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

Abstract

The utility model provides a rotation control system of 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] This utility model belongs to the field of engineering machinery technology, and in particular relates to a slewing control system for a log grabber used in forestry machinery and the forestry machinery itself. Background Technology

[0002] The statements in this section are merely background information related to this utility model and do not necessarily constitute prior art.

[0003] The difference between forestry log grabbers and ordinary excavators lies in the front-end working device. The boom and stick of the log grabber are longer than those of ordinary excavators, and a matching arm is installed at the front of the stick to install the log grabber, replacing the traditional bucket.

[0004] In existing technologies, the rotation and opening / closing control of log grippers are all based on proportional control. When controlling the log gripper to rotate, especially when performing micro-movements, this control method will produce speed changes, which is not conducive to precise 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. Utility Model Content

[0005] The purpose of this utility model is to provide a slewing control system for a forestry machine's log gripper and a forestry machine. The opening and closing of the log gripper is controlled proportionally, while the slewing of the log gripper is controlled non-proportionally. The slewing action can be set to different speeds to solve the technical problem of uncontrolled micro-motions during slewing and inability to adapt to various uniform speed operations.

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

[0007] The first aspect of this utility model provides a rotation control system for a log grabber used in forestry machinery, comprising:

[0008] The controller, and the left handle, solenoid valve assembly, and main pump connected to it respectively;

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

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

[0011] The solenoid valve assembly 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 in the solenoid valve group opens, allowing pilot oil to flow into the main valve. The high-pressure oil in the main valve flows into the log gripper, and the log gripper performs a rotation action.

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

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

[0016] Furthermore, the main valve includes a directional 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 reversing valve XAo port is connected to the solenoid valve group A5 via a second pilot line.

[0020] Furthermore, the directional valve also includes a Bo port and an Ao port;

[0021] The Bo port and Ao port are respectively connected to the inlet and outlet oil ports of the log grabber's rotary motor via the first high-pressure oil circuit and the second high-pressure oil circuit.

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

[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 assembly is connected to the pilot pump via a third pilot oil circuit.

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

[0026] The second aspect of this utility model provides a forestry machine that uses a log gripper rotation control system as provided in the first aspect of this utility model.

[0027] The technical solution of this utility model has the following beneficial effects:

[0028] In this invention, the proportional control of the log gripper's rotation is changed to non-proportional control, which solves the technical problem of uncontrolled micro-motion of the log gripper's rotation.

[0029] This invention allows for rotation at any constant speed within a set range by adjusting the main pump's oil discharge rate, thus solving the technical problem that the log gripper cannot adapt to various constant speed operations.

[0030] This invention uses the left and right handles to input different electrical and hydraulic pilot signals, thereby combining and outputting different signals to each attachment pipeline to control the log grabber to complete the rotation and opening / closing actions.

[0031] Advantages of the present invention in additional aspects will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0032] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.

[0033] Figure 1 This is a schematic diagram of the system structure in Example 1.

[0034] Figure 2 This is a schematic diagram of the left handle in Embodiment 1 of this utility model.

[0035] Figure 3 This is a schematic diagram of the controller structure circuit in Embodiment 1 of this utility model.

[0036] Figure 4 This is a schematic diagram of the main valve structure oil circuit in Embodiment 1 of this utility model.

[0037] Figure 5 for Figure 4 A magnified view of part A in the image.

[0038] Figure 6 This is a schematic diagram of the oil circuit structure of the solenoid valve assembly in Embodiment 1 of this utility model.

[0039] Figure 7 This is a schematic diagram of the oil circuit of the main pump structure in Embodiment 1 of this utility model.

[0040] Figure 8 This is a schematic diagram showing the relationship between the main pump displacement and the main pump proportional solenoid valve current in Embodiment 1 of this utility model.

[0041] Among them, 1 is the first reset button, 2 is the second reset button, and 3 is the third reset button. Detailed Implementation

[0042] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0043] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations according to this utility model.

[0044] Where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0045] Example 1

[0046] This embodiment discloses a rotation control system for a log grabber used in forestry machinery, such as... Figure 1 As shown, a slewing control system for a forestry machine's log grabber includes: a controller, and a left handle, a solenoid valve group, and a main pump connected to the controller. The solenoid valve group is connected to the main valve via a pilot oil circuit. The main valve is connected to the log grabber and the main pump via a high-pressure oil circuit. The solenoid valve group is connected to the pilot pump via a pilot oil circuit. The main pump and the pilot pump are connected via a pilot oil circuit.

[0047] In a specific implementation, the left handle is a non-proportional control used to control the rotation of the log gripper.

[0048] As one implementation method, the opening and closing operation of the log grabber is consistent with the control logic of the bucket digging and unloading. The existing oil circuit and circuit of the bucket control are used to realize that swinging the right handle to the left closes the log grabber (original bucket digging) and swinging it to the right opens the log grabber (original bucket unloading). Both state operations are positive flow proportional control.

