JP6118693B2 - Forestry machinery - Google Patents

Description

  The present invention relates to a forestry machine including a harvester device.

  DESCRIPTION OF RELATED ART Conventionally, the forestry machine provided with the harvester apparatus which can perform lumbering operations, such as felling of a raw tree, pruning, and chopping, at the front-end | tip of movable arms, such as an excavator, is known (for example, refer patent document 1). ). The harvester device includes a gripping unit that grips a log, a feeding part that feeds the log in the length direction by a roller, a pruning part that prunes the log together with the feeding material by a knife, and the log that is gripped by a chainsaw. And a ball cutting part or the like.

International publication pamphlet WO2008 / 047450

  By the way, the forestry machine is said to hold a raw wood in a horizontal state by a harvester device, perform pruning while feeding the material in the horizontal direction, and then cut the raw wood to a predetermined length by a chain saw (cutting). Wood is often generated by a series of operations. During this series of operations, the chainsaw cuts the log into a predetermined length by moving from above to below with a swing mechanism or the like that can rotate up and down with respect to the log held in a horizontal state.

  However, when cutting the raw wood, depending on the driving speed of the chainsaw, the raw wood may fall in a form that is partially broken from the vicinity of the cut surface by its own weight. In this case, a partial burr | flash generate | occur | produces in a cut surface and the quality of wood will fall.

  Then, in view of the said subject, it aims at providing the forestry machine which can aim at the quality improvement of a timber by suppressing generation | occurrence | production of the burr | flash in a cut surface at the time of the cutting | disconnection of the raw tree in a ball cutting operation.

In order to achieve the above object, in one embodiment, the forestry machine comprises:
Engine,
A hydraulic pump that discharges hydraulic oil by the power of the engine;
A harvester device that is driven by hydraulic oil discharged from the hydraulic pump and includes a chainsaw that cuts the log; and
The discharge flow rate of the hydraulic pump is increased at least when the driving of the chain saw is selected.

  According to the present embodiment, it is possible to provide a forestry machine capable of suppressing the generation of burrs on a cut surface and improving the quality of wood when cutting a raw tree in a ball cutting operation.

It is a side view of the forestry machine provided with the harvester device. It is the schematic of a harvester apparatus. It is a figure which shows an example of the ball cutting operation | work by a forestry machine. It is a figure which shows an example of the ball cutting operation | work by the forestry machine which concerns on this embodiment. It is a block diagram which shows the structure of the forestry machine which concerns on this embodiment. It is a figure which shows an example of the relationship between each process and engine speed in a lumbering operation | work. It is a figure which shows an example of the relationship between each process in a lumbering operation | work, an engine speed, and a main pump horsepower. It is a figure which shows the other example of the relationship between each process in a lumbering operation | work, an engine speed, and a main pump horsepower. It is a figure which shows the further another example of the relationship between each process, the engine speed, and the main pump horsepower in the lumbering work.

  Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings.

  FIG. 1 is a side view of a forestry machine including a harvester device according to an embodiment.

  An upper swing body 3 is mounted on a lower traveling body 1 of the forestry machine shown in FIG. A boom 4 is attached to the upper swing body 3. An arm 5 is attached to the tip of the boom 4, and a harvester link 6 is attached to the tip of the arm 5. The boom 4, the arm 5, and the harvester link 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a harvester link cylinder 9, respectively. A harvester device 100 is attached to the tip of the harvester link 6. The upper swing body 3 is provided with a cabin 10 and is mounted with a power source such as an engine 11. The cabin 10 is provided with a driver's seat, and the driver operates the forestry machine while sitting on the driver's seat.

  FIG. 2 is a side view of the harvester device 100 provided in the forestry machine shown in FIG. The main body 102 of the harvester device 100 has a substantially rectangular shape. The main body 102 accommodates a hydraulic device, a control device, and the like that drive each portion (a gripping portion, a feeding portion, a branching portion, a cutting portion, etc.) that performs the lumbering operation described below. Further, a cover 103 is attached to the main body 102 in order to protect these hydraulic devices, control devices and the like. In addition, a link portion 104 is attached to the main body 102. The main body 102 is rotatable with respect to the link portion 104 about the shaft 104A. The link part 104 is connected and fixed to the tip of the harvester link 6.

  The harvester device 100 grabs the raw wood, grasps the gripping part, feeds the raw wood (feeds the raw wood in the length direction), the pruning part that prunes together with the raw wood feeding, and the arbitrary wood A cutting part is cut to a length of. The harvester device 100 also includes a tilt unit that changes the posture of the main body 102 (angle with respect to the horizontal plane). “Raw wood” represents a state until wood is produced by the lumbering work, and “wood” means a state produced as wood by the lumbering work.

  The gripping unit includes a knife 112, a rear grip 116, a roller 118, and the like.

  The knife 112 is fixed to one end side in the longitudinal direction of the main body 102, is supported from the main body 102, and is provided so that it can be opened and closed in the thickness direction of the raw wood to be gripped. Thereby, it is possible to grasp the raw wood by the knife 112. The opening / closing operation of the knife 112 is driven by a knife cylinder 113 provided in the main body 102. The knife 112 includes a pair of knives 112A and 112B. The pair of knives 112A and 112B are configured to be able to follow the shape of the raw wood. In addition, the knives 112A and 112B are arranged with slightly shifted positions in the length direction of the raw wood. As a result, when the knife 112A and the knife 112B are closed, the tip portions do not come into contact with each other, so even a thin log can be gripped. As will be described later, the knife 112 is also included in the pruning portion and has a function of removing the branches of the raw wood.

  The rear grip 116 is fixed to the other end side in the longitudinal direction of the main body 102 with respect to the knife 112, and is supported from the main body 102 and can be opened and closed in the thickness direction of the raw wood to be gripped, like the knife 112. . Thereby, it is possible to hold the raw wood by the rear grip 116. The opening / closing operation of the rear grip 116 is driven by a rear grip cylinder 117 provided in the main body 102. The rear grip 116 includes a pair of rear grips 116A and 116B. Like the pair of knives 112A and 112B, the pair of rear grips 116A and 116B are configured to be able to follow the shape of the raw wood. Further, the rear grips 116A and 116B are arranged with their positions slightly shifted in the length direction of the raw wood, like the knives 112A and 112B. As a result, when the rear grip 116A and the rear grip 116B are closed, the tip portions do not contact each other, so that even a thin log can be gripped.

