JP4777664B2 - Wood conveyor roller conveyor, wood processing machine and wood pre-cut processing equipment - Google Patents

Description

  The present invention relates to a technique for increasing the centripetal accuracy when timber is clamped with a centripetal vice in processing wood.

  Conventionally, when clamping a workpiece in a pre-cut processing machine, it is well known to clamp by a centripetal vise so that the center position of the width is always constant regardless of the width of the workpiece (for example, Patent Documents). 1).

In many cases, the workpiece before being clamped by such a centripetal vise is inclined with respect to the transfer line. Then, by the operation of the centripetal vice, the workpiece is clamped so that the center of its width coincides with the center of the width of the centripetal vice.
JP-A-61-92801

  However, the conventional cross-cut processing machine is configured to clamp the vicinity of the tip of the workpiece fed from the carry-in line with only one centripetal vice and cut the tip, so if the workpiece is long Even if the vice side is almost moved to the centripetal position, the opposite side is not moved away and is clamped in an oblique state, and a complete centripetal state may not be obtained.

  Even in the case of intermediate processing machines (upper and lower surface processing machines, side surface processing machines) equipped with multiple centripetal devices on the processing machine, when processing the tip of the workpiece with the processing unit on the most upstream side, When processing near the rear end portion of the workpiece with the downstream processing unit, the clamp state in which the centripetal force is not fully achieved as described above may occur.

  In addition, the cleaver machine has a structure in which the vicinity of the culf part to be processed is clamped by a single centripetal vise, so that a centripetal clamp may not be achieved.

  In this way, if the workpiece is clamped in a state where it cannot be centripeted as a whole, the workpiece cannot be cut at a right angle to the longitudinal direction of the workpiece, or the processing position of the joint, etc., is not at the center of the workpiece width. There is a problem of inaccuracy due to deviation.

  As countermeasures, add a centripetal vice upstream of the cross-cut machine, add one centripetal vise at each end of the intermediate machine, or lengthen the centripetal vice of the end machine in the longitudinal direction of the workpiece. A method of adopting a configuration of changing to one having a strengthened jaw can be considered. However, these measures cannot be said to be a good solution because they increase the size and cost of the processing machine.

  Accordingly, an object of the present invention is to increase the accuracy of clamping by a centripetal vice without causing an increase in size and cost of a processing machine.

The present invention made to achieve the above object is a wood conveyor roller conveyor for loading or unloading wood to a wood processing machine, when the wood on the conveyor is moved in the centripetal direction, A centripetal assist device for assisting movement in the centripetal direction is provided in the middle of the transport path that is a predetermined distance away from the end on the wood processing machine side , and the centripetal assist device is disposed in the width direction of the transport path. A wheel-type centripetal assist comprising a free wheel provided so as to be able to move, and a vertical movement means for moving the free wheel between a position recessed from the roller upper surface of the roller conveyor and a position protruding therefrom It is characterized by comprising an apparatus .

  According to the roller conveyor for conveying wood according to the present invention, the centering vise of the processing machine is operated to move the wood in the centripetal direction, so that the centripetal assisting device is operated so that the centripetal can be obtained even for long wood. It is possible to prevent the end portion on the side away from the vice from being clamped while being inclined without moving in the centripetal direction.

  Here, when the centripetal assisting device is not operated during the centripetal operation, the wood must move in the centripetal direction against sliding frictional resistance with the conveyor roller. For this reason, if the timber is long, the centripetal force by the centripetal vice may not allow the moving force in the centripetal direction to act on the end of the timber and may be clamped obliquely. On the other hand, according to the roller conveyer for wood conveyance provided with the wheel type centripetal assist device, when the centripetal clamp of the timber by the centripetal vice, the freewheel is raised in the protruding direction, so that the timber is removed from the roller of the roller conveyor. Float or at least reduce the pressure of the wood against the roller. As a result, the end of the wood only needs to move against rolling frictional resistance, and can easily move in the centripetal direction. After completing this centripeting assisting operation, the freewheel is returned to a position where it is submerged from the upper surface of the roller of the conveyor and waits. This does not interfere with the transport of wood.

  Further, a wood processing machine of the present invention made to achieve the above object is a wood processing machine provided with a centripetal vice, and any one of the above-described wood conveyor roller conveyors upstream and / or downstream of the processing machine. And a centripetal assisting operation control means for executing a centripetal assisting operation by the centripetal assisting device provided in the wood conveying roller conveyor when the centripetal clamp is performed by the centripetal vise.

  This wood processing machine according to the present invention not only includes a wood conveying conveyor having a centripetal assist function as described above, but also includes a centripetal assist operation control means, thereby performing centripetal clamping by a centripetal vice. By executing the centripetal assisting operation by the centripetal assisting device provided in the roller conveyor for conveying the wood, the centripetal assisting operation is executed synchronously with the centripetal clamping operation of the centripetal vice, thereby realizing a precise centripetal clamp. it can.

In particular, in the above-described wood processing machine of the present invention, the wood processing machine further includes an upper clamp device that performs an upper clamp operation for pressing the wood clamped by the centripetal vice against a roller surface of the roller conveyor, and the centripetal assist operation control means includes: After the clamping operation by the centripetal vise is completed, before the clamping operation by the upper clamping device is completed, the control device is configured to terminate the centripeting assisting operation by the centripeting assisting device and execute the returning operation to the standby position. Good. The provision of such a configuration is provided when a device that performs a lifting operation is provided, such as a wheel-type centripetal assist device employed by the device of the present invention as a centripetal assist device or a V-shaped plate-type centripetal assist device described later in the embodiment. Is particularly effective.

According to this wood processing machine, not only centripetal clamping of timber with a centripetal vise, but also pressing the timber against the roller surface from above with the upper clamp device, firmly fix the timber to be processed such as crosscutting can do. Then, when performing the pressing operation by the upper clamp device, the centripetal assist operation control means controls the centripetal assist device to finish the centripetal assist operation and execute the return operation to the standby position. As a result, the upper clamp is not performed in a state where the wood is pushed up by the centripetal assisting device. Wood is not just as straight as steel. For this reason, when firmly clamping with the centripetal vise and the upper clamping device, it is sometimes better to respect the natural bending of the wood. Therefore, the scissors-type centripetal assisting device, which will be described later as an embodiment , is meaningful to include the centripetal assisting operation control means as described above.

