JP2001063967A - Winch control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the operating performance when controlling a plurality of winches. SOLUTION: An operator 24 having one lever 41 capable of tilting in any direction outputs one operation signal with the operation of the lever in a wind-in indicating direction 42HALi as one axial direction of two axes crossing each other at the base end of the lever 41 and in a wind-out indicating direction 42HALo and outputs the other operation signal with the operation of the lever in a wind-in indication direction 42HBLi as the other axial direction and in a wind-out indicating direction 42HBLo. On receiving one operation signal from the operator 24, a controller 27 controls the rotating direction and speed of one winch 22HAL with an electric and hydraulic control circuit 45 to wind up a wire rope at one end. On receiving the other operation signal from the operator 24, the controller 27 controls the rotating direction and speed of the other winch 22HBL to wind up the wire rope at the other end.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a winch control device for controlling a plurality of winches with one lever.

[0002]

2. Description of the Related Art As shown in Japanese Patent Application Laid-Open No. 8-245173, a winch control circuit of a lumber collecting machine in which two winches for driving a wire rope can be operated by one operating lever is disclosed. is there.

When the operation lever of the first winch is operated by turning on the interlock switch, the first winch is driven in and the second winch is driven in synchronization with the speed of the first winch. Is what is done.

[0004]

SUMMARY OF THE INVENTION The two publications disclosed in the above publications
Each winch has an operating lever,
For example, when stretching a wire rope or lifting or lowering a timber, it is necessary to turn off the interlock switch and operate the two operation levers to the winding side or the unwinding side, respectively.

After all, the conventional winch control circuit requires the switching operation of the interlock switch and the individual operation of the two operation levers, and there is room for improvement in operability.

[0006] The present invention has been made in view of such a point, and an object of the present invention is to improve operability in controlling a plurality of winches.

[0007]

According to the first aspect of the present invention, there is provided a lever which can be tilted in an arbitrary direction and has one lever intersecting at the base end of one of the two axes. An operating device that outputs one operation signal by operating the lever and outputs the other operation signal by operating the lever in the other axial direction, and at least one operation signal that is obtained by winding the cord from one end. A winch control device including one winch whose rotation direction is controlled, and another winch whose rotation direction is controlled at least in the rotation direction by the other operation signal while the cord is wound from the other end.

[0008] Since at least the rotation direction of each of the two winches can be controlled by one lever, not only the pulling or returning of the load, but also the stretching of the cord, the lifting or lowering of the load, etc. can be performed in a single unit. Can be freely controlled by operating the lever, and operability when controlling a plurality of winches can be improved.

According to a second aspect of the present invention, in the winch control device according to the first aspect, one and the other operation signals output from the operating device are operation electric signals, and the operation electric signals are calculated. The winch control device includes a controller that processes and outputs a control electric signal, and an electric / hydraulic control circuit that hydraulically drives one and the other winches with the control electric signal from the controller.

[0010] Since the controller processes the operation electric signal and outputs the control electric signal to control the electric / hydraulic control circuit of each winch, a part of the control system of the hydraulic system of each winch is provided. Can be replaced with an electric signal, and the operation can be freely and easily performed, and the tuning control of two winches by one lever can be performed.

According to a third aspect of the present invention, in the winch control device according to the second aspect of the present invention, the controller controls at least the winch on the side where the cord is wound, thereby reducing the speed of the winch.
A winch provided with an interlock control unit for adjusting the winding speed of the cable body gradually wound into the winch and the winding speed of the cable body gradually unrolled from the opposite winch. It is a control device.

The interlock control unit controls the two winches in synchronism to keep the tension of the cord appropriately, to maintain the feed rate of the cord at a constant speed, and to convey the load at a constant speed. .

According to a fourth aspect of the present invention, there is provided a winch control device according to the second or third aspect, wherein the lever of the operating device instructs the winding of the cord into one of the winches. And 180 with respect to one of the winding instruction directions.
° On the opposite side, one unwinding instruction direction for instructing unwinding of the cord from one winch, and one winding instruction direction and a direction orthogonal to the unwinding instruction direction are provided to the other winch. The other winding instruction direction for instructing the winding of the cable body, and the other winding for instructing the unwinding of the cable body from the other winch at 180 ° opposite to the other winding instruction direction. The electric / hydraulic control circuit is provided so as to be operable with the unwind instruction direction, the one-wind instruction direction, the one unwind instruction direction, the other unwind instruction direction, and the other unwind instruction direction of the operating device. When the lever is operated, the pilot hydraulic pressure is output according to the control electric signal output from the controller corresponding to each of these directions. One winding, one unwinding, and the other winding And the other unwinding solenoid proportional pilot pressure reducing valve and one unwinding And one control valve that is pilot-controlled by an electromagnetic proportional pilot pressure reducing valve for one unwinding, and the other control valve that is pilot-controlled by the electromagnetic proportional pilot pressure reducing valve for the other winding and the other unwinding. A hydraulic motor for driving one winch operated by hydraulic oil whose direction and flow are controlled by one control valve, and the other winch operated by hydraulic oil whose direction and flow are controlled by the other control valve This is a winch control device including a driving hydraulic motor.

