
At the tip of each spindle 50, a gripping claw 51 is attached as a temporary rotation holding portion that is pierced into the end face of the log 1. A chain wheel 54 driven by a motor 52 installed on a base 45 via a chain 53
However, it is slidable in the axial direction, and is integrally fitted in the rotational direction. On the other hand, a gear 55 is slidable in the axial direction and integrally fitted in the rotational direction on the driven-side spindle 50 located opposite to each other, and this gear 55 is connected via a linkage gear 55A. The rotation angle detector engages with the pinion 57 of the rotary encoder 56 provided on the base 45, thereby forming a rotation angle detector for measuring the rotation angle of the log 1. This rotation angle detector constitutes a contour detector of the log 1 in cooperation with a displacement detector described later.

As shown in FIG. 27, the cross beam 58 is provided with a contact-type detection body 59 having an arbitrary length in the longitudinal direction of the log 1 and having a detection area in which adjacent ones are almost in close contact with each other. Are arranged (13 in the illustrated example). Further, displacement detectors for measuring the amount of displacement of the detectors 59 by the same number as those of the detectors 59 are provided. That is, a plurality of (13 in this example) displacement arms 61 are attached to the cross beams 58 in the vicinity of the bases by pins 61A (FIG. 30) so as to be swingable in a vertical plane. Detectors 59 are provided, respectively. Further, a fluid cylinder 62 for lifting each displacement arm 61 in front of the cross beam 58 is provided with a pair of side plates 60.
And a piston rod 63
Is pin-connected to the displacement arm 61.

The cylinder 62 is provided with a displacement arm 61.
, The detection body 59 of the displacement arm 61 is brought into contact with the outer peripheral surface of the log 1 by the remaining weight, and the displacement amount of the detection body 59 is adjusted by the built-in linear encoder 62A. Detect through. These detectors 5
Reference numeral 9 serves to detect the cross-sectional contour of the log 1 and also functions as a positional shift amount detecting means for detecting a positional shift due to the weight of the log 1 described later. Here, the detector 5
9 are present, for example, but if the length of the supplied raw wood 1 is short, the detectors 59 involved in the detection accordingly
Can be reduced so that the total distance of the detectors 59 is approximately equal to the log length. For example, when the length of the log 1 is divided into three stages, the number of the detection objects 59 can be selected to be, for example, 13, 11, or 9 according to each length of the log 1.

The raw wood 1 centered from such a raw wood centering position is transferred to the spindle 6 of the veneer race shown in FIG.
In order to transport the logs 1 to 8, a pair of inclined beams 69 are provided so as to face each other with the transport path of the log 1 therebetween, and can be advanced and retracted in opposite directions by an advance / retreat mechanism described later. Each of the inclined beams 69 is provided with a transport claw 7 by a reciprocating mechanism.
0 is assembled so as to be able to reciprocate in the inclined direction, and the inclined beam 69 is moved up and down by an elevating mechanism.

Behind the veneer race spindle 68, there is provided a backup roller device T for applying a force opposing the pressing force when the log 1 is turned while being pressed by the turning blade S of the plane table R. The inclined beam 69 gives a log transport trajectory inclined obliquely downward so as not to interfere with the backup roller device T.

With respect to the above-mentioned advance / retreat mechanism, the machine frame 33
As shown in FIG. 29, a guide 71 is mounted on the upper part in a direction orthogonal to the transport direction of the log 1.
A support table 73 having a linear block 72 is installed on the base 1. The support base 73 is screwed to a screw-shaped feed shaft 74 provided horizontally on the machine frame 33, and can be advanced and retracted by a motor 75 for rotating the same. Further, on the support table 73, a transfer table 78 is attached to a horizontal guide 76.
Is mounted, and a transfer rod 78 is provided with a piston rod 80 of an inclined beam cylinder 79 fixed to a support table 73.
Are connected, and the transfer table 78 can move with respect to the support table 73.