  Note that the above-described configuration of the wood processing machine of the present invention is particularly preferably adopted as a processing unit including at least a cross-cut processing unit. In this case, the wood conveyor roller conveyor is at least included in the processing machine. It may be provided as a wood loading conveyor for loading wood.

  According to the wood processing machine provided with this crosscut processing unit, the centering accuracy at the time of clamping by the centripetal vice by operating the centripetal assisting device of the wood loading conveyor during the first crosscut processing of the wood processing And the right angle of the tip of the wood can be accurately obtained. As a result, the accuracy of control such as positioning in the subsequent processing is improved, and highly accurate processing can be executed.

  In addition, the above-described configuration of the wood processing machine of the present invention is particularly preferably adopted as a processing unit provided with a processing unit that performs processing on at least the mouth or the vicinity of the mouth. In this case, the wood transport roller The conveyor may be provided as at least a wood carrying conveyor for carrying wood from the processing machine.

  According to the wood processing machine provided with the processing unit for processing the mouth end or the vicinity of the end, particularly when processing the rear end portion of the wood, the rear end side of the wood is centripeted by the centripetal vise near the processing unit. When clamping, an accurate centripetal operation can be performed by the centripetal assisting device provided in the wood carrying conveyor. As a result, the accuracy in processing at the end of the timber or near the end is improved.

  Further, the wood precut processing equipment completed according to the present invention includes a crosscut processing unit for adjusting the length of wood, an intermediate processing unit for performing joint processing on the upper and lower surfaces and / or the left and right surfaces of the middle portion of the wood, And a plurality of processing machines each including at least one processing unit and a centripetal vise installed in the vicinity of the processing unit. Any of the above-described roller conveyors for conveying wood at each position upstream of the processing machine located upstream, between each processing machine, and downstream of the processing machine located downstream. It is characterized by being installed for wood input and for wood export.

  According to the wood pre-cut processing equipment of the present invention, the accuracy of the centripetal clamp at the time of the first processing (usually cross-cut) by the centripetal assisting device equipped on the input conveyor when the wood is input to the first processing machine. Can be improved. And since the conveyor equipped with the centripetal assist device is also arranged between the processing machines, when performing side processing, top processing, or kerf processing on the tip of the wood, the upstream side of the processing machine The centripetal assist device of the conveyor can assist the centripetal movement during the centripetal clamp. Similarly, when performing side surface processing, top surface processing, or butt end processing on the rear end portion of the wood, the centripeting assist device of the conveyor on the downstream side of the processing machine can assist the centripetal movement during the centripetal clamp. This improves the accuracy of a series of precuts for wood, and improves the accuracy of the position of the middle notch, bolt holes, etc. as well as the right angle accuracy of the mouth end surface, and provides excellent precut materials it can.

  According to the present invention, accurate crosscut processing can be performed without taking measures such as installing a large number of centripetal vise upstream of the crosscut processing machine. Of course, not only in cross-cut processing, but in various processing machines such as top surface processing, side surface processing, and end processing of wood, there is no centripetal force when clamping the end of wood with a centripetal vice without adding a centripetal vise. It becomes high and processing accuracy can be improved.

  In particular, the present invention can improve the accuracy of clamping by centripetal vise in the processing of long wood.

  Further, according to the present invention, the centering accuracy can be increased at the time of clamping with a simple device, and the wood conveying conveyor to be originally provided for loading wood into the processing machine or for unloading wood from the processing machine. Since the above-described effects can be achieved by the improvement, the cost is not increased.

  Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. The first embodiment relates to a precut processing machine. As shown in FIG. 1, this precut processing machine 1 is made of wood having a crosscut processing unit 2, an upper and lower corner only processing unit 3, an upper and lower inter-column post processing unit 4, and centripetal vice 5, 5,. It is an upper and lower surface processing machine. An input conveyor 6 is installed on the upstream input side of the precut processing machine 1, and an extraction conveyor 7 is installed on the downstream extraction side. Each of the conveyors 6 and 7 is a roller conveyor in which rollers 6b and 7b are arranged at predetermined intervals between the frames 6a and 7a. The roller conveyors 6 and 7 are provided with a centripetal assisting device 10.

  The centripetal assisting device 10 is a wheel conveyor type centripetal assisting device that is provided at appropriate positions (the appropriate position in the length direction of the workpiece) of the input conveyor 6 and the takeout conveyor 7. As shown in FIGS. 2 and 3, the wheel conveyor type centripetal assisting device 10 is attached to the frames 6 a and 7 a of the input conveyor 6 and the take-out conveyor 7 by the following configuration.

  The base 11 is attached so as to span between the frames 6a-6a and 7a-7a. An air cylinder 12 is erected on the table 11. A wheel conveyor frame 13 is attached to the rod of the air cylinder 12. And the wheel 14 is attached to this wheel conveyor frame 13 so that it can rotate freely in the width direction of the workpiece W.

  Next, the operation of the centripetal assisting device 10 will be described.

  The rod of the air cylinder 12 is normally retracted, and the upper surface of the wheel conveyor 14 is located at a position lower than the upper surface of the roller 6b (7b) so as not to hinder the transfer of the workpiece (state of FIG. 2). ).

  Simultaneously with the clamping operation of the centripetal vise 5 of the processing machine 1, the rod of the air cylinder 12 is moved in the protruding direction, and the upper surface of the wheel 14 rises above the upper surface of the roller 6b (7b) (the state shown in FIG. 3). Then, the workpiece W is slightly lifted from the roller 6b (7b) by the wheel 14. Since the lower surface of the workpiece W is supported by the wheel 14, the workpiece W can be easily moved in the width direction, and can be moved in the centripetal direction (shift in the material width direction) by the operation of the centripetal vice 5.

  Thereafter, the clamp of the centripetal vice 5 is kept, and when the upper clamp device (not shown) is lowered to start the upper clamp, the rod of the air cylinder 12 is retracted at the same time. As a result, the wheel 14 returns to the original position (the state shown in FIG. 2), and the workpiece W slightly lifted returns to the roller 6b (7b) by the upper clamping force and its own weight.

  After completing the centripetal clamp by the centripetal vise 5 and the upper clamp by the upper clamp device, the processing machine 1 enters the processing step, drives the cross-cut processing unit 2, and executes the cutting of the tip of the workpiece W. .

