SE1350352A1

SE1350352A1 - A method for controlling the working machine's boom set according to the distance from the end of the boom set

Info

Publication number: SE1350352A1
Application number: SE1350352A
Authority: SE
Inventors: Osmo Luoto; Mikko Palmroth
Original assignee: John Deere Forestry Oy
Priority date: 2012-03-23
Filing date: 2013-03-21
Publication date: 2013-09-24
Also published as: SE537217C2; FI20125336A; FI125724B

Abstract

(57) Sammandrag Uppfinningen avser ett forfarande for styrning av kranspetsen (Pt) i en arbetsnnaskin (1) enligt kranspetsens (Pt) avstand, i vilket forfarande kranspetsens (Pt) rorelsehastighet, vilken motsvarar ett bestamt lage av ett styrdon (21) som styr stalldonet (7) som svanger kranen (2), justeras pa basis av det, pa vilket vinkelrata avstand (r) kranspetsen (Pt) befinner sig Than vridaxeln (Sr) av svangrorelsen som utf6rs av stalldonet (7) som svanger kranen (2). I forfarandet enligt uppfinningen justeras rorelsehastigheten av stalldon (7) som ror kranen (2) pa sa satt att nar styrdonet (21, 22) forblir i ett bestamt lage f6r styrning av kranens (2) rorelse men kranspetsens (Pt) vinkelrata avstand (r) relativt vridaxeln (Sr) 6kar, 6kar kranspetsens (Pt) hastighet (vt) ojamnt, nar man betraktar det hela avstandsspannet fran en referenspunkt (Pr) till maximiavstandet (rmax) som nas med kranspetsen (Pt). (57) Summary The invention relates to a method for controlling the crown tip (Pt) in a working machine (1) according to the distance of the crown tip (Pt), in which method the movement speed of the crown tip (Pt), which corresponds to a specific layer of a guide device (21) the stable device (7) which swings the crane (2) is adjusted on the basis of the angular distance (r) the crane tip (Pt) is located. The axis of rotation (Sr) of the swing movement performed by the stable device (7) which swings the crane (2) . In the method according to the invention, the speed of movement is adjusted by stables (7) which move the crane (2) in such a way that when the control device (21, 22) remains in a certain position for controlling the movement of the crane (2) but the perpendicular distance of the crane tip (Pt) ) relative to the axis of rotation (Sr) 6kar, 6kar the velocity of the crown tip (Pt) (vt) is uneven, when one considers the whole distance range from a reference point (Pr) to the maximum distance (rmax) reached with the crown tip (Pt).

Description

1 FORFARANDE FOR ATT STYRA ARBETSMASKINENS KRAN ENLIGT AVSTANDET AV KRANSPETSEN Uppfinningens omrade Uppfinningen avser ett forfarande for att styra kranen av en arbetsmaskin enligt avstandet av kranspetsen. FIELD OF THE INVENTION The invention relates to a method for controlling the crane of a work machine according to the distance of the crane tip.

Uppfinningens bakgrund En pa en arbetsmaskin nnonterad kran har tidigare styrts genonn att styra kranens varje stalldon med ett sarskilt styrdon. Ett mera avancerat styrsatt är s.k. spetsstyrning, varvid f6raren av en med en kran f6rsedd arbetsmaskin (t.ex. en skogsnnaskin, en gravnnaskin eller en annan med en kran f6rsedd materialbehandlingsmaskin eller t.ex. en skylift) styr en vanligtvis i arbets- maskinen befintlig kran sa att styrfunktioner av ett styrdon (t.ex. vridning av en nnanoverspak i en bestannd riktning och i den nnotsatta riktningen) anvands for att styra kranens rorelse i den horisontala riktningen, och styrfunktioner av ett annat styrdon anvands for att styra kranspetsens rorelse- hastighet i vertikalriktningen. Nar man anvander ett sadant styrf6rfarande är det vanligaste nufortiden anvanda forfarandet att justera rorelsehastigheten av kranspetsen hos en arbetsmaskin sadant, vid vilket styrdonets lage, som motsvarar en bestamd rorelsehastighet av stalldonet, är alltid detsamma, oberoende av kranspetsens avstand fran arbetsmaskinen. Till -160 av detta, till exempel vid vridning av kranen nar kranspetsen befinner sig pa avstand (nar avstandet till kranens fastpunkt är langt), astadkommer aven en relativt liten forandring i styrdonets lage en stor hastighetsforandring i kranspetsen, medan nar kranspetsen är nara arbetsmaskinen (nar avstandet till kranens fastpunkt är kort), okar en t.o.m. ganska stor forandring i styrdonets lage inte relativt mycket hastigheten pa kranspetsen. NufOrtiden kanner man aven en sadan kran i en arbetsmaskin (skogsnnaskin), i vilken forhallandet mellan spetsens hastighet och laget av styrdon som styr kranens rorelser justeras pa sa salt att kranspetsens rOrelsehastighet fOrblir alltid konstant, oberoende av det, pa vilket avstand fran skogsmaskinens basmaskin kranspetsen ligger. Background of the Invention A crane mounted on a work machine has previously been controlled by controlling the crane of each stable with a special controller. A more advanced steering system is the so-called tip control, wherein the operator of a crane equipped with a crane (eg a forestry machine, a digging machine or another material crane equipped with a crane or eg a skylift) controls a crane normally present in the work machine so that control functions of one control device (eg rotation of a lever lever in a fixed direction and in the direction used) is used to control the movement of the crane in the horizontal direction, and control functions of another control device are used to control the speed of movement of the crane tip in the vertical direction. When using such a control method, the most common present tense method is to adjust the speed of movement of the ring tip of a work machine such that the position of the guide, which corresponds to a certain speed of movement of the stable, is always the same, regardless of the distance of the ring tip from the work machine. To -160 of this, for example when turning the crane when the crane tip is at a distance (when the distance to the crane's fixed point is long), even a relatively small change in the actuator's position causes a large speed change in the crane tip, while when the crane tip is near the work machine ( when the distance to the fixed point of the crane is short), a blank increases quite large change in the position of the steering gear not relatively much the speed of the crown tip. Nowadays, such a crane is also known in a work machine (forestry machine), in which the ratio between the speed of the tip and the layer of controls that control the movements of the crane is adjusted so that the speed of movement of the crane tip always remains constant, regardless of the distance from the crusher. is located.

Detta astadkoms pa sa satt att t.ex. vid vridning av kranen maximihastig- heten pa stalldonet som vrider kranen begransas desto mer, desto langre borta kranspetsen är fran dess fastpunkt. En kran for en skogsmaskin, som 2 baserar sig pa ett sadant justeringsforfarande, är framlagt i publikationen EP 2116128 Al. This was achieved in such a way that e.g. when turning the crane, the maximum speed of the stable unit that turns the crane is limited the more, the further away the crane tip is from its fixed point. A crane for a forestry machine, which is based on such an adjustment procedure, is presented in the publication EP 2116128 A1.