At the front of the transfer table 78, a pair of guides 81 (FIG. 28) are arranged at a certain interval in the transport direction of the log 1
The inclined beams 69 extending from the centering position of the log to the vicinity of the spindle 68 of the veneer race are assembled to the guides 81. Also,
The inclined beam 69 is screwed to a vertical screw-shaped vertical feed shaft 82 supported by a transfer table 78, and can be moved up and down by a motor 83 connected to one end of the shaft 82. further,
The piston rod 85 of the cylinder 84 fixed to the transfer table 78 is connected to the inclined beam 69, and the cylinder 84 constantly pulls up the inclined beam 69 and the log 1 during transportation at a stepped or stepless pressure, thereby The vertical moving shaft 82 and the motor 83 constitute an elevating mechanism that removes the load corresponding to its own weight.

A vertical feed shaft 82 of the lifting mechanism has a Y-axis distance measuring device 83A for measuring the amount of movement of the inclined beam 69 on the Y-axis.
This is mainly composed of, for example, a pulse generator that converts the number of rotations of a servo motor 83 that drives the vertical feed shaft 82 into a pulse signal, and moves in the Y-axis direction based on the number of pulses. The distance is measured. In addition, as the Y-axis distance measuring device, a magnetic scale that directly calculates the amount of movement in the Y-axis direction may be used.
When a fluid cylinder mechanism is used as the drive source instead of the motor 83, a rotary encoder that converts the expansion and contraction amount of the piston rod into a rotation angle and measures the rotation angle may be used.

The transport claw 70 is assembled via a linear block 88 to an inclined guide 87 formed on the inclined beam 69, and a screw-shaped inclined feed shaft 86 provided along the inclined direction of the inclined beam 69. Are screwed to the transport claws 70. Then, the transport claw 70 is reciprocated in the inclined direction by the motor 89 connected to one end of the inclined feed shaft 86. Further, a piston rod 91 of a cylinder 90 fixed to the inclined beam 69 is connected to the transport claw 70 via a chain 92, and the transport claw 70 and the log 1 gripped by the transport claw 70 are subjected to stepped or stepless pressure. , A reciprocating mechanism that removes their own weight is constructed.

The tilt feed shaft 86 of the reciprocating mechanism has
An X-axis distance measuring device 70A constituted by a rotary encoder or the like is connected to measure the movement amount of the transport claw 70. Note that the correction data of the turning axis obtained by the log centering apparatus is on the X axis from the temporary axis and Y axis.
Although the correction amount on the orthogonal coordinates indicated as the axial distance, the correction amount for the transport claw 70 is the movement amount on the vertical feed axis 82 and the inclined feed axis 86, and both are not in the orthogonal coordinates. In view of this, in order to output the correction data to the transport claw 70, it is necessary to convert the vertical feed axis 82 into an instruction value on non-orthogonal coordinates in which the vertical feed axis 82 is Y 'and the inclined feed axis 86 is X'. However, in this embodiment, for the sake of convenience of explanation, the inclined feed shaft 86 is
It corresponds to the axis.

Next, the operation of the device 250 will be described.
First, in FIG. 23, when the log 1 is transferred from the hook conveyor 32 onto the pedestal 39, the pedestal 39 starts to rise,
The lower surface detector 31B slightly rises while contacting the log 1,
The detection is performed by the lower detector K, and reading of the number of pulses indicating the amount of rise of the pedestal 39 is started with this as the starting point of rise. Thereafter, the lower surface of the log 1 moves away from the lower surface detector 31B, while the upper surface of the log 1 rises until it is detected by the light emitter 42A and the light receiver 42B of one of the upper detectors 42 at different heights above. The quantities are integrated.

At this time, it is determined whether the diameter of the log 1 belongs to three stages, a large diameter, a medium diameter, a small diameter, or two stages, in accordance with the number of the upper detectors 42 installed. And
For example, as shown on the left side of FIG. 24, the upper detector 42 (L
1) From the distance H1 to the lower detector K, the accumulated amount of rise Y1 is subtracted to obtain the diameter d1 of the log 1, and further from the radius r1, the upper detector L1 and the log centering device 300 are obtained.
The distance H2 from the center O51 of the gripper 51 is subtracted, and the pedestal 39 is further raised by the remaining amount Y2. Similarly, FIG.
In the example on the right side of, the upper detector 4 located above L1
2 (L2) detects the upper surface of the log 1, and the radius of the log 1 is obtained by r2 = (H3-Y3) / 2, and furthermore, r2-
H4 = Y4 determines the further elevation of the cradle 39.