  Next, a second embodiment will be described with reference to FIGS. The basic configuration of the second embodiment is the same as that of the first embodiment except that it is equipped with a V-shaped plate type centripetal assisting device 20 instead of the wheel conveyor type centripetal assisting device 10. is there.

  The V-shaped plate type centripetal assisting device 20 includes a base 21 attached so as to span between the frames 6 a-6 a and 7 a-7 a of the input conveyor 6 and the take-out conveyor 7, and an air cylinder erected on the base 21. 22 and a V-shaped plate 23 attached to the rod of the air cylinder 22.

  Next, the operation of the centripetal assisting device 20 will be described.

  As in the first embodiment, the rod of the air cylinder 22 is normally retracted, and the upper end of the V-shaped plate 23 is at a position lower than the upper surface of the roller 6b (7b). (The state of FIG. 4).

  Simultaneously with the clamping operation of the centripetal vise 5 of the processing machine 1, the rod of the air cylinder 22 is moved in the protruding direction (the state of FIG. 5), and the slope of the V-shaped plate 23 comes into contact with the lower corner of one of the workpieces W. The workpiece W is pushed up.

  When the workpiece W is pushed up by the inclined surface of the V-shaped plate 23, the workpiece W is moved toward the opposite inclined surface and moved to the centripetal position. Thereafter, the upper clamp by the upper clamp device (not shown) is started while the clamp of the centripetal vise 5 is maintained, and at the same time, the rod of the air cylinder 22 is retracted.

  As a result, the V-shaped plate 23 returns to the original position (the state shown in FIG. 4), and the workpiece W slightly lifted returns to the roller 6b (7b) by the upper clamping force and its own weight. Hereinafter, the processing step by the processing machine 1 is started, and first, the cutting of the tip portion by the cross-cut processing unit 2 is executed.

  Next, a third embodiment will be described with reference to FIGS. The basic configuration of the third embodiment is the same as that of the first embodiment, but is equipped with a scissors-type centripetal assisting device 30 instead of the wheel conveyor type centripetal assisting device 10. .

  The scissors-type centripetal assisting device 30 is attached so as to pass through the base 31 and the base 31 attached between the frames 6a-6a and 7a-7a of the input conveyor 6 and the take-out conveyor 7. The air cylinder 32, a lifting guide 33 attached so as to extend downward from the lower surface of the base 31, a guide shaft 34 connected to the lower end of the rod of the air cylinder 32 and guided by the lifting guide 33, and a guide shaft 34 It is comprised from the receiver 35 attached to the front-end | tip and receiving the connection link 36 rotatably, the connection link 36 which conveys the entrance / exit of the rod of the air cylinder 32 to the link 37, and links 37-40. These links 37 to 40 constitute a four-bar rotation mechanism (parallel link mechanism) and are opposed to each other.

  The link 37 transmits the entry / exit of the rod of the air cylinder 32 through the connection link 36 and drives the four-bar rotation mechanism. The link 38 is fixed to the base 31. The link 39 is a link parallel to the link 37. The link 40 is a link parallel to the link 38 and includes a scissor claw 41.

  Next, the operation of the centripetal assisting device 30 will be described.

  In the third embodiment, the rod of the air cylinder 32 normally comes out (state of FIG. 6), and the scissor claw 41 is opened so as not to hinder the transfer of the workpiece.

  At the same time as the clamping operation by the centripetal vise 5 of the processing machine 1 is executed, the rod of the air cylinder 32 is retracted (state shown in FIG. 7), and the scissors claw 41 is moved by the four-bar rotation mechanism constituted by the links 37-40. Operates in the closing direction.

  As a result, the workpiece W is brought close to the center position (centripetal position) by the scissors claw 41. Thereafter, the upper clamp by an upper clamp device (not shown) is started while the clamp of the centripetal vice 5 is maintained, and at the same time, the rod of the air cylinder 32 is taken out. Thereby, the scissors claw 41 returns to the original position (state of FIG. 6).

  Hereinafter, the processing step by the processing machine 1 is started, and first, the cutting of the tip portion by the cross-cut processing unit 2 is executed.

  Next, a fourth embodiment in which the present invention is applied to a precut processing facility for processing a horizontal member will be described.

  As shown in FIG. 8, the precut processing facility 100 according to the fourth embodiment includes processing machines 200, 300, and 400, a pre-processing material storage unit 500 that stores unprocessed wood, and a processed product. A processed material storage unit 600 for storing wood, and a transport line 700 for transporting the wood from the pre-processing material storage unit 500 to the processed material storage unit 600 through the processing positions of the processing machines 200, 300, and 400. It consists of and.

  This pre-cut processing equipment 100 is a cutting / upper / lower surface processing machine 200 for processing the front and rear ends of the wood and processing the upper and lower surfaces, and a side processing for processing the side surfaces of the wood as various processing machines. Machine 300, and a kerf processing machine 400 for processing joints and joints on the throat part of wood. In addition, the pre-processed material storage unit 500 and the processed material storage unit 600 are configured by chain slashers 510, 610, and 620 that laterally move the placed wood. The conveyance line 700 includes roller conveyors 710 to 770 that move wood in the axial direction, and chain slashers 780 and 790. The precut processing facility 100 according to the present embodiment performs precut processing of wood while automatically executing drive control of each processing machine 200, 300, 400 and loading / unloading of wood based on CAD / CAM data. It is configured. The short roller conveyors 711, 731, and 751 provided in the vicinity of the processing machines 200, 300, and 400 can be tilted downward, and in the vicinity of the processing machines 200, 300, and 400. In addition, the movement path of the worker can be secured as necessary.

  Here, between the roller conveyor 760 and the roller conveyor 770, a large number of crosspieces 765 for moving the wood laterally are arranged. The upper surface of the crosspiece 765 and the upper surfaces of the rollers of the roller conveyors 760 and 770 and the side frame on the crosspiece side have substantially the same height. This is because the wood is smoothly moved laterally by sliding the upper surface of the crosspiece 765 without lifting the wood from the roller conveyor 760 to the roller conveyor 770.

  Further, between the roller conveyor 770 and the chain slasher 610 constituting the processed material storage unit 600, the roller 770 is normally sinked below the roller upper surface of the roller conveyor 770, and the processing by the kerf processing machine 400 is completed. An inclined roller transfer device 767 is provided for lifting and lifting the wood on the roller conveyor 770 and delivering the wood to the chain slasher 610 using its own inclination. Correspondingly, the chain slasher 610 is arranged to take in the wood below the chain slasher 620 arranged beside it. The chain slashers 610 and 620 at the final stage may be wheel conveyors depending on the factory layout.