  The roller 118 is fixed to the central portion of the main body 102 in the longitudinal direction. The roller 118 includes a pair of rollers 118A and 118B, is supported by the main body 102, and is provided so as to be opened and closed in the thickness direction of the raw wood to be gripped. As a result, the roller surface comes into contact with the log and the log can be gripped by the roller 118. The opening / closing operation of the roller 118 is driven by a roller cylinder 119 </ b> C provided in the main body 102. As will be described later, the roller 118 is also included in the material feeding section, and has a function of feeding the raw wood in the length direction.

  In this way, it is possible to grasp the log by opening the knife 112, the rear grip 116, and the roller 118, grasping the log, and then closing it.

  The feeding part includes a roller 118.

  The roller 118 is provided so as to be rotatable about the vertical direction in the drawing, and the raw wood can be fed in the length direction by the rotation of the roller 118. A pair of rollers 118A and 118B included in the roller 118 is driven by a roller motor 119, and rotates so that the log is sent from right to left in the drawing. In the present embodiment, the feeding is performed by the roller 118, but the feeding may be performed by another means. For example, the rear grip 116 (and the chainsaw 120) is provided so as to be extendable and slidable in the longitudinal direction of the main body 102 (the length direction of the raw wood), and the rear grip 116 extends and slides to the left in the figure while holding the raw wood. You may send materials.

  The pruning portion includes a knife 112.

  The pair of knives 112A and 112B included in the knife 112 are provided with sharp portions 112a and 112b, respectively. As described above, with the pair of knives 112A and 112B holding the log, the log is fed from the right to the left in the drawing by the roller 118, so that the branches are removed by the sharp portions 112a and 112b. In this way, pruning of raw wood can be performed.

  The cutting part includes a chainsaw 120.

  The chainsaw 120 is provided adjacent to the rear grip 116. The chain saw 120 is driven by a chain saw motor 122 in the main body 102, and can cut a log into an arbitrary length. The chainsaw 120 is normally housed in the chainsaw cover 124 so as not to obstruct the raw wood to be gripped, and can be rotated (swing) around the fulcrum 121 when cutting the raw wood. Yes. The rotation is performed using the chain saw cylinder 123 as a power source. Although not shown, a sensor capable of measuring the diameter (thickness) of the grasped raw wood is provided adjacent to the chain saw 120.

  The tilt unit includes a tilt cylinder 108 and the like.

  The tilt cylinder 108 controls the posture of the main body 102 with respect to the link portion 104. Tilt cylinder 108 has one end fixed to fulcrum 108A and the other end fixed to fulcrum 108B. When the piston in the tilt cylinder 108 is expanded and contracted by the supplied hydraulic fluid, the main body 102 rotates about the shaft 104A. As a result, the posture of the main body 102 that holds the raw wood can be changed, and the wood growing on the ground can be cut and the lumbering operation can be performed as it is. In addition, it is possible to efficiently work in a narrow place such as a dense forest.

  The harvester device 100 includes an encoder 114, a cable 170, and the like.

  The encoder 114 is a length measuring device that measures the length of a log. The encoder 114 is provided so as to be able to swing up and down. When the log is gripped by the gripping part, the encoder 114 abuts on the log and when the log is fed from right to left in the figure by the feeding part, the shaft 114A is the center. By rotating, the feed amount of raw wood can be measured. Thereby, for example, wood having substantially the same length can be generated while referring to the measured length. Further, since the encoder 114 can exhibit a function of holding the log downward in the drawing when coming into contact with the log, it is possible to prevent rattling of the gripped log.

  The cable 170 is a cable necessary when operating the harvester device 100. Specifically, it is a control line for connecting, for example, a harvester controller 130 provided in the upper swing body 3, the cabin 10, and the like of the forestry machine and an attachment controller 140 provided in the main body 102 of the harvester device 100. The harvester controller 130 and the attachment controller 140 will be described later.

  In the forestry machine equipped with the harvester device 100 having the above-described configuration, when the driving speed of the chainsaw 120 is slow when cutting the raw wood with the chainsaw 120 in the ball cutting operation, the wood saw is partially broken due to its own weight and falls. May end up. For example, FIG. 3 is a diagram showing an example of a ball cutting operation by a forestry machine. Thus, before the cutting by the chainsaw 120 is completed, the log is broken by its own weight and dropped, and a part of the cut surface is obtained. Burrs are generated and the quality of the wood is reduced.

  Therefore, in the present embodiment, the driving speed of the chainsaw 120 can be increased when the raw wood is cut by the chainsaw 120 in the ball cutting operation. Specifically, when the operator selects a chain saw (drive), the controller 30 detects the selection, and in response to the selection, the controller 30 detects the rotational speed of the engine 11 and / or the main pump. It is good to comprise so that the discharge flow rate of the hydraulic fluid from 14 can be controlled. FIG. 4 is a diagram illustrating an example of a ball cutting operation performed by the forestry machine according to the present embodiment. Thus, before the cutting of the raw wood is completed, the raw wood is prevented from being partially broken by its own weight and falling. In addition, it is possible to produce high quality wood having a beautiful cut surface.

  The driving speed of the chainsaw 120 mainly means the speed of the chain portion of the chainsaw 120 by the chain saw motor 122. However, the driving speed of the chainsaw 120 may include the swing (rotation) speed of the chainsaw 120 by the chainsaw cylinder 123.

  Here, FIG. 5 is a block diagram showing a configuration of the forestry machine according to the present embodiment.

  The drive system of the forestry machine mainly includes an engine 11, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a controller 30, an engine control device (ECU) 74, and the like.

  The engine 11 is a drive source of the forestry machine, and is, for example, a diesel engine that operates to maintain a predetermined rotational speed. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15.