In any case, when the provisional axis O1 or O2 of the log 1 is determined, as shown in FIG.
The raw wood 1 is advanced by a fixed amount by a transverse feed shaft (not shown), and the temporary core of the raw wood 1 is brought to a line connecting the centers of the pair of left and right gripping claws 51 of the raw wood centering device 300. At this time, the plurality of detectors 59 and the displacement arms 61 having the detection areas that are substantially closely connected in the longitudinal direction of the log 1 stand by at a position corresponding to the diameter of the log 1 determined by the upper detector 42 or the like. I have. A base 45 supporting the gripping claws 51 (FIG. 2)
6) is adjusted by a screw-shaped traverse shaft 46 and a motor 47 as appropriate in accordance with the length of the log 1 to be carried in and is on standby, and the log 1 is used to operate a pair of gripping cylinders 48. Accordingly, it is gripped by the pair of gripping claws 51. After the grip, the pedestal 39 is lowered to prepare for the next log.

On the other hand, during this time, each detecting body 59 (FIG. 27) of each displacement arm 61 is brought into contact with the outer peripheral surface of the log 1 and the gripping claw 51 is driven by the motor 52 (FIG. 26). Is rotated once. This rotation angle is detected by a rotary encoder 56 as a log rotation angle detector, and a detection object 59 from a line connecting the provisional axes of both end surfaces of the log 1.
The displacement amount of the linear encoder 62A is a displacement detector.
(FIG. 30), each is detected synchronously. Therefore, the electric signal of an arbitrary angle detected by the log rotation angle detector and the electric signal of the displacement amount detected by the displacement detector are synchronously taken out. Each is detected as a set.

Next, the operation system will be described with reference to the block diagram shown in FIG. The thirteen cross-sectional contour data obtained as described above is stored in the storage device 101 or 102. Then, the computing unit 100 firstly calculates the cross-sectional contour data of the three locations A and A near the both ends of the log 1 (the detection body 59 located one inward from the outermost end in the illustrated example) and the center B. Each maximum inscribed circle is determined. FIG. 32 conceptually shows an example of a method of obtaining the maximum inscribed circle. For example, based on the finite element method, a square matrix including the temporary axis O inside is considered. Find the shortest distance to and find one optimal point based on the longest one.
Furthermore, a square matrix smaller than the previous time is set around that point, and a more optimal point is found in the matrix, and the square matrix is sequentially reduced, and in a predetermined minimum square matrix, The maximum inscribed circle to be determined is a circle having a predetermined radius centered on the final point.

After obtaining the maximum inscribed circles of the three cross-sectional contours near both ends and the center of the log 1 in this way, based on the arrangement of the three maximum inscribed circles, the longitudinal direction of the log 1 Predict the direction of the largest possible straight cylinder at. That is,
As conceptually and exaggeratedly shown in FIG. 33, the temporary axis O of the log 1 is rough to some extent, so that it generally has an arbitrary twist angle with respect to the original axis. Although only a relatively small maximum straight cylinder can be assumed in the direction parallel to the temporary axis O, a considerably large maximum straight cylinder can be assumed in the α direction of FIG. This corresponds to the provisional axis O as shown in FIG.
Is considered as the Z-axis, the direction in which the degree of overlap of the three inscribed circles L, C, and R in the three cross-sections of left, center, and right becomes the largest α is determined based on each center position of the three circles. Conceptually, the coordinate system is transformed (rotated and translated) so that the direction α becomes the Z axis, and a new coordinate system X′− as shown in FIG.
Y'-Z '. For example, such a direction α
34, one straight line that minimizes the sum of the distances from the centers of the maximum inscribed circles L, C, and R in FIG. 34 can be used. Such a straight line is determined by, for example, the least square method.

