SI24924A

SI24924A - Forestry winch with active force measurement in the pulling rope and active allowable pulling rope force control

Info

Publication number: SI24924A
Application number: SI201500039A
Authority: SI
Inventors: Pintar Drago; Horvat Robert; Polak Marko
Original assignee: Uniforest D.O.O.
Priority date: 2015-02-23
Filing date: 2015-02-23
Publication date: 2016-08-31

Abstract

Gozdarsko vitlo (1) z aktivnim merjenjem sile v vlečni vrvi in aktivnim nadzorom dovoljene sile vlečne vrvi po izumu obsega os (4), ki predstavlja merilno mesto s povezavo na elektroniko (6), ki izvaja primerjavo izmerjene merjene sile v vlečni vrvi (2) z dovoljeno silo v vlečni vrvi (2) in se pri preseganju takoj vključita dve programirani fazi za spremembo tlak v proporcionalnem ventilu (7). Potreben tlak v hidravličnem cilindru (8) sklopke (9) v povezavi z bobnom mora omogočati stalno silo vleka, kijevečja od dovoljene sile v vlečni vrvi (2) pri popolnoma navitem bobnu (5) z vlečno vrvjo (2). Programirani fazi elektronike (6) s takojšnjim večjim zmanjšanjem tlaka preko proporcionalnega ventila (7) v hidravličnem cilindru (8) na sklopko (9), z zmanjšanjem vrtilnega momenta in s tem sile v vlečni vrvi (2), Tej fazi sledi faza po korakih ponovno povečanje novo izmerjene silo v vlečni vrvi (2), kar vpliva za vsak korak na proporcionalni ventil (7), ki povečuje tlak v hidravličnem cilindru (8) in s tempovečuje silo na sklopko (9), povečuje vrtilni moment in silo v vlečni vrvi (2) do dovoljene sile. Če izmerjena sila v vrvi (2) ponovno preseže dovoljeno silo se ponovno odvijata programirani fazi v elektroniki.The forest winch (1) with active measurement of the force in the tow rope and active control of the permissible force of the tow rope according to the invention comprises an axis (4) representing a measuring point with a connection to the electronics (6) which performs a comparison of the measured measured force in the tow rope ) with the permissible force in the tow rope (2), and at the time of exceeding, two programmed stages for the change of pressure in the proportional valve (7) are activated. The required pressure in the hydraulic cylinder (8) of the clutch (9) in conjunction with the drum must allow the continuous force of the tow, the whichever of the allowed force in the tow rope (2) with a fully threaded drum (5) with the tow rope (2). The programmed phases of the electronics (6) with immediate greater pressure reduction through the proportional valve (7) in the hydraulic cylinder (8) to the clutch (9), by reducing the torque and thereby force in the tow rope (2), This phase follows the step by step again increasing the newly measured force in the tow rope (2), which affects each step on a proportional valve (7) that increases the pressure in the hydraulic cylinder (8) and increases the force applied to the coupling (9), increases the torque and force in the towed rope (2) to the permitted force. If the measured force in the rope (2) again exceeds the permitted force, the programmed phases in the electronics are undoed again.

Description

Gozdarsko vitlo z aktivnim merjenjem sile v vlečni vrvi in aktivnim nadzorom dovoljene sile vlečne vrviForestry winch with active force measurement in the tow rope and active monitoring of the permitted pulling force

Izum spada na področje delovnih operacij in transporta prednostno vleko, konkretno k vitlom in njenim konstrukcijskim izvedbam.The invention relates to the field of work operations and transport, preferably towing, and in particular to winches and its structural embodiments.

Tehnični problem, ki ga rešuje izum, je kako gozdarskemu vitlu preprečiti preseganje dovoljene sile vlečne vrvi in ji dovoliti obremenitev do dovoljene sile v vsej razpoložljivi dolžini vleka.A technical problem solved by the invention is how to prevent a forestry winch from exceeding the allowable drag force and allow it to load up to the allowable force over the entire available towing length.

Izvedbe gozdarskih vitlov imajo spremenljivo vlečno silo, kije posledica spreminjanja premera navitja vlečne vrvi na boben. Na boben je navita vlečna vrv v več vrstah drugo na drugo po premeru. Zaradi spremembe premera je lahko vlečna sila tudi do 50 odstotkov manjša. V praksi pomeni za nominalno označeno gozdarsko vitlo 80 kN, da vitlo pri najdaljši razdalji bremena od vitla pri popolnoma izvlečeni vrvi z bobna zmore silo vleka 80 kN in na najkrajši razdalji bremena od vitla pri popolnoma naviti vlečni vrvi na boben zmore silo vleka še samo 40 kN. To vitlo zmore vleko hlodovine največ do upornosti 40 kN z upoštevanjem zagozditve.Forestry winch designs have a variable pulling force which results from changing the diameter of the winding rope on the drum. A retractable tow rope is rolled onto the drum in several rows one by one in diameter. Due to the change in diameter, the pulling force can be reduced by up to 50 percent. In practice, for a nominally designated forestry winch of 80 kN, the winch can only pull 40 kN at the longest distance from the winch when the rope is fully pulled from the drum, and at a shortest distance from the winch when the rope is fully wound on the drum kN. This winch is capable of hauling logs up to a maximum resistance of 40 kN taking into account the jam.

