NZ624648B - A timber-working device and method of operation - Google Patents
A timber-working device and method of operationInfo
- Publication number
- NZ624648B NZ624648B NZ624648A NZ62464814A NZ624648B NZ 624648 B NZ624648 B NZ 624648B NZ 624648 A NZ624648 A NZ 624648A NZ 62464814 A NZ62464814 A NZ 62464814A NZ 624648 B NZ624648 B NZ 624648B
- Authority
- NZ
- New Zealand
- Prior art keywords
- rotary
- feed axis
- drive
- wheel
- feed
- Prior art date
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- 238000005259 measurement Methods 0.000 abstract description 4
- 230000000295 complement Effects 0.000 abstract 1
- 239000012530 fluid Substances 0.000 description 8
- 239000000969 carrier Substances 0.000 description 7
- 238000003860 storage Methods 0.000 description 4
- 230000003287 optical Effects 0.000 description 3
- 229940084430 Four-Way Drugs 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 206010049979 Airway complication of anaesthesia Diseases 0.000 description 1
- 230000000903 blocking Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Abstract
Disclosed is a timber harvester head for processing multiple tree trunks together where the speed of opposing or complementary rotary feed wheels are varied according to a controller mode, to allow accurate length measurements of the stems to be carried out. The timber-working device includes a frame that includes a feed axis. A drive system is configured to feed at least one stem along the feed axis, the drive system including first and second drive arms pivotally attached to the frame on respective first and second sides of the feed axis. The first drive arm includes a first rotary drive having a first wheel, and a third rotary drive having a third wheel is mounted on the frame on the first side of the feed axis. The second drive arm includes a second rotary drive having a second wheel, and a fourth rotary drive having a fourth wheel is mounted on the frame on the second side of the feed axis. At least one processor is configured to control operation of the rotary drives, such that in a first mode the speed of the respective wheels of the rotary drives on the same side of the feed axis is substantially the same, and in a second mode the speed of the respective wheels of at least two rotary drives on opposing sides is substantially the same. A method of use and computer code is also disclosed. e that includes a feed axis. A drive system is configured to feed at least one stem along the feed axis, the drive system including first and second drive arms pivotally attached to the frame on respective first and second sides of the feed axis. The first drive arm includes a first rotary drive having a first wheel, and a third rotary drive having a third wheel is mounted on the frame on the first side of the feed axis. The second drive arm includes a second rotary drive having a second wheel, and a fourth rotary drive having a fourth wheel is mounted on the frame on the second side of the feed axis. At least one processor is configured to control operation of the rotary drives, such that in a first mode the speed of the respective wheels of the rotary drives on the same side of the feed axis is substantially the same, and in a second mode the speed of the respective wheels of at least two rotary drives on opposing sides is substantially the same. A method of use and computer code is also disclosed.
Description
James & Wells Ref: 702373/73 P22504 NZ Ma/VG
A TIMBER-WORKING DEVICE AND METHOD OF OPERATION
FIELD OF THE DISCLOSURE
The present invention relates to a timber-working device and method of operation.
BACKGROUND
It is well-known to mount timber-working devices, often referred to as forestry or harvester
heads, to a carrier vehicle in order to perform a number of operations in connection with timber
processing. These operations may include one, or a combination of, grappling and felling a
standing tree, delimbing a felled stem, debarking the stem, and cutting the stem into logs
(known as bucking) – commonly using at least one chainsaw.
More recently, some forestry heads have been configured for processing multiple stems at a
time; including the ability to feed stems through the head independently from each other by
operating feed wheels on respective sides of the head. However, in situations where it is
desirable to feed the stems together, independent operation can lead to misalignment of the
ends of the stems. This can impact on the accuracy of length measurements made during
simultaneous feeding of stems, resulting in less than optimal processing and therefore lost
value.
It is an object of the present invention to address the foregoing problems or at least to provide
the public with a useful choice.
All references, including any patents or patent applications cited in this specification are hereby
incorporated by reference. No admission is made that any reference constitutes prior art. The
discussion of the references states what their authors assert, and the applicants reserve the
right to challenge the accuracy and pertinency of the cited documents. It will be clearly
understood that, although a number of prior art publications are referred to herein, this
reference does not constitute an admission that any of these documents form part of the
common general knowledge in the art, in New Zealand or in any other country.