As conceptually shown in FIG. 35, all the cross-sectional contours of the 13 cross-sections of the log 1 are projected onto a Y'-Z 'plane in a new coordinate system X'-Y'-Z'. Superimpose, find the largest straight cylinder M that enters inside these,
The center line is defined as the intended turning axis G. As a result, the respective intersections between the obtained center line and both end faces of the log 1 become the left axis center GL and the right axis center GR shown in FIG. These points are originally projection points on the XY plane in the XYZ coordinates before conversion, but for convenience of explanation, the points on the two-dimensional XY coordinates with the temporary axis O as the origin. Point GL (x1, y1), GR
(X2, y2).

The calculation of the maximum inscribed circle, the determination of the direction of the maximum straight cylinder, and the calculation of the maximum straight cylinder as described above are performed by the arithmetic unit 100 in FIG. The arithmetic unit 100 is a computer C
PU, etc., and the storage 10 described above.
1 and 102 can also use the memory device of the computer. Then, the obtained coordinate value of the turning axis is determined by the motor 8 of the elevating mechanism in the inclined beam 69 and the conveying claw 70.
3 and the motor 89 of the reciprocating mechanism.

29 is set at a standby position in advance by a feed shaft 74 and a motor 75 in accordance with the length of the log 1. Then, the cylinder 79 for the inclined beam is operated to move After the 70 is cut into the upper part of both ends of the log 1, the gripping claws 51 are detached from the center of both ends. At this time, compression occurs due to the addition of the weight of the log 1 above the biting portion of the transport claw 70, causing the log 1 to be displaced downward and displaced downward, and the calculated coordinate value of the turning axis also becomes the log 1
, A new deviation is generated.

Here, each of the above-mentioned detectors 59 continues to maintain the contact state with the log 1 at this stage. It moves downward, and the amount of Y
The direction displacement displacement UY in the direction can be calculated. That is, the detection body 59 is Y in the device 150 of the first embodiment.
It can be seen that it plays a role similar to that of the direction detector 164. Here, the displacement UY may be detected by using all of the plurality of detectors 59, or only some of them (for example, those corresponding to both ends of the log 1) may be detected. Is also good. On the other hand, as shown in FIG. 36, an X-direction detector 171, a cylinder 172, and an X-detector length measuring device 174 having the same configuration as the device 150 of the first embodiment.
Is provided at a position that does not interfere with other members such as the detection body 59, it is also possible to detect the displacement Ux in the X direction. As in the first embodiment, a plurality of X direction detectors 171 can be arranged at predetermined intervals in the longitudinal direction of the log 1.

When the detected values of the displacements UY and Ux by the plurality of detectors 59 to 171 are used, they are paired with, for example, the respective detection positions S in the longitudinal direction of the log 1, and the two-variable statistics (UY , S) and (Ux, S)
Linear regression by the least squares method,
Can be calculated based on the regression line.

The deviation in the X direction and the Y direction between the coordinate value of the turning axis obtained as described above and the temporary axis is obtained for each end face of the log 1 and the Y direction component and the X direction component are added to the above components. Y component U of displacement calculated on both end faces of the calculated log
The YE and X components UxE are added as new deviations. The deviation in the X direction is output separately to the motors 89 of the left and right reciprocating mechanisms, and the transport pawl 70 is advanced by the inclined feed shaft 86 along the guide 87, and the advance amount sequentially detected by the encoder 70A is calculated. Vessel 10
The value is returned to 0 to accurately control the correction amount. The deviation in the Y direction is separately output to the motors 83 of the left and right elevating mechanisms to lower the inclined beam 69 by the vertical feed shaft 82 along the guide 81, and calculate the amount of descent sequentially detected by the encoder 83A. The correction amount is returned to the detector 100 to accurately control the correction amount.

Further, the drive voltage value from the drive unit 83a of the motor 83 changes according to the weight of the log 1 and is transmitted to the arithmetic unit 100 as in the first embodiment. Arithmetic unit 100 stores FIG. 39 stored in storage 83b.
Referring to the turning holding shift amount conversion table similar to the above, the shift amount expected when the log 1 is mounted on the spindle chuck 68 of the veneer race (β in the y direction downward (where β
> 0)), and the motors 83 and 89 are driven so that the deviation is eliminated, and the position of the log 1 is additionally corrected.