Pri tej izvedbi gozdarskega vitla je boben hkrati zalogovnik za vlečno vrv in hkrati mora prenašati vrtilni moment, ki zagotavlja silo v vlečni vrvi.In this embodiment of the forestry winch, the drum is both a drawbar for the tow rope and at the same time it must withstand the torque that provides the force in the tow rope.

Poznane rešitve, ki aktivno merijo premer navitja vlečne vrvi na boben in na osnovi tega nadzirajo posredno silo v vrvi in upravljajo nadzor dovoljene sile v vlečni vrvi. Pomanjkljivost te rešitve je, da se mora vsako vitlo v naprej umiriti na predvideno vlečno silo. Se večja pomanjkljivost se pokaže pri napaki navijanja vrvi samo na enem mestu s križanjem drug preko druge.Known solutions that actively measure the diameter of the winding of the tow rope on the drum and, on this basis, control the indirect force in the rope and control the permissible force in the tow rope. The disadvantage of this solution is that each winch must be calmed down in advance to the intended tractive force. A major disadvantage is shown by the error of winding the rope in only one place by crossing one another.

Poznana je rešitev z meijenjem sile vleke z dinamometrom, ki se sestoji iz hidravličnega cilindra na katerega je izveden pritisk rezultante sil v krakih vlečne sile med bobnom in usmerjevalno vrvenico vitla in je v hidravličnem cilindru tlačni senzor. Pomanjkljivost je v posrednem merjenju sile.There is a known solution by varying the traction force with a dynamometer consisting of a hydraulic cylinder which is pressurized with the resultant force in the traction arms between the drum and the winch rotor and has a pressure sensor in the hydraulic cylinder. The disadvantage lies in the indirect measurement of force.

Po izumu je izvedbi gozdarskega vitla s spremenljivo vlečno silo prirejeno merilno mesto za merjenje sile v vlečni vrvi, proporcionalni ventil nadomesti klasični ventil pred hidravličnim cilindrom sklopke in obe ustrezno vodi elektronika. Takšno gozdarsko vitlo po izumu aktivno meri silo v vlečni vrvi in izvaja aktivni nadzor dovoljene obremenitve vlečne vrvi. Za aktivni nadzor za dovoljeno silo vlečne vrvi za izvedbo gozdarskega vitla s spremenljivo vlečno silo je potreben tlak v hidravličnem cilindru sklopke, ki mora omogočati stalno silo vleka, kije večja od dovoljene sile v vrvi pri popolnoma navitem bobnu z vlečno vrvjo.According to the invention, a variable winch winch is provided with a measuring point for measuring the force in the tow rope, a proportional valve replaces the classic valve in front of the hydraulic clutch cylinder, and both electronics are guided accordingly. Such forestry winch according to the invention actively measures the force in the tow rope and actively controls the permissible load on the tow rope. Active control of the permissible towing force of the rope winch with variable pulling force requires pressure in the hydraulic clutch cylinder, which must be capable of providing a constant traction force greater than the permissible force in the rope when the rope reel is fully wound.

Merilno mesto mnogokrat na sekundo izmeri silo v vlečni vrvi in podatke posreduje v elektroniko, ki jo primerja z dovoljeno silo vlečne vrvi. V kolikor sila upora bremenavlečene hlodovine izmerjena kot sila v vlečni vrvi ne preseže dovoljene sile v vlečni vrvi ni ukaza elektronike za spremembo položaja proporcionalnega ventila. V primeru upora vlečene hlodovine, v osnovi zaradi preveč hlodov ali zaradi zagozditve hlodov, izmerjena kot sila v vlečni vrvi preseže dovoljeno silo v vlečni vrvi se odvijeta programirani fazi v elektroniki z takojšnjim večjim zmanjšanjem tlaka preko proporcionalnega ventila v hidravličnem cilindru sklopke, z zmanjšanjem vrtilnega momenta in s tem sile v vlečni vrvi. Tej sledi po korakih ponovno povečanje novo izmerjene silo v vlečni vrvi, kar vpliva za vsak korak na proporcionalni ventil, ki povečuje tlak v hidravličnem cilindru in s tem povečuje silo na sklopko, povečuje vrtilni moment in silo v vlečni vrvi do dovoljene sile. Če izmerjena sila v vrvi ponovno preseže dovoljeno silo se ponovno odvijata programirani fazi v elektroniki.The measuring point measures the force in the tow rope many times per second and transmits the data to the electronics, which compares it with the permitted pull rope force. Unless the resistance force of the loaded log is measured as the force in the draw rope does not exceed the allowable force in the draw rope, there is no electronics command to change the position of the proportional valve. In case of resistance of the drawn log, basically due to too many logs or due to log logging, measured as the force in the tow rope exceeds the permitted force in the tow rope, the programmed phase in the electronics is unscrewed by an immediate greater pressure reduction via the proportional valve in the hydraulic clutch cylinder, by reducing torque and thus the forces in the rope. This is followed by a step-by-step increase of the newly measured force in the rope, which in turn affects the proportional valve, which increases the pressure in the hydraulic cylinder, thereby increasing the force on the clutch, increasing the torque and the force in the rope to the maximum force. If the measured force in the rope exceeds the allowable force again, the programmed phases in the electronics re-occur.