  The main pump 14 is a hydraulic pump that supplies hydraulic oil to the control valve 17 via the high-pressure hydraulic line 16, and is, for example, a swash plate type variable displacement hydraulic pump. The main pump 14 can adjust the stroke length of the piston by changing the angle (tilt angle) of the swash plate and change the discharge flow rate, that is, the pump output. The swash plate of the main pump 14 is controlled by a regulator 14a. The regulator 14a changes the tilt angle of the swash plate in response to a change in control current for an electromagnetic proportional valve (not shown). For example, by increasing the control current, the regulator 14 a increases the tilt angle of the swash plate and increases the discharge flow rate of the main pump 14. Further, by reducing the control current, the regulator 14a reduces the tilt angle of the swash plate and decreases the discharge flow rate of the main pump 14.

  The pilot pump 15 is a hydraulic pump for supplying hydraulic oil to various hydraulic control devices via the pilot line 25, and is, for example, a fixed displacement hydraulic pump.

  The control valve 17 is a hydraulic control valve that controls a hydraulic system in the forestry machine. The control valve 17 is, for example, a boom cylinder 7, an arm cylinder 8, a harvester link cylinder 9, a traveling hydraulic motor 1 </ b> A (right side) according to a pressure change according to an operation direction and an operation amount of a lever or pedals 26 </ b> A to 26 </ b> C described later. Hydraulic oil supplied from the main pump 14 through the high-pressure hydraulic line 16 is selectively supplied to one or a plurality of hydraulic motors 1B (for left) and the hydraulic hydraulic motor 2A for turning. In the following description, the boom cylinder 7, the arm cylinder 8, the harvester link cylinder 9, the traveling hydraulic motor 1A (for right), the traveling hydraulic motor 1B (for left), and the turning hydraulic motor 2A are collectively referred to as “ This is referred to as a “hydraulic actuator”.

  The operating device 26 is a device used by an operator for operating the hydraulic actuator. The operating device 26 supplies the hydraulic oil supplied from the pilot pump 15 via the pilot line 25 to the pilot port of the flow control valve corresponding to each of the hydraulic actuators via the pilot line 25a. The pressure of the hydraulic oil supplied to each of the pilot ports is a pressure corresponding to the operation direction and the operation amount of the lever or pedal 26A to 26C corresponding to each of the hydraulic actuators.

  The controller 30 is a control device for controlling the forestry machine, and includes, for example, a computer including a CPU, a RAM, a ROM, and the like. The CPU of the controller 30 reads out a program corresponding to the operation and function of the excavator from the ROM and loads the program into the RAM, thereby executing processing corresponding to each of the programs.

  The controller 30 controls the discharge flow rate of the main pump 14. For example, the control current is changed according to the negative control pressure of the negative control valve (not shown), and the discharge flow rate of the main pump 14 is controlled via the regulator 14a. In the present embodiment, the harvester input unit 126, which will be described later, controls the discharge flow rate of the main pump 14 via the regulator 14a by changing the control current according to the work selected by the operator or the drive unit. Details will be described later.

  The engine control device (ECU) 74 is a device that controls the engine 11. For example, on the basis of a command from the controller 30, the fuel injection amount for controlling the rotational speed of the engine 11 according to the engine rotational speed (mode) set by the operator with an engine rotational speed adjustment dial 75 described later is set in the engine. 11 is output. In this embodiment, the engine speed is controlled based on a command from the controller 30 corresponding to the harvester operation selected by the operator in the harvester input unit 126 described later. Details will be described later.

  The engine speed adjustment dial 75 is a dial for adjusting the engine speed provided in the cabin 10, and in the present embodiment, the engine speed can be switched in five stages. That is, the engine speed adjustment dial 75 can switch the engine speed in five stages of Rmax, R4, R3, R2, and R1. FIG. 5 shows a state where R4 is selected with the engine speed adjustment dial 75.

  Rmax is the maximum number of revolutions of the engine 11 and is selected when priority is given to the work amount. R4 is the second highest engine speed, and is selected when it is desired to achieve both work amount and fuel consumption. R3 and R2 are the third and fourth highest engine speeds, and are selected when it is desired to operate the shovel with low noise while giving priority to fuel consumption. R1 is the lowest engine speed (idling speed), and is the engine speed in the idling mode that is selected when the engine 11 is desired to be in the idling state. For example, Rmax (maximum number of revolutions) may be set to 2000 rpm, R1 (idling number of revolutions) may be set to 1000 rpm, and the interval between them may be set in multiple stages, R4 (1750 rpm), R3 (1500 rpm), R2 (1250 rpm). The engine 11 is controlled at a constant rotational speed with the engine rotational speed set by the engine rotational speed adjustment dial 75. Here, an example of engine speed adjustment in five stages by the engine speed adjustment dial 75 is shown, but the number of stages is not limited to five and may be any number.

  Further, in the forestry machine, the image display device 40 is arranged in the vicinity of the driver's seat of the cabin 10 in order to assist the driving by the driver. The driver can input information and commands to the controller 30 of the forestry machine using the input unit 42 of the image display device 40. Moreover, information can be provided to the driver by causing the image display unit 41 of the image display device to display the operating status and control information of the forestry machine.

  The image display device 40 includes an image display unit 41 and an input unit 42. The image display device 40 is fixed to a console in the driver's seat. In general, the boom 4 is disposed on the right side when viewed from the driver seated in the driver's seat, and the driver visually recognizes the arm 5, the harvester link 6, and the harvester device 100 attached to the tip of the boom 4. Many forestry machines are operated. The frame on the right side of the cabin 10 is a part that hinders the driver's field of view, but in this embodiment, the image display device 40 is provided using this part. As a result, the image display device 40 is disposed in a portion that originally obstructed the field of view, so that the image display device 40 itself does not significantly disturb the driver's field of view. Although depending on the width of the frame, the image display device 40 may be configured such that the image display unit 41 is vertically long so that the entire image display device 40 falls within the width of the frame. A harvester display 150 to be described later is supported by a bracket fixed to the floor in the cabin 10.

  In the present embodiment, the image display device 40 is connected to the controller 30 via a communication network such as a controller area network (CAN) or a local interconnect network (LIN). Note that the image display device 40 may be connected to the controller 30 via a dedicated line.

  The image display device 40 includes a conversion processing unit 40 a that generates an image to be displayed on the image display unit 41. In the present embodiment, the conversion processing unit 40 a generates a camera image to be displayed on the image display unit 41 based on the output of the imaging device 80. Therefore, the imaging device 80 is connected to the image display device 40 through a dedicated line, for example. Further, the conversion processing unit 40 a generates an image to be displayed on the image display unit 41 based on the output of the controller 30.

