JP2017042115A - Grapple system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology for improving work efficiency in treatment of wood.SOLUTION: The present invention provides a grapple system comprising: a working apparatus including a movable arm and a grapple performing a prescribed operation which is attached to a distal end of the arm; a sensor for detecting an operation state of the working device including the arm and the grapple; and a processing result-obtaining unit for calculating the throughput of timber per predetermined time based on the detection result of the sensor and obtaining an operation history of the working apparatus including the arm and the grapple.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a grapple system for processing wood.

  The timber is cut from the forest and then loaded onto a truck that transports timber, and then transported to a timber market or a lumber mill for trading. Moreover, the wood used as the wood fuel is piled up on the ground, dried and chipped. When distributing wood in this way, grapple devices are used in many scenes such as felling, collecting, branching, chopping, loading, loading and unloading.

JP-A-8-080128 International Publication No. 2010/008074

  Work using the grapple device is performed in various environments such as forests, and because the trees to be worked are natural objects and need to be dealt with flexibly, the work efficiency depends on the ability and experience of the worker. However, it cannot be easily improved. In addition, the results of work using the grapple device, for example, the measurement of the amount of felling and the amount of piled materials, require manpower, which has also been a factor of reducing work efficiency.

  Therefore, a problem to be solved is to provide a technique for improving work efficiency when processing wood.

In order to solve the above problems, the grapple system of the present invention is:
A grapple that is attached to the arm tip of the work device and grips the wood to perform a predetermined operation;
A sensor for detecting an operating state of the grapple;
A processing result acquisition unit that calculates a processing amount of wood per predetermined time based on a detection value of the sensor;
Is provided.

  As described above, in the present invention, when the work using the grapple is performed, the data indicating the operation state of the grapple and the processing amount of the wood can be acquired as the work result. Therefore, the efficiency of the processing can be improved based on the work result. Can be considered and contribute to the improvement of processing efficiency.

The grapple system of the present invention is
A working device including a movable arm, and a grapple attached to the tip of the arm and gripping wood to perform a predetermined operation;
A sensor for detecting an operating state of the working device including the arm and the grapple;
Based on the detection result of the sensor, a processing amount acquisition unit for calculating a processing amount of wood per predetermined time and obtaining an operation history of the working device including the arm and the grapple;
Is provided.

As described above, in the present invention, when performing work using the grapple, the operation history of the working device including the grapple and the processing amount of wood can be acquired as the work result. Therefore, the processing efficiency can be improved based on these work results. Can contribute to improving the processing efficiency. Further, by comparing this work result with the comparative example, the work result can be objectively evaluated. That is, it is possible to easily find an improvement point for improving efficiency by comparing information on a site where the material is efficiently made as a comparative example.

The grapple system
When gripping wood with the grapple, the sensor detects the weight of the wood,
The processing result acquisition unit may calculate the processing amount of the wood by adding up the weight of the wood gripped during the loading operation or the unloading operation of the wood.

The grapple system
When gripping and cutting wood with the grapple, the sensor detects the diameter of the wood,
The processing result acquisition unit may calculate the processing amount of the wood based on the diameter and the number of cuttings of the wood gripped when cutting the wood.

The grapple system
The grapple may include an interrupting portion that protrudes toward the side that grips the wood.

The grapple system
When gripping wood with the grapple provided with the interrupting section, record it as an interrupted wood divided by the interrupting section, the drying period of the interrupted wood is the drying of the wood not interrupted The period may be calculated by multiplying a predetermined coefficient.

In addition, in order to solve the above problems, the data acquisition method of the present invention includes:
Obtaining a detection result of a sensor that detects an operating state of a working device including a movable arm and a grapple that is attached to the tip of the arm and grips wood and performs a predetermined operation;
Calculating a processing amount of wood per predetermined time based on the detection value of the sensor;
Obtaining an operation history of the working device including the arm and the grapple;
Is executed by the computer.

  The present invention may be a program for causing a computer to execute the above method. Furthermore, the program may be recorded on a computer-readable recording medium.

