Rotation control system and method of log grapple for forestry machine and forestry machine

Abstract

The invention provides a rotation control system and method for a log grapple for a forestry machine and the forestry machine, and belongs to the technical field of engineering machinery. The device comprises a controller, and a left handle, an electromagnetic valve group and a main pump which are respectively connected with the controller, the electromagnetic valve group is connected with the main valve; the main valve is respectively connected with the log grapple and the main pump; the electromagnetic valve group is connected with the pilot pump; the main pump is connected with the pilot pump, the left handle is controlled in a non-proportional mode and used for controlling rotation of the log grapple, rotation and opening and closing of the log grapple in the prior art are controlled in a proportional mode, rotation proportion control of the log grapple is changed into non-proportional control, different rotation speeds are adjusted, and the problems that rotation micro-motion of the log grapple is not controlled, and the log grapple cannot rotate are solved. And fine operation cannot be carried out.

Description

Technical Field

[0001] The present invention belongs to the technical field of engineering machinery, and in particular relates to a wood grabber rotation control system and method for a forestry machine, and the forestry machine. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The difference between a forestry wood grabber and an ordinary excavator lies in the different front-end working devices. The boom of a wood grabber is longer than that of an ordinary excavator, and a matching arm is installed at the front end of the arm for installing a wood grabber, replacing the traditional bucket.

[0004] In the prior art, proportional control is used for the rotation and opening and closing control of the wood grab. When controlling the wood grab to perform rotation movements, especially micro movements, this control method will produce speed changes, which is not conducive to fine control. Even if the speed is designed to be non-proportional uniform speed control, it cannot meet the needs of adjusting the speed according to different working conditions. Summary of the invention

[0005] The object of the present invention is to provide a control system, method and forestry machine for a wood grapple rotation for a forestry machine, wherein the opening and closing of the wood grapple is proportionally controlled, the rotation of the wood grapple is non-proportionally controlled, and the rotation action can be set at different speeds to solve the technical problem that the rotation micro-action is uncontrolled and cannot adapt to a variety of uniform speed operations.

[0006] To achieve the above object, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides a rotation control system for a wood grabber for a forestry machine, comprising:

[0008] A controller, and a left handle, a solenoid valve group, and a main pump respectively connected thereto;

[0009] The solenoid valve group is connected to the main valve;

[0010] The main valve is connected to the wood grabber and the main pump respectively;

[0011] The solenoid valve group is connected to the pilot pump;

[0012] The main pump is connected to the pilot pump;

[0013] The left handle generates a rotation signal and sends it to the controller. The controller receives the signal and outputs a control signal to the solenoid valve group. The corresponding solenoid valve of the solenoid valve group opens, allowing the pilot oil to flow into the main valve, and the high-pressure oil in the main valve flows into the wood grab, which then performs a rotation action.

[0014] Furthermore, the left handle is non-proportional control and is used to control the rotation of the wood grabber.

[0015] Furthermore, the solenoid valve group includes a solenoid valve group A5 and a solenoid valve group A6.

[0016] Further, the main valve includes a reversing valve;

[0017] The reversing valve includes an XBo port and an XAo port;

[0018] Among them, the XBo port is connected to the solenoid valve group A6 through the first pilot line;

[0019] The XAo port of the reversing valve is connected to the solenoid valve group A5 through the second pilot line.

[0020] Furthermore, the reversing valve further includes a Bo port and an Ao port;

[0021] The Bo port and the Ao port are connected to the oil inlet and return ports of the wood grabber rotary motor through the first high-pressure oil circuit and the second high-pressure oil circuit respectively.

[0022] Furthermore, the main pump includes two positive flow variable piston pumps and one gear pilot pump; the main pump is provided with P1, P2 and F oil ports;

[0023] The high-pressure oil port of the main pump P2 is connected to the oil inlet of the main valve P2 through a third high-pressure pipeline.

[0024] Furthermore, the solenoid valve group is connected to the pilot pump through the third pilot oil circuit.

