Forestry Grapple Boom Height Control for Ground Following
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Solution Overview
Problem
Existing forestry machines, such as skidder grapple machines and forwarder machines, face challenges in controlling the grapple to avoid digging into the ground while engaging and lifting loads, requiring significant operator skill.
Innovation Solution
A control system that includes position sensors to monitor the grapple tong tips' position relative to the ground and a controller to automatically adjust the boom height, ensuring the tong tips follow the ground surface during the closing motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If manual adjustment of boom and arch positions is used to prevent tong tips from digging into the ground, then digging is reduced, but operator skill requirement increases significantly
Solution Approach 1:
The system uses sensors to detect ground surface position and automatically adjusts the boom and arch positions without operator intervention. The control system processes sensor data and commands actuators to move the tong tips along the ground surface, making the system self-regulating and eliminating the need for high operator skill.
Solution Approach 2:
Position sensors continuously monitor the location of tong tips relative to the ground surface and feed this information back to the control system. The controller compares actual position with desired position and automatically adjusts boom and arch positions to maintain proper alignment, creating a closed-loop control system that prevents digging automatically.
2Ease of operation
If automated control system with position sensors is implemented, then operator skill requirement decreases, but device complexity increases
Solution Approach 1:
The patent replaces manual mechanical adjustment operations with an automated electro-hydraulic control system. Position sensors detect ground surface location, and the control system automatically commands hydraulic actuators to adjust boom and arch positions, substituting complex manual coordination with automated sensor-actuator control.
Solution Approach 2:
The control system integrates multiple functions into a single automated unit: it processes position sensor data, calculates required adjustments, commands hydraulic actuators, and monitors system status. This multi-functional integration manages complexity by consolidating control tasks rather than requiring separate systems for each function.
3Manufacturing precision
If automated coordination of boom and arch positions is used during tong closing, then precision of load engagement improves, but use of energy increases
Solution Approach 1:
The control system activates before tong closing begins, pre-positioning the boom and arch based on sensor data about ground surface location. This preliminary adjustment ensures tong tips are properly aligned with the ground before engagement, improving precision without requiring excessive energy during the actual closing operation.
Solution Approach 2:
The system dynamically adjusts boom and arch positions during the tong closing operation based on real-time sensor feedback. The control system continuously monitors tong tip position and modifies actuator commands to maintain optimal alignment, enabling precise load engagement while minimizing energy consumption through adaptive, demand-based actuation.
Data Source
AI summary
A forestry apparatus includes a lifting linkage supported from a main frame. The lifting linkage includes a boom. At least one lifting linkage actuator adjusts the height of the boom. A grapple is suspended from the boom and includes first and second grapple tongs and a grapple actuator configured to move the grapple tongs in a closing motion from an open position toward a closed position. At least one position sensor is configured to detect positions of first and second grapple tong tips relative to the main frame or relative to the ground surface. A controller receives the at least one position signal and automatically controls the at least one lifting linkage actuator to coordinate the positions of the grapple tong tips relative to the main frame or relative to the ground surface with the closing motion of the grapple tongs.