Here, the computer-readable recording medium refers to a recording medium that accumulates information such as data and programs by electrical, magnetic, optical, mechanical, or chemical action and can be read from the computer. . Examples of such recording media that can be removed from the computer include a flexible disk, a magneto-optical disk, a CD-ROM, a CD-R / W, a DAT, an 8 mm tape, and a memory card.
Further, there are a hard disk, a ROM (read only memory), and the like as a recording medium fixed to the computer. The contents described in the means for solving the problems can be combined as much as possible without departing from the problems and technical ideas of the present invention.

  The grapple system of this invention can provide the technique which improves the working efficiency at the time of processing wood.

FIG. 1 is an explanatory diagram of a grapple system according to the first embodiment. FIG. 2 is a diagram illustrating an example of a heavy machine including a grapple. FIG. 3 is a diagram illustrating an example of a grapple according to the first embodiment. FIG. 4 is a diagram illustrating an example of a grapple according to the first embodiment. FIG. 5 is an explanatory diagram of a heavy machinery and grapple control system. FIG. 6 is a schematic configuration diagram illustrating an example of a computer. FIG. 7 is an explanatory diagram of a data acquisition method by a computer. FIG. 8 is a diagram illustrating an output example of work results. FIG. 9 is a diagram illustrating an output example of the movement trajectory of a grapple or a heavy machine. FIG. 10 is a diagram illustrating an example in which the grapple is provided with an interruption portion. FIG. 11 is an explanatory diagram of the interrupting unit. FIG. 12 is a diagram illustrating an example of the outer shape of the interrupting unit. FIG. 13 is a diagram showing a state in which wood is gripped by a grapple arm having an interrupting section. FIG. 14 is a diagram illustrating an example in which the interruption unit is configured as an attachment.

  Hereinafter, an embodiment of the grapple system 100 of the present invention will be described with reference to the drawings.

<Embodiment 1>
In the grapple system 100 of the first embodiment, as shown in FIG. 1, a heavy machine 10 including a grapple 14 as a work device, a plurality of sensors 20 that detect the state of the grapple 14 or the heavy machine 10, and data acquired from the sensor 20. A computer 30 is recorded.

  FIG. 2 is a diagram illustrating an example of the heavy machine 10 including the grapple 14. The heavy machine 10 is, for example, a lower traveling body 3 having a crawler 2, and an upper body that is pivotally supported by the lower traveling body 3 via a main body turning bearing (not shown) and is turned by a turning motor 43. And 5. On the front side of the upper body 5, a working device including a boom 6, an arm 8, a grapple 14 and the like is provided. The boom 6 is swingably connected to the front side of the upper body 5 and is driven by the expansion and contraction of the boom cylinder 7. The arm 8 is swingably connected to the tip of the boom 6 and is driven by the expansion and contraction of the arm cylinder 9. The grapple 14 is connected to the first connecting shaft 19 at the tip of the arm 8 and the second connecting shaft 12 provided at one end of the link member 13 connected to the tip of the cylinder 11 and the tip of the arm 8. The configuration of the heavy machine 10 is not limited to this, and a wheel may be provided instead of the crawler 2, and the heavy machine 10 may be fixed to the ground without the lower traveling body 3.

  3 and 4 are diagrams showing an example of the grapple 14 according to the first embodiment. The grapple 14 includes a bracket 23 provided with a first bearing portion 21 into which the first connecting shaft 19 is inserted and a second bearing portion 22 into which the second connecting shaft 12 is inserted. The bracket 23 is configured so that the bracket 23 swings in the direction of A in FIG. 3 by operating the grapple cylinder 11 in accordance with the positional relationship between the first bearing portion 21 and the second bearing portion 22 and the link member 13. It has become.

  Then, the bracket 23 and the frame 35 are connected via a swing bearing (not shown), and the frame 35 can be swung with respect to the bracket 23 in the direction B in FIG.

  The frame 35 is formed in a box shape, and a pair of grapple arms 40 are attached via a pivot 34 in the Z direction. These grapple arms 40 are symmetrical around the pivot 34 (C direction) by a hydraulic cylinder (not shown). Is driven to swing. Further, a chain saw 50 that is a wood cutting means is provided on a side portion of the frame 35, and wood cutting is performed by driving a hydraulic motor 51. The chainsaw 50 is an option and may be omitted. That is, the grapple of the present invention may be a grapple with a saw or a grapple without a chain saw. In addition, a side knife (cutter) for debranching and a material feeding mechanism may be provided as an option. The grapple of the present invention may constitute a processor or a harvester. The grapple of the present invention may be a gripping mechanism in a processor or a harvester, and the grapple system of the present invention can also be applied to a processor or a harvester provided with this gripping mechanism.