  In addition, between the roller conveyor 770 and the chain slasher 620, by rotating itself, the wood on the roller conveyor 770 is picked up and transferred to the chain slasher 620 in an inverted state. A device 769 is provided.

  Further, the chain slasher 510 disposed at the position where the wood is initially input is configured by two sets of transport chain groups 511 and 512 that are partially overlapped in the middle of the transfer direction. Similarly, the chain slashers 780 and 790 are also constituted by two sets of transport chain groups 781, 782, 791, and 792. This means that the lateral transport speed of the wood by the transport chain group 511, 781, 791 on the lateral transfer start side is slower than the lateral transport speed of the wood by the transport chain group 512, 782, 792 on the lateral transport end side. This is to prevent a large number of pieces of wood from being pressed against the stoppers 712, 732, and 752 disposed on the side frames of the roller conveyors 710, 730, and 750, respectively. Accordingly, the wood replacement operation by the wood replacement devices 713, 733, and 753 provided to replace the wood from the chain slashers 510, 780, and 790 to the roller conveyors 710, 730, and 750 is smoothly executed. be able to.

  Each of the wood placing devices 713, 733, and 753 includes an air cylinder that can expand and contract from a position that sinks a predetermined amount from the upper surface of the chain slashers 510, 780, and 790 to a height that can overcome the upper surface of the stoppers 712, 732, and 752. And a lateral movement mechanism that moves the air cylinder along guides 714, 734, and 754 extending in the lateral direction. In addition, a crank mechanism that converts the rotation of the motor into a reciprocating motion is used to drive the lateral movement mechanism, and the change in the lateral movement speed from the start of the replacement to the completion of the replacement is accelerated gradually at the beginning. After reaching the maximum speed, the vehicle is gradually decelerated to prevent the wood from falling down due to acceleration at the start and stop of movement.

  Further, the roller conveyors 720, 740, and 760 are provided with pusher plates 721, 741, and 761 for pushing the wood on the conveyor to the downstream chain slashers 780 and 790 and the roller conveyor 770, respectively. These pusher plates 721, 741, and 761 are configured to be driven by a pair of air cylinders 722, 742, and 762, respectively. The side frames of the roller conveyors 720, 740, and 760 opposite to the pusher plates 721, 741, and 761 have the same height as the upper surface of the rollers so as not to prevent the pusher plates 721, 741, and 761 from pushing out the wood. It is configured slightly lower.

  As shown in FIG. 9, the cutting / upper / lower surface processing machine 200 has a main structure No. 1 for centripetal clamping of wood. 1-No. 5 centripetal vice 211-215, cutting unit 230 for cutting wood, a pair of upper and lower corner only units 250 for machining mortise and bolt holes on the upper and lower surfaces of wood, A pair of upper and lower cutter units 270 for processing a notch, a rafter, a corner notch, and a valley notch are provided on the lower surface.

  Further, a positioning unit 800 for defining the upper and lower surface machining positions in the cutting and upper and lower surface processing machine 200 is disposed so as to be movable along a guide rail 801 disposed on the side of the roller conveyor 720. Reference numerals 216 and 217 denote optical sensor units for detecting the front end for detecting the front end of the wood carried into the cutting unit 230 and stopping the roller conveyor 710.

  As shown in FIG. 10, the side surface processing machine 300 has, as its main components, short roller conveyors 311 and 312 arranged at the front and rear thereof, and No. 3 for centripetal clamping of wood. 1, No. 1 2 centripetal vises 321 and 322 and a pair of side surface processing units 331 and 332 disposed so as to face each other at positions between the centripetal vices 321 and 322. Each of the side surface processing units 331 and 332 is mounted with a plurality of side surface processing tools arranged in the vertical direction.

  Further, a positioning unit 900 for defining a side processing position in the side processing machine 300 is disposed so as to be movable along a guide rail 901 disposed on the side of the roller conveyor 740. This positioning unit 900 is the same as the positioning unit 800 for defining the processing position in the cutting / upper and lower surface processing machine 200.

  As shown in FIG. 11, the wood cutting machine 400 has, as its main configuration, a first fixed conveyor 411 disposed on the upstream roller conveyor 750 side and an extension of the first fixed conveyor 411. A second fixed conveyor 412 arranged immediately before the roller conveyor 760 on the side, a third fixed conveyor 413 arranged on the extension line of the roller conveyor 770 on the same side as the second fixed conveyor 412, An intermediate conveyor 414 that is arranged so as to be movable in the Z-axis direction between a communication position that communicates between the first and second fixed conveyors 411 and 412 and a front retracted position indicated by a dashed line in the figure; A slit cutter 421 that performs slit processing in the mouth, a mouth processing unit 420 that includes a boring unit 422 that performs bolt hole processing, and a first fixed conveyor It is freely disposed retractable in the vicinity of 11, No. for defining the end position of the timber which is conveyed to the roller conveyor 750 above 1 stopper 431 and this No. 1 No. 1 which centripetally clamps the wood whose tip position is defined by the stopper 1. No. 1 for prescribing the tip position of the wood conveyed on the roller conveyor 770, which is arranged in the vicinity of the first centripetal vise 441 and the third fixed conveyor 413. 2 stopper 432 and this No. 2 stopper. No. 2 for centripetal clamping of wood whose tip position is defined by the stopper 232. 2 centripetal vise 442 and a printing device 451 provided in the second fixed conveyor 412.

  This lip cutting machine 400 moves the lip cutting unit 420 in the X direction and the Z direction (see FIG. 8) and moves the slit cutter 421 and the boring unit 422 in the Y direction (up and down direction). A wood mouth clamped with a centripetal vise 441 and No. 1 2. Necessary processing is performed on the wood mouth clamped by the centripetal vise 442.