By operating one lever of the operating device in one of the winding or unwinding instructing directions, one winch is operated, and further by operating the lever in the other winding or unwinding instructing direction. The other winch is operated independently, and both winches are simultaneously operated by operating the lever between one winding or unwinding instruction direction and the other winding or unwinding instruction direction.

At this time, the electromagnetic proportional pilot pressure reducing valve
Outputs pilot hydraulic pressure in response to the control electrical signal output from the controller to control the opening of the control valve, controls the flow rate supplied to the winch hydraulic motor from the control valve, and allows the hydraulic motor to be used freely. Because we control the speed,
When one winch is on the winding side and the other winch is on the unwinding side, it is possible to freely control both winches,
It is possible to optimize the increase and decrease of the feeding speed of the cord and the balance between the tension and the slack of the cord.

According to a fifth aspect of the present invention, the hydraulic motor in the winch control device according to the fourth aspect is a variable displacement motor, and a hydraulic actuator for variably controlling the capacity of the hydraulic motor and an output from the controller. And a solenoid switch valve for supplying hydraulic oil to the hydraulic actuator by switching with an electric signal.

By controlling the electromagnetic switching valve by an electric signal output from the controller to operate the hydraulic actuator and variably controlling the capacity of the hydraulic motor, for example, when the winch is in a high load state, Is controlled to a large capacity and driven in a low-speed and high-torque state.

According to a sixth aspect of the present invention, in the winch control device according to the fourth or fifth aspect, a bypass capable of short-circuiting from each of the winding ports of the one and the other hydraulic motors to each of the unwinding ports. A winch comprising a passage, a relief valve provided in these bypass passages, and an electromagnetic switching valve for switching each relief valve between a low pressure communication state and a pressure setting state by an electric signal output from a controller. It is a control device.

If the relief valve in the bypass passage of the other hydraulic motor is switched to a low pressure communication state even when the hydraulic oil is supplied to the winding ports of both the one and the other hydraulic motors, Since the other winch is rotatable by external force, the rope is wound into one winch, the other winch is driven in the unwinding direction by the tension applied to the rope, and the load is directed toward one winch. Moving. The relief valve which is in communication with the low pressure functions as a kind of restriction resistance, and the other winch is driven, but gives an appropriate tension to the cord.

According to a seventh aspect of the present invention, in the winch control device according to any one of the fourth to sixth aspects, the winch control device is provided in one of the passages and the other passage which communicate the control valve with the hydraulic motor. This is a winch control device provided with a counterbalance valve.

When the motor operating pressure is not supplied to one of the passages of the hydraulic motor, the other passage of the hydraulic motor is closed by the counterbalance valve to secure the back pressure of the hydraulic motor and prevent free fall of the load. I do. When the motor operating pressure is generated in one passage of the hydraulic motor, the other passage of the hydraulic motor is opened by the counterbalance valve.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 2 shows a running skyline type (or tight line type) collecting machine using a hydraulic excavator work machine as a tower, that is, a tower yarder.

The hydraulic excavator body 11 has a lower traveling structure 12 on which an upper revolving body 13 is rotatably provided, and a working machine 14 is attached to the upper revolving body 13.
Boom 16 pivoted vertically by boom cylinder 15
And an arm 18 that is rotated in the front-rear direction by an arm cylinder 17 and a grapple 20 for gripping lumber that is rotated by a bucket cylinder 19 instead of a bucket.

On the side surface of the upper revolving unit 13, a common winch mounting base 21 is provided with one winch 22HAL and the other winch.
22HBL is installed as a double winch.

An operating device 24 for operating the hydraulic motors of the winches 22HAL and 22HBL is provided on a stand 25 installed outside the hydraulic excavator main body 11 or in the cab. The control unit 27 controls an electric / hydraulic control circuit (FIG. 1) for controlling a double winch mounted on the upper swing body 13 via the controller 27.

The wire rope 28HAL as one of the cords unwound from the one winch 22HAL is connected to the work machine 14
The arm 18 is pulled out through a lower pulley 29a attached to the tip of the arm 18. In addition, the wire rope 28HBL as the other cord body unwound from the other winch 22HBL is
The arm 18 is pulled out via an upper pulley 29b attached to the tip of the arm 18.

The wire rope 28HBL is wrapped around a pulley 33 wrapped around a standing tree 31 as a stationary object located at a remote place by a wire rope 32, and the end turned back through the pulley 33 is connected to a carriage 34. It is connected.

The carriage 34 has two pulleys 35 on its upper part.
In addition, one pulley 36 is rotatably supported on the lower part, and the upper pulley 35 is a wire rope stretched on the upper side.
It is movably engaged on 28HBL. The lower wire rope 28HAL is wound around a pulley 36 at the lower part of the carriage 34 and hangs downward.
Timber 38 as a load is lifted by 37. The hook 37 hooks on the mounting wire 39 of the timber 38.

