JP3425104B2 - Winch control device - Google Patents

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 a single lever.

[0002]

2. Description of the Related Art As disclosed in Japanese Unexamined Patent Publication No. 8-245173, a winch control circuit for a lumber sawing machine is provided, in which two winches for driving a wire rope can be interlocked with one operating lever. is there.

This is because when the operation lever of the first winch is operated by turning on the interlocking switch, the first winch is driven for winding, and the second winch is driven for unwinding in synchronization with the speed of the first winch. It is what is done.

[0004]

[Problems to be Solved by the Invention]
Each winch has an operating lever,
For example, when the wire rope is stretched, or when the timber is lifted or lowered, it is necessary to turn off the interlocking 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 interlocking switch and the individual operation of the two operation levers, and there is room for improvement in terms of operability.

The present invention has been made in view of the above circumstances, and an object thereof is to improve the operability when controlling a plurality of winches.

[0007]

Means for Solving the Problems] described 請 Motomeko 1 invention, this has a single lever can be tilted in any direction
Lever in one axial direction of two axes intersecting at the base end of the lever
-By operating, one operation signal is output and the other
Output the other operation signal by operating the lever in the axial direction
With the operating device and the cord body wound from one end, operate one
At least one of which the direction of rotation is controlled by the work signal
Inch and the other part of the manipulator while the cord is wound from the other end.
At least the other direction whose rotation direction is controlled by the work signal
Equipped with inches, and one and the other output from the actuator
The operation signal from the other side is an electric signal for operation.
Controller that processes air signals and outputs control electrical signals
And the control electrical signal from this controller
With an electric / hydraulic control circuit that hydraulically drives the other winch
The controller includes a winch on at least the side on which the cord is wound, and the deceleration control is performed on the winch so that the winding speed of the cord that is gradually increased in diameter is wound on the winch from the winch on the opposite side. The winch control device is provided with an interlock control unit that synchronizes with the unwinding speed of the filament that is gradually released and has a smaller diameter.

[0008] And, two wins by one lever
Since at least the direction of rotation of the
In addition to pulling or returning the
You can freely control lifting or lowering with a single lever operation.
Control and improve the operability when controlling multiple winches.
In addition, the controller calculates and controls the electrical signal for operation.
It outputs an electric signal for use to control the electric and hydraulic control of each winch.
Since the road is controlled, it is one of the control systems of the hydraulic system of each winch.
Parts can be replaced with electrical signals to enable free and easy operation
Therefore, there is no synchronization control of two winches with one lever.
It will be possible. In particular, the interlock control unit
By controlling the two winches in synchronism, the tension of the cord is maintained appropriately, the feed speed of the cord is kept constant, and the load is conveyed at a constant speed.

According to a second aspect of the present invention, the lever of the operating device in the winch control device according to the first aspect of the present invention provides one winding instruction direction for instructing winding of the cord on one winch, and One unwinding instruction direction instructing unwinding of the cord from one winch at 180 ° opposite to the one unwinding instruction direction, and one unwinding instruction direction and unwinding instruction direction The other winding instruction direction that is provided in the orthogonal direction and that instructs the winding of the cord on the other winch, and the cord extending from the other winch 180 ° opposite to the other winding instruction direction. The electric / hydraulic control circuit is provided so as to be operable in the other unwinding direction for instructing the unwinding of the body, and the electric / hydraulic control circuit includes one unwinding direction of the operating device, one unwinding direction, and the other unwinding direction. When the lever is operated in the direction indicated and in the other direction The pilot hydraulic pressure is output according to the control electric signal output from the controller corresponding to each of these directions. For one winding, one unwinding, the other winding and the other unwinding. Electromagnetic proportional pilot pressure reducing valve, and one control valve pilot-controlled by one winding and one unwinding electromagnetic proportional pilot pressure reducing valve, and the other winding and unwinding electromagnetic proportional pilot Another control valve pilot-controlled by a pressure reducing valve, one winch drive hydraulic motor operated by hydraulic oil whose direction and flow rate are controlled by one control valve, and directional control and flow rate by the other control valve It is a winch control device having a hydraulic motor for driving the other winch operated by a controlled hydraulic oil.