Oberoende av laget, nackdelen med en kranspets som alltid r6r sig med sannma hastighet är att den konstanta hastigheten som motsvarar ett bestamt lage av styrdonet och som anvands for alla avstand är alltid en kompromiss, eftersom i den situation, ifall den konstanta hastigheten bestams sa att hastigheten pa kranspetsen kan Ian justeras nar kranspetsen befinner sig nara arbetsmaskinen, är maximihastigheten av kranspetsen vanligtvis for langsam nar kranspetsen forflytts pa langt avstand fran arbetsmaskinen, eftersom forflyttningsavstanden som behovs dar är ofta nnycket langre an narmare arbetsmaskinen darfor att nar bommen vrider sig är omradet som den svepar st6rre. Regardless of the team, the disadvantage of a crane tip that always moves at true speed is that the constant speed which corresponds to a certain layer of the control device and which is used for all distances is always a compromise, because in that situation, if the constant speed is determined said that the speed of the crown tip can be adjusted when the crown tip is close to the work machine, the maximum speed of the crown tip is usually too slow when the crown tip is moved a long distance from the work machine, since the movement distance required there is often slightly longer it sweeps larger.

A andra sidan, onn vid alla avstand for den konstanta hastigheten for kran- spetsen som motsvarar ett bestamt lage av styrdonet valjs en hastighet, med vilken kranspetsens maxim ihastighet är tillrackligt h6g nar kranspetsen befinner sig pa langt avstand fran arbetsmaskinen, blir hastighetsjusteringen f6r kanslig for sma forandringar i laget av styrspaket nar kranspetsen är nara arbetsmaskinen, eftersom forflyttningsavstanden är dar sma och rorelserna bar vara latt och exakt justerbara, vilket darennot inte lyckas onn kranspetsens maximihastighet, vilken nas genom att vrida styrdonet till ytterlaget, är hog, eftersom dá motsvaras aven en liten fOrandring i stytrdonets lage av en relativt stor forandring i kranspetsens hastighet. On the other hand, at all distances for the constant speed of the crane tip corresponding to a certain layer of the control device, a speed is selected at which the maximum speed of the crane tip is sufficiently high when the crane tip is at a long distance from the work machine, the speed adjustment becomes too probable. small changes in the team of guide levers when the ring tip is near the work machine, because the travel distance is small and the movements should be easy and precisely adjustable, which does not succeed without the maximum speed of the ring tip, which is reached by turning the guide to the outer layer, is high a small change in the actuator's making of a relatively large change in the speed of the crane tip.

Kort sammanfattning av uppfinningen Syftet med uppfinningen är att presentera ett nytt forfarande for styrning av en kran sa att det inte är for kravande att rora kranspetsen noggrannt nar den är nara arbetsmaskinen men a andra sidan kranspetsen kan r6ras tillrackligt snabbt nar den befinner sig pa langt avstand Than arbetsmaskinen. Brief Summary of the Invention The object of the invention is to present a new method for controlling a crane so that it is not too demanding to move the crane tip thoroughly when it is close to the working machine but on the other hand the crane tip can be moved sufficiently fast when it is at a long distance. Than the work machine.

Syftet med uppfinningen uppnas med ett forfarande, i vilket forhallandet mellan kranspetsens rOrelsehastighet och laget av styrdonet som anvands for styrning av sagda rorelse justeras sa att nar avstandet mellan kran- spetsen och arbetsmaskinen vaxer, Okas kranspetsens rorelsehastighet, som motsvarar ett bestamt lage av styrdonet, ojamnt med tanke pa det hela mojliga avstandsspannet av avstand mellan kranspetsen och arbetsmaskinen sa 3 att nar kranspetsen befinner sig nara arbetsmaskinen, är hastighetsokningen relativt forandringen av styrdonets vandningsvinkel liten, medan nar avstandet är stort, är den sadan att man genom vandning av styrdonet till andlaget nar en h6gre maximihastighet an nar kranspetsen befinner sig nara arbetsmaskinen. Uttryckt pa ett nnera exakt satt kannetecknas det upp- finningsenliga forfarandet av det som presenteras i den kannetecknande delen av patentkrav 1. The object of the invention is achieved with a method in which the ratio between the rotational speed of the crane tip and the layer of the control device used for controlling said movement is adjusted so that when the distance between the crane tip and the work machine grows, Okas crane tip moving speed corresponds to a certain layer of control device. uneven in view of the whole possible distance range of distance between the ring tip and the working machine so that when the ring tip is close to the working machine, the speed increase is relative to the change of the control angle of the control device, while when the distance is large, it is such that when a higher maximum speed than when the crown tip is close to the work machine. Expressed in a more precise manner, the inventive method of what is presented in the characterizing part of claim 1 is characterized.

Tack vare forfarandet enligt uppfinningen är det lattare att styra kranen nar kranspetsen befinner sig nara arbetsmaskinen an nar man anvander ett f6r- farande, i vilket den ett bestannt lage av styrdonet nnotsvarande rorelsehastigheten av kranspetsen är alltid konstant, sasom i publikationen EP 2116128 Al. Trots detta är den maximala rorelsehastigheten av kranspetsen, nar den är pa langt avstand fran arbetsmaskinen, dock sá h6g att forflytt- ningen av kranen nar kranspetsen befinner sig pa langt avstand fran skogs- maskinen inte är f6r langsam sasom nar man anvander den ovannamnda hastighetsjusteringen som standardiserats pa det hela rorelsespannet av kranspetsen. En vidare fordel av det uppfinningsenliga forfarandet är att tack vare det kan kranens styrbarhet forbattras utan att Ora strukturella forandringar i kranen eller styrdonen. Thanks to the method according to the invention, it is easier to control the crane when the crane tip is close to the working machine than to use a method in which a constant layer of the control device corresponding to the moving speed of the crane tip is always constant, as in publication EP 2116128 A1. Despite this, the maximum speed of movement of the crane tip, when it is at a long distance from the work machine, is high enough that the movement of the crane when the crane tip is at a long distance from the forestry machine is not too slow as when using the above speed adjustment. standardized on the entire range of motion of the crown tip. A further advantage of the method according to the invention is that thanks to it the controllability of the crane can be improved without causing structural changes in the crane or the controls.

Enligt en f6rsta aspekt av forfarandet enligt uppfinnignen 6kar kranspetsens hastighet snabbare nara vridningsaxeln av stalldonet som vrider pa kranen an nara maximiavstandet som uppnas med kranen. According to a first aspect of the method according to the invention, the speed of the crane tip moves faster closer to the axis of rotation of the stable member which rotates on the crane than closer to the maximum distance reached with the crane.

Enligt en andra aspekt av forfarandet enligt uppfinningen, vid en 6kning av kranspetsens avstand fran kranens vridningsaxel, okar kranspetsens trek sehastighet i borjan av avstandsokningen, men efter ett forutbestamt gransavstand forblir rorelsehastigheten huvudsakligen konstant nar avstandet okar vidare anda till maximiavstandet. According to a second aspect of the method according to the invention, at an increase in the distance of the crane tip from the axis of rotation of the crane, the trek speed of the crane tip increases at the beginning of the distance increase, but after a predetermined spruce distance the movement speed remains substantially constant as the distance increases.

Enligt en tredje aspekt av forfarandet enligt uppfinningen beror gransavstandet fran laget av styrdonet som styr kranspetsens svangrOrelse. According to a third aspect of the method according to the invention, the spruce distance from the layer depends on the guide device which controls the swing movement of the crown tip.

Enligt en fjarde aspekt av forfarandet enligt uppfinningen okar gransavstan- det nar rOrelsehastigheten av kranspetsen som justeras med styrdonet Okar. 4 Enligt en femte aspekt av forfarandet enligt uppfinningen okar kranspetsens rorelsehastighet som motsvarar ett bestamt lage av styrdonet som styr kranens svangrorelse, linjart anda till gransavstandet. According to a fourth aspect of the method according to the invention, the spruce spacing increases when the speed of movement of the crown tip is adjusted with the control device Okar. According to a fifth aspect of the method according to the invention, the speed of movement of the crane tip, which corresponds to a specific layer of the control device which controls the swing movement of the crane, increases linearly to the distance of the spruce.

