Rotary motor hydraulic control system and control method for felling head of feller

Abstract

The invention discloses a hydraulic control system and method for a rotary motor of a felling head of a feller in the technical field of engineering machinery, and the system comprises a first reversing valve, a second reversing valve, a third reversing valve, an angle sensor and a controller, a first working oil port and a second working oil port of the first reversing valve are connected to first working oil ports of the second reversing valve and the third reversing valve respectively, and third working oil ports of the second reversing valve and the third reversing valve are connected to a left oil port and a right oil port of the rotary motor respectively. Second working oil ports of the second reversing valve and the third reversing valve are connected to the oil return end of the hydraulic system; the angle sensor is used for collecting the rotating angle of the rotating motor; the controller is electrically connected with the first reversing valve, the second reversing valve, the third reversing valve and the angle sensor and used for valve control. The method is controlled based on the system, intelligent control over the felling head of the feller can be achieved, and operation safety is improved.

Description

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a hydraulic control system and a control method for a rotary motor of a felling head of a lumberjack. Background Art

[0002] With the continuous development of society, the degree of mechanization is constantly improving. The way of logging has also undergone fundamental changes. With the increase in labor costs and people's acceptance of mechanized logging, more and more mechanical automation equipment is used in forestry logging occasions, which improves logging efficiency and logging quality while reducing labor and ensuring logging safety. Existing logging machines usually control the rotary motor through a reversing valve to achieve the rotary operation of the logging machine. It has a simple structure and a single function, and cannot fully meet the actual work needs of the logging site. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a hydraulic control system and control method for a rotary motor of a felling machine's felling head, so as to solve the technical problem that the control of the rotary motor of the existing felling machine cannot fully meet the on-site requirements.

[0004] To achieve the above object, the present invention is implemented by adopting the following technical solutions: In the first aspect, the present invention provides a hydraulic control system for a rotary motor of a felling head of a lumberjack, comprising a first reversing valve, a second reversing valve, a third reversing valve, an angle sensor and a controller, wherein the oil inlet and the oil outlet of the first reversing valve are respectively connected to the oil supply end and the oil return end of the hydraulic system, the first working oil port and the second working oil port of the first reversing valve are respectively connected to the first working oil ports of the second reversing valve and the third reversing valve, the third working oil ports of the second reversing valve and the third reversing valve are respectively connected to the left and right oil ports of the rotary motor, and the second working oil ports of the second reversing valve and the third reversing valve are both connected to the oil return end of the hydraulic system; the angle sensor is arranged on the rotary motor for collecting the rotation angle of the rotary motor; the controller is respectively electrically connected to the first reversing valve, the second reversing valve, the third reversing valve and the angle sensor for valve control.

[0005] Optionally, the first reversing valve is a three-position four-way solenoid valve.

[0006] Optionally, the second reversing valve and the third reversing valve are two-position three-way solenoid valves.

[0007] Optionally, the left and right oil ports of the rotary motor are respectively connected to a first overflow valve and a second overflow valve, and the oil outlets of the first overflow valve and the second overflow valve are both connected to the oil return end of the hydraulic system.

[0008] In a second aspect, the present invention provides a control method for a rotary motor hydraulic control system of a felling machine felling head. The control method is based on the rotary motor hydraulic control system described above, and the control method includes: When the felling machine is in felling working condition, the controller controls the first reversing valve to reach the middle position, the second reversing valve and the third reversing valve to reach the left position, the first working oil port and the second working oil port of the first reversing valve are closed, and the second working oil port and the third working oil port of the second reversing valve and the third reversing valve are connected; the left and right oil ports of the rotary motor are connected to the return oil end of the hydraulic system through the second reversing valve and the third reversing valve, respectively, so that the rotary motor is in a floating state; When the felling machine is in the splitting condition, the controller controls the first reversing valve to reach the middle position, the second reversing valve and the third reversing valve to reach the right position, the first working oil port and the second working oil port of the first reversing valve are closed, and the second working oil port and the third working oil port of the second reversing valve and the third reversing valve are connected; the left and right oil ports of the rotary motor are connected to the first working oil port and the second working oil port of the first reversing valve through the second reversing valve and the third reversing valve respectively, so that the rotary motor is in a locked state.