By operating one lever of the operating device in one winding or unwinding direction, one winch is operated, and by operating the lever in the other winding or unwinding direction. Both winches are simultaneously operated by operating the other winch independently and operating the lever between one winding or unwinding direction and the other winding or unwinding direction.

At this time, the electromagnetic proportional pilot pressure reducing valve is
The pilot hydraulic pressure is output according to the control electric signal output from the controller to control the opening of the control valve, and the flow rate supplied from the control valve to the winch hydraulic motor is controlled to freely control the hydraulic motor. Because the speed is controlled,
When one winch is on the winding side and the other winch is on the unwinding side, it is possible to control both winches freely.
It is possible to optimize the feed rate of the cord and the balance between tension and slack of the cord.

According to a third aspect of the present invention, the hydraulic motor in the winch control device according to the second aspect is a variable displacement motor, and the hydraulic actuator for variably controlling the displacement of the hydraulic motor and the output from the controller. And a solenoid switching valve that supplies hydraulic oil to a hydraulic actuator by switching the electric signal.

The electromagnetic switching valve is controlled by the electric signal output from the controller to operate the hydraulic actuator to variably control the displacement of the hydraulic motor. For example, when the winch is in a high load state, the hydraulic motor is controlled. Is controlled to a large capacity to drive at low speed and high torque.

According to a fourth aspect of the present invention, in the winch control device according to the second or third aspect of the present invention, the winding side ports of the one and the other hydraulic motors are respectively fed out from the winding side ports. By-pass passages that can be short-circuited to ports, relief valves provided in these bypass passages, and electromagnetic switching that switches each relief valve between a low pressure communication state and a pressure setting state by an electrical signal output from the controller. And a winch control device including a valve.

Even if hydraulic oil is supplied to the take-in ports of both the one and the other hydraulic motors, if the relief valve in the bypass passage of the other hydraulic motor is switched to the low pressure communication state, Since the other winch can be rotated by an external force, the cord body is wound around one winch, the other winch is driven in the unwinding direction by the tension applied to the cord body, and the load is directed toward one winch. Moving. The relief valve, which is in a communicating state at low pressure, functions as a kind of throttling resistance, and while the other winch is driven, it imparts an appropriate tension to the cord body.

According to a fifth aspect of the present invention, in the winch control device according to any of the second to fourth aspects, one passage and the other passage for connecting the control valve and the hydraulic motor to each other. The winch control device is provided with the counter balance valves provided in each.

When the motor operating pressure is not supplied to one passage of the hydraulic motor, the counter passage valve closes the other passage of the hydraulic motor to secure the back pressure of the hydraulic motor and prevent the free fall of the load. To 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 counter balance valve.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION 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) yarding machine using a hydraulic excavator work machine as a tower, that is, a tower yarder.

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

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

An operating unit 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 inside the operator's cab, and a controller on the upper revolving superstructure 13 by a cable 26. It is connected to 27 and controls the electric / hydraulic control circuit (FIG. 1) for double winch control mounted on the upper swing body 13 via the controller 27.

The wire rope 28HAL, which is one of the ropes unwound from the one winch 22HAL, is the work machine 14
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
It is pulled out through an upper pulley 29b attached to the tip of the arm 18.

This wire rope 28HBL is wound around a pulley 33 bound by a wire rope 32 on a standing tree 31 as a stationary object located at a remote place, and the tip end folded back through this pulley 33 is attached to a carriage 34. It is connected.

This carriage 34 has two pulleys 35 at the top.
On the other hand, 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 the 28HBL. Also, the lower wire rope 28HAL is wound around the pulley 36 at the bottom of the carriage 34 and hung downward, and the hook attached to the tip of the hook.
The timber 38 as a load is lifted by 37. The hook 37 is hooked on the mounting wire 39 of the timber 38.

As shown in FIG. 1, the operating device 24 includes a joystick lever 41 (hereinafter, this joystick lever is simply referred to as a "lever") 41 that can be tilted in any direction with the base end as a fulcrum. The lever 41 is operated according to the lever operation angle by lever operation in one winding instruction direction 42HALi and one unwinding instruction direction 42HALo as one axial direction of the two axes intersecting at the base end portion of the lever 41. In addition to outputting the operation signal of, the lever operation in the other winding instruction direction 42HBLi and the other unwinding instruction direction 42HBLo as the other axial direction outputs the other operation signal according to the lever operation angle.