  Note that the conversion processing unit 40a may be realized as a function of the controller 30 instead of a function of the image display device 40. In this case, the imaging device 80 is connected to the controller 30 instead of the image display device 40.

  The image display device 40 includes a switch panel as the input unit 42. The switch panel is a panel including various hardware switches. In the present embodiment, the switch panel includes a light switch 42a as a hardware button, a wiper switch 42b, and a window washer switch 42c. The light switch 42 a is a switch for switching on / off of a light attached to the outside of the cabin 10. The wiper switch 42b is a switch for switching operation / stop of the wiper. Further, the window washer switch 42c is a switch for injecting window washer fluid.

  Further, the image display device 40 operates by receiving power from the storage battery 70. The storage battery 70 is charged with electric power generated by the alternator 11a (generator) of the engine 11. The power of the storage battery 70 is also supplied to the electrical equipment 72 of the excavator other than the controller 30 and the image display device 40. Further, the starter 11 b of the engine 11 is driven by electric power from the storage battery 70 and starts the engine 11.

  The engine 11 is controlled by the engine control unit (ECU) 74 as described above. Various data indicating the state of the engine 11 (for example, data indicating the cooling water temperature (physical quantity) detected by the water temperature sensor 11c) is constantly transmitted from the ECU 74 to the controller 30. Therefore, the controller 30 can store this data in the temporary storage unit (memory) 30a and transmit it to the image display device 40 when necessary.

  Various data are supplied to the controller 30 as described below and stored in the temporary storage unit 30a of the controller 30.

  First, data indicating the tilt angle of the swash plate is supplied to the controller 30 from the regulator 14a of the main pump 14 which is a variable displacement hydraulic pump. Further, data indicating the discharge pressure of the main pump 14 is sent from the discharge pressure sensor 14b to the controller 30. These data (data representing physical quantities) are stored in the temporary storage unit 30a. An oil temperature sensor 14c is provided in a pipe line between the main pump 14 and a tank in which the hydraulic oil sucked by the main pump 14 is stored, and data representing the temperature of the hydraulic oil flowing through the pipe line. Is supplied to the controller 30 from the oil temperature sensor 14c.

  Further, when the levers or pedals 26A to 26C are operated, the pilot pressure sent to the control valve 17 through the pilot line 25a is detected by the hydraulic sensors 15a and 15b, and data indicating the detected pilot pressure is supplied to the controller 30. The

  Further, data indicating the setting state of the engine speed is constantly transmitted from the engine speed adjustment dial 75 to the controller 30.

  The forestry machine also includes a harvester control valve 125 as a drive system for the harvester device 100. The forestry machine includes a harvester input unit 126, a harvester controller 130, an attachment controller 140, an encoder 114, a harvester display unit 150, and the like as a control system of the harvester device 100.

  The harvester control valve 125 is a hydraulic control valve that is provided in the main body 102 of the harvester device 100 and controls the hydraulic system in the harvester device 100. For example, hydraulic oil supplied from the main pump 14 via the control valve 17 is selectively supplied to one or a plurality of the hydraulic actuators for each harvester. The harvester hydraulic actuator includes a tilt cylinder 108, a knife cylinder 113, a rear grip cylinder 117, a roller motor 119, a roller cylinder 119C, a chain saw motor 122, and a chain saw cylinder 123.

  The harvester input unit 126 selects and sets the operation that the operator causes the harvester device 100 to perform or the operation of each drive unit (tilt unit, knife 112, rear grip 116, roller 118, and chainsaw 120) of the harvester device 100. Provided for input. The harvester input unit 126 includes, for example, “grab grasping”, “feeding (feeding)”, “feeding (returning)”, “ball cutting”, “tilting”, and the like, which are the operations in the harvester device 100 described above. A corresponding selection switch or the like may be provided. The harvester input unit 126 includes operations of each drive unit of the harvester device 100, that is, “knife (gripping)”, “roller (feed)”, “roller (return)”, “roller (gripping)”, “rear” A selection switch or the like corresponding to “grip (gripping)”, “chain saw (cutting)”, “tilt”, or the like may be provided. As for a switch for selecting “tilt”, for example, a momentary switch or the like may be used so that the tilt angle can be changed while the switch is being pressed.

  A signal (setting input signal) corresponding to the setting input in the harvester input unit 126 is output to the harvester controller 130. In addition, when a setting input for driving the chainsaw 120 among the setting inputs in the harvester input unit 126 is made, for example, when the above-mentioned “ball cutting” or “chain saw” is selected, a signal corresponding to the setting input The (chain saw selection signal) is output to the controller 30 through the control line 131. Thereby, the controller 30 can detect that the setting input for driving the chainsaw 120 has been made, that is, that the chainsaw 120 is driven. The control line 131 is provided with a cutoff switch 132 so that the output of the chainsaw selection signal from the harvester input unit 126 to the controller 30 can be cut off. The shut-off switch 132 can be shut off by the operation of the forestry machine operator.

  The harvester controller 130 is a control device that controls the harvester device 100, and is provided outside the harvester device 100, for example, the upper swing body 3 of the forestry machine, the cabin 10, and the like.

  The harvester controller 130 outputs a communication signal to the electromagnetic switching valve 133 in response to the setting input signal input from the harvester input unit 126, and connects the pilot line 25 b connected from the pilot pump 15 to the control valve 17. . As a result, pilot pressure from the pilot line 25b is supplied to the control valve 17, and hydraulic oil from the main pump 14 is supplied from the control valve 17 to the harvester control valve 125 in accordance with the pilot pressure. In addition, the electromagnetic switching valve 133 in FIG. 5 shows a state where a communication signal is not input from the harvester controller 130 (a state where the harvester device 100 is not driven). Further, a pressure sensor 134 for detecting the hydraulic pressure between the electromagnetic switching valve 133 and the control valve 17 in the pilot line 25 a is provided, and the pressure sensor 134 outputs a pressure signal to the controller 30. Thereby, the controller 30 can detect whether or not the electromagnetic switching valve 133 is in communication with the input pressure signal, that is, whether or not the operation by the harvester device 100 is being performed.