[0049] As one implementation method, such as Figure 2 As shown, there are three reset buttons on the left handle: first reset button 1, second reset button 2, and third reset button 3. Two of the reset buttons are connected to the controller. First reset button 1 is used to control the log gripper to rotate clockwise, and third reset button 3 is used to control the log gripper to rotate counterclockwise. Second reset button 2 is a horn switch.

[0050] As one implementation method, such as Figure 3 As shown, the controller can be a Rexroth RC10-10 model controller, where controller terminal 30 is connected to the third reset button 3 and controller terminal 10 is connected to the first reset button 1.

[0051] As one implementation method, such as Figure 4 As shown, the main valve is a multi-way directional valve assembly. In this embodiment, only the OPT ION directional valve on the main valve is used. This directional valve is a log grabber rotary directional valve, as shown... Figure 5 As shown, the directional valve has four ports, namely XBo port, XAo port, Bo port and Ao port. The XBo port is connected to the solenoid valve group A6 through the first pilot line, the XAo port of the directional valve is connected to the solenoid valve group A5 through the second pilot line, and the Bo port and Ao port are connected to the inlet and return oil ports of the log grabber rotary motor through the first high pressure oil line and the second high pressure oil line, respectively.

[0052] As one implementation method, such as Figure 6As shown, the solenoid valve assembly is the original 6-unit solenoid valve assembly of the forestry machine. In this embodiment, only two solenoid valves of the 6-unit solenoid valve assembly are used, namely solenoid valve assembly A5 and A6. Specifically, as shown... Figure 3 As shown, the wiring harness of solenoid valve group A6 is connected to controller terminal 84, and the wiring harness of solenoid valve group A5 is connected to controller terminal 73. Solenoid valve group A6 is connected to the XBo port of main valve P2 via the first pilot line, and solenoid valve group A5 is connected to the XAo port of main valve P2 via the second pilot line.

[0053] like Figure 7 As shown, the main pump includes two positive flow variable displacement piston pumps and one gear pilot pump. The main pump is equipped with ports P1, P2, and F. The positive flow variable displacement piston pumps can adjust their output flow rate according to system requirements for precise flow control. The gear pilot pump provides pilot pressure to the system, controlling other hydraulic components such as proportional valves or servo valves.

[0054] P1 and P2 are the high-pressure oil ports of the two plunger pumps, respectively. 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 port F to regulate the displacement of the two plunger pumps. The wiring harness of the proportional solenoid valve of the main pump P2 is connected to terminal 83 of the controller. 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.

[0055] The solenoid valve assembly is connected to the gear pilot pump via the third pilot oil circuit. The hydraulic oil generated by the gear pilot pump flows into the solenoid valve assembly via the A1 port of the gear pilot pump to supply the pilot oil for each solenoid valve. The main pump is connected to the gear pilot pump via the fourth pilot oil circuit. The hydraulic oil generated by the gear pilot pump flows into the main pump via the A1 port of the gear pilot pump to supply the pilot oil for adjusting the swashplate angle of the main pump.

[0056] The non-proportional control of the log grapple's rotation is as follows: The left handle generates a rotation signal and sends it to the controller. The controller receives this signal and outputs a control signal to the solenoid valve assembly. The corresponding solenoid valves in the solenoid valve assembly open, allowing pilot oil from the gear pilot pump to flow into the main valve. The pilot oil causes the main valve's directional valve to switch, after which high-pressure oil from the main pump flows into the log grapple, causing the log grapple to rotate. Specifically:

[0057] When the third reset button 3 on the left handle is pressed, the log gripper 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 receives the signal, the log gripper counterclockwise rotation signal of the controller terminal 84 responds. The controller output sends a constant current to the solenoid valve group A6. The solenoid valve of A6 is energized and opened. The pilot oil of A6 flows through the A6 port to the XBo port of the main valve P2. The reversing valve of the main valve P2 reverses, and the high pressure oil of the main valve flows from the Bo port of the reversing valve into the Ao port and out. At this time, the log gripper rotates counterclockwise.

[0058] When the first reset button 1 is pressed, the log gripper 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 terminal receives the signal, and the log gripper clockwise rotation signal of the controller terminal 73 responds. The controller output terminal sends a constant current to the solenoid valve group A5. The solenoid valve of A5 is energized and opened. The pilot oil of A5 flows through the A5 port to the XAo port of the main valve P2. The directional valve of the main valve P2 reverses, and the high-pressure oil of the main valve flows from the Ao port to the Bo port. At this time, the log gripper rotates clockwise.

[0059] The pilot oil control of solenoid valve groups A5 and A6 is located after the pilot switch oil circuit of A4, which can effectively prevent the accidental operation of the left handle button when the safety lever is not lowered.

[0060] Furthermore, the third electrical signal of the third reset button 3 on the left handle is input to the controller terminal 30. The controller input terminal receives the signal, and at the same time as the counterclockwise rotation signal of the log gripper at the controller terminal 84 responds, the signal of the main pump P2 proportional solenoid valve at the controller terminal 83 responds synchronously, and outputs a constant current to the coil of the main pump P2 proportional solenoid valve. Then, by controlling the opening and closing degree of the valve core, the pilot oil flow is controlled, thereby adjusting the displacement of the main pump plunger disc. In the case of non-proportional control of the log gripper rotation, the rotation speed is controlled.