Ukrep, ki sledi, je ali zmanjšati število hlodov ali odstraniti oviro.The following is either to reduce the number of logs or to remove the obstacle.

Gozdarsko vitlo z aktivnim meijenjem sile v vlečni vrvi in aktivnim nadzorom dovoljene sile vlečne vrvi zagotavlja dovoljeno silo v vlečni vrvi neodvisno od trenutnega premera navitja vlečne vrvi na bobnu, nadalje motenj kot je izvlek zagozdene vlečne vrvi na bobnu, nadalje zaviranja bobna za preprečitev vrtenja bobna po prekinitvi izvleka vlečne vrvi do hlodovine v vsej dolžini vleka vlečne vrvi.A forestry winch with active force variation in the tow rope and active control of the towing force of the rope provides the permissible force in the tow rope independently of the current diameter of the winding of the tow rope on the drum, further interference such as pulling the jammed tow rope on the drum, further inhibiting the drum to prevent rotation of the drum after breaking the pull of the tow rope to the log for the entire length of the tow rope.

V praksi pomeni za nominalno označeno gozdarsko vitlo 80 kN, daje vitlo dimenzionirano za 80 kN vleke in lahko uporablja vlečno vrv z dovoljeno silo v vrvi 80 kN in bo izmeijena vlečna sila omejena z to dovoljeno silo v vsej dolžini vlečne vrvi.In practice, for a nominally designated forestry winch of 80 kN, the winch shall be dimensioned for 80 kN towing and may use a tow rope with a permissible force of 80 kN and the modified pulling force will be limited by this permissible force throughout the length of the tow rope.

Izum bo opisan na izvedbenem primeru in sliki, ki prikazujeThe invention will be described in the embodiment and in the drawing

Sl.l Gozdarsko vitlo z aktivnim merjenjem sile v vlečni vrvi in aktivnim nadzorom dovoljene sile vlečne vrviFig.l Forestry winch with active force measurement in the tow rope and active control of the permitted drag force

Na sl.l je prikazana shema gozdarskega vitla 1 z aktivnim merjenjem sile v vlečni vrvi in aktivnim nadzorom dovoljene sile vlečne vrvi z vlečno vrvjo 2, ki prehaja v izvedbenem primeru preko vrvenice 3 prosto vrteče na osi 4 na boben 5. V shemi je prikazan proporcionalni ventil 7 v hidravlični povezavi s hidravlični cilindrom 8, sklopko 9 v povezavi z bobnom 5. V shemi os 4 predstavlja merilno mesto, s povezavo na elektroniko 6 in ta s povezavo na proporcionalni ventil 7. Za izvajaje vleka vrvi 2 elektronika 6 sproži proporcionalni 7 ventil za delovanje hidravličnega medija v hidravličnem cilindru 8. Sila hidravličnega cilindra 8 deluje na sklopko 9 in vključi prenos vrtilnega momenta na bobenFIG. 1 shows a diagram of a forestry winch 1 with active force measurement in the tow rope and active control of the permissible force of the tow rope with the tow rope 2 which, in the embodiment, passes through the rope 3 freely rotating on the axis 4 to the drum 5. The scheme shows proportional valve 7 in hydraulic connection with hydraulic cylinder 8, clutch 9 in conjunction with drum 5. In the scheme, axis 4 represents the measuring point, with connection to electronics 6 and this connection with connection to proportional valve 7. For pulling rope 2, the electronics 6 initiates proportional 7 valve for operation of hydraulic medium in hydraulic cylinder 8. The force of hydraulic cylinder 8 acts on the clutch 9 and includes the transfer of torque to the drum

5. Potreben tlak v hidravličnem cilindru sklopke mora omogočati stalno silo vleka, kije večja od dovoljene sile v vrvi pri popolnoma navitem bobnu z vlečno vrvjo. Vlečna vrv 2 se začne navijati na boben 5 in premikati hlodovino.5. The required pressure in the clutch hydraulic cylinder must be such as to provide a constant traction force greater than the permissible force in the rope on a fully wound retractable drum. The tow rope 2 starts winding on the drum 5 and moves the log.

