Grapple Device

Abstract

To provide a grapple device for an overhead wire gathering system that stabilizes the posture of the grapple device by suppressing interference between a lifting line and a main body of the grapple device and the lifting line from detaching from a pulley for the lifting line.SOLUTION: A grapple device comprises a grapple body part 31 having a grapple arm part 312 and a device housing part 311 in which a power unit PU is housed, and a swinging hanger mechanism part 32 located above the grapple body part. In a state where the grapple device 3 is moved laterally from a position vertically below a carrier 2 by a haulback line HBL, the swinging hanger mechanism part and the grapple body part are swingably connected so that the swinging hanger mechanism part tilts following the inclination of a lifting line LFL. A haulback line attachment part 34 is disposed in the center between a pair of lifting line pulleys 322, 322 of the swinging hanger mechanism part when the grapple device is viewed from the left and right sides.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a grapple device provided in a cable logging system. [Background technology]

[0002] BACKGROUND ART Conventionally, there is known an overhead wire lumber collection system that transports felled lumber from a lumber harvesting site where lumber is harvested to a lumber collection site where lumber is collected (see, for example, Patent Document 1).

[0003] The overhead line logging system of Patent Document 1 is configured as an endless tiler system. Specifically, the overhead line logging system of Patent Document 1 includes a skyline stretched between the leading and trailing poles, a carriage attached so as to be movable along the skyline, a grapple device suspended from the carriage by a lifting line so as to be able to move up and down, and an overhead line logging machine. A pair of lifting line pulleys are attached to the grapple device. A lifting line is suspended between the lifting line pulleys. The overhead line logging machine is equipped with a winch for reeling in and paying out the lifting line, a winch for the endless line, and a winch for the haul back line. The endless line is provided to move the grapple device along the skyline.

[0004] The haul back line is pulled out from the winch drum of the overhead cable logging machine, and its end is attached to the side of the grapple device. The haul back line is suspended over a haul back line pulley located away from the skyline. When the overhead cable logging machine pays out or retracts the haul back line, the grapple device can move laterally, intersecting the skyline laying direction (the direction of movement of the carrier). In this case, the tension of the lifting line is adjusted by driving the winch drum of the haul back line winch in synchronization with the drive of the winch drum of the lifting line winch.

[0005] The grapple device comprises a main body portion at the upper part and an arm portion at the lower part. The arm portion is equipped with a pair of grapple arms that can be opened and closed, a hydraulic cylinder, etc. The end of a haul back line is connected to the arm portion. Inside the main body portion, a power unit for driving the hydraulic cylinder of the arm portion, a capacitor for supplying power to the electric motor of the power unit, a generator for charging the capacitor, etc. are installed. In addition, a pair of pulleys for the lifting lines described above are provided on the upper part of the main body portion. The pulleys for the lifting lines are arranged so that their rotation axes face horizontally when the grapple device is suspended vertically downward from the carrier. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2020-75807 Summary of the Invention [Problem to be solved by the invention]

[0007] When transporting lumber with the grapple device suspended vertically as described above, the grapple device is subjected to tension from the lifting line and gravity acting on the grapple device itself. The gravity acting on the grapple device is influenced by the weight of the grapple device itself and the weight of the lumber being transported. In this state, the lifting line extends vertically, and the grapple device is also oriented vertically. In other words, the inclination angle of the lifting line relative to the horizontal and the attitude of the grapple device are consistent. Furthermore, in this state, the rotation axis of the lifting line pulley is oriented horizontally, and the lifting line is properly aligned with the outer periphery of the sheave of the lifting line pulley.

[0008] On the other hand, when transporting lumber while moving the grapple device laterally relative to the skyline by retracting the haul back line, the grapple device is subjected to lateral tension from the haul back line in addition to tension from the lifting line and gravity acting on the grapple device itself. Therefore, the attitude of the grapple device fluctuates depending on the balance of the tension from the lifting line, tension from the haul back line, and gravity acting on the grapple device itself.

[0009] When lateral tension is applied by the haul back line, the lifting line is tilted diagonally to the side, and the grapple device is also tilted diagonally. However, because the weight of the lumber being transported and other factors are applied downward to the grapple device, the grapple device and the lifting line are not parallel, and the grapple device may be in a more upright position than the tilt angle of the lifting line. In other words, when tension is applied to the grapple device by the haul back line, the tilt angle of the lifting line relative to the horizontal may not match the position of the grapple device.

[0010] When the tension of the haul back line acts on the grapple device and the inclination of the lifting line and the grapple device do not match, the direction of the rotation axis of the lifting line pulley and the lifting line do not intersect at right angles.If the difference between the inclination of the lifting line and the inclination of the grapple device increases, the lifting line will no longer be properly aligned with the outer periphery of the sheave of the lifting line pulley, and there is a risk that the lifting line will interfere with covers attached to the grapple device or come off the lifting line pulley.

[0011] In addition, the attitude of the grapple device fluctuates depending on the balance between the tension of the lifting line, the tension of the haul back line, and the force of gravity acting on the grapple device itself. Therefore, when the tension of the lifting line and the tension of the haul back line fluctuate while the grapple device is transporting lumber, the attitude of the grapple device may fluctuate unstably.

[0012] Furthermore, in conventional grapple devices, the attachment position of the end of the haul back line was close to one side of a pair of lifting line pulleys (for example, the lifting line pulley side mounted on the leading pole). Therefore, when lateral tension is applied to the grapple device by retracting the haul back line, the grapple device's orientation becomes rotated (twisted) relative to the skyline's extension direction (the direction of movement of the carrier), and the lifting line also becomes twisted. To suppress the amount of twist in the lifting line, the amount of haul back line retraction is limited, which in turn limits the range in which the grapple device can move laterally relative to the skyline. Therefore, the installation of an overhead line logging system limits the range in which logging can be carried out.