The one winch 22HAL rotates one winding drum 43a by one hydraulic motor 44a, and the other winch 22HBL moves the other winding drum 43b by the other hydraulic motor 44b. It rotates, and one winch 22HAL has one winding instruction direction 42HA.
The rotation direction and the rotation speed of the winding drum 43a are controlled by an operation signal for Li and one of the unwinding instruction directions 42HALo,
In addition, the other winch 22HBL is
The rotation direction and the rotation speed of the winding drum 43b are controlled by an operation signal in the HBLi and the other unwinding instruction direction 42HBLo.

The one and the other operation signals output from the operation device 24 are electric signals for operation.
The controller 27 for arithmetically processing the operation electric signal and outputting the control electric signal is connected to the.

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

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

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

The operation amount of the lever 41, that is, the lever tilt angle is a rotation amount detector provided around each of two axes of a universal joint-shaped internal mechanism, such as a potentiometer, a magnetic modulator, an optical or magnetic rotation angle. It is advisable to use a pulse converter or the like that detects the number of pulses associated with.

Further, the identification of the lever pointing direction is 4
Made by two switches. For example, as shown by the shaded area in FIG. 3, the one winding direction 42HALi
And a switch 52HAL that is turned on when the lever is operated in the unwinding direction 42HALo except for the neutral position, and a switch 52HA that is turned on when the lever is operated in one winding direction 42HALi.
Depending on Li, one winding direction 42HALi and unwinding direction
42HALo is identified, and the switch 52HBL turns on except the neutral position when the lever is operated to the other winding instruction direction 42HBLi and the unwinding instruction direction 42HBLo, and when the lever is operated to the other winding instruction direction 42HBLi. Switch 52HBLi turned on
The other winding direction 42HBLi and unwinding direction 42
Identify with HBLo.

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

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

One main pump 62 is
It supplies hydraulic oil to the main circuit 66 of the hydraulic motor 44a that drives one winch 22HAL, and the other main pump 63 supplies hydraulic oil to the main circuit 67 of the hydraulic motor 44b that drives the other winch 22HBL. To supply.

In each of the main circuits 66 and 67, a main relief valve 71 is provided between the pump discharge line 68 from each of the main pumps 62 and 63 and the 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.

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

Each of the hydraulic motors 44a and 44b is a displacement type motor, and the swash plate 73 for varying the displacement of these hydraulic motors 44a and 44b has a hydraulic actuator for variably controlling the displacement.
74 connected to each of these hydraulic actuators 74
A passage 76 drawn from an electromagnetic switching valve 75 for switching between high speed and low speed is communicated with. This electromagnetic switching valve 75 is a controller
The hydraulic oil is switched to supply hydraulic oil to each hydraulic actuator 74 by an electric signal output from 27.

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

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 electromagnetically switched for releasing brakes via respective passages 79. Valves 80 are each connected. Each mechanical brake
The brake of 77 is released by the pilot hydraulic pressure supplied from each electromagnetic switching valve 80.

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

Each of the main circuits 66 and 67 is a control valve.
Winding side output ports of 72a and 72b and respective hydraulic motors 44a and 44
Winding side lines 66i and 67i as one passage communicating with the winding side port of b and the control valves 72a.
, 72b unwinding side output port and each hydraulic motor 44a, 44b
And the unwinding side ports 66o and 67o as the other passages that communicate with the unwinding side ports.

A counter balance valve 81 that interacts with each other is provided on the winding side lines 66i, 67i and the unwinding side lines 66o, 67o of each of the main circuits 66, 67. These counter balance 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 load from freely falling.

When the motor operating pressure is not supplied to one of the passages to the hydraulic motors 44a and 44b, the counter balance valve 81 closes the other passage from the hydraulic motors 44a and 44b to close the passages of the hydraulic motors 44a and 44b. Secure back pressure,
Prevent free fall of timber 38. When a motor operating pressure is generated in one of the passages to the hydraulic motors 44a and 44b, the counter balance valve 81 opens the other passage from the hydraulic motors 44a and 44b.