FIG. 5 is an explanatory diagram of the control system of the heavy machine 10 and the grapple 14. In this example, as hydraulic actuators, in addition to the hydraulic cylinders 7, 9, 11 of the boom 6, the arm 8, and the grapple 14, the left and right traveling motors 41, 42 and the swing motor 43, a cylinder 49 that opens and closes the grapple arm 40, A turning motor 31, a hydraulic motor 51 for a chain saw, and the like are provided. Note that the example of FIG. 5 is an example, and other mechanisms such as a side knife and a material feeding mechanism may be provided, or some of the mechanisms may be omitted.

The control valves 211 to 213 are connected to the supply path L1, and based on the control signal from the controller 61, the hydraulic amounts applied to the left and right traveling motors 41 and 42 and the turning motor 43, that is, the driving amounts of the motors 41 to 43, respectively. To control. The control valves 214 to 216 are connected to the supply path L2, and are applied to the hydraulic cylinders 7, 9, and 11 that swing the boom 6, the arm 8, and the grapple 14, respectively, based on a control signal from the controller 61. The hydraulic amount, that is, the drive amount of each hydraulic cylinder 7, 9, 11 is controlled. The control valves 217 to 219 are connected to the supply path L3, and are applied to the open / close cylinder 49, the swing motor 31, and the chain saw hydraulic motor 51 for opening and closing the grapple arm 40, respectively, based on a control signal from the controller 61. The amount of hydraulic pressure, that is, the driving amount of the open / close cylinder 49 or each of the motors 31 and 51 is controlled.

The sensors 231 to 239 are one form of the sensor 20 that detects the operation state of each actuator 7, 9, 11, 31, 41, 42, 43, 49, 51, and are a pressure sensor, an angle sensor, an acceleration sensor, and a speed. A sensor or a combination of these. The sensors 231 to 233 detect the rotation speed, rotation direction, and rotation amount of the traveling motors 41 and 42 and the turning motor 43.
The sensors 234 to 236 detect the driving amounts of the hydraulic cylinders 7, 9, and 11 that swing the boom 6, the arm 8, and the grapple 14, respectively. The sensors 234 to 236 may detect the angle or rotation amount of the boom 6 relative to the upper body 5, the angle or rotation amount of the arm 8 relative to the boom 6, and the angle or rotation amount of the grapple 14 relative to the arm 8. The sensors 237 to 239 detect the driving amounts of the opening / closing cylinder 49 that opens and closes the grapple arm 40, the swing motor 31, and the chain saw hydraulic motor 51, and the sensor 240 detects the weight of the wood gripped by the grapple 14. .

In addition, the heavy machine 10 includes a position sensor 241, an acceleration sensor 242, a geomagnetic sensor 243, and an atmospheric pressure sensor 244. The position sensor 241 is, for example, a GPS receiver that receives a signal from a GPS (Global Positioning System) satellite and obtains position information. Note that the position is not limited to this, and the position may be obtained by autonomous navigation based on detection data from the acceleration sensor 242 or the geomagnetic sensor 243.

The operation unit 65 inputs an operation on the heavy machine 10 by the operator to the controller 61, and includes a left lever 651, a right lever 652, a left forward / reverse lever 653, a right forward / backward lever 654, a grapple opening / closing switch 655, a grapple turning switch 656, a chain saw. A switch 657 is provided.

  The left lever 651 is moved left and right to drive the turning motor 43 to rotate the upper body 5 left and right with respect to the lower traveling body 3, and is moved back and forth to expand and contract the arm cylinder 9 to move the arm 8. Swing up and down. The right lever 652 is moved left and right to swing the grapple back and forth, and is moved back and forth to expand and contract the boom cylinder 7 and swing the boom 6 up and down. The left forward / reverse lever 653 operates the rotation direction of the traveling motor 41 to move the left crawler 2 forward or backward. The right forward / reverse lever 654 operates the rotation direction of the traveling motor 42 to move the right crawler 2 forward or backward. The grapple opening / closing switch 655 controls opening / closing of the grapple arm 40, the grapple turning switch 656 controls turning of the frame 35 by the turning motor 31, that is, turning of the grapple arm 40, and a chainsaw switch 657 turns on / off the chainsaw 50. Controls OFF.