[0025] Furthermore, the main pump is connected to the pilot pump via a fourth pilot oil circuit.

[0026] The second aspect of the present invention provides a method for controlling the rotation of a wood grabber for a forestry machine, based on a rotation control system for a wood grabber for a forestry machine provided in the first aspect, including an instrument, the instrument can adjust the rotation speed, and different electrical signals are selected to be given to the controller by adjusting the instrument. The controller outputs a corresponding control signal to the main pump proportional solenoid valve, and the corresponding constant current value controls the opening and closing degree of the main pump proportional solenoid valve valve core, thereby controlling the pilot oil inlet amount. Different pilot oil inlet amounts push the connecting rod mechanism to adjust the inclination angle of the swash plate to different degrees, thereby adjusting the stroke of the positive flow variable plunger pump to change the displacement, thereby controlling the rotation flow rate, that is, the rotation speed, of the wood grabber.

[0027] A third aspect of the present invention provides a forestry machine, which uses a wood grapple rotation control system for a forestry machine as provided in the first aspect of the present invention.

[0028] The technical solution of the present invention has the following beneficial effects:

[0029] In the present invention, the rotation proportional control of the wood grab is changed into non-proportional control, thereby solving the technical problem that the rotation micro-movement of the wood grab is uncontrolled.

[0030] The invention can adjust the oil displacement of the main pump to set any uniform speed within a range for rotation, thereby solving the technical problem that the wood grabber cannot adapt to a variety of uniform speed operations.

[0031] The present invention inputs different electric signals and hydraulic pilot signals through the left handle and the right handle, thereby combining and outputting different signals to various accessory pipelines to control the wood grabber to complete the rotation and opening and closing actions.

[0032] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0034] Figure 1 This is a schematic diagram of the system structure in Example 1.

[0035] Figure 2 This is a schematic diagram of the left handle in the first embodiment of the present invention.

[0036] Figure 3 This is a schematic diagram of the controller structure circuit in Embodiment 1 of the present invention.

[0037] Figure 4 Schematic diagram of the main valve structure oil circuit in the first embodiment of the present invention.

[0038] Figure 5 for Figure 4 A partial enlarged view of middle A.

[0039] Figure 6 Schematic diagram of the oil circuit of the solenoid valve group structure in the first embodiment of the present invention.

[0040] Figure 7 Schematic diagram of the main pump structure oil circuit in Embodiment 1 of the present invention.

[0041] Figure 8 Schematic diagram of the relationship between the main pump displacement and the main pump proportional solenoid valve current in the first embodiment of the present invention.

[0042] Among them, 1, the first reset button, 2, the second reset button, 3, the third reset button. DETAILED DESCRIPTION

[0043] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0044] It should be noted that the terms used herein are for describing specific embodiments only and are not intended to be limiting of exemplary embodiments according to the present invention.

[0045] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0046] Embodiment 1

[0047] This embodiment discloses a rotation control system for a wood grabber for a forestry machine. Figure 1 As shown, a wood grabber rotation control system for a forestry machine includes: a controller, and a left handle, a solenoid valve group, and a main pump respectively connected thereto, the solenoid valve group is connected to the main valve through a pilot oil circuit, the main valve is respectively connected to the wood grabber and the main pump through a high-pressure oil circuit, the solenoid valve group is connected to the pilot pump through a pilot oil circuit, and the main pump and the pilot pump are connected through the pilot oil circuit.

[0048] In a specific embodiment, the left handle is a non-proportional control for controlling the rotation of the log grapple.

[0049] As an implementation method, the opening and closing operation of the wood grab is consistent with the control logic of the bucket excavation and unloading. The oil circuit and circuit of the existing bucket control are used to realize the left swing of the right handle to close the wood grab (original bucket excavation), and the right swing to open the wood grab (original bucket unloading). Both state operations are positive flow proportional control.