Enligt en sjatte aspekt av fOrfarandet enligt uppfinningen okar kranspetsens rorelsehastighet som motsvarar ett bestamt lage av styrdonet som styr kranens svangrorelse, olinjart anda till gransavstandet. According to a sixth aspect of the method according to the invention, the speed of movement of the crane tip, which corresponds to a certain layer of the control device which controls the swing movement of the crane, increases non-linear spirit to the distance of the spruce.

Enligt en sjunde aspekt av forfarandet enligt uppfinningen okar kranspetsens rorelsehastighet som motsvarar ett bestamt lage av styrdonet som styr kra- nens svangrorelse snabbare nara kranens vridaxel an nara gransavstandet. According to a seventh aspect of the method according to the invention, the speed of movement of the crane tip increases, which corresponds to a certain layer of the control device which controls the swing movement of the crane faster near the axis of rotation of the crane than near the distance of the crane.

Enligt en attonde aspekt av forfarandet enligt uppfinningen är rorelsehastigheten av stalldonet som svanger kranen konstant vid ett bestannt lage av styrdonet som styr kranens svangrorelse nar kranspetsen befinner sig pa gransavstandet eller ett kortare avstand Than kranens vridaxel. According to an eighth aspect of the method according to the invention, the speed of movement of the stable device which pivots the crane is constant at a constant layer of the control device which controls the pivotal movement of the crane when the crane tip is at the branch distance or a shorter distance.

Enligt en nionde aspekt av forfarandet enligt uppfinningen blir kranspetsens rorelsehastighet, vilken motsvarar ett bestamt lage av styrdonet som styr kranens svangrorelse, langsannnnare nar det vinkelrata avstandet efter gransavstandet okar sa mycket att kranspetsens hastighet forblir konstant efter gransavstandet. According to a ninth aspect of the method according to the invention, the speed of movement of the crane tip, which corresponds to a certain layer of the control device which controls the swing movement of the crane, becomes slower when the angular distance after the distance increases so much that the speed of the crane tip remains constant after the distance.

Enligt en tionde aspekt av forfarandet enligt uppfinningen är vridaxeln vrid- axeln av svangbordet som svanger kranen. According to a tenth aspect of the method according to the invention, the pivot axis is the pivot axis of the pivot table which pivots the crane.

Enligt en elfte aspekt av forfarandet enligt uppfinningen anvands forfarandet for justering av rorelsehastigheten av en kran i en skogsmaskin. According to an eleventh aspect of the method according to the invention, the method is used for adjusting the speed of movement of a crane in a forestry machine.

Beskrivning av ritningar I det foljande skall uppfinningen beskrivas narmare med hanvisning till bifogade ritningar, dar figur 1 visar en skogsmaskin, i vilken en kran styrs med forfarandet enligt uppfinningen, figur 2 visar styrdon som anvands kir styrning av kranen av en skogsmaskin enligt figur 1, ovanifran, figur 3 är en diagram som visar rorelsehastigheten av kranspetsen i en skogsmaskin enligt figur 1 som en funktion av avstandet nar kranen svangs med en hastighet som är 50 % av maximihastigheten, figur 4 är en diagram som visar rorelsehastigheten av svangbordet som svanger kranen i en skogsmaskin enligt figur 1 som en fun ktion av kranspet- sens avstand nar kranen svangs med en hastighet som är 50 % av maximihastigheten, figur 5 är en diagram som visar rorelsehastigheten av kranspetsen i en skogsmaskin enligt figur 1 som en funktion av kranspetsens avstand nar kra- nen svangs med maximihastigheten, figur 6 är en diagram som visar korrektionskoefficienten av hastigheten pa kranspetsen som en funktion av hastigheten som justerats med styrdonet nar avstandet mellan kranspetsen och referenspunkten är 9 meter, och figur 7 visar en principiell ritning onn kranen i en skogsmaskin enligt figur 2, forenklad for teoretisk granskning. Description of drawings In the following, the invention will be described in more detail with reference to the accompanying drawings, in which figure 1 shows a forest machine, in which a crane is controlled by the method according to the invention, figure 2 shows control devices used to control the crane of a forest machine according to figure 1. from above, figure 3 is a diagram showing the speed of movement of the crane tip in a forestry machine according to figure 1 as a function of the distance when the crane is turned at a speed which is 50% of the maximum speed, figure 4 is a diagram showing the speed of movement of the turntable a forestry machine according to figure 1 as a function of the distance of the crane tip when the crane is rotated at a speed which is 50% of the maximum speed, figure 5 is a diagram showing the movement speed of the crane tip in a forestry machine according to figure 1 as a function of the crown tip distance the crane is swung at the maximum speed, figure 6 is a diagram showing the correction coefficient of the speed of the crane the etch as a function of the speed adjusted with the controller when the distance between the crane tip and the reference point is 9 meters, and figure 7 shows a basic drawing of the crane in a forest machine according to figure 2, simplified for theoretical examination.