[0013] The object of the present invention is to provide a grapple device for an overhead line logging system that prevents interference between the lifting line and the grapple device, and prevents the lifting line from coming off the lifting line pulley when tension is applied to the grapple device by the haul back line, and that prevents the attitude of the grapple device from fluctuating unstably, and that can expand the range of logging that can be collected by the overhead line logging system. [Means for solving the problem]

[0014] In order to solve the above-mentioned problems, the invention disclosed in this specification is configured as follows. That is, the first invention is a grapple device that constitutes a cable logging system that transports felled timber from a logging site to a logging site, and is equipped with a grapple main body having a grapple arm that can be opened and closed and an equipment storage section that houses a power unit that drives the grapple arm, and a swinging hanger mechanism that is arranged above the grapple main body.The grapple device is suspended by a lifting line from a carrier that can move along a skyline that is suspended between the leading pillar side and the base pillar side so that it can be raised and lowered freely, and is equipped with a haul back line for moving the carrier in a lateral direction that intersects with the direction of movement.The swinging hanger mechanism has a pulley over which the lifting line is hung, and the swinging hanger mechanism and the grapple main body are swingably connected so that when the grapple device moves laterally from a position vertically below the carrier by the haul back line, the swinging hanger mechanism tilts in accordance with the inclination of the lifting line.

[0015] According to the first invention, when the grapple device is moved laterally from a position vertically below the carrier by the haul back line, the swinging hanger mechanism and the grapple main body are connected to be able to swing freely so that the swinging hanger mechanism tilts in accordance with the inclination of the lifting line.

[0016] When tension in the haulback line acts on the grapple device and the lifting line tilts diagonally to the side, the swinging hanger mechanism tilts relative to the grapple body to follow the tilt of the lifting line. This keeps the lifting line properly aligned with the outer circumferential surface of the sheave of the pulley, preventing the lifting line from interfering with the grapple device or coming off the pulley.

[0017] Furthermore, even if the tension in the lifting line and the tension in the haulback line fluctuate while the grapple device is transporting timber, the swinging hanger mechanism tilts relative to the grapple main body to follow the inclination of the lifting line, thereby suppressing fluctuations in the posture of the grapple main body.

[0018] The second invention is the first invention, in which, when the grapple device is in a vertically suspended state in a position vertically below the carrier, the direction in which the grapple device moves is the fore-and-aft direction of the grapple device, and the direction perpendicular to the fore-and-aft direction and vertical direction of the grapple device is the left-and-right direction of the grapple device, and the grapple main body and the swinging hanger mechanism are connected so as to be able to swing freely by a connecting shaft extending in the fore-and-aft direction, and the swinging hanger mechanism is provided with a pair of pulleys spaced apart in the fore-and-aft direction, and the haul back line mounting portion to which the haul back line is attached is located on the connecting shaft and between the pair of pulleys when viewed from the left-and-right direction of the grapple device.

[0019] According to the second aspect of the present invention, the haul back line attachment portion is disposed on the connecting shaft portion and between the pair of pulleys when the grapple device is viewed from the left and right direction.

[0020] Since the haul back line mounting portion is positioned on the connecting shaft portion, even if the tension of the haul back line acts on the grapple device and the lifting line becomes tilted diagonally horizontally, the tension of the haul back line does not directly act on the grapple main body portion and the swinging hanger mechanism portion.

[0021] Therefore, the swinging hanger mechanism is not directly affected by the tension of the haul back line and tilts relative to the grapple body to follow the tilt of the lifting line. This keeps the lifting line properly aligned with the outer circumferential surface of the sheave of the pulley, preventing the lifting line from interfering with the grapple device or coming off the pulley.

[0022] Furthermore, even if the tension of the haul back line fluctuates, the grapple body is not directly affected by the fluctuation in the tension of the haul back line. As a result, the posture of the grapple device is stable while the grapple device is transporting the lumber, and the lumber can be transported in a stable posture.

[0023] In a third aspect of the present invention, in the second aspect, the haul back line attachment portion is disposed in the center between the pair of pulleys when the grapple device is viewed from the left and right.

[0024] According to the third aspect of the present invention, the haul back line attachment portion is disposed in the center between the pair of pulleys when the grapple device is viewed from the left and right.

[0025] When lateral tension is applied to the grapple unit by retracting the haul back line, the tension in the haul back line acts evenly in the front-to-back direction of the grapple unit. This means that the grapple unit is less likely to rotate (twist) relative to the skyline's laying direction (the direction of the carrier's movement), and the lifting line is also less likely to become twisted. This means that there are no restrictions on the amount of haul back line retraction, and the range in which the grapple unit can move laterally relative to the skyline can be increased, thereby expanding the range of logging that can be collected using the overhead line logging system.

[0026] In a fourth aspect of the present invention, in the third aspect, the haulback line attachment portion is provided rotatably about the axis of the connecting shaft portion.

[0027] According to the fourth aspect of the present invention, even if the direction of the tension of the haul back line applied to the grapple device changes, the haul back line attachment portion rotates about the axis of the connecting shaft portion, making the grapple body and the swinging hanger mechanism less susceptible to the tension of the haul back line.

[0028] This makes it easier for the swinging hanger mechanism to tilt relative to the grapple main body so as to follow the tilt of the lifting line, preventing the lifting line from interfering with the grapple device or coming loose from the pulley.

[0029] In addition, since the grapple main body is less susceptible to the tension of the haul back line, the posture of the grapple device becomes stable while the grapple device is transporting wood, allowing the wood to be transported in a stable posture.