  In particular, no. After processing the timber clamp clamped by one centripetal vise 441, the intermediate conveyor 414 is moved to the position of the solid line shown in the figure, and the lip processing unit 420 is moved to the rear of the machine as shown in the figure, and one of the lip ends is processed. The finished wood is transferred onto the roller conveyor 760 downstream, and the next wood is No. 1 stopper 431 and No. 1 No. 1 centripetal vise 441 is used for positioning. 1 The stopper 431 and the intermediate conveyor 414 are moved to the retracted position, and the end processing unit 420 is advanced to perform the end processing of the next wood. During this time, it is first transferred onto the roller conveyor 760 on the downstream side. The transferred wood is transferred onto the roller conveyor 770 by the pusher plate 761 and transferred to the end processing machine 400 side. 2 Align the tip with stopper 432 and Clamp with 2 centripetal vise 442. As a result, the second wood no. As soon as the wood cutting at the clamping position by the centripetal vise 441 is completed, the first wood No. 2 It is possible to shift to the cuff processing at the clamping position by the centripetal vise 442, and during this time, the intermediate conveyor 414 is moved again to the contact position and the second wood is transferred onto the roller conveyor 760, It is designed to efficiently process both ends of the wood.

  Next, structural features of the transfer line 700 in the precut processing equipment 100 of the present embodiment will be described.

  As shown in FIG. 9, the roller conveyor 710 located on the upstream side of the cutting / upper surface processing machine 200 and the roller conveyor 720 located on the downstream side have the same wheel conveyor as described in the first embodiment. A centripetal assist device 1010, 1020 of the type is provided. The centripetal assisting device 1010 installed on the roller conveyor 710 on the upstream side is the No. of the cutting / upper surface processing machine 200. It is installed at a position 3 m upstream from one centripetal vice 211. Further, the centripetal assisting device 1020 installed on the roller conveyor 720 on the downstream side is the No. of the cutting / upper surface processing machine 200. 5 centripetal vice 215 is installed at a position 3 m downstream.

  Further, as shown in FIG. 10, the roller conveyor 730 positioned on the upstream side of the side surface processing machine 300 and the roller conveyor 740 positioned on the downstream side are also of the same wheel conveyor type as described in the first embodiment. Centripetal assisting devices 1030 and 1040 are provided. The centripetal assisting device 1030 installed on the roller conveyor 730 on the upstream side is the No. of the side surface processing machine 300. It is installed at a position 3 m upstream from one centripetal vise 311. Further, the centripetal assisting device 1040 installed on the roller conveyor 740 on the downstream side is the No. of the side surface processing machine 300. It is installed at a position 3 m downstream from the 2 centripetal vise 312.

  Further, as shown in FIG. 11, the roller conveyor 750 located on the upstream side and the roller conveyor 770 located on the downstream side of the kerf processing machine 400 are also of the same wheel conveyor type as described in the first embodiment. Centripetal assisting devices 1050 and 1070 are provided. The centripetal assist device 1050 installed on the roller conveyor 750 on the upstream side is the No. It is installed at a position 3 m upstream from one centripetal vise 441. Further, the centripetal assisting device 1070 installed on the roller conveyor 770 on the downstream side is the No. It is installed at a position 3 m downstream from the two centripetal vise 442.

  The details of the structure of the centripetal assisting devices 1010, 1020, 1030, 1040, 1050, and 1070 are the same as those in the first embodiment.

  Next, control processing for controlling the drive of the centripetal assisting devices 1010, 1020, 1030, 1040, 1050, and 1070 by the control unit of the precut processing equipment 100 will be described with reference to the flowcharts of FIGS. .

  12 and 13 show the contents of the control processing for the centripetal assisting devices 1010 and 1020 by the processing control device for the cutting / upper and lower surface processing machine 200. FIG. This control process is started when the optical sensor units 216 and 217 of the cutting / upper and lower surface processing machine 200 detect the tip of the wood.

  When the process starts, first, the feeding operation of the roller conveyor 710 is stopped (S10). Subsequently, based on the CAD / CAM data, it is determined whether or not the wood to be processed is a structural material having a total length of 3 m or more (S20). When the total length is 3 m or more (S20: YES), No. The centripetal clamping of the wood is started by driving the one centripetal vice 211 (S30), and the operation of projecting the rod to the air cylinder of the centripetal assisting device 1010 is executed (S40). As a result, the free wheel of the centripetal assisting device 1010 protrudes from the roller upper surface of the roller conveyor 710 and lifts the wood slightly from the roller surface. As a result, the resistance against the force in the centripetal direction against the wood changes from the sliding friction against the roller surface to the rolling friction against the wheel. As a result, no. By the centripetal clamping operation by the one centripetal vice 211, the wood is moved to the centripetal position as a whole and clamped.

  It should be noted that the amount of wood lifted by the air cylinder protruding operation varies depending on the weight of the wood. In this embodiment, since the air cylinder is used, the lifting operation is completed in a state where the air pressure in the cylinder and the weight of the wood are balanced. Therefore, the term “lifting” here includes a case where the pressure of the wood against the roller is reduced. By reducing the pressure of the wood, the sliding friction force against the roller is reduced, and the movement in the width direction is facilitated.

  Thus, no. When the centripetal clamp operation of one centripetal vise 211 is completed (S50: YES), the upper clamp device (not shown) starts to descend (S60), and at the same time, the rod is inserted into the air cylinder of the centripetal assist device 1010. Is executed (S70). As a result, the wheel of the centripetal assisting device 1010 returns to the standby position where the wheel is lowered below the roller surface, and the wood slightly lifted from the roller surface becomes the roller of the roller conveyor 710 by the pressing force and the own weight of the upper clamping device. Return to close contact.

  On the other hand, when the structural material is less than 3 m in total length (S20: NO), The centripetal clamp of wood is started by driving the centripetal vise 211 (S35). When the centripetal clamp operation of one centripetal vise 211 is completed (S55: YES), the upper clamp device (not shown) starts to descend (S65), and the centripetal assist device 1010 is not driven.

  Thus, no. After completion of the centripetal clamp by the one centripetal vice 211 and the upper clamp by the upper clamp device, the cutting machine 230 is started, the cutting unit 230 is driven (S80), and the cutting of the tip of the wood is executed. To do. When the end cutting operation by the cutting unit 230 is completed (S90: YES), the positioning unit 800 is moved to the upstream side and brought into contact with the front end surface of the end cut wood (S100). The one centripetal vice 211 and the upper clamp device are controlled to the unclamped state (S110). Then, the roller conveyor 710 resumes the wood feeding operation, and furthermore, the positioning unit 800 is moved and controlled so that the processing portion for performing the top and bottom surface processing on the tip of the wood based on the CAD / CAM data. (S120).