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

A winding side line 66i is provided in each bypass passage 83.
, 67i are provided with relief valves 84a, 84b and a check valve 85, respectively, which enable communication from the unwinding side lines 66o, 67o.

Relief valve 84 in these bypass passages 83
The a and 84b are integrally provided with electromagnetic switching valves 86a and 86b for 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, respectively. There is.

These electromagnetic switching valves 86a, 86b are interposed in a drain line 87 provided from the relief valves 84a, 84b to the tank 65, and the drain line 87 is opened by turning off the power to open the relief valves 84a, 84b. The communication is performed at a low pressure, and the drain line 87 is cut off midway by turning on the power to set the relief valves 84a and 84b to the pressure setting state.

Solenoid switching valves 86a of relief valves 84a and 84b,
The 86b is switched by solenoids SOL4, SOL5, SOL6, SOL7. Both solenoids SOL4 and SOL6 are controlled to be turned off in principle when one winch 22HAL is wound and unwound, but during high-speed interlock pulling operation, solenoid SOL4 is turned on and interlock low-speed operation is performed. The solenoid SOL6 is turned on during the pulling operation.

The pilot pump 64 is a tank
From 65, through pilot oil passage 88 and pressure reducing valve 89, the pilot oil is supplied to the high-speed / low-speed switching electromagnetic switching valve 75 and the two brake releasing electromagnetic switching valves 80, respectively, and four Electromagnetic proportional pilot pressure reducing valve 90a
Supply pilot oil to 1, 90b1, 90a2, 90b2.

These electromagnetic proportional pilot pressure reducing valves 90a1,
90b1, 90a2, 90b2 are controllers corresponding to the lever pointing direction and the lever operating angle when the lever 41 is operated.
It is a pressure reducing valve that outputs pilot hydraulic pressure according to the control electric signal output from the proportional solenoids a1, b1, a2, b2 from 27.

The electromagnetic proportional pilot pressure-reducing valve 90b2 is controlled in response to the operation of the lever 41 when the interlock ON / OFF switch 51 is in the OFF state and the lever 41 is operated in one of the winding instruction directions 42HALi of the controller 24. This is for winding one winch 22HAL which operates in response to a control electric signal output from the device 27 and outputs pilot hydraulic pressure to the winding side pilot operating portion of one control valve 72a via the pilot passage 91.

The electromagnetic proportional pilot pressure reducing valve 90a2 is controlled in response to the lever 41 being operated in one unwinding instruction direction 42HALo of the operator 24 with the interlock on / off switch 51 turned off. This is for unwinding one winch 22HAL which operates in response to the control electric signal output from the device 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 response to the lever 41 being operated in the other winding instruction direction 42HBLi of the operator 24 with the interlock ON / OFF switch 51 turned off. This is for winding the other winch 22HBL which operates according to the control electric signal output from the device 27 and outputs the pilot hydraulic pressure to the winding side pilot operating portion of the other control valve 72b via the pilot passage 93.

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

Next, since the one wire rope 28HAL and the other wire rope 28HBL are cords formed in series through the carriage 34, the cords wound from one end by one winch 22HAL. The other winch 22
The HBL is wound up from the other end.

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

The interlock control section 95 automatically operates the two winches 22HAL, 22HBL by one lever 41 when the interlock ON / OFF switch 51 is turned on.

For example, the winch 22HAL on the winding side of the wire rope 28HAL is decelerated and controlled, and
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 that is wound into the winch 22HAL and gradually increases in diameter is adjusted so that the winch 22HBL is gradually unwound from the winch 22HBL by the wire rope tension. Synchronize with the unwinding speed of the wire rope 28HBL, which has a smaller diameter.

Alternatively, the interlock controller 95 controls the winch 22HAL on the side where the wire rope 28HAL is wound.
Speed control of the winch 22HBL on the side where the wire rope 28HBL is unwound, and by increasing the speed of the winch 22HBL, the wire rope 28HAL is gradually wound into the winch 22HAL and gradually increases in diameter.
The unwind speed of the wire rope is synchronized with the unwind speed of the wire rope 28HBL that is unwound from the winch 22HBL on the opposite side and gradually decreases in diameter.