As shown in FIG. 1, the operating device 24 includes one joystick lever 41 (hereinafter, this joystick lever is simply referred to as "lever") 41 which can be tilted in an arbitrary direction with the base end as a fulcrum. By operating the lever in one of the winding instruction directions 42HALi and one of the unwinding instruction directions 42HALo as one axial direction of the two axes intersecting at the base end of the lever 41, Is output, and the other operation signal corresponding to the lever operation angle is output by lever operation in the other winding instruction direction 42HBLi and the other unwind instruction direction 42HBLo as the other axial direction.

The one winch 22HAL rotates one take-up drum 43a by one hydraulic motor 44a, and the other winch 22HBL drives the other take-up drum 43b by the other hydraulic motor 44b. The one winch 22HAL is connected to one of the winding directions 42HA.
The rotation direction and the rotation speed of the winding drum 43a are controlled by the operation signal to Li and the one unwinding instruction direction 42HALo,
In addition, the other winch 22HBL is
The rotation direction and the rotation speed of the winding drum 43b are controlled by the operation signals to the HBLi and the other unwinding instruction direction 42HBLo.

The one and other operation signals output from the operation device 24 are operation electric signals.
Is connected to the controller 27 that performs arithmetic processing on the operation electric signal and outputs a control electric signal.

The controller 27 receives one or the other winches 22HAL,
An electric / hydraulic control circuit 45 for hydraulically driving 22HBL is connected. The electric / hydraulic control circuit 45 will be described later in detail.

As shown in FIG. 3, the operation panel 46 of the operation device 24 has a wire rope 28H connected to one winch 22HAL.
One winding instruction direction 42HALi for instructing the AL winding and one winding for instructing the unwinding of the wire rope 28HAL from one winch 22HAL on the opposite side of the one winding instruction direction 42HALi by 180 °. Wire instructing direction 42HALo and a wire rope that is provided in a direction orthogonal to one of the winding instructing directions 42HALi and the unwinding instructing direction 42HALo, and that is connected to the other winch 22HBL.
The other winding instruction direction 42HBLi that instructs 28HBL winding,
On the opposite side of the other winding instruction direction 42HBLi by 180 °, there is provided a display plate 47 indicating the other unwinding instruction direction 42HBLo for instructing the unwinding of the wire rope 28HBL from the other winch 22HBL, The lever 41 of the operating device 24 is provided so as to be operable between these pointing directions and between the pointing directions.

On the operation panel 46, in addition to the display panel 47,
A power on / off switch 48, an indicator light 49, a high speed / low speed switch 50, and an interlock on / off switch 51 are provided.

The operation amount of the lever 41, that is, the lever tilt angle is determined by rotation amount detectors provided around the two axes of the universal joint-shaped internal mechanism, for example, a potentiometer, a magnetic modulator, optically or magnetically. It is preferable to use a pulse converter or the like for detecting the number of pulses accompanying the above.

Further, the discrimination of the lever pointing direction is 4
This is done by two switches. For example, as shown in FIG.
And a switch 52HAL that is turned on when the lever is operated in the unwind instruction direction 42HALo except for the neutral position, and a switch 52HA that is turned on when the lever is operated in one of the unwind instruction directions 42HALi.
With Li, one of the winding instruction directions 42HALi and the unwinding instruction direction
The switch 52HBL which is turned on except for the neutral position when the lever is operated in the other winding instruction direction 42HBLi and the unwinding instruction direction 42HBLo, and when the lever is operated in the other winding instruction direction 42HBLi. Switch 52HBLi that turns on
Thus, the other winding instruction direction 42HBLi and the unwind instruction direction 42
HBLo is identified.

As shown in FIG. 4, the operation panel of the operation device 24
46 is provided on the upper side of the box 53, and various switches, a rotation amount detector, wiring, etc. are provided inside the box 53, and the connector of the cable 26 is connected to the side of the box 53. A connector connecting portion 54 is provided.

As shown in FIG. 1, the electro-hydraulic control circuit 45 has two main pumps 62 and 63 and a pilot pump 64 driven by an engine 61 mounted on the excavator body 11.

One main pump 62 is supplied from a tank 65
Hydraulic oil is supplied to a main circuit 66 of a hydraulic motor 44a that drives one winch 22HAL, and hydraulic oil is supplied to a main circuit 67 of a hydraulic motor 44b that drives the other winch 22HBL. Is to supply.

Each of the main circuits 66 and 67 is provided with a main relief valve 71 between a pump discharge line 68 from each of the main pumps 62 and 63 and a tank line 69 to the tank 65. One control valve 72a and the other control valve 72b are connected to the discharge line 68, respectively.