  Then, the positioning unit 800 and the roller conveyor 710 are driven and controlled based on the CAD / CAM data so that the processing portion is positioned at the processing position by the corner only unit 250 and the cutter unit 270 and the necessary upper and lower surface processing is executed (S160). .

  The centripetal clamp at the time of the upper and lower surface machining is determined based on the position of the tip of the positioning rod 802 of the positioning unit 800 and the material length given as CAD / CAM data. 1-No. It is executed by driving one of the five centripetal vices 211 to 215 located within the entire length of the wood. And No. When only the 5 centripetal vice 215 is positioned in the full length range of the wood (S170: YES), it is determined whether the wood to be processed is a structural material having a total length of 3 m or more (S180), and the total length is 3 m. In the above case (S180: YES), no. 5 The centripetal clamp by the centripetal vice 215 is started (S190), and by causing the air cylinder of the downstream centripetal assist device 1020 to perform the operation of projecting the rod (S200), the wood is slightly removed from the roller surface of the roller conveyor 720. Assist to the width adjustment. Thereby, the centripetal state when the cutter unit 270 processes the stud notch or the like near the rear end of the wood can be accurately maintained.

  In this case as well, no. When the centripetal clamp operation of the five centripetal vise 215 is completed (S210: YES), the upper clamp device (not shown) starts to descend (S220) and at the same time, the operation of immersing the rod in the 2-arc cylinder of the centripetal assist device 1010 is executed. (S230). As a result, the wheel of the centripetal assisting device 1020 returns to the standby position where the wheel is lowered below the roller surface, and the wood slightly lifted from the roller surface is rolled onto the roller of the roller conveyor 720 by the pressing force and the own weight of the upper clamping device. Return to close contact.

  On the other hand, when L1 is a structural material of less than 3 m (S180: NO), no. The centripetal clamp of wood is started by driving the centripetal vise 215 (S195). When the centripetal clamp operation of the five centripetal vise 215 is completed (S215: YES), the upper clamp device (not shown) starts to descend (S225), and the centripetal assist device 1020 is not driven. This is because the material is short and centering can be performed sufficiently.

  While performing the above control as the upper and lower surface processing for the wood, it is determined whether or not the rear end position of the structural material is a cutting position by the crosscut processing unit (S240), and if the condition is satisfied (S240: YES), the positioning unit 800 is moved and controlled, and the rear end of the wood is stopped at the cutting position (S250). 1-No. A centripetal clamping operation is performed by the five centripetal vices 211 to 215 and the upper clamping device (S260). The centripetal vise driven in this clamping operation is determined in relation to the total length of the structural material given by the CAD / CAM data, and not all the centripetal vise is driven at all times. Specifically, only the centripetal vise located upstream from the tip of the positioning rod 802 of the positioning unit 800 is driven.

  Thus, when the timber is centripetally clamped by the plurality of centripetal vice, the cutting unit 230 is driven again to cut the timber into a material length based on the CAD / CAM data (S270). When the cutting of the wood length is completed in this way, the centripetal vice 211 and the like and the upper clamp device are controlled to the unclamped state (S280), and the upper and lower surface processing of the remaining intermediate portion is executed, and when all the processing is completed (S245). : YES), the positioning unit 800, the roller conveyor 710 and the upper feed roller are driven and controlled based on the CAD / CAM data, and the wood is discharged from the cutting / upper / lower surface processing unit 200.

  FIG. 14 and FIG. 15 show the contents of control processing for the centripetal assisting devices 1030 and 1040 by the processing control device for the side surface processing machine 300.

  In this process, first, based on the CAD / CAM data, the tip of the rod 902 of the positioning unit 900 is set so that the processing parts of the wood are positioned at the processing positions by the side surface processing units 331 and 332 (300). Then, after the wood comes into contact with the positioning rod 902 (S305: YES), the feeding operation of the roller conveyor 730 is stopped (S310).

  Subsequently, based on the CAD / CAM data, No. It is determined whether or not the length L2 from the one centripetal vice 321 to the rear end of the wood to be processed is a structural material of 3 m or more (S320). When the length L2 is 3 m or longer (S320: YES), No. The centripetal clamping of the wood is started by driving the one centripetal vise 321 (S330), and the operation of projecting the rod to the air cylinder of the centripetal assisting device 1030 is executed (S340). As a result, the free wheel of the centripetal assisting device 1030 protrudes from the roller upper surface of the roller conveyor 730, and the wood is lifted slightly from the roller surface. By the centripetal clamping operation by the one centripetal vise 321, the wood is moved to the centripetal position as a whole and clamped.

  Thus, no. When the centripetal clamp operation of one centripetal vise 321 is completed (S350: YES), the upper clamp device (not shown) starts to descend (S360) and at the same time, the rod is inserted into the air cylinder of the centripetal assist device 1030. Is executed (S370).

  On the other hand, when the length L2 is less than 3 m (S320: NO), it is determined whether or not the tip position of the positioning rod 902 of the positioning unit 900 is positioned downstream of the downstream centripetal assisting device 1040 ( S400). This determination is made from the tip of the wood No. It is good also as determination of whether the length to the 2 centripetal vise 322 is 3 m or more. And when it determines with it located in the downstream (S400: YES), No. The centripetal clamp of the wood is started by driving the two centripetal vise 322 (S410), and the operation of projecting the rod to the air cylinder of the centripetal assisting device 1040 on the downstream side is executed (S420). As a result, the free wheel of the centripetal assisting device 1040 protrudes from the roller upper surface of the roller conveyor 740, and the wood is lifted slightly from the roller surface. By the centripetal clamping operation by the two centripetal vise 322, the wood is moved to the centripetal position and clamped.

  Thus, no. When the centripetal clamp operation of the centripetal vise 322 is completed (S430: YES), the upper clamp device (not shown) starts to descend (S440), and at the same time, the rod is inserted into the air cylinder of the centripetal assist device 1030. Is executed (S450).

  On the other hand, the length from the processing site to the rear end of the wood is less than 3 m (S320: NO), and it is determined that the tip position of the positioning rod 902 is not located downstream of the downstream centripetal assist device 1040. When it is done (S400: NO), No. 1, No. 1 The centering clamp of the wood is started by driving one of the two centering vises 321 and 322 located in the full length range of the wood (S460). When the centering clamping operation is completed (S470: YES), the upper clamp device is lowered. The operation starts (S480), and neither the centripetal assisting devices 1030 and 1040 are driven.