[0030] In a fifth invention, in any one of the first to fourth inventions, the swinging hanger mechanism has a grapple generator that generates electricity by rotating the sheave of the pulley, the grapple main body has a hydraulic cylinder that drives the grapple arm section to open and close, and a grapple capacitor that stores the electricity generated by the grapple generator, and the power unit has an electric motor that operates with the electricity generated by the grapple generator, a hydraulic pump driven by the electric motor, and a valve, and is configured so that the hydraulic cylinder is driven by the power unit.

[0031] According to the fifth aspect of the present invention, since the grapple device is equipped with both a grapple generator and a grapple capacitor, it is not necessary to install a large-capacity capacitor as a drive source for driving the grapple arm, which allows the grapple capacitor to be made smaller and lighter.

[0032] In addition, by providing the grapple capacitor in the grapple main body and the grapple generator in the swinging hanger mechanism, it becomes easier to transmit the rotational force of the sheave of the pulley that rotates when the grapple device is raised or lowered to the grapple generator. [Effects of the Invention]

[0033] The grapple device of the present invention can prevent interference between the lifting line and the grapple device and the lifting line from coming off the lifting line pulley when tension is applied to the grapple device by the haul back line, and can also prevent the grapple device's posture from fluctuating unstably, and further can increase the range of logging that can be collected by the overhead line logging system. [Brief explanation of the drawings]

[0034] [Figure 1] 1 is a diagram showing a schematic configuration of an overhead line material collection system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a side view of the grapple device of the present embodiment. [Figure 3] FIG. 2 is a side view of the main part mainly showing the swinging hanger mechanism and the connecting shaft of the grapple device of the present embodiment. [Figure 4] FIG. 4 is a cross-sectional view taken along line AA in FIG. [Figure 5] FIG. 10 is a rear view showing the movable range of the swinging hanger mechanism and the haul back line attachment portion of the grapple device of this embodiment relative to the grapple main body. [Figure 6] FIG. 2 is a diagram showing the configuration of equipment for driving the grapple arm portion of the grapple device of the present embodiment. [Figure 7] FIG. 10 is a rear view illustrating the balance of forces applied to the grapple device of the present embodiment. [Figure 8] 10 is a plan view illustrating the relationship between the tension applied to each of a pair of lifting line pulleys and the tension applied to the haul back line in the grapple device of this embodiment. FIG. [Figure 9] 1 is a plan view showing an example of a collection range of the overhead line collection system of the present embodiment. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0035] [Embodiment 1] Hereinafter, a cable collection system 100 and a grapple device 3 according to an embodiment of the present invention will be described in detail with reference to the drawings.

[0036] In the drawings, the same or corresponding parts are designated by the same reference numerals, and their description will not be repeated. For ease of understanding, the drawings referred to below show simplified or schematic configurations, and some components are omitted. Furthermore, the dimensional ratios between components shown in each drawing do not necessarily represent actual dimensional ratios. Furthermore, arrow F indicates the front of the grapple device 3, and arrow B indicates the rear. Arrow L indicates the left side of the grapple device 3, and arrow R indicates the right side. Arrow U indicates the upward direction, and arrow D indicates the downward direction.

[0037] Figure 1 is a diagram showing the schematic configuration of an overhead line logging system 100 according to one embodiment of the present invention. The overhead line logging system 100 of this embodiment is configured as an endless tiler system. As shown in Figure 1, the overhead line logging system 100 includes a carriage 2 that is movably attached along a skyline SKL, a grapple device 3 that is suspended from the carriage 2 by a lifting line LFL so that it can be raised and lowered, and an overhead line logging machine 1. The overhead line logging system 100 also includes a radio control system S for wirelessly controlling the grapple device 3 and the overhead line logging machine 1.

[0038] The skyline SKL is bridged between the leading pillar side and the base pillar side. Specifically, the skyline SKL is bridged between a base pillar position P3 located in the timber collection area P1 and a leading pillar position P4 located farther than the timber harvesting area P2. The skyline SKL extends in a substantially straight line when viewed from above, and, for example, one end of the skyline SKL is connected to a tree or the like at the base pillar position P3, and the other end of the skyline SKL is connected to a tree or the like at the leading pillar position P4.

[0039] A carriage 2 is movably attached to the Skyline SKL via a pair of Skyline pulleys 22, 22. Both ends of an endless line ELL, which forms a catenary, are connected to the carriage 2. The endless line ELL is stretched across multiple endless line pulleys E and the winch drum of the endless line winch 11 of the overhead line logging machine 1. The endless line pulleys E are installed near the timber logging site P1, near the leading post position P4, near the overhead line logging machine 1, etc.

[0040] The overhead line logging machine 1 reels in and pays out the endless line ELL, lifting line LFL, and haul back line HBL. The overhead line logging machine 1 is equipped with an endless line winch 11, a lifting line winch 12, and a haul back line winch 13. Each winch is driven by a hydraulic motor (not shown). The hydraulic motor is driven by hydraulic pressure from a hydraulic pump (not shown) driven by an engine unit 14. By moving the endless line ELL using the endless line winch 11 provided on the overhead line logging machine 1, the carrier 2 can be moved along the skyline SKL.

[0041] Specifically, by driving the endless line winch 11 so as to retract the endless line ELL in the E1 direction, the carrier 2 moves along the skyline SKL in the S1 direction. Also, by driving the endless line winch 11 so as to pay out the endless line ELL in the E2 direction, the carrier 2 moves along the skyline SKL in the S2 direction. The overhead cable yarding machine 1 has a second work machine side wireless communication unit 15 as part of the wireless control system S.

[0042] The carrier 2 has a carrier main body 21. A wireless repeater 4 is attached to the lower front side of the carrier main body 21. A lifting line pulley 23 is attached to the lower rear side of the carrier main body 21. The wireless repeater 4 has a lifting line pulley 41 over which the lifting line LFL is suspended. The middle portion of the lifting line LFL pulled out from the overhead cable logging machine 1 is suspended between the lifting line pulley 41 and the lifting line pulley 23. A grapple device 3 is provided in the middle portion of the lifting line LFL located between the lifting line pulley 41 and the lifting line pulley 23. The grapple device 3 is suspended from the lifting line LFL via a pair of lifting line pulleys 322, 322.