The one control valve 72a supplies the hydraulic oil whose direction and flow are controlled by the control valve 72a to one winch driving hydraulic motor 44a,
The other control valve 72b is
The hydraulic oil whose direction and flow have been controlled is supplied to the other winch driving hydraulic motor 44b.

Each of the hydraulic motors 44a and 44b is a variable displacement motor, and a swash plate 73 for varying the displacement of the hydraulic motors 44a and 44b has a hydraulic actuator for variably controlling the displacement.
74 are connected, and these hydraulic actuators 74
Is connected to a passage 76 drawn from a high-speed / low-speed switching electromagnetic switching valve 75. This electromagnetic switching valve 75 is
The hydraulic oil is supplied to each hydraulic actuator 74 by switching according to the electric signal output from 27.

These hydraulic actuators 74 control the hydraulic motors 44a and 44b to a large capacity and drive them in a low-speed and high-torque state when the load is high, such as when pulling the timber 38. When the load is low, such as when only the carriage 34 is returned, the hydraulic motors 44a, 44b
Is controlled to a small capacity, and driven in a high-speed, low-torque state.

Each of the hydraulic motors 44a and 44b is provided with a fail-safe type mechanical brake 77, and a hydraulic cylinder portion 78 for releasing these mechanical brakes 77 is provided with a brake release electromagnetic switching device via respective passages 79. The valves 80 are respectively connected. Each mechanical brake
The brake 77 is released by the pilot oil pressure supplied from each electromagnetic switching valve 80.

The two electromagnetic switching valves 80 for releasing the brake are
The switching operation is performed by the solenoids SOL1 and SOL2, and the electromagnetic switching valve 75 for high-speed / low-speed switching is switched by the solenoid SOL3.

Each of the main circuits 66 and 67 includes a control valve
72a, 72b winding-side output ports and hydraulic motors 44a, 44a
and the control valves 72a as one of the passages that communicates with the winding-side port of b.
, 72b and the hydraulic motors 44a, 44b
Unwinding lines 66o and 67o as the other passages respectively communicating with the unwinding side ports.

A counter balance valve 81 interacting with each of the winding lines 66i and 67i and the unwinding lines 66o and 67o of the main circuits 66 and 67 is provided. These counterbalance valves 81 are pressure control valves for applying back pressure to the hydraulic motors 44a and 44b together with the check valve 82 in order to prevent the free fall of the load.

When the motor operating pressure is not supplied to one of the passages to the hydraulic motors 44a and 44b, the other passage from the hydraulic motors 44a and 44b is closed by the counterbalance valve 81, and the hydraulic motors 44a and 44b are closed. Secure back pressure,
Prevents free fall of timber 38. When the motor operating pressure is generated in one passage to the hydraulic motors 44a and 44b, the other passage from the hydraulic motors 44a and 44b is opened by the counter balance valve 81.

The winding line of one main circuit 66
Between the winding line 66i and the unwinding line 66o and between the winding line 67i of the other main circuit 67 and the unwinding line 67o, the winding ports of the hydraulic motors 44a and 44b are connected to the unwinding side. Two bypass passages 83 that can be short-circuited to the ports are provided.

Each of the bypass passages 83 has a winding line 66i.
, 67i are provided with relief valves 84a, 84b and a check valve 85, respectively, which enable communication with the unwinding-side lines 66o, 67o.

The relief valve 84 in these bypass passages 83
Electromagnetic switching valves 86a and 86b for respectively switching the relief valves 84a and 84b between a low pressure communication state and a pressure setting state by an electric signal output from the controller 27 are provided integrally with the a and 84b, respectively. I have.

These electromagnetic switching valves 86a and 86b are interposed in a drain line 87 provided from the relief valves 84a and 84b to the tank 65, and open the drain line 87 when the power is turned off to open the relief valves 84a and 84b. The communication state is set to a low pressure, and the drain line 87 is cut off halfway by energization, and the relief valves 84a and 84b are set to a pressure setting state.

The electromagnetic switching valves 86a, 86b of the relief valves 84a, 84b
86b is switched by solenoids SOL4, SOL5, SOL6, SOL7. Solenoids SOL4 and SOL6 are both turned off in principle when one of the winches 22HAL is engaged and retracted. However, during interlock high-speed pulling operation, solenoid SOL4 is turned on. At the time of the pulling operation, the solenoid SOL6 is turned on.

The pilot pump 64 has a tank
From 65, pilot oil is supplied to the electromagnetic switching valve 75 for high / low speed switching and the two electromagnetic switching valves 80 for brake release via the pilot oil passage 88 and the pressure reducing valve 89, respectively. Electromagnetic proportional pilot pressure reducing valve 90a
Also supply pilot oil to 1, 90b1, 90a2, and 90b2.

These electromagnetic proportional pilot pressure reducing valves 90a1, 90a1
90b1, 90a2, and 90b2 are controllers that correspond to the lever instruction direction and lever operation angle when the lever 41 is operated.
This is a pressure reducing valve that outputs a pilot oil pressure in accordance with a control electric signal output from 27 to proportional solenoids a1, b1, a2, and b2.