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

Table 1 below shows the operation and electromagnetic switching valve 80.
Solenoids SOL1 and SOL2, solenoid switching valve 75 solenoid SO
L3, Solenoids SOL4, SOL5, SO of solenoid switching valves 86a, 86b
L6, SOL7, and electromagnetic proportional pilot pressure reducing valve 90a1, 90b
The relationship between solenoids a1, b1, a2 and b2 of 1, 90a2 and 90b2 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).

[0064]

[Table 1]

Next, the operation of this embodiment will be described.

(1) First, the case where the timber 38 is pulled from the standing tree 31 side to the hydraulic excavator main body 11 side will be described. In the operating device 24 shown in FIG. 3, the power on / off switch 48 is turned on. , Check that the indicator light 49 is on, and set the high-speed / low-speed selector switch 50 to "low speed" in response to a high load condition.
When 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 pulling side, the lumber 38 is wound up, and when this winding reaches the limit. The timber 38 is gradually pulled to the front right of the hydraulic excavator body 11.

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

Accordingly, the wire rope 28HAL is wound around 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. To do.

At this time, the relief valve 84b which is in a communicating state at a low pressure
Acts as a kind of diaphragm resistance, the other winch 22HB
The L hydraulic motor 44b rotates, but the relief valve 84b
Due to the flow resistance at, the wire rope 28HBL is given an appropriate tension, and the pulley 35 of the carriage 34 moves on the wire rope 28HBL.

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

That is, both winches 22HAL and 22HBL
The winch 22HB on the unwinding side should always have the same rotation speed.
While the wire rope winding diameter of L gradually decreases, the wire rope 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 this inconvenience, in order to eliminate this inconvenience, the interlock control section 95 functions to control the electromagnetic proportional pilot pressure reducing valve 90b2 to the side where the pressure is gradually increased, and one control valve 72a is gradually increased. By controlling the throttle to the neutral side,
The HAL rotation speed is gradually reduced to control the winding side winch 22HAL wire rope winding speed and the unwinding side winch 22HB.
Control to synchronize with the wire rope unwinding speed of L.

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

When lowering the entire timber to the surface of the ground, first turn off the interlock ON / OFF switch 51, and then use both winches 22
HAL and 22HBL are simultaneously unwound and lowered.

That is, when the lever 41 of the operation device 24 is operated between one unwinding instruction direction 42HALo and the other unwinding instruction direction 42HBLo, "HAL unwinding" and "HAL unwinding" and "Interlock off" in Table 1 are performed. 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, and both winches 22HAL and 22HBL are operated. The wire ropes 28HAL and 28HBL are unwound and loosen, and the lumber 38 descends to the ground surface. The hook 37 is removed from the mounting wire 39 of this timber 38.

(2) Next, when returning the carriage 34 to the standing tree 31, the interlock ON / OFF switch 51 is set to "ON" and the lever 41 of the operation unit 24 is set to "ON", as in the pulling in (1). By pulling it toward the "HBL entrainment" side, "Return HBL" in Table 1
Thus, first, the wire ropes 28HAL and 28HBL are stretched by the winding operation of both winches 22HAL and 22HBL, and the hook 37 rises.

When the hook 37 is lifted and locked to the carriage 34, the wire rope 28HBL continuously moves to the other winch.
It is caught in 22HBL, but at this time, one winch 22HAL
The two relief valves 84a on the side are solenoids SOL5 and SO
L7 off control, winding line 66i and unwinding line
Since it is in a state of communicating with 66o at a low pressure, one winch 22HAL is driven and rotated by the tension applied to the wire rope 28HAL, and the carriage 34 moves toward the standing tree 31.

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

Then, after the carriage 34 reaches a predetermined position, the lever 41 is tilted between the "HAL unwinding" and the "HBL unwinding", and the wire ropes are fed from both winches 22HAL and 22HBL.
By unwinding 28HAL and 28HBL at the same time, the carriage
Land 34.