Now, in FIG. 28, the lower right direction of the inclined feed shaft 86 and the lower direction of the vertical feed shaft 82 are defined as positive directions on the coordinates. When the standby origin of the transport claw 70 of each inclined beam 69 located on the left and right is set slightly before the start end (upper end) on the inclined feed shaft 86, that is, when the temporary axis and the turning axis are When each inclined beam 69 is waiting at a position taking into account the deviation prediction in the negative direction on the X coordinate,
With respect to the deviation in the X direction of the centered log 1 in the X direction, each transport claw 70 is separately adjusted in advance in the positive or negative direction by the deviation from its standby origin by driving the motor 89 in advance. After that, the transport claws 70 may be advanced along the feed shaft 86 by a fixed distance. Also, the transport claw 7
When the standby origin of 0 is set at the start end (upper end) position of the inclined feed shaft 86, the transport claws 70 are independently and independently advanced by a distance previously added or subtracted by a deviation from the fixed distance.

On the other hand, the position where the standby origin of the left and right inclined beams 69 is slightly lower than the upper end of the vertical feed shaft 82, that is, the deviation prediction in the negative direction on the Y coordinate between the temporary axis and the turning axis is taken into account. If the inclined beams 69 are on standby at the set positions, the inclined beams 69 are individually and independently corrected from the standby origin by the deviation from the standby origin with respect to the deviation in the Y direction of the both ends of the centered log 1. After raising and lowering in the direction or the negative direction by driving the motor 83 in advance, it may be lowered by a fixed distance. Also,
If the standby origin of each inclined beam 69 is the upper end position of the vertical feed shaft 82, each inclined beam 69 is individually and independently lowered by a distance that is previously added or subtracted by a deviation from the fixed distance.

Next, the correction of each deviation will be described more specifically with reference to the former method. Now, suppose that the temporary axis O is the origin (0, 0) on the coordinates, and the coordinate value of the right end of the log of the turning axis G in the state where the contribution of the deviation due to the displacement of the log 1 is added is (GRX, -GRY), and the coordinate value of the left end is (-GLX, G
LY). In this case, the right transport claw 70 retreats on the inclined feed shaft 86 by (GRX) from the standby origin, and the left transport claw 70 is inclined by (GLX) from the standby origin.
6, and then the right and left transport claws 70 advance a fixed distance. On the other hand, the right tilt beam 69 descends on the vertical feed shaft 82 by (GRY) from the standby origin, and the left tilt beam 69 rises on the vertical feed shaft 82 by (GLY) from the standby origin, and then moves right and left. Inclined beam 69 descends by a fixed distance. As a result, the obtained turning axis G of the raw wood 1 is positioned at a position shifted from the center of the spindle 68 of the veneer race by a displacement for eliminating a turning holding position shift expected after mounting on the spindle 68. Will be.

According to the latter method, on the basis of each coordinate value in the above example, (G
RX), and add the amount of (GLX) to the constant distance advance of the left transport claw 70 by the distance (GLX), and move the left and right transport claws 70 on each inclined feed shaft 86 by each calculated distance. Will move forward. On the other hand, an amount of (GRY) is added to the fixed distance lowering amount of the right inclined beam 69, and the left inclined beam 69 is added.
Is subtracted by the distance of (GLY) from the fixed distance descending amount of the left and right inclined beams 6 on each longitudinal feed shaft 86 by the calculated distance.
9 is lowered. As a result, the obtained turning axis G of the log 1 is moved from the center of the spindle 68 of the veneer race to
It is positioned at a position shifted by a displacement for eliminating a turning holding position shift expected after mounting on the spindle 68.

Therefore, if the coordinate value of the turning axis G is (0, 0), that is, the same as the temporary axis O when the contribution of the deviation due to the displacement is added, the right transport claw 70 and the left The deviation correction from the standby origin with respect to the transport claw 70 is 0, and the advance amount on each inclined feed shaft 86 is a fixed distance. Also, the deviation correction from each standby origin is 0 for the right inclined beam 69 and the left inclined beam 69, and the amount of descent on each vertical feed shaft 82 is a fixed distance.