The solenoid proportional pilot pressure reducing valve 90b2 is controlled in accordance with the direction of the lever 41 when the interlock on / off switch 51 is turned off and the lever 41 is operated in one of the winding instruction directions 42HALi of the operation unit 24. One of the winches 22HAL, which operates in response to the control electric signal output from the unit 27 and outputs pilot hydraulic pressure to the winding-side pilot operating portion of one of the control valves 72a through the pilot passage 91, is for winding.

When the lever 41 is operated in one of the unwinding directions 42HALo of the operating device 24 with the interlock on / off switch 51 turned off, the electromagnetic proportional pilot pressure reducing valve 90a2 is controlled in accordance with this direction. This is for unwinding one winch 22HAL which operates in response to the control electric signal output from the unit 27 and outputs pilot hydraulic pressure to the unwinding-side pilot operating portion of one control valve 72a via the pilot passage 92.

The electromagnetic proportional pilot pressure reducing valve 90b1 is controlled in accordance with this direction when the lever 41 is operated in the other winding instruction direction 42HBLi of the operating device 24 with the interlock on / off switch 51 turned off. The other winch 22HBL which operates in response to the control electric signal output from the unit 27 and outputs pilot oil pressure to the winding-side pilot operating portion of the other control valve 72b via the pilot passage 93 is for winding the other winch 22HBL.

When the lever 41 is operated in the other unwinding instruction direction 42HBLo of the operating device 24 with the interlock on / off switch 51 turned off, the electromagnetic proportional pilot pressure reducing valve 90a1 is controlled in accordance with this direction. The other winch 22HBL, which operates in response to the control electric signal output from the unit 27 and outputs pilot oil pressure to the unwinding-side pilot operating portion of the other control valve 72b via the pilot passage 94, is for unwinding the other winch 22HBL.

Next, since the one wire rope 28HAL and the other wire rope 28HBL are a series of ropes formed via the carriage 34, the ropes wound from one end by one winch 22HAL. The other winch 22
HBL is in a state of being wound from the other end.

One winch 22HAL and the other winch 22HBL for winding both ends of such a series of cords are
Synchronization control is performed by an interlock control unit 95 provided in the controller 27.

The interlock control unit 95 automatically operates the two winches 22HAL and 22HBL by one lever 41 when the interlock on / off switch 51 is turned on.

For example, the winch 22HAL on which the wire rope 28HAL is wound is decelerated and controlled.
By making the winch 22HBL on the unwinding side of the 28HBL rotatable by the wire rope tension, the winding speed of the wire rope 28HAL, which is gradually wound into the winch 22HAL, is gradually unwound from the winch 22HBL by the wire rope tension. Synchronize with the unwinding speed of the smaller wire rope 28HBL.

Alternatively, the interlock control section 95 controls the winch 22HAL on the side where the wire rope 28HAL is wound.
By controlling the deceleration of the wire rope 28HBL and controlling the speed of the winch 22HBL on the unwinding side of the wire rope 28HBL, the wire rope 28HAL that is wound into the winch 22HAL and gradually increases in diameter
Is synchronized with the unwinding speed of the wire rope 28HBL unwinding from the winch 22HBL on the opposite side and gradually decreasing in diameter.

The interlock on / off switch
When "51" is turned off, the two winches 22HAL and 22HBL are individually operated by one lever.

Table 1 below shows the operation and the electromagnetic switching valve 80
Solenoids SOL1 and SOL2 of the solenoid valve, solenoid SO of the solenoid valve 75
L3, solenoids SOL4, SOL5, SO for solenoid-operated switching valves 86a, 86b
L6, SOL7, and solenoid proportional pilot pressure reducing valves 90a1, 90b
The relationship between 1, 90a2, 90b2 and solenoids a1, b1, a2, b2 is shown. In Table 1, white circles and black circles indicate the excitation (ON) state, and black circles indicate the delay operation when the excitation is released (OFF).

[0068]

[Table 1] Next, the operation of this embodiment will be described.

(1) First, a case where the timber 38 is pulled from the standing tree 31 to the hydraulic excavator body 11 will be described. In the operation unit 24 shown in FIG. 3, the power on / off switch 48 is turned on. , Check that the indicator lamp 49 is lit, and set the high / low speed switch 50 to "low speed" in response to the high load condition.
, The interlock on / off switch 51 is set to “on”, and the lever 41 is operated to the front side of the HAL winding side, that is, the lumber drawing side, and the lumber 38 is wound up, and when this winding reaches the limit. The timber 38 is gradually drawn to the right front of the excavator body 11.