[0043] One end of the lifting line LFL is connected to, for example, a tree or the like in the timber harvesting site P2. The other end of the lifting line LFL is wound around the winch drum of the lifting line winch 12 of the overhead line logging machine 1. The lifting line LFL is stretched across the above-mentioned lifting line pulley 41, lifting line pulley 23, a pair of lifting line pulleys 322, 322, and a lifting line pulley L provided near the timber harvesting site P1.

[0044] The lifting line winch 12 provided on the overhead cable collection machine 1 retracts and reels in the lifting line LFL, thereby enabling the grapple device 3 to be raised and lowered. Specifically, by driving the lifting line winch 12 to reel out the lifting line LFL in the L1 direction, the length of the middle portion of the lifting line LFL located between the lifting line pulley 41 and the lifting line pulley 23 increases, causing the grapple device 3 to descend. Conversely, by driving the lifting line winch 12 to retract the lifting line LFL, the length of the middle portion of the lifting line LFL decreases, causing the grapple device 3 to ascend.

[0045] A haul back line HBL is attached to the grapple device 3 for moving the carrier 2 in a lateral direction (leftward in this embodiment) that intersects with the movement direction (front-to-back direction) of the carrier 2. Specifically, one end of the haul back line HBL pulled out from the overhead line logging machine 1 is connected to the left side of the grapple device 3. The other end of the haul back line HBL is wound around the winch drum of the haul back line winch 13. The haul back line HBL is stretched across a first haul back line pulley Ha provided at a position away from the skyline SKL, a haul back line pulley H provided near the overhead line logging machine 1, and the like.

[0046] Fig. 2 is a side view of the grapple device 3 of this embodiment. As shown in Fig. 2, the grapple device 3 includes a grapple main body 31 and a swinging hanger mechanism 32. The swinging hanger mechanism 32 is disposed above the grapple main body 31. The grapple main body 31 includes a grapple arm 312 that can be opened and closed, and an equipment storage section 311.

[0047] The grapple arm unit 312 has a swing joint unit 312a attached to the lower end of the equipment storage unit 311, an arm base 312b provided at the lower end of the swing joint unit 312a, and a pair of arm members 312c attached to the arm base 312b. The base end of each arm member 312c is connected to the arm base 312b so as to be freely rotatable in the vertical direction. The pair of arm members 312c opens and closes as the pair of arm members 312c rotates vertically in unison. By closing the pair of arm members 312c, 312c, it is possible to grip timber and transport the harvested timber from the timber harvesting site P2 to the timber collection site P1 in this state. In addition, by opening the pair of arm members 312c, 312c, it is possible to release the gripped timber and lower it to the timber collection site P1.

[0048] The swinging hanger mechanism 32 is suspended by a lifting line LFL from the carriage 2, which is moved along the skyline SKL, so as to be able to move up and down freely. The swinging hanger mechanism 32 has a lifting line pulley 322 across which the lifting line LFL is hung for raising and lowering the grapple device 3. A pair of lifting line pulleys 322 are provided so as to be aligned at an interval in the direction of movement of the carriage 2 (front-to-back direction) when the grapple main body 31 is in a vertically suspended state in which it is located vertically below the carriage 2.

[0049] The swinging hanger mechanism 32 and the grapple main body 31 are swingably connected to each other so that the swinging hanger mechanism 32 tilts in accordance with the tilt of the lifting line LFL when the grapple device 3 moves laterally (left and right) from a position vertically below the carrier 2 by the haul back line HBL. Specifically, the swinging hanger mechanism 32 and the equipment storage section 311 of the grapple main body 31 are swingably connected to each other by a connecting shaft 33 extending in the front-rear direction when in the vertically suspended state. The swinging hanger mechanism 32 includes a hanger main body 321 extending along the connecting shaft 33 and a pair of support members 323, 323 extending downward from both longitudinal ends of the hanger main body 321 and supporting both ends of the connecting shaft 33. The lifting line pulleys 322 are attached to both longitudinal ends of the hanger main body 321.

[0050] A haul back line attachment portion 34 is attached to the connecting shaft portion 33. When the grapple device 3 is viewed from the left and right, the haul back line attachment portion 34 is located on the connecting shaft portion 33 and between the pair of lifting line pulleys 322, 322. More specifically, when the grapple device 3 is viewed from the left and right, the haul back line attachment portion 34 is located in the center between the pair of lifting line pulleys 322, 322. One end of a haul back line HBL for moving the grapple main body 31 in the left and right direction is attached to a ring member 343 of the haul back line attachment portion 34.

[0051] FIG. 3 is a side view of a main portion of the grapple device 3 according to this embodiment, mainly showing the swinging hanger mechanism 32 and the connecting shaft 33. FIG. 4 is a cross-sectional view taken along line AA in FIG. 3. As shown in FIGS. 3 and 4, the connecting shaft 33 includes an outer tube central member 331, a pair of outer tube end members 332, 332 fixed to both ends of the outer tube central member 331, and a central shaft 334 inserted through the outer tube central member 331 and the pair of outer tube end members 332, 332. The central shaft 334 is rotatably supported in each of the pair of outer tube end members 332, 332 via bearings 333. A gap is provided between the central shaft 334 and the outer tube central member 331. The central shaft 334 is longer than the combined length of the outer tube central member 331 and the pair of outer tube end members 332, 332. The central shaft 334 is supported by the outer tube end members 332 via bearings 333, 333, with both ends of the central shaft 334 having protruding portions outward from the outer tube end members 332, 332. Support members 323, 323 of the swinging hanger mechanism 32 are attached to the protruding portions of the central shaft 334.