  The harvester controller 130 is connected to an attachment controller 140 described later via a communication network such as CAN. The harvester controller 130 outputs a setting input signal from the harvester input unit 126 to the attachment controller 140.

  Further, the harvester controller 130 outputs the set work, the operation of each driving unit, and the like to the harvester display unit 150 described later in response to the setting input signal from the harvester input unit 126.

  The attachment controller 140 is a control device that is provided in the main body 102 of the harvester device 100 and controls the drive of the harvester device 100 via the harvester control valve 125. The attachment controller 140 transmits a command to a directional control valve (not shown) that controls the drive state of each harvester hydraulic actuator in response to the setting input signal from the harvester input unit 126 input from the harvester controller 130. Drive control is performed.

  As described above, the encoder 114 is a length measuring device that measures the length of the log, and outputs a signal (length measuring signal) corresponding to the measured length to the attachment controller 140.

  The harvester display unit 150 is provided to assist the operation of the operator regarding the drive of the harvester device 100. For example, the length measurement signal output from the encoder 114 is input from the attachment controller 140 to the harvester display unit 150 via the harvester controller 130. The harvester display unit 150 can display the length of the measured log according to the input length measurement signal. Thus, the operator can perform work while confirming the length of the raw wood displayed on the harvester display unit 150, and can accurately generate wood having a predetermined length. The setting input signal output from the harvester input unit 126 is input to the harvester display unit 150 via the harvester controller 130. The harvester display unit 150 displays the currently selected operation, drive unit, and the like in accordance with the input setting input signal. Thereby, it is possible to perform a lumbering operation or the like using the harvester device 100 while confirming the currently selected operation.

  As described above, the controller 30 can detect whether or not the harvester device 100 is performing work based on the pressure signal input from the pressure sensor 134. Further, the controller 30 can detect that the chainsaw is selected (the chainsaw 120 is driven) by a chainsaw selection signal input from the harvester input unit 126 via the control line 131. Therefore, the controller 30 detects that the driving of the chainsaw (the above-mentioned “ball cutting”, “chain saw (cutting)”, etc.) is selected from among the work by the harvester device 100 or the operation of each driving unit, and the engine 11 And / or the main pump 14 can be controlled to control the driving speed of the chain saw. It can also be detected that work by the harvester device 100 other than the driving of the chainsaw 120 is being performed. The switch provided in the harvester input unit 126 may be provided for each work content. In this case, a plurality of drive units corresponding to the work are driven by pressing one switch. Moreover, you may provide a switch corresponding to each drive part. Also, a combination thereof may be used.

  Here, control of the engine 11 and / or the main pump 14 by the forestry machine (controller 30) according to the present embodiment will be described.

  First, an example of control by the controller 30 will be described.

  FIG. 6 is a diagram showing an example of the relationship between each process and the engine speed in the lumbering work by the forestry machine according to the present embodiment. Fig.6 (a) is a figure which shows the relationship of each process and time passage in a lumbering operation | work. FIG. 6B is a diagram showing a change over time in the engine speed corresponding to FIG. In this example, the operator has selected R4 with the engine speed adjustment dial 75.

  Referring to FIG. 6A, from time 0 to time t1, the operator operates the switches corresponding to the tilt cylinder 108, the knife cylinder 113, and the rear grip cylinder 117, so that the log on the ground. The operation of moving to the position where the lumbering is performed (hereinafter referred to as the grab grasping) is performed. Next, the lumbering operation is started from time t1, and from time t1 to time t2, the operator operates the forward switch or the reverse switch so that the knife cylinder 113, the roller motor 119, and the roller cylinder 119C are moved. Driven to feed. Note that, as described above, pruning is simultaneously performed during feeding. Next, from time t2 to time t3, when the operator operates the ball cutting switch, the chain saw motor 122 and the chain saw cylinder 123 are interlocked to perform the ball cutting operation, and a predetermined length of wood is generated. The Thereafter, in the lumbering work of a single raw wood, feeding and slicing are repeated alternately. In the drawing, the feeding is performed from time t3 to time t4, the ball cutting is performed from time t4 to time t5, and the feeding is further performed from time t5 to time t6. In addition, when the lumbering work for one raw wood is finished, the raw wood grabbing work is performed again, and thereafter, feeding and chopping are alternately repeated. Further, in the operation of the grab grasp here, the grab grab is implemented by operating the switch corresponding to each of the drive units. However, a switch for grab grab is provided, and the tilt cylinder 108, The knife cylinder 113 and the rear grip cylinder 117 may be interlocked. Also in the operation of feeding the material, the switch corresponding to each of the drive units may be operated. Further, in the operation of feeding materials, a switch for a roller for feeding the raw wood and a switch for a knife for adjusting the pruning may be arranged separately.

  Referring to FIG. 6 (b) corresponding to FIG. 6 (a), the engine speed R4 selected by the engine speed adjustment dial 75 from time 0 to time t1 corresponding to the grab grasping is shown. It is controlled by. Similarly, during the period from time t1 to time t2, time t3 to time t4, and time t5 to time t6 corresponding to the feeding, the engine speed R4 selected by the engine speed adjustment dial 75 is controlled. Yes. On the other hand, the engine speed Rmax, which is the maximum engine speed, is increased from time t2 to time t3 and from time t4 to t5 corresponding to the ball cutting.

  Here, the main pump 14 is controlled such that the pump absorption horsepower is equal to or less than the output horsepower of the engine 11. Therefore, when the engine speed increases and the output horsepower of the engine 11 increases, the maximum value of the absorption horsepower of the main pump 14, that is, the maximum discharge flow rate of the main pump 14 also increases.

  In this example, when the harvester device 100 is driven, the electromagnetic switching valve 133 communicates, and the control valve for supplying hydraulic oil to the harvester control valve 125 in the control valve 17 is fully opened by the pilot pressure from the pilot line 25a. become. Then, when the hydraulic oil from the main pump 14 is supplied to the harvester control valve 125, the pressure of the negative control valve decreases, and the main pump 14 supplies the hydraulic oil at the maximum discharge flow rate (at the set control current). . Therefore, when the driving of the chainsaw 120 is selected, the controller 30 increases the engine rotation speed (via the ECU 74), thereby increasing the discharge flow rate from the main pump 14 and increasing the output of the chainsaw motor 122. it can. Thereby, since the driving speed of the chainsaw 120 can be increased, the raw wood is not partially broken and dropped by its own weight at the time of ball cutting or the like, and high quality wood can be generated.