Detaljerad beskrivning av de i ritningarna presenterade utforingsfornnerna Figur 1 visar en arbetsmaskin vilken är f6rsedd med en kran 2 som styrs med f6rfarandet enligt uppfinningen och vilken i denna ufforingsfornn är en skogs- maskin 1 (skordare) for fanning, avkvistning och kapning av trad i skog till timmerstockar i 6nskade matt. Styrsystemet f6r kranen 2 f6r denna skogsmaskin 1 omfattar i figur 2 visade styrdon 20 vilka är kopplade till en styrenhet (icke visad) i skogsmaskinen sa att kranen 2 kan forflyttas pa onskat satt med styrfunktioner som astadkoms med styrdonen. Styrningen sker enligt en s.k. spetsstyrningsprincip, av vilket skal kranen 2 är f6rsedd med lampliga matgivare El, E2, E3 och E4 sa att kranens 2 riktning relativt basmaskinen 3, lagen (vinklarna) av bommarna 4 och 5 relativt varandra, laget av skarybommen 6 relativt vikbomnnen 5 samt laget av kranspetsen Pt relativt dess vridaxel Sr kan bestammas pa ett kontinuerligt satt. I detta fall är kranen 2 monterad pa ett svangbord 7 i basmaskinen 3, och kranen 2 bestar av lyftbommen 4, vikbommen 5 och skarvbommen 6. Pa spetsen 2 av kranen finns en roteringsanordning 8, dvs. en s.k. rotator, och en svanganordning 9 eller en s.k. tippanordning 9, samt ett pa tippanordningen 9 fast skordaraggregat 10. Harvid är vridaxeln Sr, relativt vilken kranen 2 svanger sig, svangbordets 7 vridaxel som befinner sig i ett vertikalt lage nar skogsmaskinen 1 ligger pa ett horisontellt plan. 6 Styrdon 20, med vilka kranen 2 av den i figur 1 visade skogsmaskinen styrs, är visade uppifran i figur 2. I det har fallet bestar de av tva i forarhytten placerade styrspakar av joystick-typ (styrspak 21 f6r den vanstra handen och styr- spak 22 fOr den hogra handen). Figur 2 visar aven styrfunktioner som kan astadkommas med styrdonen: +Yv = kranspetsens rorelse i horisontalriktningen bort fra'n basmaskinen Yv = kranspetsens rorelse i horisontalriktningen mot basnnaskinen +Xv = kranspetsens svangning medsols i horisontalriktningen -Xv = kranspetsens svangning motsols i horisontalriktningen +Xo = kranspetsens rorelse uppat i vertikalriktningen Xo = kranspetsens rorelse nedat i vertikalriktningen I praktiken far styrfunktionerna som astadkonnnnits med de genom de ovan beskrivna sattet fungerande styrdonen till stand att t.ex. nar styrspaken 21 for den vanstra handen svangs i riktningen +Yv, 6stadkommer detta en rorelse av kranspetsen Pt langs en lin* rorelselinje i horisontalriktningen bort fran svangbordets vridaxel Sr. Graden, i vilken styrspaken svangs i flagon riktning, paverkar hastigheten, med vilken den resulterande rorelsen av kran- spetsen Pt skall aga rum. Saledes astadkonnnner en svangning av styrspaken 21 for den vanstra handen 21 t.ex. i riktningen av kl. 1 att kranspetsen Pt ror sig utat och svanger hela tiden samtidigt litet medsols, dvs. r6r sig saledes snett mot h6ger och framat. Om styrspaket 22 fOr den h6gra handen svangs samtidigt litet i riktningen +Xo, ror sig kranspetsen Pt vidare annu med den- samma, pa svangningsgraden beroende hastigheten uppat, dvs. med tanke pa helheten snett till h6ger och uppat. Med andra ord kan kranspetsen Pt forflyttas med hjalp av styrspakarna i en riktning som bestams av hastigheter, vilka bestams av med olika styrdon astadkomna styrfunktioner och med vilka kranspetsen rOr sig i den tredimensionella rymden (i riktningar av tre olika axlar). Ett sadant styrsatt kallas hastighetsstyrning. Om man Onskar att rOrel- ser som motsvarar bestamda lagen av styrdon är ratlinjiga, bor forhallandet mellan hastighetskomponenterna (x', y', z') i riktningar av de olika axlarna (x, y, z) forbli konstant hela tiden. Om man onskar att kranspetsen Pt ocksa rOr sig med en konstant hastighet, maste dessa hastighetskomponenter vara lika stora under den hela rOrelsen. I en kran av en pa ett konventionellt satt fun- gerande skogsmaskin uppfylls detta inte, utan t.ex. kranspetsens svanghastighet som motsvarar det samma laget av ett styrdon, okar nar det vinkel- 7 rata avstandet tan kranens vridaxel okar, eftersom detsamma laget av styrdonet alltid motsvaras av densamma rorelsehastigheten av styrdonet som svanger kranen. Ocksa nar kranspetsen forflytts bort fran eller mot basmaskinen 3, forandrar sig forhallandet mellan rorelsehastigheten av kran- spetsen Pt och rorelsehastigheten av stalldonen som svanger kranens born- mar 4 och 5 (i detta fall med en linjar rorelse) aven om stalldonets rorelsehastighet holls konstant, eftersom svangarmens langd mellan stalldonets rorliga anda och ledpunkten av den ifr. bonnnnen i vinkelrat riktning forandrar sig under svangrorelsen. Saledes, om man onskar att forflytta kranspetsen Pt med t.ex. en bestamd konstant hastighet, maste rorelsehastigheten av de olika stalldonen som forflyttar kranen 2 hela tiden justeras beroende pa vinkeln mellan bommarna 4 och 5 och det rorliga huvudet av stalldonen som svanger dem, och avstandet av kranspetsen Pt tan vridaxeln Sr. av svangbordet sonn svanger kranen. Detailed description of the embodiments presented in the drawings Figure 1 shows a work machine which is provided with a crane 2 which is controlled by the method according to the invention and which in this embodiment is a forest machine 1 (harvester) for fanning, pruning and cutting wood in forest for logs in 6 desired mat. The control system for the crane 2 for this forestry machine 1 comprises control devices 20 shown in figure 2 which are connected to a control unit (not shown) in the forestry machine so that the crane 2 can be moved in the desired manner with control functions achieved with the control devices. The control takes place according to a so-called tip control principle, of which shell the crane 2 is provided with suitable feed sensors E1, E2, E3 and E4 said that the direction of the crane 2 relative to the base machine 3, the layers (angles) of the bars 4 and 5 relative to each other, the layer of the skary boom 6 relative to the folding boom 5 and the layer of the crown tip Pt relative to its axis of rotation Sr can be determined in a continuous manner. In this case the crane 2 is mounted on a turntable 7 in the base machine 3, and the crane 2 consists of the lifting boom 4, the folding boom 5 and the splice boom 6. At the tip 2 of the crane there is a rotating device 8, i.e. and s.k. rotator, and a swing device 9 or a so-called tipping device 9, and a harvester assembly 10 fixed to the tipping device 9. Steering devices 20, with which the crane 2 of the forestry machine shown in Figure 1 is controlled, are shown from above in Figure 2. In this case, the joystick-type joysticks placed in the driver's cab (joystick 21 for the left hand and steering wheel) lever 22 for the right hand). Figure 2 also shows control functions that can be achieved with the controls: + Yv = the movement of the crown tip in the horizontal direction away from the base machine Yv = the movement of the crown tip in the horizontal direction towards the base machine + Xv = the swing of the crown tip clockwise in the horizontal direction the movement of the crown tip upwards in the vertical direction Xo = the movement of the crown tip downwards in the vertical direction In practice, the control functions provided with the controls acting by the method described above enable e.g. when the joystick 21 for the left hand is pivoted in the direction + Yv, 6 this causes a movement of the crown tip Pt along a linear movement line in the horizontal direction away from the pivot axis Sr. of the pivot table. The degree to which the joystick is pivoted in the flag direction affects the speed at which the resulting movement of the crane tip Pt is to take place. Thus a pivoting of the joystick 21 for the left hand 21 e.g. in the direction of kl. 1 that the crown tip Pt moves outwards and swings at the same time a little clockwise, ie. thus moves obliquely to the right and forward. If the control lever 22 for the right hand is simultaneously turned slightly in the direction + Xo, the crown tip Pt moves further annu with the same, depending on the degree of oscillation the speed upwards, ie considering the whole obliquely to the right and up. In other words, the crown tip Pt can be moved with the aid of the control levers in a direction determined by speeds, which are determined by control functions provided with different controls and with which the crown tip moves in the three-dimensional space (in directions of three different axes). Such a control is called speed control. If it is desired that the movements corresponding to the determined laws of the controls are linear, the ratio between the velocity components (x ', y', z ') in the directions of the different axes (x, y, z) remains constant at all times. If it is desired that the crown tip Pt also moves at a constant speed, these speed components must be equal during the whole movement. In a crane of a forestry machine operating in a conventional manner, this is not fulfilled, but e.g. the rotational speed of the crane tip corresponding to the same layer of a control device increases when the perpendicular distance tan the axis of rotation of the crane increases, since the same layer of the control device always corresponds to the same rotational speed of the control device which swivels the crane. Also when the crane tip is moved away from or towards the base machine 3, the ratio between the movement speed of the crane tip Pt and the movement speed of the stables which swing the crane's bores 4 and 5 (in this case with a linear movement) also changes with the constant speed of the stable device because the length of the sling arm between the stable spirit of the stable and the joint point of it ifr. the bonn in the perpendicular direction changes during pregnancy. Thus, if one wishes to move the crown tip Pt with e.g. a certain constant speed, the speed of movement of the various stables moving the crane 2 must be constantly adjusted depending on the angle between the bars 4 and 5 and the moving head of the stables swinging them, and the distance of the crane tip Pt tan rotary axis Sr. of the arch table sonn conveys the crane.