  The hydraulic pump 66 is provided with a pump regulator 67, and the discharge amount of the hydraulic pump 66 is controlled by the controller 61 through the regulator 67.

  The computer 30 records the history of operations input to the controller 61 and the data of each part detected by the sensor 20. Further, the computer 30 calculates the amount of wood processed per predetermined time based on the data of each part detected by the sensor 20.

FIG. 6 is a schematic configuration diagram illustrating an example of the computer 30. 6 includes a CPU (Central Processing Unit) 1001, a main storage device 1002, an auxiliary storage device (external storage device) 1003, a communication IF (Interface) 1004, an input / output IF (Interface) 1005, a drive device 1006, A communication bus 1007 is provided. The CPU 1001 executes processing according to the present embodiment by executing a program, and realizes the function of a processing result acquisition unit, for example. The processing result acquisition unit calculates the processing amount of wood per predetermined time based on the detection result by the sensor 20 that detects the operation state of the heavy equipment 10 (including the working device) and the grapple 14, and the working device and the grapple Get the operation history of. The main storage device 1002 caches programs and data read by the CPU 1001 and develops a work area of the CPU. Specifically, the main storage device is a RAM (Random Access Memory), a ROM (Read Only Memory), or the like. The auxiliary storage device 1003 stores programs executed by the CPU 1001, position information, and the like. Specifically, the auxiliary storage device 1003 is an HDD (Hard-disk Drive), an SSD (Solid State Drive), a flash memory, or the like. The main storage device 1002 or the auxiliary storage device 1003 stores the detection result by the sensor 20 and the operation history. The communication IF 1004 transmits / receives data to / from other computers. The computer 30 is connected to the network N via the communication IF 1004. The communication IF 1004 is specifically a wired or wireless network card or the like. The input / output IF 1005 is connected to the input / output device and accepts input from the user or outputs information to the user. Specifically, the input / output device is a keyboard, a mouse, a display, a touch panel, or the like. The drive device 1006 reads data recorded on a storage medium such as a magnetic disk, a magneto-optical disk, and an optical disk, and writes data to the storage medium. The above components are connected by a communication bus 1007. A plurality of these components may be provided, or some of the components (for example, the drive device 1006) may not be provided. Further, the input / output device may be integrated with the computer. In addition, the program executed in this embodiment is provided via a portable storage medium readable by the drive device 1006, a portable auxiliary storage device 1003 such as a flash memory, a communication IF 1004, and the like. It may be.

  FIG. 7 is an explanatory diagram of a data acquisition method by the computer 30. When the operation of the heavy machine 10 is started, the computer 30 periodically executes the process of FIG. First, the computer 30 acquires an operation input to the controller 61 (step S10), and stores it in the storage device 1003 as an operation history (step S20). Moreover, the computer 30 acquires the detection value by the sensor 20 from the controller 61 (step S30), and memorize | stores it in the memory | storage device 1003 (step S40).

Next, the computer 30 determines whether or not the predetermined timing for obtaining the work result has been reached. If the predetermined timing has not been reached, the processing in FIG. 7 is terminated (No in step S50), and the predetermined timing has been reached. If so (step S50, Yes), an operation history within a predetermined period is acquired as a work result (step S60), and a work result such as a processing amount of wood per predetermined time is calculated (step S70). Further, the computer 30 acquires comparison data (step S8).
0), the data obtained in steps S60 and S70 are output in comparison with the comparison data (step S90).

FIG. 8 is a diagram illustrating an output example of the work result acquired in steps S60 and S70. In FIG. 8, the amount of wood processed per hour calculated in step S70 and the operation history acquired in step S60, for example, the operation history (predetermined amount of harvest) of the 1 m ³ wood processing amount (harvest amount). The operation amount of the crawler, the number of times of opening / closing the grapple 14, and the number of times of turning of the upper body 5 are shown in comparison with the comparative example. The operation history is not limited to this, for example, the total or average of the gripping pressure of the grapple 14, the distance the arm is moved, the amount of rotation of the upper body relative to the crawler, the amount of fuel consumption, and the operation history of various operation levers in the driver's seat. Also good.