  Next, another example of control by the controller 30 will be described. In the example of FIG. 6, the controller 30 controls the driving speed of the chainsaw by controlling the engine speed, but the driving speed is controlled by directly controlling the discharge flow rate of the hydraulic oil from the main pump 14. May be.

  FIG. 7 is a diagram illustrating an example of the relationship between each process, engine speed, and main pump horsepower in the lumbering work by the forestry machine according to the present embodiment. Fig.7 (a) is a figure which shows the relationship of each process and time progress in a lumbering operation | work. FIG. 7 (b) is a diagram showing a change with time in the engine speed corresponding to FIG. 7 (a). In this example, as in the example of FIG. 6, the operator selects R4 with the engine speed adjustment dial 75. Moreover, FIG.7 (c) is a figure which shows the time change of the main pump horsepower corresponding to FIG.7 (a), (b). Note that the main pump horsepower (discharge flow rate of the main pump 14) is performed by changing the control current for the electromagnetic proportional valve as described above, and the control current (maximum value) by the controller 30 is three stages (the current is small). It is switched from step 1, step 2, step 3). In addition, normally, it is assumed that the control current (the maximum value) is set in step 2. Here, an example in which the control current is switched in three stages is shown, but the present invention is not limited to three stages, and may be two stages or four or more stages.

  Since FIG. 7A is the same as FIG. 6A, description thereof is omitted.

  In reference to FIG. 7 (b) corresponding to FIG. 7 (a), in the whole lumbering operation (between time 0 and time t6) in which feeding and ball cutting are alternately repeated from the raw wood gripping, It is controlled at the engine speed R4 selected by the engine speed adjustment dial 75.

  Further, referring to FIG. 7C corresponding to FIG. 7A, from time 0 to time t1 corresponding to the grab grasping, the main pump horsepower corresponding to the control current of stage 2 is controlled. On the other hand, during the period from time t1 to time t2, time t3 to time t4, and time t5 to time t6 corresponding to the feeding, the control is performed with the smallest main pump horsepower corresponding to the control current of stage 1. Conversely, during times t2 to t3 corresponding to ball cutting and between times t4 and t5, control is performed with the largest main pump horsepower corresponding to the control current of stage 3.

  In this example, the output horsepower of the engine 11 at the engine speed R4 is larger than the absorption horsepower of the main pump 14 corresponding to the control current (the maximum value) of the stage 2. Therefore, the controller 30 can increase the control current (maximum value) to stage 3 and control the swash plate of the main pump 14 to increase the discharge flow rate (increase the main pump horsepower).

  Thus, when the driving of the chainsaw is selected, the controller 30 controls the swash plate of the main pump 14 to increase the discharge flow rate (increase the main pump horsepower), thereby increasing the output of the chainsaw motor 122. Can do. As a result, the driving speed of the chainsaw can be increased, and therefore, the raw wood is not partially broken and dropped by its own weight at the time of ball cutting or the like, and high quality wood can be generated.

  Further, in the material feeding operation, a large output may not be required to drive the harvester hydraulic actuator (knife cylinder 113, rear grip cylinder 117, roller motor 119, roller cylinder 119C). Therefore, when a material is selected, the controller 30 reduces the control current (maximum value) to step 1 to control the swash plate of the main pump 14 to reduce the discharge flow rate of the main pump 14 (main pump horsepower). Lower). Thereby, consumption of energy in the main pump 14 can be suppressed, and the fuel consumption of the forestry machine can be improved. Note that the case where material feeding is selected includes the case where “feeding” as the work of the harvester device 100 is selected by the harvester input unit 126. In addition, when a feeding material is selected, “knife (gripping)”, “roller (feeding)”, “roller (returning)”, “roller (gripping)” relating to feeding as the operation of each drive unit of the harvester apparatus 100 "," Rear grip (grip) "is selected.

  As in the case of the material feeding operation, although not shown in FIG. 7C, a large output is not necessary for driving the tilt (the tilt cylinder 108 is driven to change the posture of the main body 102). . Therefore, even when tilt is selected, the controller 30 may lower the control current to step 1 and control the swash plate of the main pump 14 to reduce the discharge flow rate (lower the main pump horsepower). That is, when the operation by the harvester device 100 other than the driving of the chainsaw 120 or the operation of each driving unit is selected, the controller 30 controls the swash plate of the main pump 14 to reduce the discharge flow rate of the main pump 14 (main pump (Low horsepower). Thereby, the consumption of energy in the main pump 14 can be suppressed, and the fuel efficiency of the forestry machine can be improved. As described above, the controller 30 can detect that work by the harvester device 100 other than the driving of the chainsaw 120 is being performed.

  Further, in the log grasping work, work such as grasping the log by the harvester device 100 (work by the harvester device 100 other than the driving of the chainsaw 120) is performed, but at the same time, the turning mechanism 2, the boom 4, the arm 5, etc. are driven. Yes. Therefore, since the log grabbing operation requires a certain amount of output from the main pump 14, it is controlled by the main pump horsepower (discharge flow rate of the main pump 14) corresponding to the set stage 2 control current. As described above, the pilot pressure sent to the control valve 17 when the operating device 26 is operated is supplied to the controller 30, and the controller 30 can detect the driving of the turning mechanism 2, the boom 4, and the arm 5. Therefore, even when the operation by the harvester device 100 other than the driving of the chainsaw 120 or the operation of each driving unit is selected, when the turning mechanism 2, the boom 4, the arm 5, etc. are driven, the controller 30 The control current should not be lowered to stage 1.

  Next, still another example of control by the controller 30 will be described. The controller 30 controls the engine speed in the example of FIG. 6 and controls the discharge flow rate of the main pump 14 and the drive speed of the chain saw 120 in the example of FIG. And control of the discharge flow rate of the main pump 14 may be performed.