[0052] Male threads are formed on both ends of the central shaft 334, and mounting members 338 consisting of nuts are attached to these male threads. Each of the pair of support members 323 is disposed between the outer tube end member 332 and the mounting members 338. The pair of mounting members 338 holds the central shaft 334 relative to the outer tube central member 331, the outer tube end members 332, and the support members 323. The central shaft 334 and the support member 323 are also integrated with a fixing member 337. When the swinging hanger mechanism 32 rotates around the axis of the outer tube central member 331 relative to the outer tube central member 331 and the outer tube end members 332, 332, the central shaft 334 rotates together with the swinging hanger mechanism 32.

[0053] The haul back line attachment portion 34 includes a tubular member 341, a fastener 342 provided on the tubular member 341, and a ring member 343 attached to the fastener 342. The tubular member 341 of the haul back line attachment portion 34 is rotatably fitted into the outer tube central member 331 of the connecting shaft portion 33. A step portion 331a is provided on the outer tube central member 331. This step portion 331a prevents one open end of the tubular member 341 from slipping out when the tubular member 341 is fitted into the outer tube central member 331. In addition, a displacement prevention member 335 aligned with the other open end of the tubular member 341 is attached to the outer tube central member 331. The step portion 331a and the displacement prevention member 335 prevent the tubular member 341 from shifting in the axial direction of the outer tube central member 331. This allows the haulback line attachment portion 34 to maintain the position of the center portion of the connecting shaft portion 33.

[0054] A plurality of cover mounting bases 336 and a housing frame 311a are attached to the lower part of the outer tube central member 331 of the connecting shaft 33. The housing frame 311a is used to mount the devices inside the device accommodating section 311. The cover mounting bases 336 are also used to mount the cover 311b (see FIG. 2) of the device accommodating section 311. This allows the outer tube central member 331 and the device accommodating section 311 to be configured as a single unit.

[0055] 5 is a rear view showing the movable range of the swinging hanger mechanism 32 and the haul back line attachment part 34 of the grapple device 3 of this embodiment relative to the grapple main body 31. As shown in Fig. 5, the swinging hanger mechanism 32 has a rotation range of approximately 180° relative to the equipment housing part 311 of the grapple main body 31, with the connecting shaft part 33 as the rotation center. When the swinging hanger mechanism 32 is rotated to the maximum relative to the equipment housing part 311, the outer peripheral surface of the sheave 322a of the lifting line pulley 322 is configured to tilt to a substantially horizontal direction.

[0056] Similar to the swinging hanger mechanism 32, the haul back line mounting portion 34 has a rotation range of approximately 180° with the connecting shaft 33 as the rotation center relative to the equipment housing portion 311 of the grapple main body 31. When the haul back line mounting portion 34 is rotated to its maximum relative to the equipment housing portion 311, the ring member 343 of the haul back line mounting portion 34 is configured to tilt to a substantially horizontal direction. The haul back line mounting portion 34 is provided rotatably about the axis of the connecting shaft 33 so that its position can be changed to either the left or right side perpendicular to the movement direction (front-rear direction) of the carrier 2. The rotation of the haul back line mounting portion 34 relative to the equipment housing portion 311 is independent of the rotation of the swinging hanger mechanism 32 relative to the equipment housing portion 311.

[0057] FIG. 6 is a diagram showing the configuration of the equipment for driving the grapple arm section 312 of the grapple device 3 of this embodiment. In FIG. 6, solid arrows between devices indicate the flow of power supply, and dashed arrows indicate the flow of control signals. The swinging hanger mechanism 32 of the grapple device 3 includes a grapple generator 3a that generates electricity by rotating the sheave 322a of the lifting line pulley 322, and a speed-up mechanism (not shown). The grapple main body 31 includes a power unit PU, a power generation relay 3b, a grapple capacitor 3c, a first work machine wireless communication unit 3d, a hydraulic cylinder 3i that drives the grapple arm section 312 to open and close, and a rotator 3h that rotates the grapple arm section 312 relative to the equipment housing section 311.

[0058] The power generation relay 3b, the power unit PU, the grapple storage battery 3c, the first work machine side wireless communication unit 3d, and the rotator 3h are housed in the equipment housing 311. The power generation relay 3b and the grapple generator 3a provided in the swinging hanger mechanism 32 are connected by a power cable 3j. The power cable 3j is exposed to the outside between the hanger main body 321 of the swinging hanger mechanism 32 and the equipment housing 311. A portion of the power cable 3j is routed along the outer peripheral surface of the outer cylindrical central member 331 of the connecting shaft 33 (see FIG. 2). The power generation relay 3b is electrically connected to the grapple storage battery 3c (e.g., a lithium-ion battery). In other words, the grapple generator 3a is electrically connected to the grapple storage battery 3c via the power generation relay 3b. This allows the power generated by the grapple generator 3a to be stored in the grapple storage battery 3c.

[0059] In this embodiment, regenerative power generation is performed by converting the rotational energy of the sheave 322a of the lifting line pulley 322 into electrical energy by the grapple generator 3a. Specifically, when the grapple device 3 moves along the lifting line LFL, the sheaves 322a, 322a of the pair of lifting line pulleys 322, 322 rotate, and this rotation is accelerated by a speed-up mechanism (not shown). The rotation accelerated by the speed-up mechanism is then transmitted to the grapple generator 3a, whereby power is generated by the grapple generator 3a.

[0060] The power unit PU is provided to drive the grapple arm section 312. The power unit PU has an electric motor 3e that operates using power generated by the grapple generator 3a, a hydraulic pump 3f that is driven by the electric motor 3e, and a valve 3g. Hydraulic oil from the hydraulic pump 3f is supplied to the hydraulic cylinder 3i via the valve 3g, a rotator 3h, and a hydraulic hose 3k (see FIG. 2).