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

(3) In addition, both winches 22HAL and 22HBL can be unwound or unwound at the same time when the cable is stretched or removed. 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 one winding instruction direction 42HALi and the other winding instruction direction 42HBLi, "HAL winding" and "HAL winding" and "Interlock off" in Table 1 are performed. As shown in "HBL entanglement", the loose wire ropes 28HAL and 28HBL are both winches 22HAL.
, 22HBL are simultaneously wound and stretched.

When the lever 41 of the operation device 24 is operated between the one unwinding instruction direction 42HALo and the other unwinding instruction direction 42HBLo, "HAL unwinding" and "HAL unwinding" and "Interlock off" in Table 1 are performed. As shown in "HBL unwinding", the stretched wire ropes 28HAL and 28HBL can be loosened efficiently.

Further, when the lever 41 of the operation device 24 is operated between the one winding instruction direction 42HALi and the other unwinding instruction direction 42HBLo, "HAL winding" of "Interlock OFF" in Table 1 is performed.
And wire rope 28 as shown in "HBL Unwinding"
The HAL is rolled into one winch 22HAL, the wire rope 28HBL is unwound from the other winch 22HBL, and the lumber 38 moves toward the one winch 22HAL.

As described above, since the rotation direction and speed of the two winches 22HAL and 22HBL can be controlled respectively by one lever 41, not only the pulling or returning of the load but also the stretching of the wire ropes 28HAL and 28HBL and It is also possible to freely control the lifting or lowering of loads with a single lever operation, which improves the operability when controlling the two winches 22HAL and 22HBL.

Further, the controller 27 arithmetically processes the operation electric signal to output the control electric signal, and each winch 22HAL,
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 to enable a free and easy operation.
It is also possible to control the synchronization of the two winches 22HAL and 22HBL with the lever 41 of the book.

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

At that time, the electromagnetic proportional pilot pressure reducing valve 90b2
Controls the opening of the control valve 72a by outputting pilot hydraulic pressure according to the control electric signal output from the interlock control section 95 of the controller 27, and is supplied from the control valve 72a to the hydraulic motor 44a of the winch 22HAL. Since the flow rate of the hydraulic motor 44a is freely controlled by automatically controlling the flow rate, the winch 22HAL on one side is wound on the winch side of the other winch 22HAL.
When the 22HBL is on the unwinding side, it is possible to control the tuning of both winches freely, and it is possible to optimize the feed rate of the wire ropes 28HAL and 28HBL and balance the tension and slack of the wire ropes 28HAL and 28HBL. Is.

[0088]

Effects of the Invention] According to the invention 請 Motomeko 1 wherein, one of les
The bar allows it to rotate at least two winches
You can control each of them, so you only have to pull or return the load.
In addition, it is not necessary to stretch the rope or lift or unload the load.
It can be controlled freely with a single lever operation to control multiple winches.
The operability when controlling can be improved, and the controller can
The electric signal for control is output by processing the electric signal and
Each winch because it controls the electric / hydraulic control circuit
By replacing a part of the control system of the hydraulic system of J with electric signals,
Free and easy operation is possible. 2 with one lever
You can easily control the tuning of two winches. In particular, the interlock control unit controls the two winches in synchronization, so that the tension of the cord can be properly maintained and
The feed speed of the cord can be kept constant and the load can be conveyed at a constant speed.

According to the second aspect of the invention, one of the operating devices is provided.
When the lever of the book is operated in one winding or unwinding direction, 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 one winding or unwinding direction and the other winding or unwinding direction, both winches can be operated simultaneously. In addition, the electromagnetic proportional pilot pressure reducing valve outputs pilot hydraulic 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 speed of the hydraulic motor can be freely controlled, both winches can be freely controlled when one winch is on the winding side and the other winch is on the unwinding side. Increase or decrease,
It is possible to optimize the balance between tension and looseness of the cord.

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

According to the fourth aspect of the present invention, even if hydraulic oil is supplied to the take-in ports of both the one hydraulic motor and the other hydraulic motor, the relief valve in the bypass passage of the other hydraulic motor is kept at a low pressure. When the communication valve is switched to the communicating state, the relief valve in the communicating state at low pressure functions as a kind of throttle resistance, and while the other winch is driven in the unwinding direction, an appropriate tension can be applied to the cord body.