That is, as shown by "HAL" in "Interlock ON" in Table 1, the solenoids SOL1 and SOL2 of the electromagnetic switching valve 80 for releasing the brake are turned on, and both mechanical brakes 77 are released. Supply the pilot oil of both winches 22HAL, 22HBL hydraulic motor 44a
, 44b are released, the solenoids b1, b2 of the electromagnetic proportional pilot pressure reducing valves 90b1, 90b2 are turned on, and the one and the other control valves 72a, 72b are pilot-operated to the retracted side, and both hydraulic motors 44a, When hydraulic oil is supplied to the winding port of 44b, one winch 22
The hydraulic motor 44a of the HAL is forcibly driven in the winding direction by hydraulic pressure, but one relief valve on the other winch 22HBL side.
Since the solenoid 84b is in a state of communicating the low pressure state between the winding line 67i and the unwinding line 67o by the off control of the solenoid SOL4 of the electromagnetic switching valve 86b, the other winch 22HBL
Can be rotated by an external force.

Therefore, the wire rope 28HAL is wound around the one winch 22HAL, the other winch 22HBL is rotated by the tension applied to the wire rope 28HBL in the unwinding direction, and the lumber 38 moves toward the one winch 22HAL. I do.

At this time, the relief valve 84b communicates at low pressure.
Works as a kind of aperture resistance, the other winch 22HB
The hydraulic motor 44b of L rotates while the relief valve 84b
A suitable tension is applied to the wire rope 28HBL due to the flow resistance in the above, and the pulley 35 of the carriage 34 moves on the wire rope 28HBL.

At this time, the speed of the wire ropes 28HAL and 28HBL changes depending on the inclination angle of the lever 41, but even if the inclination angle of the lever 41 is constant, both winches 22HA
The relative speed between L and 22HBL is automatically tuned.

That is, both winches 22HAL, 22HBL
If the rotation speed of the winch is always the same, the unwinding winch 22HB
While the winding diameter of the wire rope of L gradually decreases, the winding diameter of the winch 22HAL on the winding side gradually increases and the winding speed of the wire rope 28HAL gradually increases. In order to eliminate the inconvenience, the interlock control section 95 functions to control the electromagnetic proportional pilot pressure reducing valve 90b2 to gradually increase the pressure reduction, and gradually control one of the control valves 72a. By controlling the throttle to the neutral side, the winch 22
The rotation speed of the HAL is gradually reduced, and the winding speed of the wire rope of the winding winch 22HAL and the unwinding winch 22HB are controlled.
Control is performed so that the wire rope unwinding speed of L is synchronized.

When stopping both winches 22HAL and 22HBL, the lever 41 is returned to a neutral state perpendicular to the operation panel 46. When the lever 41 reaches the neutral position, the mechanical brake 77 is automatically applied, and the wire ropes 28HAL, 28
Stop while maintaining the HBL tension.

When lowering the whole timber to the ground, first turn off the interlock on / off switch 51 and turn both winches 22
Set HAL and 22HBL to “unwind” simultaneously and lower.

That is, when the lever 41 of the operating device 24 is operated between one unwinding instruction direction 42HALo and the other unwinding instruction direction 42HBLo, “HAL unwinding” and “HAL unwinding” and “ As shown in “HBL unwinding”, the solenoids a1 and a2 of the electromagnetic proportional pilot pressure reducing valves 90a1 and 90a2 are excited, and both control valves 72a and 72b are pilot-operated to the unwinding side, so that both winches 22HAL and 22HBL The wire ropes 28HAL and 28HBL are unwound and loosened, and the timber 38 descends to the ground surface. The hook 37 is removed from the mounting wire 39 of the timber 38.

(2) Next, when returning the carriage 34 to the standing tree 31 side, the interlock on / off switch 51 is set to “ON” and the lever 41 of the operating device 24 is set to “ON” in the same manner as in (1). By flipping to the "HBL entrainment" side, the "return HBL" in Table 1
Thus, the wire ropes 28HAL, 28HBL are first tensioned by the winding operation of both winches 22HAL, 22HBL, and the hook 37 is raised.

When the hook 37 is lifted and locked on the carriage 34, the wire rope 28HBL is continuously connected to the other winch.
It is involved in 22HBL, but at this time one winch 22HAL
The two relief valves 84a on the side have solenoids SOL5 and SO
With the L7 off control, the rewind-side line 66i and the rewind-side line
Since one of the winches 22HAL is driven to rotate in the unwinding direction by the tension applied to the wire rope 28HAL, the carriage 34 moves toward the standing tree 31.

At this time, if the high speed / low speed switch 50 is set to the "high speed" side, the empty carriage 34 can be quickly returned to a predetermined position.

After the carriage 34 reaches a predetermined position, the lever 41 is tilted between "HAL unwinding" and "HBL unwinding", and the wire ropes are pulled from both winches 22HAL and 22HBL.
By unwinding 28HAL and 28HBL simultaneously, the carriage
Land 34.

After the carriage 34 lands, the timber 38 is pulled out from the carriage 34 by lowering the lever 41 only to the "HAL unwinding" side and unwinding only one winch 22HAL. The hook 37 is hooked on the mounting wire 39 of the timber 38.