  FIG. 9 is a diagram illustrating an output example of the movement trajectory of a grapple or a heavy machine. FIG. 9 (A) shows a comparative example, and FIG. 9 (B) shows a work result measured by the grapple system of this embodiment. In FIG. 9, the solid line 76 is the movement locus of the grapple 14 detected by the acceleration sensor, and the broken line 77 is the movement locus of the heavy machine 10 detected by the acceleration sensor. The example of FIG. 9B shows that the amount of movement of the grapple or crawler is larger than that of FIG.

  In the comparative example, for example, an example in which work is efficiently performed for each condition such as the slope of the site, the tree type, and the planting density is stored in advance, and an example corresponding to the site condition is read. The comparative example is not limited to an efficient example but may be an inefficient example. For example, a configuration may be adopted in which efficient examples and bad examples corresponding to on-site conditions are read, and both examples are compared with work results and output.

  Further, in the comparative example, the most efficient one, the one that meets the conditions, and the like may be read from the computer 30 of another grapple system connected via the network N. Furthermore, the comparative example may be one that is most efficient among past work results, one that meets the conditions, or the like.

The timing for acquiring the work result in step S50 may be a predetermined period or a predetermined time period, or may be input by an operator from an operation unit or the like. For example, when performing operations such as felling, collecting, branching, cutting, loading, loading, and unloading, enter the type of work and the start of the work, and enter the end when this work is completed. Then, the processing amount and operation history of wood from the start to the end of this work are acquired. In this way, when inputting the type of work, the comparative example may be read according to the type of work.

Further, the computer 30 may determine the type of work and the start and end timing of the work based on the operations of the grapple 14 and the heavy machine 10. For example, if the grapple 14 grips a tree trunk in the vertical direction and moves the chain saw in the horizontal direction to cut the trunk, this operation is determined to be a felling operation, and the start and end of this operation are respectively The start and end of felling work.

  Furthermore, when the tree is gripped by the grapple 14, the crawler 2 is moved and moved to a specific position, the grapple 14 is opened and the tree is lowered, this operation is determined to be a gathering work. From the start of the first operation to the end of the last repeated operation is determined as the end of the gathering work from the end. In addition, when felling a tree and collecting continuously, this may be determined as a series of operations, or by extracting the movement from grasping the tree to moving to a specific position and dropping the tree. You may determine with material work.

  In addition, after the tree felling, when the grapple 14 grips the tree in the horizontal direction and moves the chain saw in the vertical direction repeatedly to cut the tree, this operation is determined as a ball cutting work (cutting work). From the start of the first operation to the end of the last repeated operation is determined as the end of the ball cutting operation. In addition, when it determines with a bead cutting operation | work, the frequency | count (number of cuts) which carried out the beading is recorded as a number of materials, and the diameter of the tree hold | gripped with the grapple 14 at the time of beating is detected and recorded by a sensor. In addition, when slicing with a predetermined length (for example, 2 m), the processing amount of wood (amount of material) may be calculated by multiplying the number of materials by the length and the diameter, as in the following equation.

Amount of wood processed = number of lumbers × length × diameter Further, the collected trees are gripped and lifted by the grapple 14 and the arm (upper machine body 5) is swung to make a predetermined range within a predetermined range such as a truck bed. When the operation of opening the grapple 14 at a height is repeatedly performed, these operations are determined as loading operations, and the period from the start of the first operation to the end of the last repeated operation is determined as the loading operation from the start to the end. To do. In addition, when it is determined as loading work, the weight of the tree lifted by the grapple 14 is detected by a sensor, and the total weight of the trees lifted (loaded) from the start to the end of the loading work is summed up. You may ask as. Not limited to this, the diameter of the tree gripped by the grapple 14 when the tree is lifted is detected by a sensor, and the number of repetitions of the operation of opening the grapple 14 with a length (for example, 2 m) chopped into this diameter and a predetermined height You may calculate the amount of wood processing (amount of lumber) by multiplying (the number of loads).