Eftersom rorelserna av lyftbommen 4 och vikbommen i kranen 2 är svangrorelser, astadkonnnner detta att deras hastighetskonnponenter i olika riktningar maste hela tiden forandras sa att rorelserna av de med varandra kopplade bommarna skulle astadkomma kranspetsens Pt rOrelse langs en onskad rorelsebana. Av della skal bestannnner t.ex. i en skogsnnaskin enligt figur 1 skogsmaskinens centrala enhet, med hjalp av kranspetsens Pt lage sonn bestamts av matta vinklar mellan kranens bommar 4 och 5 samt mellan kranen 2 och basmaskinen 3, hastigheten, med vilken varje stalldon maste forflyttas for att resultatet skulle vara kranspetsens Pt rorelse i en med styr- donet styrd riktning samt med en med styrdonet styrd hastighet. Since the movements of the lifting boom 4 and the folding boom in the crane 2 are pivotal movements, this means that their velocity components in different directions must constantly change so that the movements of the interconnected booms would bring about the Pt movement of the crane tip along a desired trajectory. Of the part shall consist e.g. in a forestry machine according to figure 1 the central unit of the forestry machine, with the help of the low point son of the crane tip determined by matte angles between the crane booms 4 and 5 and between the crane 2 and the base machine 3, the speed at which each stable must be moved so that the crane tip's Pt movement in a direction controlled by the actuator and at a speed controlled by the actuator.

For kalkylering av kranspetsens Pt lage och hastighet kan man anvanda t.ex. eft forfarande som presenterats i publikationen US 4, 910,673 A. I den i figurer 1-7 visade utforingsformen är avsikten att bestamma — tan vinklarna mellan lyftbommen 4 och vikbommen — enbart det vinkelrata avstandet r mellan kranspetsen och vridaxeln Sr. En avvikelse av kranspetsen Pt fran det justerade laget, vilken f6rorsakas av fjadringar av kranens 2 bommar 4-6 och av yttre krafter, bOr dock inte korrigeras med ett kompenseringssystem enligt det som presenterats i US 4,910,673 A, vilket korrigerar beraknade hastig- heter med -Iran avvikelserna matta korrigeringshastigheter i en riktning som är vinkelrat Man kranspetsens reella lage mot riktningen av den teoretiska (riktiga) rorelsebanan. I forfarandet kunde man nog anvanda sagda 8 kompenseringssatt, men det är inte nodvandigt i forbindelse med en manuellt styrbar kran, eftersom foljning av en noggrann rorelsebana inte ens är nodvandig i alla situationer (t.ex. om en tradstam som tagits i grip av ett skordaraggregat 10 pa kranspetsen Pt forflytts i ett omrade dar det finns gott om plats), och a andra sidan gar skogsnnaskinens 1 forare konnpenseringen vanligtvis manuellt sa att om kranen 2 t.ex. tenderar att boja litet nedat, dvs. kranspetsen Pt ror sig nedat mera an är den justerade riktningen, korrigerar anvandaren rorelseriktningen genonn att 6ka hastigheten pa kranspetsens Pt rorelse uppat genom att lampligt svanga laget av styrspaken 22 for den hogra handen litet i riktningen +Xo. For calculation of the crane tip's Pt bearing and speed, one can use e.g. according to the method presented in the publication US 4, 910,673 A. In the embodiment shown in Figures 1-7, the intention is to determine - the angles between the lifting boom 4 and the folding boom - only the angular distance r between the crane tip and the pivot axis Sr. However, a deviation of the crane tip Pt from the adjusted layer, which is caused by springs of the crane 2 bars 4-6 and by external forces, should not be corrected with a compensation system as presented in US 4,910,673 A, which corrects calculated velocities by - Iran deviations mat correction rates in a direction that is perpendicular Man the crown tip's real layer against the direction of the theoretical (real) trajectory. In the procedure one could probably use said 8 compensation set, but it is not necessary in connection with a manually controllable crane, since following an accurate trajectory is not even necessary in all situations (eg if a tree trunk caught by a harvester assembly 10 on the crane tip Pt is moved in an area where there is plenty of space), and on the other hand, the driver of the forestry machine 1 usually compensates manually so that if the crane 2 e.g. tends to bend slightly downwards, ie. the crown tip Pt moves downwards more than is the adjusted direction, the user corrects the direction of movement by increasing the speed of the crown tip Pt movement upwards by gently swinging the layer of the joystick 22 for the right hand slightly in the direction + Xo.

Enligt uppfinningsiden är styrbarheten av kranen 2 i den i figur 1 visade skogsmaskinen 1 dock forbattrad relativt den kanda tekniken pa sa satt att spetshastigheten som nnotsvarar ett bestannt lage av styrdonet 21 eller 22 vid svangning av kranen okar pa ett bestamt satt ojamnt nar det vinkelrata avstandet mellan kranspetsen och skogsmaskinen 6kar, nar man betraktar det hela avstandsspannet mellan kranspetsen Pt och det kranen 2 svangande stalldonet, dvs. svangbordets vridaxel Sr (dvs. spannet fran kranens vridaxel Sr till maximiavstandet rmax som kan nas med kranspetsen Pt). Som avstandsvardet i forfarandet anvands saledes det vinkelrata avstandet r mellan kranspetsen Pt och kranens 2 vridaxel Sr som visats i figur 1. According to the invention, however, the controllability of the crane 2 in the forestry machine 1 shown in Figure 1 is improved relative to the prior art in such a way that the tip speed corresponding to a constant layer of the control device 21 or 22 when the crane pivots increases at a certain level unevenly at the perpendicular distance between the crane tip and the forestry machine 6kar, when looking at the entire distance span between the crane tip Pt and the crane 2 swinging stable, ie. the pivot axis Sr of the turntable (ie the span from the pivot axis Sr of the crane to the maximum distance rmax that can be reached with the crane tip Pt). Thus, as the distance value in the method, the angular distance r between the crane tip Pt and the axis of rotation Sr of the crane 2 as shown in Figure 1 is used.

I fallet av utforingsfornnen enligt figurer 1-7 är den ojamna hastighetsokningen forverkligad sa att nar det vinkelrata avstandet r mellan punkten Pt och vridaxeln 6kar, 6kar kranspetsens hastighet som 6kar detsamma laget av styrdonet som styr kranspetsens Pt rorelse upp till ett bestamt gransavstand r1, och efter della gransavstand r1 det forblir konstant aven om avstandet okade vidare. Gransavstandet r1 bestammer saledes ett cylinderformigt utrymme, inom vilket hastigheten 6kar nar man narmar sig grans- avstandet r1 och utanfor vilket hastigheten är konstant. Sasom namnts ovan, astadkoms med ett sadant forfarande for justering av hastigheten pa kranspetsen Pt att en forandring i kranspetsens Pt hastighet, vilken forandring motsvarar en bestamd fOrandring i laget av styrdonet 21 eller 22, är mindre nar kranspetsen Pt är nara basmaskinen 3 an pa langt avstand fran den. In the case of the embodiment according to Figures 1-7, the uneven speed increase is realized so that when the angular distance r between the point Pt and the pivot axis 6 increases, the speed of the ring tip 6k increases the same layer of the guide which controls the movement of the crown tip Pt up to a certain spruce distance r1, after della spruce distance r1 it remains constant even if the distance increases further. The spruce distance r1 thus determines a cylindrical space, within which the velocity increases when approaching the spruce distance r1 and outside which the velocity is constant. As mentioned above, with such a method of adjusting the speed of the crown tip Pt, a change in the speed of the crown tip Pt, which change corresponds to a certain change in the layer of the controller 21 or 22, is less when the crown tip Pt is near the base machine 3 than in a long way. distance from it.