  After the centripetal clamp and the upper clamp are completed in this way, the side processing step by the processing machine 300 is started, the side processing units 331 and 332 are driven (S500), and the side processing of the wood is executed. When the side surface processing for one processing site is completed (S510: YES), the centripetal vise and the upper clamping device are controlled to the unclamped state (S520), and the presence or absence of the next processing site is determined (S530). When there is a next processing part (S530: YES), the process returns to S300.

  FIGS. 16 to 19 show the contents of the control processing for the centripetal assisting devices 1050 and 1060 by the processing control device for the end cutting machine 400.

  In this process, no. 1 stopper 431 is set (S600). Then, after contacting the stopper 431 (S605: YES), the feeding operation of the roller conveyor 750 is stopped (S610).

  Subsequently, based on the CAD / CAM data, it is determined whether or not the wood to be processed is a structural material of 3 m or more (S620). If it is 3 m or longer (S620: YES), No. The centripetal clamping of the wood is started by driving the one centripetal vise 441 (S630), and the operation of projecting the rod to the air cylinder of the centripetal assisting device 1050 is executed (S640). As a result, the free wheel of the centripetal assisting device 1050 protrudes from the roller upper surface of the roller conveyor 750, and the wood is slightly lifted from the roller surface. By the centripetal clamping operation by the one centripetal vise 441, the wood is moved to the centripetal position as a whole and clamped.

  Thus, no. When the centripetal clamp operation of one centripetal vise 441 is completed (S650: YES), the upper clamp device (not shown) starts to descend (S660), and at the same time, the rod is inserted into the air cylinder of the centripetal assist device 1050. Is executed (S670).

  On the other hand, when the total length is less than 3 m (S620: NO), no. The centripetal clamp of wood is started by driving one centripetal vise 441 (S635), and when the centripetal clamp operation is completed (S655: YES), the upper clamp device starts to descend (S665). Do not drive.

  After completing the centripetal clamp and the upper clamp in this way, the processing machine 400 enters the kerf processing step and No. 1 The stopper 431 is returned to the retracted position (S680), and the cutting processing by the slit cutter 421 and the drilling processing by the boring unit 422 are controlled by driving the culvert processing unit 420 and processing given by CAD / CAM data. Is executed (S700). When the end processing for the rear end of the wood is completed (S710: YES), No. The first centripetal vise 431 and the upper clamp device are controlled to be in an unclamped state (S720), the processing unit 420 is moved back to the retracted position (S730), and the intermediate conveyor 414 is moved to the transport position (S740). Note that the intermediate conveyor 414 has moved to the retreat position when performing the kerf processing in S700.

  When the intermediate conveyor 414 moves to the transport position in this way, the roller conveyors 750 and 760 are driven (S750), and the wood passes through the processing machine 400 and is discharged to the roller conveyor 750 on the opposite side. Simultaneously with this operation, an operation for taking the wood to be processed next into the roller conveyor 750 is executed by the wood replacement device 753 (S760). 1 stopper 431 is moved to the set position (S770).

  Then, when the next processed material comes into contact with the stopper 431 (S780: YES), it is determined whether or not the wood is the third or later after the start of processing (S790). When it is less than the third one (S790: YES), the air cylinder 762 of the pusher plate 761 is driven to move the wood laterally from the roller conveyor 760 to the roller conveyor 770 (S800). The two stoppers 432 are set (S810), and the roller conveyor 770 is driven in the direction of feeding wood toward the processing machine 400 (S820).

  And wood is No. When the second stopper 432 comes into contact (S825: YES), the feeding operation of the roller conveyor 770 is stopped (S830). Subsequently, based on the CAD / CAM data, it is determined whether or not the wood to be processed is a structural material of 3 m or more (S840). When it is 3 m or longer (S840: YES), No. The centripetal clamping of the wood is started by driving the centripetal vise 442 (S850), and the air cylinder of the centripetal assisting device 1060 is caused to project the rod (S860). As a result, the free wheel of the centripetal assisting device 1060 protrudes from the roller upper surface of the roller conveyor 770, and the wood is slightly lifted from the roller surface. By the centripetal clamping operation by the two centripetal vise 442, the wood is moved to the centripetal position as a whole and clamped.

  Thus, no. When the centripetal clamp operation of the centripetal vise 442 is completed (S870: YES), the upper clamp device (not shown) starts to descend (S880) and the rod is inserted into the air cylinder of the centripetal assist device 1070. Is executed (S890).

  On the other hand, when the total length is less than 3 m (S840: NO), no. The centripetal clamp of the wood is started by driving the centripetal vise 442 (S855). When the centripetal clamp operation is completed (S875: YES), the upper clamp device starts to descend (S885), and the centripetal assist device 1060 Do not drive.

  In parallel with the operation of setting the tip of the wood at the processing position as described above, the intermediate conveyor 414 is moved to the retracted position (S900), and the process returns to S610.

  On the other hand, in the case of the third or later (S790: YES), the process enters the step of processing the tip of the wood by the end processing unit 420. 2 The stopper 432 is returned to the retracted position (S910), and the cutting processing by the slit cutter 421 and the drilling by the boring unit 422 are controlled by driving the culvert processing unit 420, and the processing given by CAD / CAM data. Is executed (S920). When the end processing for the tip of the wood is completed (S930: YES), No. 2 The centripetal vise 432 and the upper clamp device are controlled to be in an unclamped state (S940), and the roller conveyor 770 is driven in the direction of carrying out the wood (S950), and depending on the length of the wood, the inclined roller conveyor 467 or the upside down delivery An operation of driving one of the devices 769 to discharge the wood to the processed material storage unit 600 is executed (S960). When processing for one building is not completed (S970: YES), the process proceeds to S770. Return.

  As described above, in the processing control in the culvert machine 400, when n pieces of wood are processed for one house, “processing the rear end of the first wood” → “rear end of the second wood” → "Processing the tip of the first wood" → "Processing the trailing edge of the third wood" → "Processing the tip of the second wood" → ... → The tip processing is efficiently performed in the order of “processing of the tip” → “processing of the rear end of the nth wood” → “processing of the tip of the nth wood”. Then, during the centripetal clamp during this time, if the width of the wood is long and heavy and it is difficult to adjust the width, the centripetal assist devices 1050 and 1060 operate to assist the centripetal clamp operation. In addition, when discharging to the roller conveyor 760, printing by the printing device 451 is executed, and necessary information is printed on each piece of wood.