Wood treatment amount = Diameter x Length x Number of loadings Also, grab the tree with a grapple 14 from a certain height within a certain range, such as a truck bed, and turn the arm (upper body 5) around the ground When the operation of opening the grapple 14 is repeated, it is determined that these operations are unloading work, and from the start of the first operation to the end of the last repeated operation, it is determined from the start of the unloading work to the end. If it is determined that the work is unloading, the weight of the tree lifted by the grapple 14 is detected by a sensor, and the weight of the tree lowered from the start to the end of the unloading work is summed up to obtain the amount of processing wood. good. Not limited to this, the sensor detects the diameter of the tree gripped by the grapple 14 when the tree is lifted, and the number of repetitions of the operation of opening the grapple 14 near the ground (for example, 2 m) The amount of wood treated (the amount of lumber) may be calculated by multiplying the number of unloading).

Processing amount of wood = diameter × length × unloading number Then, hold the tree with the grapple 14 and lift it, rotate the arm (upper machine body 5) to open the grapple 14 within a predetermined range and repeat the tree If the operation of stacking the next stage with the direction of the tree changed to the orthogonal direction, these operations are determined to be pile work, and from the start of the first operation to the end of the last repeated operation. Yes.
In addition, these felling, gathering, branching, cutting, loading, loading, and unloading operations are not limited to being performed by one heavy machine 10 (grapple 14). These operations may be performed by a plurality of units, or each operation may be performed by a plurality of units. For example, felling work and gathering work are performed by a harvester, pruning work and chopping work are performed by a heavy machine 10 equipped with a processor or a grapple 14 with a saw, and an embedding work, a loading work, and an unloading work are performed by a grapple 14. You may carry out with the heavy machinery 10 provided with. That is, the assignment of these operations can be appropriately set according to the inclination of the site, the situation of the work road, and the like. When these operations are performed by a plurality of machines (a heavy machine 10 including a harvester, a processor, and a grapple 14), the grapple system 100 may be configured to manage all the machines, or may be configured to manage some machines. But you can.

  Thus, according to this embodiment, the result of the work using the grapple 14 can be acquired as data. Further, according to the present embodiment, the operation history and the processing amount of wood can be acquired as the work result, and data for improving the processing efficiency can be obtained.

  Moreover, according to this embodiment, the result of the operation | work using the grapple 14 can be output in contrast with a comparative example, and an operation | work result can be evaluated objectively. That is, it is possible to easily find an improvement point for improving efficiency by comparing information on a site where the material is efficiently made as a comparative example.

  Furthermore, even when there are a plurality of remote sites, by unifying the comparative example, it is possible to eliminate variations between sites and supply wood with stable quality.

<Embodiment 2>
The second embodiment shows an example in which an interrupting portion is provided in the grapple 14 and wood (log) is cracked simultaneously with the gripping work by the grapple 14. Hereinafter, this operation of cracking wood is also referred to as cracking. Raw trees immediately after cutting contain a lot of moisture, and if used as fuel, the moisture prevents combustion, so it is necessary to dry the wood after cutting. If the period required for this drying is too long, the drying place will be occupied for a long period of time, and the supply of wood will be delayed, making it impossible to efficiently supply woody biomass fuel. For this reason, it is desirable to break down the raw wood that has been cut down to speed up drying. However, when the number of steps for the interruption is increased, the material making speed is lowered, and the work efficiency may be lowered.

  Therefore, in the second embodiment, the grapple 14 is provided with an interrupting portion so that the grapple 14 can grasp the log and simultaneously perform the interrupting.

  FIG. 10 is a diagram illustrating an example in which the grapple 14 includes an interruption unit 80. The grapple 14 includes a pair of grapple arms 40 that can swing relative to the frame 35 via a pivot 34. The grapple arm 40 is curved in a side view and forms a pair with the curved inner concave portions facing each other, and the wood is gripped by the inner concave portions. The grapple arm 40 includes a distal end portion on the opposite side to the base end portion that is pivotally supported, and an interrupting portion 80 at a central portion in the height direction. The interrupting portion 80 is not limited to the two locations of the tip portion and the center portion of the grapple arm 40, and may be provided at three or more locations, or at either the tip portion or the center portion. The interrupting portion 80 has a shape protruding toward the inside of the curved grapple arm 40, that is, toward the center of curvature, and has a wedge shape on the side surface (XY cross section) of the grapple 14, as shown in FIG. . Even if the external shape of the interrupting portion 80 is conical as shown in FIG. 12A, it is a blade shape that is long in the Z-axis direction (longitudinal direction of the tree to be gripped) as shown in FIG. It may be.