[0061] The grapple storage battery 3c is electrically connected to the electric motor 3e of the power unit PU and the first work machine side wireless communication unit 3d, and power from the grapple storage battery 3c is supplied to both the electric motor 3e and the first work machine side wireless communication unit 3d.

[0062] The first work machine side wireless communication unit 3d constitutes part of the wireless control system S. In this embodiment, as shown in Fig. 1 and Fig. 6, the wireless control system S includes a wireless control device 5, a first work machine side wireless communication unit 3d provided in the grapple device 3, a second work machine side wireless communication unit 15 provided in the overhead cable collection machine 1, and a wireless repeater 4 that receives operation signals from the wireless control device 5 and transmits them to the first work machine side wireless communication unit 3d and the second work machine side wireless communication unit 15. The wireless repeater 4 is attached to the carrier 2.

[0063] FIG. 7 is a rear view illustrating the balance of forces acting on the grapple device 3 of this embodiment. FIG. 7 shows a state in which the tension T1 of the lifting line LFL, the tension T2 of the haul back line HBL, and the gravity W acting on the grapple device 3 are balanced. FIG. 7 shows a state in which the grapple device 3 moves laterally (to the left) from a position vertically below the carrier 2 due to the tension T2 of the haul back line HBL. The weight of the grapple main body 31 and the weight of the lumber being transported contribute to the gravity W acting on the grapple device 3. The grapple main body 31, the swinging hanger mechanism 32, and the haul back line attachment 34 can each rotate around the axis of the connecting shaft 33, with the connecting shaft 33 serving as a pivot point. Therefore, the grapple main body 31, the swinging hanger mechanism 32, and the haul back line attachment 34 rotate independently of each other.

[0064] In a vertically suspended state in which the grapple body 31 is positioned vertically below the carriage 2 and lumber is suspended straight by the grapple arm 312, the grapple body 31 extends vertically from the connecting shaft 33 to the lower end of the grapple arm 312. From this state, the haul back line winch 13 of the overhead cable logging machine 1 is driven to retract the haul back line HBL to the left. Then, tension T2 of the haul back line HBL acts on the grapple device 3, moving the grapple device 3 to the left. In this case, the grapple body 31 maintains its vertically extended position due to gravity. On the other hand, when the grapple device 3 is moved leftward, the carriage 2 and the grapple device 3 move apart to the left. Because the carriage 2 and the grapple device 3 are connected by the lifting line LFL, the lifting line LFL is tilted diagonally horizontally. Then, a tension T1 of the lifting line LFL acts on the lifting line pulley 322 of the grapple device 3 obliquely upward toward the carrier 2.

[0065] In this embodiment, the swinging hanger mechanism 32 is capable of swinging around the connecting shaft 33 as a fulcrum, independently of the grapple main body 31 and the haulback line attachment 34. The swinging hanger mechanism 32 is provided with lifting line pulleys 322, 322. This causes the swinging hanger mechanism 32 to tilt rightward in accordance with the tilt of the lifting line LFL. More specifically, the swinging hanger mechanism 32 tilts rightward so that the outer peripheral surface of the sheave 322a of the lifting line pulley 322 follows the direction of the tension T1 of the lifting line LFL. The swinging hanger mechanism 32 is maintained in an orientation in which the rotation axis direction O of the lifting line pulley 322 is perpendicular to the tension T1. As the amount of movement of the grapple device 3 in the left direction increases, the inclination of the swinging hanger mechanism 32 in the right direction relative to the grapple main body 31 increases.

[0066] In addition, when the haul back line winch 13 of the overhead cable collection machine 1 is driven to retract and unreel the haul back line HBL, the tension T1 of the lifting line LFL from which the grapple device 3 is suspended is adjusted by driving the haul back line winch 13 in synchronization with the driving of the lifting line winch 12.

[0067] FIG. 8 is a plan view illustrating the relationship between the tensions T1f, T1r applied to each of a pair of lifting line pulleys 322, 322 in the grapple device 3 of this embodiment and the tension T2 applied to the haul back line HBL. The lifting line pulleys 322 are provided in pairs so as to be spaced apart in the direction of movement (front-to-back direction) of the carriage 2 when the grapple main body 31 is in a vertically suspended state in a position vertically below the carriage 2. In FIG. 8, the lifting line pulley 41 side of the wireless repeater 4 is the front side. A front lifting line tension T1f is applied to the front lifting line pulley 322. A rear lifting line tension T1r is applied to the rear lifting line pulley 322.

[0068] In this embodiment, the pair of lifting line pulleys 322, 322 are provided near both longitudinal ends of the connecting shaft 33. When the grapple device 3 is viewed from the left and right, the haul back line attachment portion 34 is disposed on the connecting shaft 33 and between the pair of lifting line pulleys 322, 322. In particular, when the grapple device 3 is viewed from the left and right, the haul back line attachment portion 34 is disposed in the center between the pair of lifting line pulleys 322, 322.

[0069] As a result, when a lateral (left-right) tension T2 is applied to the grapple device 3 by retracting the haul back line HBL, the tension T2 of the haul back line HBL acts evenly in the front-to-rear direction of the grapple device 3. In other words, the front lifting line tension T1f and the rear lifting line tension T1r are approximately equal. Furthermore, by twisting the connecting shaft 33 in a direction intersecting the haul back line HBL with respect to the ground, the winding angle of the lifting line LFL around the lifting line pulleys 322, 322 becomes even. As a result, in the state of FIG. 8, the pair of middle portions of the lifting line LFL extending in the up-down direction from the pair of lifting line pulleys 322, 322 toward the carrier 2 are prevented from twisting each other around the vertical axis.