[0050] As an implementation method, Figure 2 As shown, three reset buttons are arranged on the left handle, namely the first reset button 1, the second reset button 2 and the third reset button 3, wherein two reset buttons are respectively connected to the controller, the first reset button 1 is used to control the wood grabber to rotate clockwise, the third reset button 3 is used to control the wood grabber to rotate counterclockwise, and the second reset button 2 is a horn switch.

[0051] As an implementation method, Figure 3 As shown, the controller may be a Rexroth RC10-10 model controller, wherein the controller terminal 30 is connected to the third reset button 3 , and the controller terminal 10 is connected to the first reset button 1 .

[0052] As an implementation method, Figure 4 As shown, the main valve is a multi-way reversing valve group. In this embodiment, only the OPT ION reversing valve on the main valve is used. The reversing valve is a rotating reversing valve for the wood grabber, such as Figure 5As shown, the reversing valve has four ports, namely, XBo port, XAo port, Bo port and Ao port, wherein the XBo port is connected to the solenoid valve group A6 through the first pilot line, the reversing valve XAo port is connected to the solenoid valve group A5 through the second pilot line, and the Bo port and the Ao port are connected to the oil inlet and return port of the wood grabber rotary motor through the first high-pressure oil circuit and the second high-pressure oil circuit respectively.

[0053] As an implementation method, Figure 6 As shown, the solenoid valve group is the original 6-way solenoid valve group of the forestry machine. In this embodiment, only two solenoid valves of the 6-way solenoid valve group are used, namely the solenoid valve groups A5 and A6. Specifically, Figure 3 As shown, the solenoid valve group A6 wiring harness is connected to the controller terminal 84, and the solenoid valve group A5 wiring harness is connected to the controller terminal 73. The solenoid valve group A6 is connected to the main valve P2 valve XBo port through the first pilot line, and the solenoid valve group A5 is connected to the main valve P2 valve XAo port through the second pilot line.

[0054] like Figure 7 As shown in the figure, the main pump includes two positive flow variable piston pumps and one gear pilot pump. The main pump is provided with P1, P2 and F oil ports. The positive flow variable piston pump can adjust the output flow according to the needs of the system for precise flow control. The gear pilot pump is used to provide pilot pressure for the system to control other hydraulic components, such as proportional valves or servo valves.

[0055] P1 and P2 are the high-pressure oil ports of the two plunger pumps. The high-pressure oil generated by the plunger pumps enters the main valve through these two high-pressure oil ports. F is the pilot oil generated by the gear pilot pump, which enters the main pump through the F port to adjust the displacement of the two plunger pumps. The main pump P2 proportional solenoid valve wiring harness is connected to the controller terminal 83, and the main pump P2 high-pressure oil port is connected to the main valve P2 oil inlet through the third high-pressure pipeline.

[0056] The solenoid valve group is connected to the gear pilot pump through the third pilot oil circuit. The hydraulic oil generated by the gear pilot pump flows into the P1 oil port of the solenoid valve group through the A1 oil port of the gear pilot pump for use by the pilot oil of each solenoid valve.

[0057] The main pump is connected to the gear pilot pump through the fourth pilot oil circuit. The hydraulic oil generated by the gear pilot pump flows into the main pump F oil port through the gear pilot pump A1 oil port for use by the main pump as pilot oil for adjusting the swash plate angle.

[0058] The non-proportional control of the wood grabber's rotation is as follows: the left handle generates a rotation signal and sends it to the controller. The controller receives the signal and outputs a control signal to the solenoid valve group. The corresponding solenoid valve of the solenoid valve group opens, allowing the pilot oil from the gear pilot pump to flow into the main valve. The pilot oil causes the main valve reversing valve to switch, and then the high-pressure oil from the main pump in the main valve flows into the wood grabber, and the wood grabber performs a rotation action. Specifically:

[0059] When the third reset button 3 of the left handle is pressed, the wood grabber rotates counterclockwise. The specific logic is as follows: the third electrical signal of the third reset button 3 is input to the controller terminal 30. After the controller input end receives the signal, the wood grabber counterclockwise rotation signal of the controller terminal 84 responds, and the controller output end transmits a constant current to the solenoid valve group A6. The A6 solenoid valve is energized and opened, and the A6 pilot oil flows through the A6 port to the XBo port of the main valve P2. The reversing valve of the main valve P2 is reversed, and the main valve high-pressure oil flows from the Bo port of the reversing valve into the Ao port and out. At this time, the wood grabber rotates counterclockwise.