Throughout this specification, the word "comprise" or “include”, or variations thereof such as
"comprises", “includes”, "comprising" or “including” will be understood to imply the inclusion of a
stated element, integer or step, or group of elements integers or steps, but not the exclusion of
any other element, integer or step, or group of elements, integers or steps.
Further aspects and advantages of the present invention will become apparent from the
James & Wells Ref: 702373/73 P22504 NZ Ma/VG
ensuing description which is given by way of example only.
SUMMARY
According to an exemplary embodiment of the present invention there is provided a timber-
working device, including:
a frame, including a feed axis;
a drive system configured to feed at least one stem along the feed axis, including:
a first drive arm pivotally attached to the frame on a first side of the feed axis,
including a first rotary drive having a first wheel,
a second drive arm pivotally attached to the frame on a second side of the feed
axis, including a second rotary drive having a second wheel,
a third rotary drive mounted on the frame on the first side of the feed axis, and
having a third wheel, and
a fourth rotary drive mounted on the frame on the second side of the feed axis,
and having a fourth wheel, and
at least one processor configured to:
control operation of the rotary drives, such that
in a first mode the speed of the respective wheels of the rotary drives on
the same side of the feed axis is substantially the same, and
in a second mode the speed of the respective wheels of at least two
rotary drives on opposing sides is substantially the same.
According to an exemplary embodiment of the present invention there is provided a method for
controlling operation of a timber working device having a frame including a feed axis, a drive
system including a first drive arm pivotally attached to the frame on a first side of the feed axis,
including a first rotary drive having a first wheel, a second drive arm pivotally attached to the
frame on a second side of the feed axis, including a second rotary drive having a second wheel,
a third rotary drive mounted on the frame on the first side of the feed axis, and having a third
wheel, and a fourth rotary drive mounted on the frame on the second side of the feed axis, and
having a fourth wheel, the method including the steps of:
receiving a signal indicating selection of a first mode or second mode for operation of
the rotary drives; and
James & Wells Ref: 702373/73 P22504 NZ Ma/VG
if the first mode is selected, controlling the rotary drives such that the speed of the
respective wheels of the rotary drives on the same side of the feed axis is substantially the
same; or
if the second mode is selected, controlling the rotary drives such that the speed of the
respective wheels of at least two rotary drives on opposing sides is substantially the same.
According to an exemplary embodiment of the present invention there is provided an article of
manufacture having computer storage medium storing computer readable program code
executable by a computer to implement a method for controlling operation of a timber working
device having a frame including a feed axis, a drive system including a first drive arm pivotally
attached to the frame on a first side of the feed axis, including a first rotary drive having a first
wheel, a second drive arm pivotally attached to the frame on a second side of the feed axis,
including a second rotary drive having a second wheel, a third rotary drive mounted on the
frame on the first side of the feed axis, and having a third wheel, and a fourth rotary drive
mounted on the frame on the second side of the feed axis, and having a fourth wheel, the code
including:
computer readable program code receiving a signal indicating selection of a first mode
or second mode for operation of the rotary drives;
computer readable program code controlling, if the first mode is selected, the rotary
drives such that the speed of the respective wheels of the rotary drives on the same side of the
feed axis is substantially the same; and
computer readable program code controlling, if the second mode is selected, the rotary
drives such that the speed of the respective wheels of at least two rotary drives on opposing
sides is substantially the same.
The timber-working device may be a forestry or harvester head, and may be referred to as such
throughout the specification. Forestry heads typically have the capacity to grapple and fell a
standing tree, delimb and/or debark a felled stem, and cut the stem into logs. However, a
person skilled in the art should appreciate that the present invention may be used with other
timber-working devices, and that reference to the timber-working device being a forestry head
is not intended to be limiting.
The rotary drive may be any suitable actuator for producing rotary motion as known to a person
skilled in the art. In embodiments, the rotary drives may be fluid driven – such as hydraulic
motors.
In an embodiment, the device includes a hydraulic system, including:
a first hydraulic circuit connecting the first and third rotary drives in series;
James & Wells Ref: 702373/73 P22504 NZ Ma/VG
a second hydraulic circuit connecting the second and fourth rotary drives in series; and
a first controllable valve connected between the first and second hydraulic circuits.