[0070] FIG. 9 is a plan view showing an example of the logging range of the overhead line logging system 100 of this embodiment. When the grapple device 3 is suspended vertically, driving the endless line winch 11 of the overhead line logging machine 1 to retract or pay out the endless line ELL causes the grapple device 3 to move together with the carrier 2 in the direction of the skyline SKL (forward and backward). Driving the haul back line winch 13 of the overhead line logging machine 1 to retract or pay out the haul back line HBL causes the grapple device 3 to move left and right toward the first haul back line pulley Ha, which is positioned away from the skyline SKL. Such movement of the grapple device 3 makes it possible to collect lumber, for example, in the first working area R1 and the second working area R2.

[0071] Here, the first working area R1 represents a logging range similar to that of a conventional grapple device such as that described in Patent Document 1. Unlike conventional devices, the present embodiment includes a grapple body 31 and a swinging hanger mechanism 32, allowing the lifting line pulley 322 to tilt with greater freedom than conventional devices. Furthermore, as described above, the present embodiment prevents the pair of intermediate portions of the lifting line LFL extending vertically from the pair of lifting line pulleys 322, 322 toward the carrier 2 from twisting around the vertical axis. Therefore, the present embodiment does not restrict the retraction amount of the haul back line HBL, providing a wider logging range than conventional devices, making it possible to collect timber in the second working area R2 as well.

[0072] The first working area R1 and the second working area R2 can form any triangular area by adjusting the installation position of the first haul back line pulley Ha. In particular, in this embodiment, the haul back line attachment part 34 of the grapple device 3 is rotatable about the axis of the connecting shaft part 33 so that its position can be changed on both sides in the lateral direction (left-right direction) perpendicular to the movement direction (front-back direction) of the carrier 2. This makes it easy to change the installation position of the first haul back line pulley Ha to the opposite side in the left-right direction with respect to the skyline SKL, and also to change the position of the haul back line attachment part 34. This also makes it easy to set the logging range of the third working area R3.

[0073] As described above, the grapple device 3 according to the embodiment includes a grapple main body 31 having an openable / closable grapple arm 312 and an equipment housing 311 that houses a power unit PU that drives the grapple arm 312, and a swinging hanger mechanism 32 disposed above the grapple main body 31. The grapple device 3 is suspended by a lifting line LFL from a carriage 2 that is movable along a skyline SKL that is suspended between the leading pillar side and the base pillar side so as to be able to rise and fall freely. A haulback line HBL is attached to the grapple device 3 for moving the carriage 2 in a lateral direction that intersects with the direction of movement. The swinging hanger mechanism 32 includes a lifting line pulley 322 over which the lifting line LFL is suspended. When the grapple device 3 moves laterally (left and right) from a position vertically below the carrier 2 by the haul back line HBL, the swinging hanger mechanism 32 and the grapple main body 31 are connected so as to be able to swing freely so that the swinging hanger mechanism 32 tilts in accordance with the inclination of the lifting line LFL.

[0074] According to the above configuration, when tension T2 of the haul back line HBL acts on the grapple device 3 and the lifting line LFL is tilted diagonally laterally, the swinging hanger mechanism 32 tilts relative to the grapple main body 31 so as to follow the tilt of the lifting line LFL. This keeps the lifting line LFL properly aligned with the outer peripheral surface of the sheave 322a of the lifting line pulley 322, preventing the lifting line LFL from interfering with the grapple device 3 or coming off the lifting line pulley 322.

[0075] Furthermore, even if the tension T1 due to the lifting line LFL and the tension T2 due to the haulback line HBL fluctuate while the grapple device 3 is transporting timber, the swinging hanger mechanism 32 tilts relative to the grapple main body 31 to follow the inclination of the lifting line LFL, thereby suppressing fluctuations in the posture of the grapple main body 31.

[0076] In the above embodiment, in a vertically suspended state in which the grapple device 3 is positioned vertically below the carrier 2, the grapple main body 31 and the swinging hanger mechanism 32 are swingably connected by a connecting shaft 33 extending in the front-to-rear direction. A pair of lifting line pulleys 322 are provided on the swinging hanger mechanism 32 at a distance in the front-to-rear direction. A haul back line attachment portion 34 to which a haul back line HBL is attached is located on the connecting shaft 33 and between the pair of lifting line pulleys 322, 322 when the grapple device 3 is viewed from the left-to-right direction.

[0077] According to the above configuration, since the haul back line mounting portion 34 is arranged on the connecting shaft portion 33, even if the tension T2 of the haul back line HBL acts on the grapple device 3 and the lifting line LFL becomes tilted diagonally horizontally, the tension T2 of the haul back line HBL does not directly act on the grapple main body portion 31 and the swinging hanger mechanism portion 32, respectively.

[0078] Therefore, the swinging hanger mechanism 32 is not directly affected by the tension T2 of the haul back line HBL, and is inclined relative to the grapple main body 31 so as to follow the inclination of the lifting line LFL. This keeps the lifting line LFL properly aligned with the outer peripheral surface of the sheave 322a of the lifting line pulley 322, and prevents the lifting line LFL from interfering with the grapple device 3 or from coming off the lifting line pulley 322.

[0079] Furthermore, even if the tension T2 of the haul back line HBL fluctuates, the grapple main body 31 is not directly affected by the fluctuation of the tension T2 of the haul back line HBL. Therefore, while the grapple device 3 is transporting lumber, the posture of the grapple device 3 is stable, and the lumber can be transported in a stable posture.

[0080] In the above embodiment, the haul back line attachment portion 34 is disposed in the center between the pair of lifting line pulleys 322, 322 when the grapple device 3 is viewed from the left and right direction.