[0009] Optionally, when the rotary motor is in a floating state, the rotation angle of the rotary motor is collected in real time by an angle sensor; If the external force acts on the motor, the rotation angle exceeds the preset first angle range. When the rotation angle of the rotary motor exceeds the preset second angle range, an alarm is given through the controller; when the rotation angle of the rotary motor exceeds the preset second angle range , , the controller controls the first reversing valve to reach the middle position, the second reversing valve and the third reversing valve to reach the right position, so that the rotary motor is in a locked state and an alarm is given.

[0010] Optionally, when the felling machine is in an operating condition, the controller controls the second reversing valve and the third reversing valve to reach the right position, and the second working oil port and the third working oil port of the second reversing valve and the third reversing valve are connected; The controller controls the first reversing valve to reach the left position, the oil inlet and the oil outlet of the first reversing valve are connected to the first working oil port and the second working oil port respectively, the left oil port of the rotary motor enters oil and the right oil port exits oil, and a left turn is realized; The controller controls the first reversing valve to reach the left position, the oil inlet and oil outlet of the first reversing valve are connected to the second working oil port and the first working oil port respectively, the right oil port of the rotary motor takes in oil and the left oil port discharges oil to realize right turn.

[0011] Optionally, when the rotary motor is in an operating condition, the rotation angle of the rotary motor is collected in real time by an angle sensor; When the rotation angle of the rotary motor exceeds the preset first angle range When the rotation angle of the rotary motor exceeds the preset second angle range, an alarm is given through the controller; when the rotation angle of the rotary motor exceeds the preset second angle range , , the controller controls the first reversing valve to reach the middle position, so that the rotary motor is in a locked state and an alarm is issued.

[0012] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a hydraulic control system and control method for a rotary motor of a felling machine felling head. Compared with the traditional control system, the present invention adds a second reversing valve and a third reversing valve to control the rotary motor to enter a floating state and a locked state. The appropriate working state can be selected according to the specific working conditions to meet the intelligent control of the felling machine. At the same time, the present invention also adds an angle sensor to detect the real-time angle of the rotary motor, alarm and control the over-range rotation, prevent the occurrence of safety problems such as tree toppling, hydraulic pipeline twisting or damage, and improve the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a connection diagram of a rotary motor hydraulic control system of a felling machine felling head provided by an embodiment of the present invention; The markings in the figure are: 1. First reversing valve; 2. Second reversing valve; 3. Third reversing valve; 4. Angle sensor; 5. Controller; 6. First overflow valve; 7. Second overflow valve; 8. Rotary motor. DETAILED DESCRIPTION

[0014] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0015] Embodiment 1:

[0016] like Figure 1 As shown, an embodiment of the present invention provides a rotary motor hydraulic control system for a felling head of a lumbering machine, comprising a first reversing valve 1, a second reversing valve 2, a third reversing valve 3, an angle sensor 4 and a controller 5. The first reversing valve 1 adopts a three-position four-way solenoid valve, including an oil inlet, an oil outlet, a first working oil port and a second working oil port; the second reversing valve 2 and the third reversing valve 3 adopt a two-position three-way solenoid valve, both including a first working oil port, a second working oil port and a third working oil port. The controller 5 is respectively connected to the first reversing valve 1, the second reversing valve 2, the third reversing valve 3 and the angle sensor 4 through wires. The angle sensor 4 is arranged on the rotary motor 8 and is used to collect the rotation angle of the rotary motor 8. The controller 5 is used to obtain the rotation angle and control the first reversing valve 1, the second reversing valve 2, the third reversing valve 3 and the angle sensor 4.

[0017] The oil inlet and outlet of the first reversing valve 1 are respectively connected to the oil supply end and the oil return end of the hydraulic system, the first working oil port and the second working oil port of the first reversing valve 1 are respectively connected to the first working oil ports of the second reversing valve 2 and the third reversing valve 3, the third working oil ports of the second reversing valve 2 and the third reversing valve 3 are respectively connected to the left and right oil ports of the rotary motor 8, and the second working oil ports of the second reversing valve 2 and the third reversing valve 3 are both connected to the oil return end of the hydraulic system.

[0018] In order to protect the rotary motor 8, the left and right oil ports of the rotary motor 8 are respectively connected to the first relief valve 6 and the second relief valve 7, and the oil outlets of the first relief valve 6 and the second relief valve 7 are connected to the oil return end of the hydraulic system. When the system pressure rises abnormally and exceeds the set value, the relief valve will open quickly to release excess oil, thereby preventing the system from being damaged due to overpressure. This safety protection function is crucial to ensure the safe operation of the hydraulic system.