Reference to a controllable valve may be any suitable device known to a person skilled in the
art for selectively enabling fluid communication through at least one passage. For example, the
controllable valve may be at least one logic valve, or a solenoid valve.
The first and third rotary drives may be connected to a first feed valve, for example a four way
valve, configured to selectively connect the drives to a source of fluid pressure and a reservoir.
Similarly, the second and fourth rotary drives may be connected to a second feed valve.
It should be appreciated that one or more of the first feed valve, second feed valve, or
controllable valve may be combined in a valve bank. Similarly, additional valves may be
provided in order to achieve the various arrangements desired.
Together, the feed valves and controllable valve may be controlled to:
connect the first and third rotary drives in series to enable feeding of a stem held by
their respective wheels along the feed axis in forward or reverse;
connect the second and fourth rotary drives in series to enable feeding of a stem held by
their respective wheels along the feed axis in forward or reverse;
connect the first and fourth rotary drives in series when feeding multiple stems
simultaneously; and
connect the second and third rotary drives in series when feeding multiple stems
simultaneously.
By driving the first and fourth, and/or second and third rotary drives together during feeding of
multiple stems, particularly two side by side, the stems are more likely to be driven at the same
speed and therefore maintain alignment. This may assist in accounting for variation between
the stems in terms of diameter, straightness or bark covering – which might otherwise cause
disparate operation of the rotary drives due to loss of traction of one wheel in comparison with
the other.
The timber-working device may include a distance measuring device. For example, the
distance measuring device may be a measuring wheel as known in the art. The measuring
wheel may be brought into contact with a stem, and an encoder used to determine its
revolutions and therefore length of stem driven relative to the measuring wheel.
Where multiple stems are being driven in the same direction at the same time, the output from
the measuring wheel may be used to infer length of both stems. Using the second mode of
James & Wells Ref: 702373/73 P22504 NZ Ma/VG
rotary drive control may assist in maintaining alignment of the stems and therefore accuracy of
the measurement.
In an embodiment, controlling the rotary drives may include:
receiving a signal indicative of the speed of each wheel;
comparing the speeds of the respective rotary drives to determine speed differential;
and if the speed differential is above a predetermined threshold, controlling operation of
one or more of the rotary drives such that the speed differential is reduced.
Reference to an indication of speed should be understood to mean any measurement by which
speed may be determined, inferred, or calculated. In an exemplary embodiment, the indication
of speed may be rotation of a rotary drive, and therefore its associated wheel, over time. Given
known geometry of components of the device, particularly the diameter of the wheels, the linear
speed of the wheels may then be determined. For example, linear speed of a wheel may be
determined as follows: Speed = Wheel Circumference * Revolutions per Minute.
Determination of rotation of the rotary drive may be achieved using any suitable means known
to a person skilled in the art. For example, a rotary encoder may be provided for each rotary
drive. The encoder may operate, for example, using mechanical, optical, magnetic, or
capacitive principles to determine rotation of the portion of the drive to which the wheel is
mounted and output a signal indicative of rotation. It should be appreciated that reference to
rotation of the rotary drive may include partial rotation of the wheel, and/or number of complete
revolutions.
In embodiments in which speed differential is used to control operation of the rotary drives, It
should be appreciated that the rotary drives need not be fluid driven, but may operate using
another power source – for example an electric rotary drive.
The various illustrative logical blocks, modules, circuits, and algorithm steps described in
connection with the embodiments disclosed herein may be implemented as electronic
hardware, computer software, or combinations of both. In particular, they may be implemented
or performed with a general purpose processor such as a microprocessor, or any other suitable
means known in the art designed to perform the functions described.
The steps of a method or algorithm and functions described in connection with the
embodiments disclosed herein may be embodied directly in hardware, in a software module
executed by a processor, or in a combination of the two. If implemented in software, the
functions may be stored as processor readable instructions or code on a tangible,
non-transitory processor-readable medium – for example Random Access Memory (RAM),
James & Wells Ref: 702373/73 P22504 NZ Ma/VG
flash memory, Read Only Memory (ROM), hard disks, a removable disk such as a CD ROM, or
any other suitable storage medium known to a person skilled in the art. A storage medium may
be connected to the processor such that the processor can read information from, and write
information to, the storage medium.