[Brief description of the drawings]

FIG. 1 is an explanatory view schematically showing the movement of the entire apparatus according to a first embodiment of the present invention.

FIG. 2 is a plan view and a side view schematically showing a configuration example of an elevating mechanism of the receiving table.

FIG. 3 is a side view showing a main part of the apparatus shown in FIG. 1;

FIG. 4 is a front view of the grip unit.

5 is a side view of the grip unit when viewed from the opposite side to FIG. 3, and its AA and BB sectional views.

FIG. 6 is a front view showing an example of the arrangement of a Y-direction detector and a plan view showing an example of the arrangement of an X-direction detector.

FIG. 7 is a front view and a plan view showing a modification of FIG. 6;

FIG. 8 is a side view showing a positional relationship of each of the detection objects in a state of detecting a positional shift amount of a log.

FIG. 9 is a perspective view of a gripping claw and an explanatory diagram of its operation.

FIG. 10 is an explanatory view showing some modified examples of the gripping claws.

FIG. 11 is an explanatory view showing another modified example.

FIG. 12 is a block diagram illustrating a control system of the apparatus according to the first embodiment.

FIG. 13 is a flowchart showing the flow of the processing.

FIG. 14 is a flowchart following FIG. 13;

FIG. 15 is a flowchart showing details of the turning holding position shift correction processing of FIG. 14;

FIG. 16 is an explanatory view of an operation process of the apparatus of FIG. 1;

FIG. 17 is a process explanatory view following FIG. 16;

FIG. 18 is a process explanatory view following FIG. 17;

FIG. 19 is a process explanatory view following FIG. 18;

FIG. 20 is a process explanatory view following FIG. 19;

FIG. 21 is a process explanatory view following FIG. 20;

FIG. 22 is a schematic view showing a modification of the displacement amount detecting means.

FIG. 23 is an explanatory view schematically showing the entire movement of the second embodiment.

FIG. 24 is an explanatory diagram of a calculation method of a temporary axis.

FIG. 25 is a plan view showing details of the device in FIG. 23.

FIG. 26 is an enlarged front view of a portion E in FIG. 23;

FIG. 27 is an enlarged plan view of a portion F in FIG. 23;

FIG. 28 is an enlarged side view of a portion G in FIG. 23;

FIG. 29 is a side view of FIG. 28.

FIG. 30 is an enlarged side view of FIG. 27;

FIG. 31 is a block diagram illustrating a control system of the apparatus according to the second embodiment.

FIG. 32 is an explanatory view conceptually showing an example of calculation of a maximum inscribed circle.

FIG. 33 is an explanatory view conceptually showing the relationship between the temporary axis of the raw wood and the turning axis.

FIG. 34 is an explanatory diagram viewed from another angle in FIG. 32;

FIG. 35 is an explanatory view conceptually showing coordinates corresponding to FIG. 32;

FIG. 36 is a schematic side view of a case where an X-direction detector is provided.

FIG. 37 is a graph schematically showing a relationship between a log weight and a motor drive voltage, and a temporal change of the motor drive voltage.

FIG. 38 is an explanatory diagram showing a state in which a displacement occurs when a log is attached to a veneer race.

FIG. 39 is an explanatory view showing some examples of a turning holding position shift amount conversion table.

FIG. 40 is an explanatory view showing the operation of a conventional centering device and its problems.