Detta underlattar forflyttningen av kranspetsen Pt nar den befinner sig nara basmaskinen 3 men gOr fOrflyttningen av kranspetsen Pt inte fOr langsam nar den befinner sig pa langt avstand fran basmaskinen 3. 9 Figur 3 visar som ett exempel rorelsehastigheten av kranspetsen Pt i en skogsmaskin enligt figur 1 pa olika avstand nar kranen 2 svangs med 50 `)/0 styrning, dvs. nar styrspa ken 21 for den vanstra handen är svangd halvvags i sitt hela rorelsespann i riktningen —Xv eller +Xv. Harvid ror sig kranspetsen Pt som en funktion av det vinkelrata avstandet r mellan punkten Pt och vridaxeln Sr med hastigheter enligt kurvan i figur 3. Nar avstandet r är mindre an 5 meter, okar kranspetsens hastighet Vt med en linjar okning av det vinkelrata avstandet r. Nar det vinkelrata avstandet r är 5 meter eller langre, är hastigheten konstant (enligt diagrammet ca. 1,7 m/s). This facilitates the movement of the crown tip Pt when it is close to the base machine 3 but does not make the movement of the crown tip Pt too slow when it is at a long distance from the base machine 3. Figure 3 shows as an example the movement speed of the crown tip Pt in a forest machine according to Figure 1 at different distances when the crane 2 is turned with 50 `) / 0 control, ie. when the joystick 21 for the left hand is swung halfway in its entire range of motion in the direction —Xv or + Xv. In this case, the crown tip Pt moves as a function of the angular distance r between the point Pt and the axis of rotation Sr at speeds according to the curve in Figure 3. When the distance r is less than 5 meters, the speed of the crown tip Vt increases with a linear increase in the angular distance r. When the angular distance r is 5 meters or longer, the velocity is constant (according to the diagram approx. 1.7 m / s).

Figur 7 visar (for tydlighetens skull) en litet forenklad representation av den verkliga kranen 2. I den är — f6r att g6ra den foljande teoretiska granskningen enklare — de ledade strukturerna av fastpunkten for lyftbommen nnellan svangbordet 7 och lyftbommen 4 ersatta med en fast konstruktion som rote- rar koncentriskt med svangbordets vridaxel Sr. I den verkliga konstruktionen kan de ovannannnda ledema i den praktiska utforingen nnedtas i den reella kranen 2 genom att bestamma den av dessa leder fororsakade forandringen i kranens lage genom att mata aven vinklar mellan extremiteter mellan dessa leder med nnotsvarande givare som E1—E4. Figure 7 shows (for the sake of clarity) a slightly simplified representation of the real crane 2. In it - to make the following theoretical examination easier - the articulated structures of the fixed point of the lifting boom nnellan the turntable 7 and the lifting boom 4 are replaced by a fixed construction which rotates concentrically with the pivot axis of the turntable Sr. In the actual construction, the above-mentioned joints in the practical design can be lowered into the real crane 2 by determining the change in the crane's caused by these joints by feeding angles between extremities between these joints with corresponding sensors such as E1-E4.

I kranen enligt figur 7, vid svangning av enbart kranen 2 (dvs. nar kranens lyftbom 4, vikbom 5 och skarvloom 6 star stilla), kan kranspetsens Pt rorelsehastighet (spetshastighet) vt raknas fran ekvationen vt = r(1) dar vt = spetshastigheten r = det vinkelrata avstandet mellan svangbordets roteringsaxel Sr och kran- spetsen Pt wst = svangbordets vinkelhastighet. In the crane according to Figure 7, when only the crane 2 is swung (ie when the crane's lifting boom 4, folding boom 5 and joint loom 6 are stationary), the crane tip's Pt movement speed (tip speed) vt can be deviated from the equation vt = r (1) where vt = tip speed r = the angular distance between the pivot axis of the turntable Sr and the crane tip Pt wst = the angular velocity of the turntable.

Avstandet r kan bestammas genom berakring, nar man kanner vinkeln mel- Ian lyftbommen 4 och svangbordet 7, vinkeln mellan vikbommen 5 och lyft- bommen, samt laget av skarvbommen 6 relativt vikbommen 5. Sasom namnts ovan, far man dessa positionsvinklar samt skarvbommens 6 posit- ionsuppgift fran matgivarna E1—E4. Saledes har skogsmaskinens 1 styrenhet de nodvandiga uppgifterna for bestamning av vardet for det vinkelrata avstandet r nar kranen 2 är i vilket lage som heist. Pa basis av dessa uppgifter kan forhallandet mellan svangbordets 7 svangningshastighet och styr- spaken 21 for den vanstra handen justeras att fungera pa ett begart satt beroende pa det vinkelrata avstandet 4, genom programmering av styrenheten. The distance r can be determined by touching, when examining the angle between the lifting boom 4 and the turntable 7, the angle between the folding boom 5 and the lifting boom, and the layer of the splice boom 6 relative to the folding boom 5. As mentioned above, you get these position angles and the splice boom 6 position - information from the food donors E1 — E4. Thus, the control unit of the forestry machine 1 has the necessary information for determining the value of the angular distance when the crane 2 is in which position it is raised. On the basis of these data, the ratio between the pivot speed of the turntable 7 and the control lever 21 for the left hand can be adjusted to operate in a desired manner depending on the perpendicular distance 4, by programming the control unit.

Figur 4 visar (pa den vertikala axeln) korrigeringskoefficienten for hastigheten av svangbordet 7, vilken anvands f6r styrning av funktionen enligt figur 3, som en funktion av avstandet mellan kranspetsen Pt och svangbordets 7 vridaxel Sr nar styrspaken for den vanstra handen ar justerad halvvags i dess justeringsspann (pa (1/0 styrning). Sasom man ser i figur 1 är korrigeringskoefficienten, vilken anvands av skogsnnaskinens 1 styrenhet f6r hastigheten av svangbordet 7 som svanger kranen 2, konstant anda till ett gransavstand n, dvs. svangbordets 7 hastighet i detta omrade är alltid densamma, men efter gransavstandet n den sanker sa att inverkan av okningen i det vinkelrata avstandet mellan kranspetsen Pt och vridaxeln Sr iakttas pa sa satt att kranspetsens Pt hastighet vt forblir konstant hela tiden nar kranspetsen befinner sig pa ett storre avstand fran referenspunkten Pt an gransavstandet n.. Figure 4 shows (on the vertical axis) the correction coefficient for the speed of the turntable 7, which is used to control the function according to Figure 3, as a function of the distance between the ring tip Pt and the turntable 7 of the turntable 7 when the left hand control lever is adjusted halfway in its position. As can be seen in Figure 1, the correction coefficient, which is used by the forestry machine 1's control unit for the speed of the turntable 7 which pivots the crane 2, is constant to a spruce distance n, i.e. the speed of the turntable 7 in this range is always the same, but after the branch distance n it sanker so that the effect of the increase in the perpendicular distance between the crown tip Pt and the axis of rotation Sr is observed so that the speed of the crown tip Pt remains constant all the time when the crown tip is at a greater distance from the reference point Pt gransavstandet n ..