BRIEF DESCRIPTION OF DRAWINGS
Further aspects of the present invention will become apparent from the following description
which is given by way of example only and with reference to the accompanying drawings in
which:
is a side view of an exemplary timber-working system including, for example, a
forestry head according to one aspect of the present invention;
is an elevated view of the forestry head;
is a diagrammatic view of an exemplary control system for the timber-working
system;
is a diagrammatic view of an exemplary hydraulic circuit for use in the timber-
working system in a first mode of operation;
is a diagrammatic view of an exemplary hydraulic circuit for use in the timber-
working system in a second mode of operation;
is a flowchart illustrating an exemplary method for operating the forestry head
according to one aspect of the present invention;
is a diagrammatic view of an exemplary hydraulic circuit for use in the timber-
working system in a first mode of operation, and
is a diagrammatic view of an exemplary hydraulic circuit for use in the timber-
working system in a second mode of operation.
DETAILED DESCRIPTION
illustrates a timber-working system including a carrier 1 for use in forest harvesting. The
carrier 1 includes an operator cab 2 from which an operator (not shown) controls the carrier 1.
The carrier 1 further includes a boom assembly 3, to which a timber-working device in the form
of a forestry head 4 is connected.
James & Wells Ref: 702373/73 P22504 NZ Ma/VG
Connection of the head 4 to the arm 3 includes a rotator 5, configured to rotate the head 4
about the generally vertical axis of rotation marked by dashed line 6. A tilt bracket 7 further
allows rotation of the head 4 between a prone position (as illustrated) and a standing position.
Referring to the head 4 includes a frame 8 to which the tilt bracket 7 of is
pivotally attached. Right hand (RH) and left hand (LH) delimb arms 9a and 9b are pivotally
attached to the frame 8, as are opposing RH and LH feed arms 10a and 10b. RH and LH feed
wheels 11a and 11b are attached to RH and LH feed arms 10a and 10b respectively via
associated rotary drives (not illustrated in . RH and LH frame-mounted feed wheels 12a
and 12b are driven by RH and LH frame mounted drives 13a and 13b, which together with feed
wheels 11a and 11b may be controlled to feed one or more stems (not illustrated) along feed
axis 14 of the head 4. Feed wheels 11a, 11b, 12a and 12b and their associated rotary drives
may collectively be referred to as the ‘feed system.’ A measuring wheel 15 may be lowered to
come in contact with a passing stem in order to measure length.
A main chainsaw 16, and a topping chainsaw 17, are attached to the frame 8. The main saw
16 is typically used to fell a tree when the head 4 is in a harvesting position, and to buck stems
into logs in the processing position of the head 4 (as seen in . The topping saw 17 may
be used to cut off a small-diameter top portion of the stem(s) to maximize the value recovery of
the trees.
RH and LH optical sensors 18a and 18b are attached to the frame 8 on either side of the feed
axis 14. These sensors 18a and 18b may be used to detect the respective ends of stems held
by the head 4.
The various operations of the head 4 may be controlled by the operator using hand and foot
controls as known in the art. Further, certain automated functions of the harvester head 4 may
be controlled by an electronic control system 30 as shown by Description of the
electronic control system 30 may include reference to features of and/or
The control system 30 includes one or more electronic controllers, each controller including a
processor and memory having stored therein instructions which, when executed by the
processor, causes the processor to perform the various operations of the controller.
For example, the control system 30 includes a first controller 31 on board the carrier 1 and a
second controller 32 on board the head 4. The controllers 31, 32 are connected to one another
via a communications bus 33 (e.g., a CAN bus).
A human operator operates an operator input device 34, for example hand and foot controls,
located at the operator’s cab 2 of the carrier 1 to control the head 4. Details of operation are
output to an output device 35 – for example a monitor. Certain automated functions may be
controlled by first controller 31 and/or second controller 32.
James & Wells Ref: 702373/73 P22504 NZ Ma/VG
The RH and LH optical sensors 18a and 18b are electronically coupled to the second controller
32, and configured to output respective signals indicative of the end of a stem being present
within the respective sensing regions associated with the sensors 18a and 18b.