[0019] Embodiment 2: When the felling machine is working, different operation contents have different requirements for the locking state of the felling head of the felling machine.

[0020] When felling trees, the felling head of the feller is required to be in a floating state to protect the rotating motor of the feller.

[0021] After the tree is felled, the rotation motor is required to be locked when the tree is divided into sections to maintain the stability of the feller.

[0022] Based on the rotary motor hydraulic control system proposed in the first embodiment, the present invention provides a control method for the rotary motor hydraulic control system of the felling head of a logging machine, specifically comprising: (1) When the felling machine is in felling working condition, the controller controls the first reversing valve to reach the middle position, the second reversing valve and the third reversing valve to reach the left position, the first working oil port and the second working oil port of the first reversing valve are closed, and the second working oil port and the third working oil port of the second reversing valve and the third reversing valve are connected; the left and right oil ports of the rotary motor are connected to the return oil end of the hydraulic system through the second reversing valve and the third reversing valve, respectively, so that the rotary motor is in a floating state.

[0023] When the rotary motor is in a floating state, the rotation angle of the rotary motor is collected in real time through the angle sensor; if the rotation angle of the rotary motor exceeds the preset first angle range under the action of external force, When the rotation angle of the rotary motor exceeds the preset second angle range, an alarm is given through the controller; when the rotation angle of the rotary motor exceeds the preset second angle range , , the controller controls the first reversing valve to reach the middle position, the second reversing valve and the third reversing valve to reach the right position, so that the rotary motor is in a locked state and an alarm is given.

[0024] The value can be set by the staff according to actual needs. Usually the maximum rotation angle allowed by the rotary motor in a safe state. , A buffer value.

[0025] When the rotating motor is in a floating state, if the rotation angle of the rotating motor exceeds the preset second angle range under the action of external force, , it is controlled to enter a locked state, stop rotating and issue an alarm to prevent the felling head of the lumberjack from damaging the hydraulic and electrical cables, and at the same time prevent hidden dangers caused by falling trees.

[0026] (2) When the felling machine is in the splitting working condition, the controller controls the first reversing valve to reach the middle position, the second reversing valve and the third reversing valve to reach the right position, the first working oil port and the second working oil port of the first reversing valve are closed, and the second working oil port and the third working oil port of the second reversing valve and the third reversing valve are connected; the left and right oil ports of the rotary motor are connected to the first working oil port and the second working oil port of the first reversing valve through the second reversing valve and the third reversing valve, respectively, so that the rotary motor is in a locked state.

[0027] Due to the locked state, the rotation angle does not change and no additional monitoring is required.

[0028] (3) When the felling machine is in operation, the controller controls the second reversing valve and the third reversing valve to reach the right position, and the second working oil port and the third working oil port of the second reversing valve and the third reversing valve are connected; The controller controls the first reversing valve to reach the left position, the oil inlet and the oil outlet of the first reversing valve are connected to the first working oil port and the second working oil port respectively, the left oil port of the rotary motor enters oil and the right oil port exits oil, and a left turn is realized; The controller controls the first reversing valve to reach the left position, the oil inlet and oil outlet of the first reversing valve are connected to the second working oil port and the first working oil port respectively, the right oil port of the rotary motor takes in oil and the left oil port discharges oil to realize right turn.

[0029] When the rotary motor is in operation, the rotation angle of the rotary motor is collected in real time through the angle sensor; when the rotation angle of the rotary motor exceeds the preset first angle range When the rotation angle of the rotary motor exceeds the preset second angle range, an alarm is given through the controller; when the rotation angle of the rotary motor exceeds the preset second angle range , , the controller controls the first reversing valve to reach the middle position, so that the rotary motor is in a locked state and an alarm is issued.

[0030] When the rotating motor is in operation, if the operator negligently causes the rotation angle of the rotating motor to exceed the preset second angle range, , it is controlled to enter a locked state, stop rotating and issue an alarm to prevent the felling head of the lumberjack from damaging the hydraulic and electrical cables, and at the same time prevent hidden dangers caused by falling trees.