[0061] Furthermore, the electrical signal of the first reset button 1 on the left handle is input to the controller terminal 10. The controller input terminal receives the signal, and at the same time the counterclockwise rotation signal of the grappling hook at the controller terminal 73 is responded to, the signal of the main pump P2 proportional solenoid valve at the controller terminal 83 is responded to synchronously.

[0062] In a specific implementation, the rotation speed can be adjusted by an instrument. By adjusting the instrument, different electrical signals are sent to the controller. The controller outputs a corresponding control signal to the main pump proportional solenoid valve, controlling the opening and closing degree of the valve core, thereby controlling the pilot oil intake. Different pilot oil intakes drive the linkage mechanism to adjust the swashplate tilt angle, which in turn adjusts the stroke of the positive flow variable piston pump, changing the displacement and controlling the log grabber's rotation flow rate, i.e., the rotation speed. Specifically:

[0063] The instrument panel features a loading angle adjustment function, adjustable from 45° to 180°. Originally, this loading angle function prioritized boom lifting over slewing after the bucket was fully loaded, aiming to set a loading angle where the boom was simultaneously raised to the required unloading height for loading. This embodiment utilizes this function to set the log grapple slewing flow rate adjustable between 45L and 180L / min.

[0064] Furthermore, when the loading angle is set to 90°, i.e., the engine is in its highest gear, the log gripper's 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 bus.

[0065] Furthermore, when the instrument signal for a flow rate of 90 L / min and the third signal from the third reset button are simultaneously input to the controller, the main pump P2 provides a flow rate of 90 L / min.

[0066] Furthermore, when the instrument signal for a flow rate of 90 L / min and the first signal from the first reset button are simultaneously input to the controller, the main pump P2 provides a flow rate of 90 L / min.

[0067] The relationship between the main pump displacement and the main pump proportional solenoid valve current is as follows: Figure 8 As shown.

[0068] The formula for the flow rate provided by the main pump is as follows:

[0069] Main pump flow rate (L / min) = Main pump displacement (ml / r) * Engine speed (r / min) / 1000 * 0.95;

[0070] At the engine's highest gear speed, the main pump displacement is calculated based on the required flow rate of 90L / min, and the current value required by the main pump to provide at this displacement is calculated based on the displacement-current ratio curve.

[0071] Furthermore, the controller outputs the aforementioned current value to the proportional solenoid valve of the main pump P2 to adjust the main pump's displacement. The main pump P2 provides a flow rate of 90L / min, controlling the log grabber to rotate at this flow rate.

[0072] Example 2

[0073] A forestry machine that uses a log gripper rotation control system as provided in Embodiment 1 of this utility model.

[0074] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion.

[0075] Although the specific embodiments of the present utility model have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present utility model. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solution of the present utility model are still within the scope of protection of the present utility model.

Claims

1. A slewing control system for a log grabber used in forestry machinery, characterized in that, Includes the controller, and the left handle, solenoid valve assembly, and main pump connected to it respectively; The solenoid valve assembly is connected to the main valve; The main valve is connected to the log grabber and the main pump, respectively; The solenoid valve assembly 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 in the solenoid valve group opens, allowing pilot oil to flow into the main valve. The high-pressure oil in the main valve flows into the log gripper, and the log gripper performs a rotation action.

2. The slewing control system for a forestry machinery log grabber as described in claim 1, characterized in that, The left handle is a non-proportional control used to control the rotation of the log gripper.

3. The slewing control system for a forestry machinery log grabber as described in claim 1, characterized in that, The solenoid valve assembly includes solenoid valve assembly A5 and solenoid valve assembly A6.

4. The slewing control system for a forestry machinery log grabber as described in claim 3, characterized in that, The main valve includes a directional 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 reversing valve XAo port is connected to the solenoid valve group A5 via a second pilot line.

5. The slewing control system for a forestry machinery log grabber as described in claim 4, characterized in that, The reversing valve also includes a Bo port and an Ao port; The Bo port and Ao port are respectively connected to the inlet and outlet oil ports of the log grabber's rotary motor via the first high-pressure oil circuit and the second high-pressure oil circuit.

6. The slewing control system for a forestry machinery log grabber as described in claim 1, characterized in that, The main pump includes two positive flow variable displacement piston pumps and one gear pilot pump; The main pump is equipped with oil ports P1, P2 and F.

7. The slewing control system for a forestry machinery log grabber as described in claim 6, characterized in that, 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.

8. The slewing control system for a forestry machinery log grabber as described in claim 1, characterized in that, The solenoid valve assembly is connected to the pilot pump via a third pilot oil circuit.

9. The slewing control system for a forestry machinery log grabber as described in claim 1, characterized in that, The main pump is connected to the pilot pump via a fourth pilot oil circuit.

10. A forestry machine, characterized in that, The application is a slewing control system for a forestry machinery log grabber as described in any one of claims 1-9.

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