In the XY cross section of the interrupting portion 80, that is, the cross section orthogonal to the longitudinal direction of the wood, the angle θ (FIG. 11) formed by the vertex 81 and the side surface 82 can be arbitrarily set, but may be set to 20 ° to 60 °, for example. Good. Moreover, although the height H of the interruption part 80, ie, the distance which protruded inward from the grapple arm 40, can be set arbitrarily, it is good also as 20 mm-60 mm, for example. Furthermore, the length in the Z-axis direction in FIG. 12B of the interrupting section 80 can be arbitrarily set, but for example 100
It is good also as mm-150mm.

  FIG. 13A shows a state in which the wood 89 is gripped by the tip of the grapple arm 40 provided with the interrupting portion 80, and FIG. 13B shows an inner concave portion of the grapple arm 40 provided with the interrupting portion 80. The state which hold | gripped the wood 89 is shown. By gripping the timber 89 with the grapple arm 40 provided with the indexing part 80 in this way, the indexing part 80 is stuck to the timber 89, the timber 89 is split, and a crack is generated in the fiber direction (longitudinal direction). be able to.

  Here, dividing the wood 89 is not limited to dividing the wood 89 in half and dividing the wood 89 into two, but it is also possible to only cause a crack to occur starting from the interrupted insertion portion 80. If the wood 89 is completely divided and divided into two parts, the labor for transporting the wood 89 may be increased, and the effect of accelerating the drying can be obtained by simply causing cracks. The crack may be suppressed to such an extent that it does not break completely.

  For example, since the crack H tends to increase when the height H of the interrupting portion 80 is high and the angle θ is large, the interrupting portion 80 having a height H and an angle θ corresponding to the diameter of the wood 89 to be gripped is provided. Anyway. Further, the thin timber 89 is grasped as shown in FIG. 13 (B) and split shallowly by the insertion portion 80 provided in the central portion, and the thick tree is grasped as shown in FIG. 13 (A) and a high pressure is applied. You may make it divide deeply with the interruption part 80 provided in the front-end | tip part.

  The interrupting portion 80 may be fixed to the grapple arm 40 by welding or the like, may be integrally formed with the grapple arm 40, or may be detachably attached. good.

  FIG. 14 shows an example in which the interrupting section 80 is configured as an attachment separate from the grapple arm 40 and is detachably attached. As shown in FIG. 14 (A), the interrupting section 80 includes a mounting portion 83 having a U-shaped cross section in the XY cross section, and includes a convex portion 84 on the opposite side of the slit 83A of the mounting portion 83. Yes. 14B, a part 40A of the grapple arm 40 is fitted into the slit 83A of the mounting portion 83 and fixed with a fastening member (screw) 85. As shown in FIG. That is, the fastening member 85 is fastened so as to sandwich the part 40 </ b> A of the grapple arm 40, so that the cutting portion 80 is attached to the grapple arm 40, and the fastening member 85 is loosened to remove the cutting portion 80 from the grapple arm 40. it can. Further, as shown in FIG. 14C, a buffer member 86 may be provided between the inner surface of the slit 83 </ b> A of the attachment portion 83 and a part 40 </ b> A of the grapple arm 40. By providing the buffer member 86 in this way, it is possible to prevent the fastening member 85 from being loosened by absorbing vibration and impact during work, and to tighten the fastening. The attaching / detaching mechanism of the interrupting unit 80 is not limited to this configuration, and may be any configuration as long as it can be attached and detached and can be fixed to the grapple arm 40 to the extent that it does not come off during the interrupting operation.