[Description of Signs] 1 Log 39 Receiving stand (auxiliary holding means) 59 Detecting body (contour detecting means, displacement detecting means) 70 Gripping claw, transport claw (temporary rotation holding section) 150 Correction device 161 Air cylinder (secondary) 163 Length measuring device (Receiver side measuring device) 164 Y direction detector (Position displacement detecting means) 165 Air cylinder (Detector biasing means, first measuring member) 167 Y detector length measuring 169 Veneer race 169a Plane table 170 Veneer race spindle 171 X-direction detector (displacement detector) 172 Air cylinder (detector biasing unit) 174 X detector detector (displacement detector) Detecting means) 175 Grasping unit (log retaining means) 195 Traverser (log transporting means) 204 Y moving mechanism (position correcting mechanism) 205 X moving mechanism (position correcting mechanism) ) 250 Log feeder

Claims (20)

[Claims] 1. A log holding means for holding a log at both end surfaces in a state where the log is positioned at a predetermined position, and wherein said log is displaced from said predetermined position while being held by said log holding means. And a position correcting mechanism for driving the log holding means in a direction in which the positional shift is eliminated to correct the position of the raw wood. 2. A log holding means for holding a log at both end surfaces in a state where the log is positioned at a predetermined position, and wherein said log is displaced from said predetermined position while being held by said log holding means. And a position correction mechanism for driving the log holding means in a direction in which the detected positional shift is reduced to correct the position of the log. A device for correcting misalignment of a log. 3. The raw wood holding means is provided corresponding to both end faces of the raw wood, and includes gripping claws that bite into the raw wood at each end face to hold the raw wood. 3. The correction device according to 1 or 2. 4. The position shift amount detecting means detects the displacement of the raw wood from two or more different directions, and the position correcting mechanism causes the raw wood holding means to mutually detect The position of the log is corrected by driving in two or more different directions.
Or the correction device according to 3. 5. An auxiliary holding means for holding the log with the axis thereof positioned at a predetermined height, wherein the log held by the auxiliary holding means further holds the log which is positioned by the auxiliary holding means. The log is held by both the log holding means and the auxiliary holding means, and then the auxiliary holding means releases the holding state,
The log is shifted to a state where the log is held only by the log holding means. The correction device according to claim 3, wherein at least one of a shift and a shift in position of the log due to its own weight due to release of holding of the auxiliary holding unit is detected. 6. The raw wood held by the raw wood holding means is integrally transported together with the raw wood holding means from a holding position of the auxiliary holding means to a turning center in a veneer lace provided on the downstream side. The position correcting mechanism is provided integrally with the log holding means, and the log is provided on a transfer path from a holding position of the auxiliary holding means to a turning center in the veneer race. 6. The correction device according to claim 5, wherein the position of the log is corrected during movement. 7. The raw wood held by the raw wood holding means is integrally transported together with the raw wood holding means from a holding position of the auxiliary holding means to a turning center in a veneer lace provided on the downstream side. Wherein the position correcting mechanism is provided integrally with the log holding means, and after the position correcting mechanism corrects the position of the log, the log transporting means performs the auxiliary holding. The correction device according to claim 5, wherein transport of the log is started from a holding position of the means to a turning center in the veneer race. 8. A cross-sectional diameter detecting means for detecting a cross-sectional diameter of a raw wood pre-processed so that its axial cross-sectional shape is substantially a perfect circle, wherein said auxiliary holding means is adapted to detect the cross-sectional diameter of said log. The axial center of the raw wood determined based on the raw wood holds the raw wood at a height substantially coincident with the height of the turning center of the veneer race, and the cross-sectional diameter detecting means is also used as the displacement amount detecting means. Even after detecting the cross-sectional diameter of the log, the position of the log generated when the log holding means further holds the log positioned by the auxiliary holding means by continuously detecting the position of the log. The correction device according to any one of claims 5 to 7, wherein at least one of a shift and a shift in position of the log due to its own weight due to release of holding of the auxiliary holding unit is detected. 9. A first measuring member provided so as to be capable of approaching / separating from a side surface of the log held by the auxiliary holding means in a direction intersecting with an axis of the log, It is arranged on the opposite side of the first measuring member with respect to the axis of the log, and approaches the side of the log in a direction intersecting with the axis from the direction opposite to the first measuring member.
A second measuring member provided so as to be separable, on a movement path of the first measuring member, from a predetermined first reference position separated from a side surface of the raw wood until it comes into contact with a side surface of the raw wood. A moving distance of the first measuring member,