  FIG. 8 is a diagram showing another example of the relationship between each process, engine speed, and main pump horsepower in the lumbering work by the forestry machine according to the present embodiment. Fig.8 (a) is a figure which shows the relationship of each process and time passage in a lumbering operation | work. FIG. 8B is a diagram showing the change over time in the engine speed corresponding to FIG. In this example, as in the examples of FIGS. 6 and 7, the operator selects R4 with the engine speed adjustment dial 75. Further, FIG. 8C is a diagram showing the time change of the main pump horsepower corresponding to FIGS. 8A and 8B. As in the example of FIG. 7, it is assumed that the control current is switched by the controller 30 in three steps (from the smaller current, step 1, step 2, and step 3). In addition, it is assumed that the control current is normally set in stage 2. Here, an example in which the control current is switched in three stages is shown, but the present invention is not limited to three stages, and may be two stages or four or more stages.

  8A is the same as FIGS. 6A and 7A, FIG. 8B is the same as FIG. 6B, and FIG. 8C is the same as FIG. Since this is the same as c), the description is omitted.

  In the control by the controller 30 of this example, there are the effects and effects of both the control of the engine speed according to the example of FIG. 6 and the control of the discharge flow rate of the main pump 14 according to the example of FIG.

  In particular, when the driving of the chainsaw 120 is selected, the controller 30 can increase the main pump horsepower (the discharge flow rate of the main pump 14) by increasing the engine speed. In addition, the controller 30 can directly increase the discharge flow rate of the main pump 14 by increasing the control current of the main pump 14. For this reason, it is possible to further prevent the raw wood from being partially broken and dropped by its own weight at the time of slicing, and to produce wood with higher quality.

  Next, still another example of control by the controller 30 will be described.

  In some cases, the engine speed set by the engine speed adjustment dial 75 is sufficient to prevent burrs from being generated on the cut surface of the wood during the ball cutting operation. For example, when the engine speed set by the engine speed adjustment dial 75 is Rmax, on the contrary, when the operation of the harvester device 100 other than the driving of the chainsaw 120 or the operation of each drive unit is selected, the engine speed May be lowered.

  FIG. 9 is a diagram showing still another example of the relationship among each process, engine speed, and main pump horsepower in the lumbering work by the forestry machine according to the present embodiment. Fig.9 (a) is a figure which shows the relationship of each process and time passage in a lumbering operation | work. FIG. 9B is a diagram showing the change over time in the engine speed corresponding to FIG. In this example, the operator has selected Rmax with the engine speed adjustment dial 75. FIG. 9C is a diagram showing a change over time of the main pump horsepower corresponding to FIGS. 9A and 9B. 7 and 8, it is assumed that the control current is switched by the controller 30 in three steps (from the smaller current step 1, step 2, step 3). In addition, it is assumed that the control current is normally set in stage 2. Here, an example in which the control current is switched in three stages is shown, but the present invention is not limited to three stages, and may be two stages or four or more stages.

  9A is the same as FIGS. 6A, 7A, and 8A, and FIG. 9C is the same as FIGS. 7C and 8C. Therefore, the description is omitted.

  Referring to FIG. 9B, the engine speed Rmax selected by the engine speed adjustment dial 75 is controlled from time 0 to time t1 corresponding to the grab grasping. On the other hand, the engine speed R4 is decreased from time t1 to time t2, time t3 to time t4, and time t5 to time t6 corresponding to the feeding. Thereafter, the engine speed is increased to the engine speed Rmax (the highest speed) selected by the engine speed adjustment dial 75 between time t2 and time t3 and from time t4 to t5 corresponding to the ball cutting.

  As described above, when the material feeding is selected, the controller 30 lowers the engine speed from the engine speed Rmax (via the ECU 74), thereby improving the fuel efficiency of the forestry machine.

  Further, as described in the example of FIG. 7, as in the case of the material feeding work, although not described in FIG. 9C, a large output is not necessary for driving the tilt. Therefore, even when the tilt is selected, the controller 30 may decrease the engine speed from the engine speed Rmax. That is, when the operation by the harvester device 100 other than the driving of the chainsaw 120 or the operation of each driving unit is selected, the controller 30 may reduce the engine speed. Thereby, the fuel consumption of the forestry machine can be improved.

  When R1 (idling mode) is selected with the engine speed adjustment dial 75, control over the engine speed and / or the discharge flow rate of the main pump 14 in the examples of FIGS. Not performed. Since the engine speed R1 in the idling mode uses the lowest engine speed, it is from the viewpoint of suppressing a sharp increase in the engine speed.

  Further, it is possible to select not to perform the control on the engine speed and / or the discharge flow rate of the main pump 14 in the examples of FIGS. Specifically, the operator selects not to perform the control in the above-described example by turning off the above-described cutoff switch 132. As a result, the controller 30 cannot receive the chainsaw selection signal and cannot detect that the driving of the chainsaw 120 has been selected. At the same time, it is impossible to detect that the operation of the harvester apparatus 100 other than the driving of the chainsaw 120 or the operation of each driving unit is selected. Therefore, the control in the above-described example is stopped.

  With the above configuration, the forestry machine may increase the engine speed when the driving of the chainsaw 120 is selected. As a result, the discharge flow rate of the main pump 14 can be increased and the driving speed of the chain saw 120 can be increased, and when the ball is cut or the like, the log is broken due to its own weight and burrs are generated on the cut surface. It is possible to produce high quality wood.

  Further, the forestry machine may increase the discharge flow rate of the main pump 14 by controlling the swash plate of the main pump 14 when the driving of the chainsaw 120 is selected. As a result, similarly, the driving speed of the chainsaw 120 can be increased, and when cutting a ball or the like, the raw wood is not broken due to its own weight, and no burrs are generated on the cut surface. Can be generated.

  Further, the forestry machine may control the engine 11 at the engine speed set by the engine speed adjustment dial 75 when the operation of the harvester device 100 other than the driving of the chainsaw 120 or the operation of each drive unit is selected. . In particular, it may be performed when the engine speed adjustment dial 75 is set to a lower engine speed than the highest engine speed. Thereby, when the high output of the engine 11 is not required like the driving of the chainsaw 120, the engine speed is kept low, so that the fuel efficiency of the forestry machine can be improved.

  Further, the forestry machine may reduce the engine speed when the operation of the harvester device 100 other than the driving of the chainsaw 120 or the operation of each driving unit is selected. In particular, it may be performed when the highest engine speed is set by the engine speed adjustment dial 75. Thereby, when the high output of the engine 11 is not required as in the case of driving the chainsaw 120, the engine speed is lowered, so that the fuel efficiency of the forestry machine can be improved.