[0031] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0032] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0033] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A hydraulic control system for a rotary motor of a felling machine felling head, characterized in that: It includes a first reversing valve, a second reversing valve, a third reversing valve, an angle sensor and a controller, wherein the oil inlet and the oil outlet of the first reversing valve are respectively connected to the oil supply end and the oil return end of the hydraulic system, the first working oil port and the second working oil port of the first reversing valve are respectively connected to the first working oil ports of the second reversing valve and the third reversing valve, the third working oil ports of the second reversing valve and the third reversing valve are respectively connected to the left and right oil ports of the rotary motor, and the second working oil ports of the second reversing valve and the third reversing valve are both connected to the oil return end of the hydraulic system; the angle sensor is arranged on the rotary motor for collecting the rotation angle of the rotary motor; the controller is respectively electrically connected to the first reversing valve, the second reversing valve, the third reversing valve and the angle sensor for valve control.

2. The rotary motor hydraulic control system of the felling head of a logging machine according to claim 1, characterized in that: The first reversing valve is a three-position four-way solenoid valve.

3. The rotary motor hydraulic control system of the felling head of a logging machine according to claim 1, characterized in that: The second reversing valve and the third reversing valve are two-position three-way solenoid valves.

4. The rotary motor hydraulic control system of the felling head of a logging machine according to claim 1, characterized in that: The left and right oil ports of the rotary motor are respectively connected to a first overflow valve and a second overflow valve, and the oil outlets of the first overflow valve and the second overflow valve are both connected to the oil return end of the hydraulic system.

5. A control method for a rotary motor hydraulic control system of a felling machine felling head, characterized in that: The control method is based on the rotary motor hydraulic control system according to any one of claims 1 to 4, and the control method comprises: When the felling machine is in felling working condition, the controller controls the first reversing valve to reach the middle position, the second reversing valve and the third reversing valve to reach the left position, the first working oil port and the second working oil port of the first reversing valve are closed, and the second working oil port and the third working oil port of the second reversing valve and the third reversing valve are connected; the left and right oil ports of the rotary motor are connected to the return oil end of the hydraulic system through the second reversing valve and the third reversing valve, respectively, so that the rotary motor is in a floating state; When the felling machine is in the splitting condition, the controller controls the first reversing valve to reach the middle position, the second reversing valve and the third reversing valve to reach the right position, the first working oil port and the second working oil port of the first reversing valve are closed, and the second working oil port and the third working oil port of the second reversing valve and the third reversing valve are connected; the left and right oil ports of the rotary motor are connected to the first working oil port and the second working oil port of the first reversing valve through the second reversing valve and the third reversing valve respectively, so that the rotary motor is in a locked state.

6. The control method of the rotary motor hydraulic control system of the felling head of a logging machine according to claim 5, characterized in that: When the rotary motor is in a floating state, the rotation angle of the rotary motor is collected in real time by an angle sensor; If the external force acts on the motor, the rotation angle exceeds the preset first angle range. When the rotation angle of the rotary motor exceeds the preset second angle range, an alarm is given through the controller; when the rotation angle of the rotary motor exceeds the preset second angle range , , the controller controls the first reversing valve to reach the middle position, the second reversing valve and the third reversing valve to reach the right position, so that the rotary motor is in a locked state and an alarm is given.

7. The control method of the rotary motor hydraulic control system of the felling head of a logging machine according to claim 5, characterized in that: When the felling machine is in operation, the controller controls the second reversing valve and the third reversing valve to reach the right position, and the second working oil port and the third working oil port of the second reversing valve and the third reversing valve are connected; The controller controls the first reversing valve to reach the left position, the oil inlet and the oil outlet of the first reversing valve are connected to the first working oil port and the second working oil port respectively, the left oil port of the rotary motor enters oil and the right oil port exits oil, and a left turn is realized; The controller controls the first reversing valve to reach the left position, the oil inlet and oil outlet of the first reversing valve are connected to the second working oil port and the first working oil port respectively, the right oil port of the rotary motor takes in oil and the left oil port discharges oil to realize right turn.

8. The control method of the rotary motor hydraulic control system of the felling machine felling head according to claim 7, characterized in that: When the rotary motor is in an operating condition, the rotation angle of the rotary motor is collected in real time by an angle sensor; When the rotation angle of the rotary motor exceeds the preset first angle range When the alarm is triggered, the controller will issue an alarm prompt; When the rotation angle of the rotary motor exceeds the preset second angle range , , the controller controls the first reversing valve to reach the middle position, so that the rotary motor is in a locked state and an alarm is issued.

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