  As mentioned above, although embodiment of this invention was described, this invention is not restricted to embodiment mentioned above, In the range which does not deviate from the summary, it can implement with a various aspect further.

  For example, the present invention can be applied not only to precut processing equipment for hardware construction methods but also to precut processing equipment for conventional shaft assembly methods. In addition, various building structural materials such as pillar materials, horizontal members, feathers, and the like can be targeted.

It is a top view of the precut processing machine as a 1st embodiment. The wheel conveyor type centripetal assisting device 10 as the first embodiment is in a standby state, (A) is a plan view, (B) is a front view, and (C) is a side view. The wheel conveyor type centripetal assisting device 10 as the first embodiment is in a state where it is performing a centripetal assisting operation, (A) is a plan view, (B) is a front view, and (C) is a side view. is there. The place where the V-shaped plate type centripetal assisting device as the second embodiment is in a standby state is shown, (A) is a plan view, (B) is a front view, and (C) is a side view. The place where the V-shaped plate type centripetal assisting device as the second embodiment is in a state of performing the centripetal assisting operation is shown, (A) is a plan view, (B) is a front view, and (C) is a side view. is there. The scissors-type centripetal assist device as the third embodiment is shown in a standby state, (A) is a plan view, (B) is a front view, and (C) is a side view. The scissors-type centripetal assisting device as the third embodiment is in a state where it is performing a centripetal assisting operation, (A) is a plan view, (B) is a front view, and (C) is a side view. . It is a top view of precut processing equipment as a 4th embodiment. It is an enlarged plan view of the part of the cutting / upper surface processing machine in the fourth embodiment. It is an enlarged plan view of the portion of the side processing machine in the fourth embodiment. It is an enlarged plan view of the part of the kerf processing machine in 4th Embodiment. It is a flowchart which shows the content of the cutting | disconnection and upper / lower surface process control in 4th Embodiment. It is a flowchart which shows the content of the cutting | disconnection and upper / lower surface process control in 4th Embodiment. It is a flowchart which shows the content of the side surface processing control in 4th Embodiment. It is a flowchart which shows the content of the side surface processing control in 4th Embodiment. It is a flowchart which shows the content of the culvert processing control in 4th Embodiment. It is a flowchart which shows the content of the culvert processing control in 4th Embodiment. It is a flowchart which shows the content of the culvert processing control in 4th Embodiment. It is a flowchart which shows the content of the culvert processing control in 4th Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Pre-cut processing machine 2 ... Cross-cut processing unit 3 ... Upper / lower angle only processing unit 4 ... Upper / lower inter-column post processing unit 5 ... Centripetal vise 6 ... Loading conveyor 7 ... Removal Conveyor 10 ... Wheel conveyor type centripetal assist device 11 ... Stand 12 ... Air cylinder 13 ... Wheel conveyor frame 14 ... Wheel 20 ... V-shaped plate type centripetal assist device 21 ... -Base 22 ... Air cylinder 23 ... V-shaped plate 30 ... Scissors-type centripetal assist device 31 ... Base 32 ... Air cylinder 33 ... Lifting guide 34 ... Guide shaft 35 ································ 36 ············································································································· Surface processing machine 211~215 ··· No. 1-No. No. 5 Centripetal vice 230 ... Cut unit 250 ... Square unit 270 ... Cutter unit 300 ... Side processing machine 321,322 ... No. 1, No. 1 2 Centripetal Vise 331,332 ... Side processing unit 400 ... Kiguchi processing machine 421 ... Slit cutter 422 ... Boring unit 431,432 ... No. 1, No. 1 2 stoppers 441, 442. 1, No. 1 2 Centripetal vice 500 ... Pre-processing material reservoir 600 ... Processed material reservoir 700 ... Conveyance line 710-770 ... Roller conveyor 800 ... Positioning unit 900 ... Positioning unit 1010-1060 ... Wheel conveyor type centripetal assist device

Claims (6)

A wood conveyor roller conveyor for loading or unloading wood to a wood processing machine,
When the wood on the conveyor is moved in the centripetal direction, a centripetal assist device for assisting movement in the centripetal direction is provided in the middle of the conveyance path that is a predetermined distance away from the end on the wood processing machine side ,
The centripetal assist device,
A free wheel provided so as to be able to move wood in the width direction of the conveyance path, and a vertical movement for moving the free wheel between a position where it is submerged from a roller upper surface of the roller conveyor and a position where it protrudes A roller conveyor for conveying wood characterized by comprising a wheel type centripetal assisting device comprising means . In wood processing machines equipped with centripetal vice,
And timber transport roller conveyor of the machine upstream and / or claim 1, wherein the downstream,
A wood processing machine comprising: a centripetal assisting operation control means for executing a centripetal assisting operation by the centripetal assisting device provided in the wood conveyor roller conveyor when the centripetal clamp is performed by the centripetal vise. In the wood processing machine according to claim 2 ,
An upper clamp device that performs an upper clamp operation of pressing the wood clamped by the centripetal vice against the roller surface of the roller conveyor;
The centripetal assist operation control means,
After the clamping operation by the centripetal vise is completed, before the clamping operation by the upper clamping device is completed, it is configured as a control means for ending the centripeting assisting operation by the centripeting assisting device and executing the return operation to the standby position. A wood processing machine characterized by this. The wood processing machine according to claim 2 or 3 ,
As a processing unit, at least a cross-cut processing unit is provided,
A wood processing machine comprising the wood transport roller conveyor as at least a wood input conveyor for inputting wood into the processing machine. In the wood processing machine in any one of Claims 2-4 ,
As a processing unit, it is provided with a processing unit that performs processing on at least the culvert or near the culvert,
A wood processing machine comprising the wood transport roller conveyor as at least a wood transporting conveyor for transporting wood from the processing machine. A cross-cut processing unit for adjusting the length of the wood, an intermediate processing unit for performing the finishing processing on the upper and lower surfaces and / or the left and right surfaces of the intermediate portion of the wood, and a cutting end processing unit for processing the both ends of the wood Among them, a plurality of processing machines comprising at least one processing unit and a centripetal vise installed in the vicinity of the processing unit,
Upstream processing machine located most upstream among the plurality of processing machines, each machine during, and most respective positions downstream of the processing machine located downstream, claim 1 timber transport roller conveyor according A wood precut processing facility characterized in that it is installed for wood input and output for each processing machine.

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