  As described above, since the interrupting section 80 is configured as an attachment separate from the grapple arm 40, the interrupting section 80 can be retrofitted to the existing grapple 14 to perform the interrupting. Further, since the fastening member 85 can be attached and detached, the interrupting portion 80 can be detached from the grapple 14 when the interrupting is unnecessary, and the interrupting portion 80 can be attached to the grapple 14 when the interrupting is necessary. Moreover, it can replace | exchange for the interruption part 80 of the desired height H and the desired angle (theta) according to the diameter of a tree to hold | grip, a tree kind, etc.

  For example, when the density (specific gravity) of wood is less than 0.5, the angle θ of the interrupting part 80 is 40 °, and when the density (specific gravity) of wood is 0.5 or more, the angle θ of the interrupting part 80 Is 30 °.

As described above, according to the second embodiment, it is possible to break the wood simultaneously with the work of gripping the wood such as collecting, loading, loading, unloading, etc., speeding up the drying of the wood and improving the work efficiency. Can do.

  Further, the processing result acquisition unit of the computer 30 stores the wood 89 gripped by the grapple 14 provided with the interrupting unit 80 in the storage device (for example, the auxiliary storage device 1003) as the interrupted wood 89, and interrupts it. As a result of the processing divided by the section 80, the drying period of the wood that has not been interrupted is multiplied by a predetermined coefficient, and the drying period of the wood 89 that has been interrupted is shorter than the drying period of the wood that has not been interrupted. You may calculate so that it may become. For example, if the dry period of untied wood 89 is 10 months, the dry period is calculated as 8 months by multiplying a predetermined coefficient (for example, 0.8) in the case of cut wood 89. Also good.

2 Crawler 3 Lower traveling body 4 Main body turning bearing 5 Upper body 6 Boom 7 Boom cylinder 8 Arm 9 Arm cylinder 10 Heavy machine 11 Grapple cylinder 14 Grapple 20 Sensor 30 Computer 35 Frame 40 Grapple arm 61 Controller 65 Operation section 89 Wood 100 Grapple system

Claims (8)

A grapple that is attached to the arm tip of the work device and grips the wood to perform a predetermined operation;
A sensor for detecting an operating state of the grapple;
A processing result acquisition unit that calculates a processing amount of wood per predetermined time based on a detection value of the sensor;
A grapple system characterized by comprising: A working device including a movable arm, and a grapple attached to the tip of the arm and gripping wood to perform a predetermined operation;
A sensor for detecting an operating state of the working device including the arm and the grapple;
Based on the detection result of the sensor, a processing amount acquisition unit for calculating a processing amount of wood per predetermined time and obtaining an operation history of the working device including the arm and the grapple;
A grapple system characterized by comprising: When gripping wood with the grapple, the sensor detects the weight of the wood,
The processing result acquisition unit calculates the processing amount of wood by accumulating the weight of wood gripped at the time of loading or unloading of wood,
The grapple system according to claim 1 or 2. The grapple has a function of cutting the wood, and when the wood is gripped and cut by the grapple, the sensor detects the diameter of the wood,
The processing result acquisition unit calculates the processing amount of the wood based on the diameter and the number of cuttings of the wood gripped when cutting the wood,
The grapple system according to claim 1 or 2.   The grapple system according to any one of claims 1 to 4, wherein the grapple includes an interrupting portion that protrudes toward a side that holds the wood.   When the wood is gripped by the grapple provided with the interrupting unit, the processing result acquisition unit records the wood divided by the interrupting unit as an interrupted wood, and the processing of the processing divided by the interrupting unit The grapple system according to claim 5, wherein as a processing result, the drying period of the wood that has been interrupted is calculated by multiplying the drying period of the wood that has not been interrupted by a predetermined coefficient. A step of acquiring a detection result of a sensor that is attached to the arm tip of the work device and detects an operation state of a grapple that grasps wood and performs a predetermined operation;
Calculating a processing amount of wood per predetermined time based on the detection value of the sensor;
A data acquisition method executed by a computer. Obtaining a detection result of a sensor that detects an operating state of a working device including a movable arm and a grapple that is attached to the tip of the arm and grips wood and performs a predetermined operation;
Calculating a processing amount of wood per predetermined time based on the detection value of the sensor;
Obtaining an operation history of the working device including the arm and the grapple;
A data acquisition method executed by a computer.

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