[0081] According to the above configuration, when a lateral (left-right) tension T2 is applied to the grapple device 3 by retracting the haul back line HBL, the tension T2 of the haul back line HBL acts evenly in the front-to-back direction of the grapple device 3. As a result, the attitude of the grapple device 3 is less likely to rotate (twist) relative to the span direction (front-to-back direction) of the skyline SKL, and the lifting line LFL is also less likely to become twisted. This means that the amount of retraction of the haul back line HBL is not restricted, and the range over which the grapple device 3 can be moved laterally relative to the skyline SKL can be increased, thereby increasing the range over which logging can be collected by the overhead line logging system 100.

[0082] In the above embodiment, the haulback line attachment portion 34 is provided rotatably around the axis of the connecting shaft portion 33 .

[0083] According to the above configuration, even if the direction of the tension T2 of the haul back line HBL applied to the grapple device 3 changes, the haul back line attachment part 34 rotates around the axis of the connecting shaft part 33. Therefore, the grapple main body part 31 and the swinging hanger mechanism part 32 are less susceptible to the influence of the tension T2 of the haul back line HBL.

[0084] This makes it easier for the swinging hanger mechanism 32 to tilt relative to the grapple main body 31 so as to follow the tilt of the lifting line LFL, thereby preventing the lifting line LFL from interfering with the grapple device 3 or from coming off the lifting line pulley 322.

[0085] In addition, since the grapple main body 31 is less susceptible to the influence of the tension T2 of the haul back line HBL, the posture of the grapple device 3 becomes stable while the grapple device 3 is transporting wood, and the wood can be transported in a stable posture.

[0086] In the above embodiment, the swinging hanger mechanism 32 includes a grapple generator 3a that generates electricity by rotation of the sheave 322a of the lifting line pulley 322. The grapple main body 31 includes a hydraulic cylinder 3i that drives the grapple arm 312 to open and close, and a grapple capacitor 3c that stores the electricity generated by the grapple generator 3a. The power unit PU includes an electric motor 3e that operates using the electricity generated by the grapple generator 3a, a hydraulic pump 3f that is driven by the electric motor 3e, and a valve 3g. The hydraulic cylinder 3i is driven by the power unit PU.

[0087] According to the above configuration, the grapple device 3 is equipped with both the grapple generator 3a and the grapple capacitor 3c, so there is no need to equip it with a large-capacity capacitor as a drive source for driving the grapple arm section 312. This allows the grapple capacitor 3c to be made smaller and lighter.

[0088] In addition, by providing the grapple capacitor 3c in the grapple main body 31 and the grapple generator 3a in the swinging hanger mechanism 32, it becomes easier to transmit the rotational force of the sheave 322a of the lifting line pulley 322, which rotates when the grapple device 3 is raised or lowered, to the grapple generator 3a.

[0089] The embodiments disclosed herein are illustrative in all respects and are not intended to be limiting. The technical scope of the present invention is not interpreted solely by the above-described embodiments, but is defined by the claims. The technical scope of the present invention also includes all modifications within the scope and meaning equivalent to the claims.

[0090] For example, in the above embodiment, the haul back line attachment portion 34 is provided in the longitudinal center of the connecting shaft portion 33. However, the present invention is not limited to this, and the haul back line attachment portion may be provided in the equipment housing portion of the grapple main body. [Explanation of symbols]

[0091] 1. Overhead cable yarding machine 2 carrier 3 Grapple Device 3a Grapple Generator 3c Grapple Charger 3e Electric Motor 3f hydraulic pump 3g valve 3i Hydraulic Cylinder 31 Grapple body 32 Swinging hanger mechanism 33 Connecting shaft part 34 Haul back line attachment point 100 Catenary Collection System 311 Equipment storage section 312 Grapple Arm 322 Lifting Line Pulley 322a Sheave P1 Timber collecting area P2 Timber harvesting area P3 Original pillar position P4 leading pillar position PU Power Unit HBL Hole Back Line LFL Lifting Line SKL Skyline

Claims

1. A grapple device constituting an overhead line logging system that transports felled timber from a logging site to a logging site, A grapple body having an openable and closable grapple arm and an equipment housing that houses a power unit that drives the grapple arm; A swinging hanger mechanism portion disposed above the grapple main body portion, The carriage is suspended by a lifting line from a carriage that can move along a skyline that is stretched between the leading pillar side and the base pillar side, and a haulback line is attached to move the carriage in a lateral direction that intersects with the moving direction of the carriage. The swinging hanger mechanism has a pulley around which the lifting line is hung, In a vertically suspended state in which the grapple device is located vertically below the carrier, the direction in which the grapple device moves is defined as the forward and backward direction of the grapple device, The direction perpendicular to the front-rear direction and the vertical direction of the grapple device is defined as the left-right direction of the grapple device, The grapple main body and the swinging hanger mechanism are swingably connected by a connecting shaft extending in the front-rear direction, The swinging hanger mechanism is provided with a pair of pulleys spaced apart in the front-rear direction, The haul back line attachment portion to which the haul back line is attached is located on the connecting shaft portion and between the pair of pulleys when viewed from the left and right direction of the grapple device. Grapple device.

2. The haul back line attachment portion is disposed in the center between the pair of pulleys when the grapple device is viewed from the left and right. The grapple device of claim 1 .

3. The haulback line attachment portion is provided rotatably around the axis of the connecting shaft portion. The grapple device of claim 2 .

4. The swinging hanger mechanism has a grapple generator that generates electricity by rotation of the sheave of the pulley, The grapple main body includes a hydraulic cylinder that drives the grapple arm to open and close, and a grapple capacitor that stores the electricity generated by the grapple generator, The power unit has an electric motor operated by electric power generated by the grapple generator, a hydraulic pump driven by the electric motor, and a valve, The hydraulic cylinder is configured to be driven by the power unit. A grapple device according to any one of claims 1 to 3.

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