The head 4 has a number of valves 36 arranged, for example, in a valve block and coupled
electrically to the second controller 32 so as to be under its control. The valves 36 include, for
example, drive valves configured to control operation of the hydraulic motors 37a and 37b
associated with the RH and LH feed wheels 11a and 11b, and the RH and LH frame mounted
drives 13a and 13b associated with RH and LH frame-mounted feed wheels 12a and 12b.
The valves 36 further include drive valves for controlling operation of the saws 16 and 17.
Rotary encoders 38a, 38b, 38c and 38d may be associated with rotary drives 37a, 37b, 13a,
and 13b respectively, and electronically coupled to the second controller 32. It should be
appreciated that, in embodiments, encoders may not be provided for each rotary drive – i.e.
only one drive on each side may be provided with an encoder.
Each rotary encoder 38a, 38b, 38c and 38d is configured to output a signal indicative of rotation
of the drives 37a, 37b, 13a, and 13b and thus feed wheels 11a, 11b, 12a and 12b. For known
wheel diameters, the length of a stem driven by the wheels may be determined by multiplying
the rotation value by the wheel circumference. It should be appreciated that the value of the
rotations in a reverse direction may be subtracted from rotations in a forward direction to
determine the length ultimately traversed.
A measuring wheel encoder 39 is electrically coupled to the second controller 32, and
configured to output a measuring signal indicating the length of the stem(s) that has passed the
measuring wheel 15 when lowered.
and illustrate an exemplary hydraulic system 400 of the head 4. First and
second feed valves 401 and 402 are controllable to connect first and second hydraulic circuits
403 and 404 to a hydraulic fluid power source and reservoir (not illustrated).
In the first hydraulic circuit 403, the drives 37a and 13b are connected in series, while in the
second hydraulic circuit 404 the drives 37b and 13a are connected in series.
The two circuits 403 and 404 are interconnected by controllable valve 405 at points between
drives 37a and 13b, and drives 37b and 13a, respectively.
The control system 30 is configured to implement method 500 of which will be described
with reference to FIGs. 1 through 4B.
In step 501, a human operator operates the operator input device 34 to grasp a first stem and a
second stem (stems not illustrated) with the delimb arms 9a and 9b, and feed arms 10a and
James & Wells Ref: 702373/73 P22504 NZ Ma/VG
10b such that the stems are positioned between the arm-mounted feed wheels 11a and 11b,
and frame-mounted feed wheels 12a and 12b. The first stem is positioned to the RH side of
the feed axis 14, while the second stem is positioned to the LH side of the feed axis 14.
In step 502, the first controller 31 receives from operator input device 34 a signal indicative of a
selection of mode of operation for the head 4. For example, a first mode of operation may be
to feed only one of the stems in forward or reverse, while in a second mode of operation both of
the stems may be fed simultaneously in the same direction – whether forward or reverse.
In response to that signal, the first controller 31 broadcasts an appropriate request on bus 33,
which is received by the second controller 32. The second controller 32 actions the request,
controlling the various functions of the head as required.
If the first mode is selected, in step 503, the rotary drives on the desired side of the head 4 are
activated. For example, where the LH drives 13b and 37b are to be driven, as illustrated by
:
second feed valve 402 is closed, effectively blocking fluid flow into RH drives 13a and
37a from the other side;
controllable valve 405 opened, to create a fluid pathway between LH drives 13b and
37b;
first feed valve 401 controlled to deliver hydraulic flow in the desired direction to power
the LH drives 13b and 37b in series – thereby achieving substantially the same speed.
If the second mode is selected, in step 504, the desired combination of rotary drives on
opposing sides of the head 4 are activated. For example, as illustrated by :
controllable valve 405 is closed, isolating the first and second hydraulic circuits 403 and
404;
first and second feed valves 401 and 402 are controlled to connect to the hydraulic
power source and reservoir as required to deliver hydraulic flow in the desired direction
to power the drives 13a and 37b, and 13b and 37a in series – thereby achieving
substantially the same speed in each set of drives.
and illustrate another exemplary hydraulic circuit 600. First and second feed
valves 601 and 602 are controllable to connect first and second hydraulic circuits 603 and 604
to a hydraulic fluid power source and reservoir (not illustrated).