V vlečni vrvi 2 takoj nastopi sila uravnotežena s silo upora premikanja hlodovine. Merjenje sile v vlečni vrvi 2 izvedeno mnogokrat na sekundo z merjenjem poveša na merilni osi 4, ki se izvaja od trenutka vklopa navijanja vlečne vrvi 2 na boben 5. Informacija o sili v vlečni vrvi 2 je vhod v nadzorno elektroniko 6, ki stalno primerja izmerjeno silo v vlečni vrvi 2 z dovoljeno silo v vrvi. V kolikor sila upora vlečene hlodovine izmerjena kot sila v vlečni vrvi 2 ne preseže dovoljene sile v vlečni vrvi 2 ni ukaza elektronike 6 za proporcionalni ventil 7 za spremembo.In the draw rope 2, a force immediately balanced by the force of the log displacement resistance occurs. Measurement of force in traction rope 2 is carried out many times per second by measurement on the measuring axis 4, which is performed from the moment when the winding of traction rope 2 is switched on to drum 5. The force information in traction rope 2 is the input to the control electronics 6, which constantly compares the measured values. force in the tow rope 2 with the permissible force in the rope. Unless the drag force of the drawn log is measured as the force in the draw rope 2 does not exceed the allowable force in the draw rope 2, there is no electronics command 6 for the proportional change valve 7.

V primeru vlečene hlodovine, v osnovi zaradi preveč hlodov ali zaradi zagozditve hlodov, upor izmerjen kot sila v vlečni vrvi 2 preseže dovoljeno silo v vlečni vrvi 2, se odvijeta programirani fazi v elektroniki 6 s takojšnjim večjim zmanjšanjem tlaka preko proporcionalnega ventila 7 v hidravličnem cilindru 8 na sklopko 9, z zmanjšanjem vrtilnega momenta in s tem sile v vlečni vrvi 2. Tej sledi po korakih ponovno povečanje novo izmerjene silo v vlečni vrvi 2, kar vpliva za vsak korak na proporcionalni ventil, ki povečuje tlak v hidravličnem cilindru 8 in s tem povečuje silo na sklopko 9, povečuje vrtilni moment in silo v vlečni vrvi 2 do dovoljene sile. Če izmerjena sila v vrvi ponovno preseže dovoljeno silo se ponovno odvijata programirani fazi v elektroniki 6.In the case of towed logs, mainly due to too many logs or due to logging, the resistance measured as the force in the tow rope 2 exceeds the allowable force in the tow rope 2, the programmed phase in the electronics 6 is unscrewed by an immediate greater pressure reduction via the proportional valve 7 in the hydraulic cylinder. 8 to clutch 9, reducing torque and thereby the force in the draw rope 2. This is followed by a step-by-step increase of the newly measured force in the draw rope 2, which in each step affects the proportional valve, which increases the pressure in the hydraulic cylinder 8 and s. this increases the force on the clutch 9, increases the torque and the force in the tow rope 2 to the permitted force. If the measured force in the rope exceeds the allowable force again, the programmed phases in the electronics 6 take place again.

Claims

PATENT APPLICATIONS

A forestry winch (1), with active force measurement in the tow rope and active control of the permissible tow rope force, comprises a tow rope (2) which, in the embodiment, passes through the rope (3) freely rotating on the axis (4) to the drum (5) and the proportional valve (7) is hydraulically coupled to the hydraulic cylinder (8), the clutch (9) is in conjunction with the drum (5) and the measuring point is connected to the electronics (6) and connected to the proportional valve (7), , that the axis (4) represents a measuring point with an electronics connection (6) that compares the measured measured force in the traction rope (2) with the permitted force in the traction rope (2) and immediately engages in two programmed pressure change stages in the proportional valve (7) and that the required pressure in the hydraulic cylinder (8) of the clutch (9) in conjunction with the drum must allow a constant pull force greater than the allowable force in the draw rope (2) when the drum is completely wound (5) with tow rope (2).

A winch (1) with active force measurement in the drawbar and active control of the drawbar force according to claim 1, characterized in that the programmed phase of the electronics (6) with immediate greater pressure reduction via the proportional valve (7) in the hydraulic cylinder ( 8) to the clutch (9), by reducing the torque and thus the force in the traction cable (2), and that this is followed by a step-by-step increase of the newly measured force in the traction rope (2), affecting each step the proportional valve (7) ), which increases the pressure in the hydraulic cylinder (8), thereby increasing the force on the clutch (9), increasing the torque and the force in the draw rope (2) to the permissible force and the measured force in the rope (2) again exceeds the permissible force. programmed phases in electronics (6).