Figur 5 visar kranspetsens Pt hastighet vt nar for svangning av kranen 2 anvands 100% styrning, dvs. styrspaken 21 for den vanstra handen är svangd fullt i sitt andlage i riktningen antingen Xv eller +Xv. Sasom man ser i figur 5 ar gransavstandet r1 inte langre detsamma som nar man anvander 50 % styrning, utan det har okat till vardet r1 = 9 m. Med andra ord forandras gransavstandet r1 i skogsmaskinen 1 enligt figur 1 som en funktion av styrspakens 21 lage sa att nar styrspaken är halvvags, n(50 (:)/0) = 5 m, och nar den är svangd i andlaget, n(100 °A) = 9 m. Figure 5 shows the velocity of the crane tip Pt when for swinging the crane 2 100% control is used, i.e. the joystick 21 for the left hand is fully swung in its abutment in the direction of either Xv or + Xv. As can be seen in Figure 5, the branch distance r1 is no longer the same as when using 50% control, but it has increased to the value r1 = 9 m. In other words, the branch distance r1 in the forestry machine 1 according to Figure 1 changes as a function of the control lever 21 said that when the joystick is halfway, n (50 (:) / 0) = 5 m, and when it is curved in the abutment, n (100 ° A) = 9 m.

Figur 6 visar hur en sadan styrning paverkar hastigheten av kranspetsen Pt vid svangning av kranen 2 med bara svangbordet 7 (dvs. nar kranens bommar 4-6 star stilla relativt varandra). Nar styrningen av styrdonet är mellan 0 och 50 % (av den fulla hastigheten) okar spetshastigheten langsammare, och Than 50 % till 100% snabbare, dvs. med 100% styrning är hastigheten den- 11 samma som i det fall om spetshastigheten Vt hade okat hela tiden sa mycket som den okar nar avstandet s av kranspetsen är mellan 0 och n• Det ovan presenterade tillampningsexemplet anslutade sig till en skogs- nnaskin. Kranen sonn styrs med f6rfarandet enligt uppfinningen kan lika val vara en kran i forbindelse med en annan arbetsmaskin an en skogsnnaskin. Kranen som styrs kunde saledes vara t.ex. kranen av en gravmaskin eller vilken sonn heist annan skogsnnaskin, eller kranen av en arbetsnnaskin som är forsedd med en likadan ledad kran som en gravmaskin, sasom t.ex. en materiallastare eller en skylift. Figure 6 shows how such a control affects the speed of the crane tip Pt when pivoting the crane 2 with only the pivot table 7 (ie when the crane's booms 4-6 are stationary relative to each other). When the control of the controller is between 0 and 50% (of the full speed), the peak speed increases more slowly, and Than 50% to 100% faster, i.e. with 100% control, the speed is the same as in the case if the tip speed Vt had increased all the time as much as it increases when the distance s of the crane tip is between 0 and n • The application example presented above connected to a forest machine. The crane son controlled by the method according to the invention may equally be a crane in connection with a different working machine than a forestry machine. The crane that is controlled could thus be e.g. the crane of an excavator or which son lifts another forestry machine, or the crane of a work machine which is equipped with a similar articulated crane as an excavator, such as e.g. a material loader or a skylift.

Den i det ovan beskrivna tillampningsexemplet beskrivna kranen bestod av tva med varandra och med ett svangbord vridbart nnonterade bommar, dvs. en lyftbom och en vikbom samt en pa anden av vikbonnnnen ut och tillbaka in i vikbommen flyttbar skarvbom. Forfarandet enligt uppfinningen kan dock tillampas i aven t.ex. sadana kranar som omfattar bara en fast pa arbetsnnaskinen svangbart nnonterad born, eller i vilka kranen onnfattar tre eller flera pa varandra och pa arbetsmaskinen ledbart monterade bommar. Antalet bommar och deras fastning pa varandra iakttas vid bestamning av det vinkel- rata avstandet r mellan kranspetsen och vridaxeln av stalldonet som svanger kranen. Pa basis av detta bestams genom berakningar rorelsehastigheten av ett sadant stalldon som svanger kranen, f6r att kunna bilda en begard hastighet av kranspetsen, vilken motsvarar ett bestamt lage av styrspaken. Positionen/laget av bommarna relativt varandra mats kontinuerligt med lampliga givare (t.ex. vinkel eller linjargivare) sá att man far de f6r arbetsmaskinens styrenhet nodvandiga uppgifterna am kranspetsens lage sa att avstandet mellan den och vridaxeln av stalldonet som svanger kranen är kant i alla situationer. Harvid kan arbetsmaskinens styrenhet justera — for stalldonet som svanger kranen — en rorelsehastighet som producerar f6r kranspetsen en rorelsehastighet som motsvarar sagda lage av styrdonet samt avstandet mellan kranspetsen och vridaxeln av kranens svangrorelse. The crane described in the application example described above consisted of two barriers which are rotatably mounted with a turntable, ie. a lifting boom and a folding boom as well as a splice boom movable out and back into the folding boom on the spirit of the folding boom. However, the method according to the invention can be applied in e.g. such cranes which comprise only one child pivotally mounted on the work machine, or in which the crane comprises three or more on top of each other and on the work machine articulated booms. The number of booms and their attachment to each other are observed when determining the perpendicular distance r between the crane tip and the axis of rotation of the stable device which swings the crane. On the basis of this, the velocity of movement of such a stable device which swings the crane is determined by calculations, in order to be able to form a required speed of the crane tip, which corresponds to a certain layer of the control lever. The position / layer of the booms relative to each other is continuously fed with suitable sensors (eg angle or line sensors) so that the information required for the control unit of the work machine is obtained in the position of the crane tip so that the distance between it and the axis of rotation of the stable situations. In this case, the control unit of the working machine can adjust - for the stable unit which swings the crane - a speed of movement which produces for the crane tip a speed of movement corresponding to said layer of the control unit and the distance between the crane tip and the axis of rotation of the crane movement.