[0060] When the first reset button 1 is pressed, the wood grabber rotates clockwise. The specific logic is as follows: the first electrical signal of the first reset button 1 is input to the controller terminal 10, the controller input end receives the signal, the wood grabber terminal 73 responds to the clockwise rotation signal, the controller output end transmits a constant current to the solenoid valve group A5, the A5 solenoid valve is energized and opened, the A5 pilot oil flows through the A5 port to the main valve P2 valve XAo port, the reversing valve of the main valve P2 is reversed, and the main valve high-pressure oil flows from the Ao port into the Bo port and out, and the wood grabber rotates clockwise.

[0061] The pilot oil control of solenoid valve groups A5 and A6 are all behind the A4 pilot switch oil circuit, which can effectively prevent the wrong operation of the left handle button when the safety lever is not lowered.

[0062] Furthermore, the third electrical signal of the third reset button 3 of the left handle is input to the controller terminal 30, and the controller input terminal receives the signal. While the wood grabber's counterclockwise rotation signal of the controller terminal 84 responds, the main pump P2 proportional solenoid valve signal of the controller terminal 83 responds synchronously, and outputs a constant current to the main pump P2 proportional solenoid valve coil, and then controls the pilot oil flow by controlling the opening and closing degree of the valve core, thereby adjusting the displacement of the main pump plunger disk, and controlling the rotation speed in the case of non-proportional control of the wood grabber's rotation.

[0063] Furthermore, the electrical signal of the first reset button 1 of the left handle is input to the controller terminal 10, the controller input terminal receives the signal, and while the wood grabber counterclockwise rotation signal of the controller terminal 73 responds, the main pump P2 proportional solenoid valve signal of the controller terminal 83 responds synchronously.

[0064] Embodiment 2

[0065] The present embodiment discloses a rotation control method for a wood grabber for a forestry machine, based on a rotation control system for a wood grabber for a forestry machine as in the first embodiment, including an instrument, the instrument can adjust the rotation speed, and by adjusting the instrument to select different electrical signals to the controller, the controller outputs a corresponding control signal to the main pump proportional solenoid valve, and the corresponding constant current value controls the opening and closing degree of the main pump proportional solenoid valve core, thereby controlling the pilot oil inlet amount, and different pilot oil inlet amounts push the connecting rod mechanism to adjust the inclination angle of the swash plate to different degrees, thereby adjusting the stroke of the positive flow variable plunger pump to change the displacement, and controlling the rotation flow of the wood grabber, that is, the rotation speed, specifically:

[0066] The instrument has a loading angle adjustment function, which is adjustable from 45° to 180°. The loading angle function is originally the speed at which the boom is lifted relative to the rotation speed after the bucket is fully loaded. It is intended to set the loading angle to rotate the angle and lift the boom to the required height for bucket unloading for loading. This embodiment uses this function to set the wood grabber rotation flow rate to be adjustable within the range of 45L to 180L / min.

[0067] Furthermore, when the loading angle is set to 90°, that is, when the engine is in the highest gear, the wood grabber rotation flow rate is 90L / min. At this time, the differential signal of the flow rate set by the instrument is transmitted to the controller via the CAN line.

[0068] Further, when the instrument signal of the flow setting 90 L / min and the third signal of the third reset button are simultaneously input into the controller, the main pump P2 provides a flow rate of 90 L / min.

[0069] Further, when the instrument signal of the flow setting 90 L / min and the first signal of the first reset button are simultaneously input into the controller, the main pump P2 provides a flow rate of 90 L / min.

[0070] The relationship between the main pump displacement and the main pump proportional solenoid valve current is as follows: Figure 8 shown.