(3) In addition, both the winches 22HAL and 22HBL can be simultaneously unwound or simultaneously wound at the time of crawling and removal. It is also possible to unwind one winch 22HAL and wind the other winch 22HBL, or vice versa.

That is, when the lever 41 of the operating device 24 is operated between the one winding instruction direction 42HALi and the other winding instruction direction 42HBLi, “HAL winding” and “HAL winding” of “interlock off” in Table 1 are performed. As shown in “HBL entrainment”, the slackened wire ropes 28HAL and 28HBL are attached to both winches 22HAL.
, 22HBL are simultaneously wound and stretched.

When the lever 41 of the operating device 24 is operated between one unwinding instruction direction 42HALo and the other unwinding instruction direction 42HBLo, “HAL unwinding” and “HAL unwinding” and “ As shown by "HBL unwinding", the stretched wire ropes 28HAL and 28HBL can be efficiently relaxed.

Further, when the lever 41 of the operating device 24 is operated between the one instructing direction 42HALi and the other instructing direction 42HBLo, the "HAL entrainment" of "interlock off" in Table 1 is performed.
Wire rope 28 as shown in
As the HAL is wound into one winch 22HAL, the wire rope 28HBL is unwound from the other winch 22HBL, and the timber 38 moves toward the one winch 22HAL.

As described above, since the rotation direction and the speed of the two winches 22HAL and 22HBL can be controlled by one lever 41, not only the pulling or returning of the load but also the stretching of the wire ropes 28HAL and 28HBL or the like. In addition, the lifting or lowering of a load can be freely controlled by a single lever operation, and the operability in controlling the two winches 22HAL and 22HBL can be improved.

Further, the controller 27 carries out arithmetic processing on the operating electric signal and outputs a controlling electric signal.
Since the electric / hydraulic control circuit 45 of the 22HBL is controlled, a part of the control system of the hydraulic system of each winch 22HAL, 22HBL is replaced with an electric signal, thereby enabling free and easy operation.
Synchronization control of the two winches 22HAL and 22HBL by the lever 41 of the book becomes possible.

In particular, the two winches 22HAL, 22HBL are synchronously controlled by the interlock control unit 95 so that the tension of the wire ropes 28HAL, 28HBL can be appropriately maintained, and the feed speed of the wire ropes 28HAL, 28HBL is maintained at a constant speed. Loads can be transported at a constant speed.

At this time, the electromagnetic proportional pilot pressure reducing valve 90b2
The pilot valve outputs a pilot oil pressure according to the control electric signal output from the interlock control unit 95 of the controller 27 to control the opening of the control valve 72a, and is supplied from the control valve 72a to the hydraulic motor 44a of the winch 22HAL. The flow rate of the hydraulic motor 44a is automatically controlled by controlling the flow rate of the hydraulic motor 44a.
Free tuning control of both winches is possible when 22HBL is the unwinding side, and optimization of the feed speed of wire ropes 28HAL, 28HBL can be adjusted, and the balance between tension and looseness of wire ropes 28HAL, 28HBL can be optimized. It is.

[0091]

According to the first aspect of the present invention, at least the rotation direction of each of the two winches can be controlled by a single lever. Also, lifting or lowering of a load can be freely controlled by a single lever operation, and operability in controlling a plurality of winches can be improved.

According to the second aspect of the present invention, the controller performs arithmetic processing on the operation electric signal and outputs the control electric signal.
Since the electric / hydraulic control circuit of each winch is controlled, a part of the control system of the hydraulic system of each winch can be replaced with an electric signal to enable free and easy operation. Tuning control and the like can be easily performed.

According to the third aspect of the present invention, by controlling the two winches in synchronization by the interlock control unit, the tension of the cord can be appropriately maintained, and the feed speed of the cord can be maintained at a constant speed. Load can be transported at a constant speed.

According to the fourth aspect of the present invention, one of the operating devices is provided.
When the lever is operated in one of the winding or unwinding directions, one winch can be operated, and when the lever is operated in the other winding or unwinding direction, the other winch can be operated independently. By operating between the one winding or unwinding instruction direction and the other winding or unwinding instruction direction, both winches can be operated at the same time. In addition, the electromagnetic proportional pilot pressure reducing valve outputs pilot oil pressure according to the control electric signal output from the controller to control the opening of the control valve and controls the flow rate supplied from the control valve to the winch hydraulic motor. Then, since the hydraulic motor can be freely speed-controlled, when both winches are on the winding side and the other winch is on the unwinding side, both winches can be freely controlled in synchronization, and the feed speed of the cord can be controlled. Increase or decrease,
Optimizing the balance between the tension and slack of the cord.

According to the fifth aspect of the present invention, by controlling the electromagnetic switching valve by the electric signal output from the controller to operate the hydraulic actuator and variably controlling the capacity of the hydraulic motor, the winch is in a high load state. In this case, the hydraulic motor can be controlled to have a large capacity and driven in a low-speed and high-torque state.