Kranspetsens rOrelsehastighet Vt mellan 0 och n behOver dock inte nOdvandigt Oka linjart sasom i det ovan presenterade tillampningsexemplet, utan hastighetsokningen kan i nagra utf6ringar av forfarandet enligt uppfinningen vara aven olinjar. I nagra fall kan det vara fOrnuftigt att kranspetsens hastighet okar nar det vinkelrata avstandet mellan kranspetsen och kranens vrid- 12 axel 6kar f6rst langsammare och sedan litet eller nagot snabbare anda till gransavstandet. I nagon annan tillampning kan hastighetsokningen vara snabbare nara vridaxeln an nara gransavstandet. Med forandringen i kranspetsens rorelsehastighet behover inte heller vara f6rknippat nagot grans- avstand, efter vilket hastigheten skulle vara konstant, utan rorelsehastigheten kan t.ex. oka forst snabbare och sedan sa smaningom langsammare och langsammare nar avstandet 6kar mot maximiavstandet som nas med kranspetsen. Hastigheten kan ocksa oka ojannnt pa flera andra satt nar man betraktar den hela variationsvidden for det vinkelrata avstandet mellan kran- spetsen och vridaxeln av stalldonet som svanger den. I flagon utf6ringsform kan hastigheten 6ka t.ex. sa att 6kningen är langsann nara vridaxeln och accelererar sedan nagot snabbare i mitten av avstandets variationsvidd men är langsammare igen nara maximiavstandet som nas med kranspetsen. Vidare är ett sadant justeringssatt nnojligt, i vilket hastighets6kningen är lang- sammare nara vridaxeln an nara maximiavstandet som nas med kran- spetsen. However, the rotational speed of the crown tip Vt between 0 and n does not necessarily have to increase linearly as in the application example presented above, but the speed increase may in some embodiments of the method according to the invention also be non-linear. In some cases it may be sensible for the speed of the crane tip to increase when the perpendicular distance between the crane tip and the rotating axis of the crane first increases more slowly and then slightly or somewhat faster to the distance of the crane. In any other application, the speed increase may be faster near the axis of rotation than near the distance of the branch. With the change in the velocity of movement of the crown tip, there also does not need to be associated any spruce distance, after which the speed would be constant, but the speed of movement can e.g. increase first faster and then gradually slower and slower when the distance 6kar towards the maximum distance reached with the crown tip. The speed can also increase in different ways in several other ways when one considers the entire range of variation of the perpendicular distance between the crane tip and the axis of rotation of the stable device which pivots it. In the flag embodiment, the speed can be e.g. said that the increase is slowly near the axis of rotation and then accelerates somewhat faster in the middle of the range of variation of the distance but is slower again near the maximum distance reached with the crown tip. Furthermore, such an adjustment set is possible, in which the increase in speed is slower near the axis of rotation than near the maximum distance reached with the crane tip.

I nagra arbetsmaskiner, t.ex. i dem som visats i figurer 1-7, kan forfarandet for justering av kranspetsens hastighet enligt uppfinningen tillampas alterna- tivt f6r t.ex. bara justering av kranens linjar rorelse (dvs. kranspetsens rorelse bort fran och tillbaka mot basmaskinen) eller badadera, dvs. for samtidig justering av den linjara rorelsen och svangrorelsen. Nar hastigheten av den linjara rorelsen justeras pa sa satt nnaste styrenheten justera stalldonens rorelsehastighet sa att kranspetsen ror sig enligt uppfinningsiden med en bestamd hastighet som beror pa det vinkelrata avstandet mellan kranspetsen och vridaxeln samt pa laget av styrdonet som styr rorelsen. Harvid maste bestammas en forbindelse mellan hastighetskomponenter x', y', z' som beror pa kranspetsens linjara rorelse och stalldonens rorelsehastighet, vilken forbindelse beror vid varje tidpunkt pa vinklarna mellan olika bommar, samt i tillampningen enligt figurer 1-7 aven pa laget av skarvbommen. FOrbindelsen mellan kranspetsen och rorelsehastigheterna av stalldon som ror de olika bommarna, vilken forbindelse beror pa lagen av kranens olika bommar, kan bestammas genom trigonometriska berakningar pa ett satt som presenterats i t.ex. US 4,910,673 A. Forfarandet enligt uppfinningen är alltsa inte begran- sat till de ovan beskrivna tillampningsexemplen, utan det kan varieras inom ramen for de bifogade patentkraven. 13 In some work machines, e.g. in those shown in Figures 1-7, the method for adjusting the speed of the crown tip according to the invention can be applied alternatively for e.g. only adjusting the movement of the crane lines (ie the movement of the crane tip away from and back towards the base machine) or bathing, ie. for simultaneous adjustment of the linear motion and the angular motion. When the speed of the linear movement is adjusted in such a way that the next control unit adjusts the speed of movement of the stables so that the crane tip moves according to the invention at a certain speed which depends on the perpendicular distance between the crane tip and the pivot axis and on the layer of control. In this case, a connection must be determined between velocity components x ', y', z 'which depend on the linear movement of the ring tip and the speed of movement of the stables, which connection depends at any time on the angles between different booms, and in the application according to Figures 1-7 . The connection between the crane tip and the speeds of movement of stables that move the different booms, which connection depends on the law of the crane's different booms, can be determined by trigonometric calculations in a way presented in e.g. US 4,910,673 A. The method according to the invention is thus not limited to the application examples described above, but can be varied within the scope of the appended claims. 13

Claims

Claims:

A method for controlling the crane tip (Pt) in a working machine (1) according to the distance of the crane tip (Pt), in which method the speed of movement of the crane tip (Pt) corresponds to a fixed layer of a stable device (21) for pivoting the crane (2). ) is adjusted on the basis of the perpendicular position (r) of the crane tip (Pt) located from the axis of rotation (Sr) of the crane (2), characterized in that the speed of movement of the stable device (7) which swings the crane (2) is adjusted so that when the control unit (21) remains in a certain layer which controls the movement of the crane (2), but the angular distance (r) of the crane tip (Pt) increases relative to the rotational axis (Sr) of the crane (2), the speed of the crane tip (Pt) increases (vt) one considers the entire distance span from the axis of rotation (Sr) of the crane (2) to the maximum distance (rmax) which is reached with the tip of the crane (Pt).

Method according to claim 1, characterized in that the velocity of the crane tip (Pt) (vt) increases faster near the axis of rotation (Sr) than near the maximum distance (rmax) reached with the crane (2).

Method according to claim 1, characterized in that when the distance (r) of the crown tip (Pt) from the axis of rotation (Sr) increases, the velocity (vt) of the crown tip (Pt) increases at the beginning when the distance (s) increases, but after a predetermined distance ( n) the velocity of motion (vt) remains substantially constant as the aystand (r) increases further arida to the maximum distance (rmax).

Method according to claim 3, characterized in that the spruce saw position (n) depends on the layer of a guide device (21) which controls the swing movement of the crown tip (Pt).

Method according to claim 4, characterized in that the spruce saw position (n) increases when the speed of movement (vt) of the crane tip (Pt) adjusted by the control device (21) increases.

Method according to one of Claims 3 to 5, characterized in that the velocity of movement of the crane tip (Pt) (vt) which corresponds to a certain layer of the guide device (21) which controls the curvature of the crane (2) increases linear spirit to the spruce stand (n). 14

A method according to any one of claims 3-5, characterized in that the velocity (vt) of the crane tip (Pt) corresponding to a certain layer of the guide device (21) which controls the swing movement of the crane (2) increases non-linear spirit to the spruce distance (n).

Method according to claim 7, characterized in that the movement speed (vt) of the crane tip (Pt) which corresponds to a certain layer of the guide device (21) which controls the swing movement of the crane (2) increases faster near the axis of rotation (Sr) than near the branch distance (n).

Method according to any one of claims 1-8, characterized in that the rotational speed of a stable device (7) which swings the crane (2) is constant at a certain layer of the control device (21) which controls the swivel movement of the crane (2) when the crane tip (Pt ) is located at the branch distance (n) or at a shorter perpendicular distance (s) from the axis of rotation (Sr).

Method according to claim 9, characterized in that the speed of movement of the stable device (7) which pivots the crane (2), which speed corresponds to the layer of the control device (21) which controls the pivotal movement of the crane (2), becomes slower when the perpendicular distance (s) after the branch distance (n) increases so much that the velocity of the crane tip (Pt) (Vt) remains constant after the branch distance (n).

Method according to one of Claims 1 to 10, characterized in that the axis of rotation (Sr) is the axis of rotation of a pivot table (7) which pivots the crane (2).

Method according to any one of claims 1-10, characterized in that the method is used for adjusting the speed of movement of a crane (2) in a forestry machine (1). 1/4