According to the invention described in claim 5 , when the motor operating pressure is not supplied to one passage of the hydraulic motor,
The counterbalance valve closes the other passage of the hydraulic motor to secure the back pressure of the hydraulic motor, whereby the free fall of the load can be prevented.

[Brief description of 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 of a case 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 Operator 27 Controller 28HAL, 28HBL Wire rope as a rope 41 Lever 42HALi One winding direction as one axial direction 42HALo One unwinding as one axial direction Indication direction 42HBLi Another winding direction as the other axial direction 42HBLo Other unwinding direction as the other axial direction 44a One hydraulic motor 44b The other hydraulic motor 45 Electric / hydraulic control circuit 66i, 67i One of the Winding side lines 66o, 67o as passages Unwinding side line 72a as the other passage One control valve 72b One control valve 74 The other control valve 74 Hydraulic actuator 75 Electromagnetic switching valve 81 Counterbalance valve 83 Bypass passages 84a, 84b Relief valve 86a, 86b Electromagnetic switching valve 90a1, 90b1, 90a2, 90b2 Electromagnetic proportional pilot pressure reducing valve 95 Interlock control unit

─────────────────────────────────────────────────── ─── Continuation of front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B66D 1/40

Claims (5)

(57) [Claims] 1. A lever that can be tilted in any direction
Has one of the two axes that intersect at the base end of this lever
When one of the operation signals is output by operating the lever to
The other operation signal by operating the lever in the other axial direction.
With the operation device to output and one operation signal with the cord body wound from one end
At least one winch whose rotation direction is controlled , and the other operation signal when the cord is wound from the other end.
At least the other winch whose rotational direction is controlled
One and the other operation signal output from the operating device are provided.
It is a working electrical signal, and this electrical signal for operation is arithmetically processed to produce an electrical signal for control.
And a control electrical signal from this controller
With an electric / hydraulic control circuit that hydraulically drives the winch
The controller, at least , controls the winch on the side on which the rope is wound to reduce the winding speed from the winch on the opposite side. It is progressively characteristics and to roux inches controller by comprising an interlock control unit for synchronization with unwinding speed of the rope body that becomes the small diameter. 2. The lever of the operating device is provided with one winding instruction direction for instructing winding of the cord on one winch and one winding direction opposite to one winding instruction direction by 180 °. One of the unwinding directions that instructs the unwinding of the cord from the winch, and one winding direction and a direction that is orthogonal to the unwinding direction, are wound into the other winch. It is possible to operate in the other instructing direction for instructing, and in the other instructing direction for instructing the unwinding of the cord from the other winch on the opposite side of 180 ° with respect to the other instructing direction. The electric / hydraulic control circuit is installed on the actuator when the lever is operated in one winding direction, one winding direction, the other winding direction, or the other winding direction. The control electrical signal output from the controller corresponding to each of these directions The pilot proportional hydraulic pressure is also output for one winding, one winding, the other winding and the other winding electromagnetic proportional pilot pressure reducing valve, and one winding and one unwinding. One control valve pilot-controlled by the electromagnetic proportional pilot pressure reducing valve, the other control valve pilot-controlled by the other electromagnetic proportional pilot pressure reducing valve for entwining and unwinding, and the direction by one control valve One hydraulic motor for winch drive operated by the controlled and flow-controlled hydraulic oil, and the other hydraulic motor for winch drive operated by the hydraulic oil whose direction and flow rate were controlled by the other control valve. winch control apparatus according to claim 1, characterized by including. 3. The hydraulic motor is a variable displacement motor, and a hydraulic actuator for variably controlling the displacement of the hydraulic motor, and an electromagnetic switching for switching hydraulic pressure to supply hydraulic oil to the hydraulic actuator. The winch control device according to claim 2 , further comprising a valve. 4. A bypass passage capable of being short-circuited from the respective winding side ports of the one and the other hydraulic motors to the respective unwinding side ports, a relief valve provided in these bypass passages, and an output from the controller. 3. An electromagnetic switching valve for switching each relief valve between a low pressure communication state and a pressure setting state by the generated electric signal.
The winch control device according to 3 . 5. One of the passages and winch control device according to any one of claims 2 to 4, characterized by comprising a counterbalance valve provided on the other of the passage between the control valve and the hydraulic motor .