According to the sixth aspect of the present invention, even if the hydraulic oil is supplied to the winding ports of both the one and the other hydraulic motors, the relief valve in the bypass passage of the other hydraulic motor is operated at a low pressure. When the communication valve is switched to the communication state, the relief valve in the communication state at low pressure functions as a kind of throttle resistance, and the other winch can apply an appropriate tension to the cord while being driven in the unwinding direction.

According to the present invention, when the motor operating pressure is not supplied to one of the passages of the hydraulic motor,
By closing the other passage of the hydraulic motor by the counter balance valve and securing the back pressure of the hydraulic motor, free fall of the load can be prevented.

[Brief description of the drawings]

FIG. 1 is a hydraulic circuit diagram showing an embodiment of a winch control device according to the present invention.

FIG. 2 is an explanatory diagram showing an example in which the winch control device is applied to a tower yarder.

FIG. 3 is a plan view showing an operating device in the winch control device.

FIG. 4 is a front view of the operating device.

[Explanation of symbols]

 22HAL One winch 22HBL The other winch 24 Controller 27 Controller 28HAL, 28HBL Wire rope as a cord 41 Lever 42HALi One winding direction as one axial direction 42HALo One unwinding as one axial direction Instruction direction 42HBLi The other winding instruction direction as the other axial direction 42HBLo The other unwinding instruction direction as the other axial direction 44a One hydraulic motor 44b The other hydraulic motor 45 Electro-hydraulic control circuit 72a One control valve 72b The other control valve 74 Hydraulic actuator 75 Electromagnetic switching valve 81 Counter balance valve 83 Bypass passage 84a, 84b Relief valve 86a, 86b Electromagnetic switching valve 90a1, 90b1, 90a2, 90b2 Electromagnetic proportional pilot pressure reducing valve 95 Interlock control unit

Claims (7)

[Claims] 1. A lever which can be tilted in an arbitrary direction and outputs one operation signal by operating a lever in one of two axes intersecting at a base end of the lever, and outputs the other operation signal. An operating device that outputs the other operation signal by operating the lever in the axial direction; a winch whose rotation direction is controlled at least by the one operation signal while the cable is wound from one end; The other winch whose rotation direction is controlled at least by the other operation signal in a state in which is wound from the other end. 2. An operation signal outputted from the operation device is an operation electric signal. The controller outputs a control electric signal by arithmetically processing the operation electric signal. 2. The winch control device according to claim 1, further comprising an electro-hydraulic control circuit for hydraulically driving one and the other winches according to a control electric signal from the control unit. 3. The controller controls the speed of winding of the rope body, which is wound on the winch and gradually increases in diameter, by controlling the speed of at least the winch on the side where the rope body is wound, from the winch on the opposite side. 3. The winch control device according to claim 2, further comprising an interlock control unit that synchronizes with the unwinding speed of the rope body that is unwound and gradually becomes smaller in diameter. 4. A lever of the operating device includes: a first winding instruction direction for instructing the winding of the cord into one of the winches; and a first winding instruction direction opposite to the first winding instruction direction by 180 °. One unwinding instruction direction for instructing unwinding of the cable from the winch, and one winding instruction direction and a direction perpendicular to the unwinding instruction direction, and winding of the cable into the other winch. And the other unwinding direction instructing the unwinding of the cord from the other winch at 180 ° opposite to the other winding instruction direction. The electric / hydraulic control circuit is provided when the lever is operated in one of the instructing directions, one instructing direction, the other instructing direction, and the other instructing direction, respectively. The control electric signal output from the controller corresponding to each of these directions And an electromagnetic proportional pilot pressure reducing valve for one winding, one unwinding, the other winding and the other unwinding, and one winding and one unwinding. One control valve that is pilot-controlled by an electromagnetic proportional pilot pressure reducing valve, the other control valve that is pilot-controlled by the other entraining and other unwinding electromagnetic proportional pilot pressure reducing valve, and a direction by one control valve A hydraulic motor for driving one winch driven by hydraulic oil controlled and controlled in flow rate, and a hydraulic motor for driving the winch driven by hydraulic oil controlled in direction and flow controlled by the other control valve. The winch control device according to claim 2, wherein the winch control device is provided. 5. The hydraulic motor is a variable displacement motor, and a hydraulic actuator for variably controlling the capacity of the hydraulic motor, and an electromagnetic switch for supplying hydraulic oil to the hydraulic actuator by switching by an electric signal output from a controller. The winch control device according to claim 4, further comprising a valve. 6. A bypass passage which can be short-circuited from each of the winding-side ports of the one and the other hydraulic motors to each of the unwinding-side ports, a relief valve provided in these bypass passages, and an output from the controller. 6. The winch control device according to claim 4, further comprising an electromagnetic switching valve that switches each relief valve between a low pressure communication state and a pressure setting state in accordance with the electric signal. 7. The winch control device according to claim 4, further comprising a counterbalance valve provided in one of the passages and the other passage between the control valve and the hydraulic motor. .