  In addition, the forestry machine controls the swash plate of the main pump 14 to lower the discharge flow rate of the main pump 14 when the operation of the harvester device 100 other than the driving of the chainsaw 120 or the operation of each driving unit is selected. Good. In particular, it may be performed when the discharge flow rate of the main pump 14 is set higher than the lowest discharge flow rate. Thereby, when the high output of the main pump 14 is not required as in the driving of the chainsaw 120, the discharge flow rate of the main pump 14 is lowered, so that energy consumption can be suppressed and the fuel efficiency of the forestry machine can be improved. .

  The work of the harvester apparatus 100 other than the driving of the chainsaw 120 may include the above-described “grab grasping”, “feeding (feeding)”, “feeding (returning)”, “tilt”, and the like. The operation of the drive unit of the harvester device 100 other than the driving of the chainsaw 120 includes the above-described “knife (gripping)”, “roller (feed)”, “roller (return)”, “roller (gripping)”, “rear” “Grip”, “tilt” and the like may be included.

  As mentioned above, although the form for implementing this invention was explained in full detail, this invention is not limited to this specific embodiment, In the range of the summary of this invention described in the claim, various Can be modified or changed.

DESCRIPTION OF SYMBOLS 1 Lower traveling body 1A, 1B Traveling hydraulic motor 2 Swing mechanism 2A Turning hydraulic motor 3 Upper revolving body 4 Boom 5 Arm 6 Harvester link 7 Boom cylinder 8 Arm cylinder 9 Harvester link cylinder 10 Cabin 11 Engine 11a Alternator (generator)
11b Starter 11c Water temperature sensor 14 Main pump (hydraulic pump)
14a regulator 14b discharge pressure sensor 14c oil temperature sensor 15 pilot pump 16 high pressure hydraulic line 17 control valve 25 pilot line 26 operating device 26A, 26B lever 26C pedal 30 controller 30a temporary storage unit 40 image display device 40a conversion processing unit 41 image display unit 42 Input Unit 42a Light Switch 42b Wiper Switch 42c Window Washer Switch 70 Storage Battery 74 Engine Control Unit (ECU)
75 Engine speed adjustment dial (speed setting section)
80 imaging device 100 harvester device 102 main body 103 cover 104 link portion 104A shaft 108 tilt cylinder 108A fulcrum 108B fulcrum 112, 112A, 112B knife 113 knife cylinder 114 encoder 114A shaft 116, 116A, 116B rear grip cylinder 118 , 118A, 118B Roller 119 Roller motor 119C Roller cylinder 120 Chain saw 121 Support point 122 Chain saw motor 123 Chain saw cylinder 124 Chain saw cover 125 Harvester control valve 126 Harvester input section 130 Harvester controller 131 Control line 132 Cutoff switch 133 Electromagnetic Switching valve 134 Pressure sensor 140 Attachment Controller 150 harvester display

Claims (8)

Engine,
A hydraulic pump that discharges hydraulic oil by the power of the engine;
A harvester device that is driven by hydraulic oil discharged from the hydraulic pump and includes a chainsaw that cuts the log; and
When at least the driving of the chain saw is selected, the discharge flow rate of the hydraulic pump is increased,
Forestry machinery. When the driving of the chain saw is selected, the engine speed is increased to increase the discharge flow rate of the hydraulic pump,
The forestry machine according to claim 1. When the driving of the chain saw is selected, the swash plate of the hydraulic pump is controlled to increase the discharge flow rate of the hydraulic pump,
The forestry machine according to claim 1. A rotation speed setting unit for setting the rotation speed of the engine;
The harvester device is:
Driven by hydraulic oil discharged from the hydraulic pump, a knife for pruning raw wood,
Driven by the hydraulic oil discharged from the hydraulic pump, a feeding part for feeding raw wood,
A tilt unit that is driven by hydraulic oil discharged from the hydraulic pump and changes an angle with respect to a horizontal plane of the raw wood in a state where the raw wood is gripped,
When driving of the knife, driving of the material feeding unit, or driving of the tilt unit is selected, the engine is controlled by the rotation speed set by the rotation speed setting unit.
The forestry machine according to claim 2 or 3. The harvester device is:
Driven by hydraulic oil discharged from the hydraulic pump, a knife for pruning raw wood,
Driven by the hydraulic oil discharged from the hydraulic pump, a feeding part for feeding raw wood,
A tilt unit that is driven by hydraulic oil discharged from the hydraulic pump and changes an angle with respect to a horizontal plane of the raw wood in a state where the raw wood is gripped,
When the drive of the knife, the drive of the feeding part, or the drive of the tilt part is selected, the engine speed is reduced.
The forestry machine according to claim 2 or 3. The harvester device is:
Driven by hydraulic oil discharged from the hydraulic pump, a knife for pruning raw wood,
Driven by the hydraulic oil discharged from the hydraulic pump, a feeding part for feeding raw wood,
A tilt unit that is driven by hydraulic oil discharged from the hydraulic pump and changes an angle with respect to a horizontal plane of the raw wood in a state where the raw wood is gripped,
When the drive of the knife, the drive of the feeding unit, or the drive of the tilt unit is selected, the swash plate of the hydraulic pump is controlled to reduce the discharge flow rate of the hydraulic pump. ,
The forestry machine according to claim 2 or 3. A plurality of driving units included in the harvester device, including setting inputs for driving the plurality of driving units, including an operation input for selecting a driving unit to be driven from among the plurality of driving units including the chainsaw. A harvester input to perform,
A controller for controlling the engine and the hydraulic pump;
The harvester input unit and the controller are connected, and a signal corresponding to a setting input from the harvester input unit is input to the controller.
The forestry machine according to any one of claims 1 to 6. A switching valve for switching between supply and shutoff of hydraulic oil to the harvester device;
A harvester controller that is provided separately from the controller and that drives and controls the harvester device based on a setting input from the harvester input unit;
A harvester display for displaying information about the harvester device,
The harvester controller is
Connected to the switching valve, and based on the setting input, transmits a switching signal to the switching valve,
It is connected to the harvester display unit and transmits a signal corresponding to the setting input to the harvester display unit.
The forestry machine according to claim 7.

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