[0071] The flow formula provided by the main pump is as follows:

[0072] Main pump flow (L / min) = main pump displacement (ml / r) * engine speed (r / min) / 1000 * 0.95;

[0073] When the engine is at the highest gear speed, calculate the main pump displacement at this time according to the required flow rate of 90L / min, and calculate the current value required by the main pump displacement at this time according to the displacement-current ratio curve;

[0074] Furthermore, the controller outputs the above current value to the proportional solenoid valve of the main pump P2 to adjust the displacement of the main pump. The main pump P2 provides a flow rate of 90L / min, and controls the wood grabber to rotate at this flow rate.

[0075] Embodiment 3

[0076] A forestry machine adopts a wood grapple rotation control system for a forestry machine provided in the first embodiment of the present invention.

[0077] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusions.

[0078] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A rotation control system for a wood grabber for a forestry machine, characterized in that: It includes a controller, and a left handle, a solenoid valve group, and a main pump respectively connected thereto; The solenoid valve group is connected to the main valve; The main valve is connected to the wood grabber and the main pump respectively; The solenoid valve group is connected to the pilot pump; The main pump is connected to the pilot pump; The left handle generates a rotation signal and sends it to the controller. The controller receives the signal and outputs a control signal to the solenoid valve group. The corresponding solenoid valve of the solenoid valve group opens, allowing the pilot oil to flow into the main valve, and the high-pressure oil in the main valve flows into the wood grab, which then performs a rotation action.

2. A wood grabber rotation control system for a forestry machine as claimed in claim 1, characterized in that: The left handle is a non-proportional control and is used to control the rotation of the wood grabber.

3. A wood grabber rotation control system for a forestry machine as claimed in claim 1, characterized in that: The solenoid valve group includes a solenoid valve group A5 and a solenoid valve group A6.

4. A wood grabber rotation control system for a forestry machine as claimed in claim 3, characterized in that: The main valve includes a reversing valve; The reversing valve includes an XBo port and an XAo port; Among them, the XBo port is connected to the solenoid valve group A6 through the first pilot line; The XAo port of the reversing valve is connected to the solenoid valve group A5 through the second pilot line.

5. A wood grabber rotation control system for a forestry machine as claimed in claim 4, characterized in that: The reversing valve further includes a Bo port and an Ao port; The Bo port and the Ao port are connected to the oil inlet and return ports of the wood grabber rotary motor through the first high-pressure oil circuit and the second high-pressure oil circuit respectively.

6. A wood grabber rotation control system for a forestry machine as claimed in claim 1, characterized in that: The main pump includes two positive flow variable piston pumps and one gear pilot pump; The main pump is provided with P1, P2 and F oil ports; The high-pressure oil port of the main pump P2 is connected to the oil inlet of the main valve P2 through a third high-pressure pipeline.

7. A wood grabber rotation control system for a forestry machine as claimed in claim 1, characterized in that: The solenoid valve group is connected to the pilot pump through the third pilot oil circuit.

8. A wood grapple rotation control system for a forestry machine as claimed in claim 1, characterized in that: The main pump is connected to the pilot pump via a fourth pilot oil circuit.

9. A method for controlling the rotation of a wood grapple for a forestry machine, based on a wood grapple rotation control system for a forestry machine as claimed in any one of claims 1 to 8, characterized in that: The method of controlling the rotation speed in the rotation control system is as follows: Including a meter, the meter can adjust the rotation speed; By adjusting the instrument to select different electrical signals for the controller, the controller outputs a corresponding control signal to the main pump proportional solenoid valve, and the corresponding constant current value controls the opening and closing degree of the main pump proportional solenoid valve core, thereby controlling the pilot oil inlet amount; Different pilot oil inlet amounts push the connecting rod mechanism to adjust the plunger disc to different inclination angles, thereby adjusting the stroke of the positive flow variable plunger pump to change the displacement and control the rotation flow of the wood grabber.

10. A forestry machine, characterized in that: A wood grabber rotation control system for a forestry machine is used as described in any one of claims 1 to 9.

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