On the movement path of the second measurement member, based on a movement distance of the second measurement member from a predetermined second reference position separated from the side surface of the log to abut on the side surface of the log. 9. The correction device according to claim 8, wherein the correction device detects a cross-sectional diameter. 10. A temporary rotation holding section as said auxiliary holding means for rotatably holding the log at the temporary axis positions on both end surfaces thereof, around the temporary axis, and via the temporary rotation holding section, A log rotation mechanism for rotating the log around the temporary axis for detecting its contour, a contour detecting means provided corresponding to the outer periphery of the log, and detecting a cross-sectional contour according to the rotation of the log, Turning center calculating means for calculating the turning axis of the log based on the information of the obtained cross-sectional contour, and holding both ends of the log after the turning axis is obtained at positions not interfering with the temporary rotation holding section. Wherein the contour detection means is also used as the displacement amount detection means, and continuously detects the position of the log even after detecting the cross-sectional diameter of the log. By doing so, It is assumed that a position shift due to its own weight due to the release of the holding of the rolling holding unit is detected, and the position correcting mechanism mounts the wood on the turning center of the veneer race at the turning axis. To
The position of the log is corrected in a direction in which both the deviation between the temporary axis position and the obtained turning axis position and the position shift due to the own weight are eliminated. 7. The correction device according to 7. 11. The gripping claw is formed in a cylindrical shape, and a blade having an acute-angled cross section is formed along an outer edge of one end face thereof, and the blade is configured to cut into the log. Item 11. The correction device according to any one of Items 1 to 10. 12. The misalignment amount detecting means has a detecting body which comes into contact with an outer peripheral surface of the raw wood in a state where the raw wood is urged by the detecting body urging means, and the raw wood is displaced. 12. The method according to claim 2, wherein, in the case, the detection object moves following the log and the displacement of the log is detected by measuring a movement amount of the detection object. Correction device. 13. The position correcting mechanism includes: a position shift occurring in the log in a state where the log is held by the log holding means; and a state in which a turning axis is positioned at a turning center of a veneer lace, and the log is positioned at both end surfaces thereof. In the above, when the holding of the log is carried out by the turning holding portion of the veneer race, the log is held in a direction in which both the positional deviation from the turning center, which is likely to occur in the log (hereinafter referred to as the turning holding position deviation), are eliminated. 13. The correction device according to claim 1, wherein the means is driven to correct the position of the log. 14. A turning holding position shift amount estimating means for predicting an amount of the turning holding position shift in advance, wherein the position correcting mechanism includes a position shift amount detected by the position shift amount detecting means, and the turning holding position. 14. The correction apparatus according to claim 13, wherein the log holder is driven in a direction in which both the shift amount predicted by the shift amount prediction unit and the shift amount are reduced, and the position of the log is corrected. 15. A turning reflection position detecting means for detecting information reflecting the weight of the log (hereinafter referred to as weight reflecting information), wherein the turning holding position deviation amount predicting means includes at least the detected weight reflecting information. 15. The correction device according to claim 14, wherein the amount of the deviation of the turning holding position is predicted based on: 16. The weight reflecting information detecting means, when the driving means of the log holding means moves the log against the gravity for positioning the log, reflects the load of the driving means to the weight reflecting. 16. The correction device according to claim 15, wherein the correction device detects the information. 17. The gripping claw of a raw wood holding mechanism, which is provided corresponding to both end faces of a raw wood, and includes gripping claws each of which grips the raw wood by cutting into the raw wood at its end face, A gripping claw for a log holding mechanism, characterized in that the blade is formed in a cylindrical shape and has a blade portion having an acute angled cross section along one end face outer edge thereof, and the blade portion cuts into the log. 18. The gripping claw according to claim 17, wherein said gripping claw is formed in a cylindrical shape, and said annular blade portion having an acute angle cross section is formed along an outer edge of one end surface thereof. 19. The blade portion of the gripping claw has an outer surface formed as an upright surface substantially parallel to an axis of the gripping claw, and an inner surface inclined from the tip of the blade portion toward the axis. The gripping claw according to claim 18, wherein the gripping claw is formed. 20. The gripping claw according to claim 17, wherein a tip angle of the blade portion is adjusted in a range of 5 ° to 30 °.