In the first hydraulic circuit 603, the drives 37a and 13b are connected in series, while in the
second hydraulic circuit 604 the drives 37b and 13a are connected in series.
James & Wells Ref: 702373/73 P22504 NZ Ma/VG
The two circuits 603 and 604 are interconnected by controllable four way valve 605 at points
between drives 37a and 13b, and drives 37b and 13a, respectively.
Referring to , if the first mode is selected – for example where the LH drives 13b and
37b are to be driven in one direction, and the RH drives 13a and 37a are to be driven in the
opposite direction:
valve 605 is controlled to connect the ports between RH drives 13a and 37a, and the
ports between LH drives 13b and 37b;
first and second feed valves 601 and 602 are controlled to deliver hydraulic flow in the
desired directions to power the RH drives 13a and 37a in series, and the LH drives 13b
and 37b in series – thereby achieving substantially the same speed in the motors on the
respective sides.
Referring to , if the second mode is selected – for example where the drives 13a and
37b are to be driven together, and drives 13b and 37a are to be driven together in the same
direction:
valve 605 is controlled to connect the ports between drives 13a and 37b, and the ports
between drives 13b and 37a;
first and second feed valves 601 and 602 are controlled to connect to the hydraulic
power source and reservoir as required to deliver hydraulic flow in the desired direction
to power the drives 13a and 37b, and 13b and 37a in series – thereby achieving
substantially the same speed in each set of drives.
Aspects of the present invention have been described by way of example only and it should be
appreciated that modifications and additions may be made thereto without departing from the
scope thereof as defined in the appended claims.
James & Wells Ref: 702373/73 P22504 NZ Ma/VG
Claims (4)
1. A timber-working device, including: a frame, including a feed axis; a drive system configured to feed at least one stem along the feed axis, including: a first drive arm pivotally attached to the frame on a first side of the feed axis, including a first rotary drive having a first wheel, a second drive arm pivotally attached to the frame on a second side of the feed axis, including a second rotary drive having a second wheel, a third rotary drive mounted on the frame on the first side of the feed axis, and having a third wheel, and a fourth rotary drive mounted on the frame on the second side of the feed axis, and having a fourth wheel, and at least one processor configured to: control operation of the rotary drives, such that in a first mode the speed of the respective wheels of the rotary drives on the same side of the feed axis is substantially the same, and in a second mode the speed of the respective wheels of at least two rotary drives on opposing sides is substantially the same.
2. A timber-working device as claimed in claim 1, wherein the device includes a hydraulic system, including: a first hydraulic circuit connecting the first and third rotary drives in series; a second hydraulic circuit connecting the second and fourth rotary drives in series; and at least one controllable valve connected between the first and second hydraulic circuits.
3. A timber-working device as claimed in claim 2, wherein the processor is configured to: in the first mode, control the at least one valve to connect the first and third rotary drives in series to enable feeding of a stem held by their respective wheels along the feed axis.
4. A timber-working device as claimed in either one of claim 2 or claim 3, wherein the processor is configured to: James & Wells Ref:
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NZ624648A NZ624648B (en) | 2014-05-07 | A timber-working device and method of operation | |
CA2889184A CA2889184C (en) | 2014-05-07 | 2015-04-23 | A timber-working device and method of operation |
EP15165179.1A EP2944189A1 (en) | 2014-05-07 | 2015-04-27 | A timber-working device and method of operation |
RU2015116276A RU2015116276A (en) | 2014-05-07 | 2015-04-28 | Forest processing device and method of its operation |
US14/704,807 US10485189B2 (en) | 2014-05-07 | 2015-05-05 | Timber-working device and method of operation |
BR102015010282-8A BR102015010282A2 (en) | 2014-05-07 | 2015-05-06 | WOOD WORKING DEVICE, METHOD FOR CONTROLING THE OPERATION OF A WOODWORKING DEVICE, AND MANUFACTURING ARTICLE |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NZ624648A NZ624648B (en) | 2014-05-07 | A timber-working device and method of operation |
Publications (2)
Publication Number | Publication Date |
---|---|
NZ624648A NZ624648A (en) | 2015-11-27 |
NZ624648B true NZ624648B (en) | 2016-03-01 |
Family
ID=
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